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Merge pull request #123 from PX4/#106-px4io-relays

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Initial implementation of application access to the PX4IO relays.
This commit is contained in:
px4dev
2013-01-06 00:32:04 -08:00
parent 76277ec622 5b92c51777
commit b3e16b4861
2 changed files with 52 additions and 5 deletions
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apps/px4io/comms.c
+21 -4
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@@ -172,7 +172,7 @@ comms_handle_command(const void *buffer, size_t length)
system_state.fmu_channel_data[i] = cmd->servo_command[i];
/* if the IO is armed and the FMU gets disarmed, the IO must also disarm */
if(system_state.arm_ok && !cmd->arm_ok) {
if (system_state.arm_ok && !cmd->arm_ok) {
system_state.armed = false;
}
@@ -185,9 +185,26 @@ comms_handle_command(const void *buffer, size_t length)
// if (!system_state.arm_ok && system_state.armed)
// system_state.armed = false;
/* XXX do relay changes here */
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
system_state.relays[i] = cmd->relay_state[i];
/* handle relay state changes here */
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) {
if (system_state.relays[i] != cmd->relay_state[i]) {
switch (i) {
case 0:
POWER_ACC1(cmd->relay_state[i]);
break;
case 1:
POWER_ACC2(cmd->relay_state[i]);
break;
case 2:
POWER_RELAY1(cmd->relay_state[i]);
break;
case 3:
POWER_RELAY2(cmd->relay_state[i]);
break;
}
}
system_state.relays[i] != cmd->relay_state[i]
}
irqrestore(flags);
}