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[actuators] use integer in actuators macro

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This commit is contained in:
Gautier Hattenberger
2012-10-19 14:54:38 +02:00
parent 6c5974af6f
commit 4fb8468eb1
1 changed files with 7 additions and 4 deletions
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sw/tools/gen_airframe.ml
+7 -4
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@@ -130,7 +130,9 @@ let parse_servo = fun driver c ->
define (name^"_NEUTRAL") (sof neutral);
define (name^"_TRAVEL_UP") (sof travel_up);
define_integer (name^"_TRAVEL_UP") travel_up 16;
define (name^"_TRAVEL_DOWN") (sof travel_down);
define_integer (name^"_TRAVEL_DOWN") travel_down 16;
let min = Pervasives.min min max
and max = Pervasives.max min max in
@@ -171,8 +173,9 @@ let parse_command_laws = fun command ->
and value = a "value" in
let v = preprocess_value value "values" "COMMAND" in
printf " command_value = %s; \\\n" v;
printf " command_value *= command_value>0 ? SERVO_%s_TRAVEL_UP : SERVO_%s_TRAVEL_DOWN; \\\n" servo servo;
printf " servo_value = SERVO_%s_NEUTRAL + (int32_t)(command_value); \\\n" servo;
printf " command_value *= command_value>0 ? SERVO_%s_TRAVEL_UP_NUM : SERVO_%s_TRAVEL_DOWN_NUM; \\\n" servo servo;
printf " command_value /= command_value>0 ? SERVO_%s_TRAVEL_UP_DEN : SERVO_%s_TRAVEL_DOWN_DEN; \\\n" servo servo;
printf " servo_value = SERVO_%s_NEUTRAL + command_value; \\\n" servo;
printf " Set_%s_Servo(servo_value); \\\n\\\n" servo
| "let" ->
let var = a "var"
@@ -181,7 +184,7 @@ let parse_command_laws = fun command ->
printf " int16_t _var_%s = %s; \\\n" var v
| "call" ->
let f = a "fun" in
printf " %s; \\\n" f
printf " %s; \\\n\\\n" f
| "ratelimit" ->
let var = a "var"
and value = a "value"
@@ -264,7 +267,7 @@ let rec parse_section = fun s ->
printf "#define SetActuatorsFromCommands(values) { \\\n";
printf " int32_t servo_value;\\\n";
printf " float command_value;\\\n\\\n";
printf " int32_t command_value;\\\n\\\n";
List.iter parse_command_laws (Xml.children s);