Diff: function_utilities/function_utilities.cpp

Revision:

12:6f2531038ea4

Parent:

11:82d8768d7351

Child:

13:747daba9cf59

--- a/function_utilities/function_utilities.cpp	Fri Aug 23 12:28:08 2019 +0000
+++ b/function_utilities/function_utilities.cpp	Tue Aug 27 05:32:44 2019 +0000
@@ -377,7 +377,7 @@
     }
     for(i=0; i<100; i++)
     {
-        JOINT_VEL[i] = (long) ( (spi_eeprom_read(RID_VALVE_POS_VS_FLOWRATE_0 + i) & 0xFFFF) | ((spi_eeprom_read(RID_VALVE_POS_VS_FLOWRATE_0_1 + i) & 0xFFFF) << 16));
+        JOINT_VEL[i] = (int32_t) ( (spi_eeprom_read(RID_VALVE_POS_VS_FLOWRATE_0 + i) & 0xFFFF) | ((spi_eeprom_read(RID_VALVE_POS_VS_FLOWRATE_0_1 + i) & 0xFFFF) << 16));
     }
     
     VALVE_MAX_POS = (int) spi_eeprom_read(RID_VALVE_MAX_POS);
@@ -420,13 +420,13 @@
         //MOT_E_STOP(0);
     }
 
-    ENC_VEL_RAW = (long) (ENC_pos_diff * TMR_FREQ_5k);
+    ENC_VEL_RAW = (int32_t) (ENC_pos_diff * TMR_FREQ_5k);
 
     KF_Y_11 = ENC_pos_cur;
     KF_Y_21 = ENC_VEL_RAW;
     KF_X_11 = KF_G1_11 * KF_X_11 + KF_G1_12 * KF_X_21 + KF_G2_11 * KF_Y_11 + KF_G2_12*KF_Y_21;
     KF_X_21 = KF_G1_21 * KF_X_11 + KF_G1_22 * KF_X_21 + KF_G2_21 * KF_Y_11 + KF_G2_22*KF_Y_21;
-    ENC_VEL_KF = (long) KF_X_21;
+    ENC_VEL_KF = (int32_t) KF_X_21;
 
     CUR_POSITION = (DIR_JOINT_ENC) * ENC_pos_cur + enc_offset;
     //    CUR_POSITION = (DIR_JOINT_ENC) * ENC_pos_cur;
@@ -446,7 +446,7 @@
 
 }
 
-void ENC_SET(long value) {
+void ENC_SET(int32_t value) {
 
     spi_enc_set_clear();
     enc_offset = value;