From 1431438a2b0f3fafbafb61a4a15296164dadf5e1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 4 Apr 2009 16:22:53 +0200 Subject: * digital/asserv: - added second auxiliary motor support. --- digital/asserv/src/asserv/pwm_mp.avr.c | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) (limited to 'digital/asserv/src/asserv/pwm_mp.avr.c') diff --git a/digital/asserv/src/asserv/pwm_mp.avr.c b/digital/asserv/src/asserv/pwm_mp.avr.c index 47b50763..62ef2190 100644 --- a/digital/asserv/src/asserv/pwm_mp.avr.c +++ b/digital/asserv/src/asserv/pwm_mp.avr.c @@ -34,7 +34,7 @@ #define PWM1 pwm_left #define PWM2 pwm_right #define PWM3 pwm_aux0 -#undef PWM4 +#define PWM4 pwm_aux1 #include "pwm_config.h" @@ -98,8 +98,8 @@ void pwm_mp_update (void) { #if PWM1or2 || PWM3or4 - if (PWM1c (PWM1.cur) || PWM2c (PWM2.cur) - || PWM3c (PWM3.cur) || PWM4c (PWM4.cur)) + if (PWM1c (PWM_VALUE (PWM1)) || PWM2c (PWM_VALUE (PWM2)) + || PWM3c (PWM_VALUE (PWM3)) || PWM4c (PWM_VALUE (PWM4))) pwm_mp_go = 1; if (!pwm_mp_go) return; @@ -107,7 +107,7 @@ pwm_mp_update (void) #if PWM1or2 /* Chip enable. */ PORTB &= ~_BV (0); - pwm_mp_send (PWM1c (PWM1.cur), PWM2c (PWM2.cur), + pwm_mp_send (PWM1c (PWM_VALUE (PWM1)), PWM2c (PWM_VALUE (PWM2)), PWM1c (pwm_reverse & PWM_REVERSE_BIT (PWM1)), PWM2c (pwm_reverse & PWM_REVERSE_BIT (PWM2))); /* Chip disable. */ @@ -116,7 +116,7 @@ pwm_mp_update (void) #if PWM3or4 /* Chip enable. */ PORTE &= ~_BV (4); - pwm_mp_send (PWM3c (PWM3.cur), PWM4c (PWM4.cur), + pwm_mp_send (PWM3c (PWM_VALUE (PWM3)), PWM4c (PWM_VALUE (PWM4)), PWM3c (pwm_reverse & PWM_REVERSE_BIT (PWM3)), PWM4c (pwm_reverse & PWM_REVERSE_BIT (PWM4))); /* Chip disable. */ -- cgit v1.2.3