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Diffstat (limited to 'AT91SAM7S256/Source/c_output.c')
-rw-r--r--AT91SAM7S256/Source/c_output.c96
1 files changed, 48 insertions, 48 deletions
diff --git a/AT91SAM7S256/Source/c_output.c b/AT91SAM7S256/Source/c_output.c
index cd826ca..30058b4 100644
--- a/AT91SAM7S256/Source/c_output.c
+++ b/AT91SAM7S256/Source/c_output.c
@@ -73,72 +73,72 @@ void cOutputCtrl(void)
{
OUTPUT * pOut = &(IOMapOutput.Outputs[Tmp]);
if (pOut->Flags != 0)
- {
- if (pOut->Flags & UPDATE_RESET_ROTATION_COUNT)
+ {
+ if (pOut->Flags & UPDATE_RESET_ROTATION_COUNT)
{
pOut->Flags &= ~UPDATE_RESET_ROTATION_COUNT;
dOutputResetRotationCaptureCount(Tmp);
}
if (pOut->Flags & UPDATE_RESET_COUNT)
- {
- pOut->Flags &= ~UPDATE_RESET_COUNT;
- dOutputResetTachoLimit(Tmp);
- }
+ {
+ pOut->Flags &= ~UPDATE_RESET_COUNT;
+ dOutputResetTachoLimit(Tmp);
+ }
if (pOut->Flags & UPDATE_RESET_BLOCK_COUNT)
{
pOut->Flags &= ~UPDATE_RESET_BLOCK_COUNT;
- dOutputResetBlockTachoLimit(Tmp);
+ dOutputResetBlockTachoLimit(Tmp);
}
if (pOut->Flags & UPDATE_SPEED)
- {
- pOut->Flags &= ~UPDATE_SPEED;
- if (pOut->Mode & MOTORON)
- {
- dOutputSetSpeed (Tmp, pOut->RunState, pOut->Speed, pOut->SyncTurnParameter);
- }
- }
- if (pOut->Flags & UPDATE_MODE)
- {
+ {
+ pOut->Flags &= ~UPDATE_SPEED;
+ if (pOut->Mode & MOTORON)
+ {
+ dOutputSetSpeed(Tmp, pOut->RunState, pOut->Speed, pOut->SyncTurnParameter);
+ }
+ }
+ if (pOut->Flags & UPDATE_MODE)
+ {
pOut->Flags &= ~UPDATE_MODE;
- if (pOut->Mode & BRAKE)
+ if (pOut->Mode & BRAKE)
{
// Motor is Braked
dOutputSetMode(Tmp, BRAKE);
- }
+ }
else
{
// Motor is floated
dOutputSetMode(Tmp, 0x00);
}
- if (pOut->Mode & MOTORON)
- {
- if (pOut->Mode & REGULATED)
- {
- dOutputEnableRegulation(Tmp, pOut->RegMode);
- }
- else
- {
- dOutputDisableRegulation(Tmp);
- }
- }
- else
- {
- dOutputSetSpeed(Tmp, 0x00, 0x00, 0x00);
- dOutputDisableRegulation(Tmp);
- }
- }
+ if (pOut->Mode & MOTORON)
+ {
+ if (pOut->Mode & REGULATED)
+ {
+ dOutputEnableRegulation(Tmp, pOut->RegMode);
+ }
+ else
+ {
+ dOutputDisableRegulation(Tmp);
+ }
+ }
+ else
+ {
+ dOutputSetSpeed(Tmp, 0x00, 0x00, 0x00);
+ dOutputDisableRegulation(Tmp);
+ }
+ }
if (pOut->Flags & UPDATE_TACHO_LIMIT)
- {
- pOut->Flags &= ~UPDATE_TACHO_LIMIT;
- dOutputSetTachoLimit(Tmp, pOut->TachoLimit, pOut->Options);
- }
+ {
+ pOut->Flags &= ~UPDATE_TACHO_LIMIT;
+ dOutputSetTachoLimit(Tmp, pOut->TachoLimit, pOut->Options);
+ }
if (pOut->Flags & UPDATE_PID_VALUES)
- {
- pOut->Flags &= ~UPDATE_PID_VALUES;
- dOutputSetPIDParameters(Tmp, pOut->RegPParameter, pOut->RegIParameter, pOut->RegDParameter);
- dOutputSetMax(Tmp, pOut->MaxSpeed, pOut->MaxAcceleration);
- }
- }
+ {
+ pOut->Flags &= ~UPDATE_PID_VALUES;
+ dOutputSetPIDParameters(Tmp, pOut->RegPParameter, pOut->RegIParameter, pOut->RegDParameter);
+ dOutputSetMax(Tmp, pOut->MaxSpeed, pOut->MaxAcceleration);
+ }
+ }
}
dOutputSetRegulationTime(IOMapOutput.RegulationTime);
dOutputSetRegulationOptions(IOMapOutput.RegulationOptions);
@@ -161,11 +161,11 @@ void cOutputUpdateIomap(void)
for(Tmp = 0; Tmp < NO_OF_OUTPUTS; Tmp++)
{
- OUTPUT * pOut = &(IOMapOutput.Outputs[Tmp]);
- pOut->ActualSpeed = TempCurrentMotorSpeed[Tmp];
+ OUTPUT * pOut = &(IOMapOutput.Outputs[Tmp]);
+ pOut->ActualSpeed = TempCurrentMotorSpeed[Tmp];
pOut->TachoCnt = TempTachoCount[Tmp];
pOut->BlockTachoCount = TempBlockTachoCount[Tmp];
- pOut->RotationCount = TempRotationCount[Tmp];
+ pOut->RotationCount = TempRotationCount[Tmp];
pOut->Overloaded = TempMotorOverloaded[Tmp];
if (!(pOut->Flags & PENDING_UPDATES))
{