[paparazzi-commits] [5189] added KILL_MOTORS switch for mkk controllers on lpc2148

[antoine drouin]

Revision: 5189
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5189
Author:   poine
Date:     2010-07-30 18:30:24 +0000 (Fri, 30 Jul 2010)
Log Message:
-----------
added KILL_MOTORS switch for mkk controllers on lpc2148

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.h

Modified: paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.h    
2010-07-29 04:34:45 UTC (rev 5188)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.h    
2010-07-30 18:30:24 UTC (rev 5189)
@@ -56,14 +56,27 @@
 #include "actuators/booz_supervision.h"
 extern const uint8_t actuators_addr[];
 
+
+#ifdef KILL_MOTORS
 #define ActuatorsMkkI2cHandler() {                                     \
     actuators_mkk.idx++;                                               \
     if (actuators_mkk.idx<ACTUATORS_MKK_NB) {                          \
+      DeviceBuf[0] = 0;                                                        
\
+      DeviceTransmit(actuators_addr[actuators_mkk.idx], 1, 
&actuators_mkk.i2c_done); \
+    }                                                                  \
+    else                                                               \
+      actuators_mkk.status = IDLE;                                     \
+  }
+#else /* KILL_MOTORS */
+#define ActuatorsMkkI2cHandler() {                                     \
+    actuators_mkk.idx++;                                               \
+    if (actuators_mkk.idx<ACTUATORS_MKK_NB) {                          \
       DeviceBuf[0] = supervision.commands[actuators_mkk.idx];          \
       DeviceTransmit(actuators_addr[actuators_mkk.idx], 1, 
&actuators_mkk.i2c_done); \
     }                                                                  \
     else                                                               \
       actuators_mkk.status = IDLE;                                     \
   }
+#endif /* KILL_MOTORS */
 
 #endif /* BOOZ_ACTUATORS_MKK_H */