Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[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]);
 
-       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])
@@ -130,10 +130,10 @@ static void
 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
-       _ao_quadrature_set(1, _ao_quadrature_get(1));
+       _ao_quadrature_set(1, (uint8_t) _ao_quadrature_get(1));
 #endif
 }
 
@@ -163,7 +163,7 @@ ao_quadrature_wait(uint8_t q)
 static void
 ao_quadrature_test(void)
 {
-       uint8_t q;
+       uint32_t q;
        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);                   \
-               _ao_quadrature_start_one(q, _ao_quadrature_get(q));     \
+               _ao_quadrature_start_one(q, (uint8_t) _ao_quadrature_get(q)); \
        } while (0)
 
 void