Diff: DeviceCounters.c

Revision:

186:c7a9c309086c

Parent:

184:2bd8ec44998f

--- a/DeviceCounters.c	Sun Jul 10 05:35:08 2016 +0000
+++ b/DeviceCounters.c	Sun Jul 31 06:19:02 2016 +0000
@@ -83,7 +83,7 @@
   if (income < 0) device.counters.dither.state.amplitude -= income;
   
   //
-  //Process restored meander counters - low accuracy
+  //Process restored meander counters - low accuracy. TODO: use QEI reverse interrupt for correct counting in meander mode
   //
   //if (income > 0) a += income
   //if (income < 0) b += income
@@ -112,10 +112,13 @@
   //if (device.counters.state.displacement < 0) b += income
 }
 
-int16_t countersGetRateAngle(void) {
-  uint32_t angle = device.counters.meander.state.angle[0] + device.counters.meander.state.angle[1] >> 1;
+//
+//Compatibility functions section
+//
+int16_t var_Cnt_Dif(void) {
+  int32_t angle = device.counters.meander.state.angle[0] + device.counters.meander.state.angle[1] >> 1;
   device.counters.meander.state.angle[0] = 0;
-  //device.counters.meander.state.angle[1] -= device.counters.meander.state.angle[1] >> 1;//?
+  device.counters.meander.state.angle[1] -= device.counters.meander.state.angle[1] >> 1;//?
   
   if (angle > 32767) {
     device.counters.meander.state.angle[0] = angle - 32767;
@@ -146,8 +149,6 @@
   return (int16_t)res;
 }
 
-//
-//Compatibility functions section
 int16_t var_Device_Mode(void) {
   if (device.counters.latch.state.enabled) {
     //External latch mode