[paparazzi-commits] [5085] beth hack define

[Paul Cox]

Revision: 5085
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5085
Author:   paulcox
Date:     2010-07-20 14:40:55 +0000 (Tue, 20 Jul 2010)
Log Message:
-----------
beth hack define

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/stm32/can_hw.c

Modified: paparazzi3/trunk/sw/airborne/stm32/can_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/can_hw.c 2010-07-20 14:38:24 UTC (rev 
5084)
+++ paparazzi3/trunk/sw/airborne/stm32/can_hw.c 2010-07-20 14:40:55 UTC (rev 
5085)
@@ -138,11 +138,17 @@
        return 0;
 }
 
+#ifdef BETH_HACK
+uint16_t halfw1,halfw2,halfw3,halfw4,tempid;
+#endif
+
 void usb_lp_can1_rx0_irq_handler(void)
 {
        CAN_Receive(CAN1, CAN_FIFO0, &can_rx_msg);
-       //LED_TOGGLE(3);
 
+#ifdef BLINKENLIGHTS
+//code piotr used to show receive activity
+       //LED_TOGGLE(1);
        if((can_rx_msg.Data[0] & 0x01) == 0x01){
                LED_ON(4);
        }else{
@@ -163,4 +169,20 @@
        }else{
                LED_OFF(7);
        }
+#endif
+
+#ifdef BETH_HACK
+       tempid = (uint16_t)(can_rx_msg.ExtId>>7);
+       if (tempid == 2) {
+               halfw2 = can_rx_msg.Data[3];
+               halfw2 = (halfw2<<8) + can_rx_msg.Data[2];
+               halfw1 = can_rx_msg.Data[1];
+               halfw1 = (halfw1<<8) + can_rx_msg.Data[0];
+       } else {
+               halfw4 = can_rx_msg.Data[3];
+               halfw4 = (halfw4<<8) + can_rx_msg.Data[2];
+               halfw3 = can_rx_msg.Data[1];
+               halfw3 = (halfw3<<8) + can_rx_msg.Data[0];
+       }
+#endif
 }