altos: Use AO_TICK_TYPE/AO_TICK_SIGNED for lco/pad code

[fw/altos] / src / drivers / ao_pad.c

diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
index 2592a084261bec25640f0820dfc018c579f44486..07c49afc6b890a4094a842360223eddc52eef715 100644 (file)
--- a/src/drivers/ao_pad.c
+++ b/src/drivers/ao_pad.c
@@ -26,10 +26,10 @@ static uint8_t ao_pad_ignite;
 static struct ao_pad_command   command;
 static struct ao_pad_query     query;
 static uint8_t ao_pad_armed;
-static uint16_t        ao_pad_arm_time;
+static AO_TICK_TYPE    ao_pad_arm_time;
 static uint8_t ao_pad_box;
 static uint8_t ao_pad_disabled;
-static uint16_t        ao_pad_packet_time;
+static AO_TICK_TYPE    ao_pad_packet_time;
 
 #ifndef AO_PAD_RSSI_MINIMUM
 #define AO_PAD_RSSI_MINIMUM    -90
@@ -288,7 +288,7 @@ ao_pad_monitor(void)
                        prev = cur;
                }
 
-               if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
+               if (ao_pad_armed && (AO_TICK_SIGNED) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
                        ao_pad_armed = 0;
 
                if (ao_pad_armed) {
@@ -369,7 +369,7 @@ static int ao_pad_read_box(void) {
 static void
 ao_pad(void)
 {
-       int16_t time_difference;
+       int16_t tick_difference;
        int8_t  ret;
 
        ao_pad_box = 0;
@@ -398,12 +398,12 @@ ao_pad(void)
                        if (command.channels & ~(AO_PAD_ALL_CHANNELS))
                                break;
 
-                       time_difference = command.tick - ao_time();
-                       PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
-                       if (time_difference < 0)
-                               time_difference = -time_difference;
-                       if (time_difference > 10) {
-                               PRINTD ("time difference too large %d\n", time_difference);
+                       tick_difference = command.tick - (uint16_t) ao_time();
+                       PRINTD ("arm tick %d local tick %d\n", command.tick, (uint16_t) ao_time());
+                       if (tick_difference < 0)
+                               tick_difference = -tick_difference;
+                       if (tick_difference > 10) {
+                               PRINTD ("tick difference too large %d\n", tick_difference);
                                break;
                        }
                        if (query.arm_status != AO_PAD_ARM_STATUS_ARMED) {
@@ -439,7 +439,7 @@ ao_pad(void)
                                PRINTD ("not armed\n");
                                break;
                        }
-                       if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
+                       if ((AO_TICK_SIGNED) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
                                PRINTD ("late pad arm_time %d time %d\n",
                                        ao_pad_arm_time, ao_time());
                                break;
@@ -457,7 +457,7 @@ ao_pad(void)
 #if HAS_LOG
                        if (!ao_log_running) ao_log_start();
 #endif
-                       if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
+                       if ((AO_TICK_SIGNED) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
                                PRINTD ("late pad arm_time %d time %d\n",
                                        ao_pad_arm_time, ao_time());
                                break;