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doc: clarify how EasyMotor gets put into idle mode
[fw/altos]
/
src
/
drivers
/
ao_quadrature.c
diff --git
a/src/drivers/ao_quadrature.c
b/src/drivers/ao_quadrature.c
index 97e67aa07bfd72f5cf934fbb33516afd363a509b..b50f1bf5c90b4c1e52f0ac73a77ca55a47b26203 100644
(file)
--- a/
src/drivers/ao_quadrature.c
+++ b/
src/drivers/ao_quadrature.c
@@
-73,7
+73,7
@@
ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b, struct a
a = ao_debounce(a, &debounce_state[0]);
b = ao_debounce(b, &debounce_state[1]);
a = ao_debounce(a, &debounce_state[0]);
b = ao_debounce(b, &debounce_state[1]);
- return
a | (b << 1
);
+ return
(uint16_t) (a | (b << 1)
);
}
#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q), ao_debounce_state[q])
}
#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q), ao_debounce_state[q])
@@
-130,10
+130,10
@@
static void
ao_quadrature_isr(void)
{
#if AO_QUADRATURE_COUNT > 0
ao_quadrature_isr(void)
{
#if AO_QUADRATURE_COUNT > 0
- _ao_quadrature_set(0, _ao_quadrature_get(0));
+ _ao_quadrature_set(0,
(uint8_t)
_ao_quadrature_get(0));
#endif
#if AO_QUADRATURE_COUNT > 1
#endif
#if AO_QUADRATURE_COUNT > 1
- _ao_quadrature_set(1, _ao_quadrature_get(1));
+ _ao_quadrature_set(1,
(uint8_t)
_ao_quadrature_get(1));
#endif
}
#endif
}
@@
-163,7
+163,7
@@
ao_quadrature_wait(uint8_t q)
static void
ao_quadrature_test(void)
{
static void
ao_quadrature_test(void)
{
- uint
8
_t q;
+ uint
32
_t q;
int32_t c;
uint8_t s;
#ifndef AO_QUADRATURE_SINGLE_CODE
int32_t c;
uint8_t s;
#ifndef AO_QUADRATURE_SINGLE_CODE
@@
-215,7
+215,7
@@
static const struct ao_cmds ao_quadrature_cmds[] = {
#define init(q) do { \
ao_enable_input(port(q), bita(q), 0); \
ao_enable_input(port(q), bitb(q), 0); \
#define init(q) do { \
ao_enable_input(port(q), bita(q), 0); \
ao_enable_input(port(q), bitb(q), 0); \
- _ao_quadrature_start_one(q,
_ao_quadrature_get(q));
\
+ _ao_quadrature_start_one(q,
(uint8_t) _ao_quadrature_get(q));
\
} while (0)
void
} while (0)
void