From 2e0727532fdc1e9eb5b72188182c7a8a7c4ab3fc Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 30 Mar 2009 00:20:05 +0200 Subject: * digital/asserv/src/asserv: - use a structure for PWM state. --- digital/asserv/src/asserv/pwm.avr.c | 15 +++++---------- 1 file changed, 5 insertions(+), 10 deletions(-) (limited to 'digital/asserv/src/asserv/pwm.avr.c') diff --git a/digital/asserv/src/asserv/pwm.avr.c b/digital/asserv/src/asserv/pwm.avr.c index 932e5a7f..6a5b0ff4 100644 --- a/digital/asserv/src/asserv/pwm.avr.c +++ b/digital/asserv/src/asserv/pwm.avr.c @@ -27,9 +27,10 @@ #include "pwm_mp.avr.h" #include "pwm_ocr.avr.h" -/** PWM values, this is an error if absolute value is greater than the - * maximum. */ -int16_t pwm_left, pwm_right, pwm_aux0; +/** PWM control states. */ +struct pwm_t pwm_left = PWM_INIT_FOR (pwm_left); +struct pwm_t pwm_right = PWM_INIT_FOR (pwm_right); +struct pwm_t pwm_aux0 = PWM_INIT_FOR (pwm_aux0); /** PWM reverse directions. */ uint8_t pwm_reverse; @@ -45,17 +46,11 @@ pwm_init (void) void pwm_update (void) { - /* Some assumption checks. */ - assert (pwm_left >= -PWM_MAX_FOR (pwm_left) - && pwm_left <= PWM_MAX_FOR (pwm_left)); - assert (pwm_right >= -PWM_MAX_FOR (pwm_right) - && pwm_right <= PWM_MAX_FOR (pwm_right)); - assert (pwm_aux0 >= -PWM_MAX_FOR (pwm_aux0) - && pwm_aux0 <= PWM_MAX_FOR (pwm_aux0)); pwm_mp_update (); pwm_ocr_update (); } +/** Set which PWM is reversed. */ void pwm_set_reverse (uint8_t reverse) { -- cgit v1.2.3