[paparazzi-commits] [5083] beth hack define

[Paul Cox]

Revision: 5083
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5083
Author:   paulcox
Date:     2010-07-20 14:37:56 +0000 (Tue, 20 Jul 2010)
Log Message:
-----------
beth hack define

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/beth/main_stm32.c

Modified: paparazzi3/trunk/sw/airborne/beth/main_stm32.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/main_stm32.c      2010-07-20 14:14:51 UTC 
(rev 5082)
+++ paparazzi3/trunk/sw/airborne/beth/main_stm32.c      2010-07-20 14:37:56 UTC 
(rev 5083)
@@ -47,6 +47,12 @@
 
 static int16_t my_cnt;
 
+//hack to get beth angle values from CAN receive buffer
+//see airborne/stm32/can_hw.c
+#ifdef BETH_HACK
+extern uint16_t halfw1,halfw2,halfw3,halfw4;
+#endif
+
 int main(void) {
   main_init();
 
@@ -70,8 +76,6 @@
   can_init();
 }
 
-//hack to get beth angle values from CAN receive buffer
-extern uint16_t halfw1,halfw2,halfw3,halfw4;
 
 static inline void main_periodic( void ) {
   //booz_imu_periodic();
@@ -79,8 +83,9 @@
   //OveroLinkPeriodic(main_on_overo_link_lost)
 
   RunOnceEvery(10, {LED_PERIODIC(); DOWNLINK_SEND_ALIVE(DefaultChannel, 16, 
MD5SUM);});
-
+#ifdef BETH_HACK
   RunOnceEvery(5, {DOWNLINK_SEND_BETH(DefaultChannel, &halfw4, 
&halfw1,&halfw2, &halfw3);});
+#endif
 
   //No longer needed as we switched from I2C to CAN
   //read_bench_sensors();