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Some fixes for IE7.
[bertos.git]
/
bertos
/
drv
/
dc_motor.h
diff --git
a/bertos/drv/dc_motor.h
b/bertos/drv/dc_motor.h
index 949420759747d5674dfbae782c5fe3f9639a7d36..f6fc6c57afa114ba9f354a26d93c28c1c10ed27e 100644
(file)
--- a/
bertos/drv/dc_motor.h
+++ b/
bertos/drv/dc_motor.h
@@
-46,6
+46,7
@@
#include "hw/hw_dc_motor.h"
#include "cfg/cfg_dc_motor.h"
#include "hw/hw_dc_motor.h"
#include "cfg/cfg_dc_motor.h"
+#include "cfg/cfg_pwm.h"
#include <cfg/macros.h>
#include <algo/pid_control.h>
#include <cfg/macros.h>
#include <algo/pid_control.h>
@@
-70,7
+71,7
@@
typedef struct DCMotorConfig
PidCfg pid_cfg; ///< Pid control.
bool pid_enable; ///< Flag to disable or enable pid control.
PidCfg pid_cfg; ///< Pid control.
bool pid_enable; ///< Flag to disable or enable pid control.
-
PwmDev pwm_dev;
///< Pwm channel.
+
unsigned pwm_dev;
///< Pwm channel.
pwm_freq_t freq; ///< Pwm waveform frequency.
adc_ch_t adc_ch; ///< ADC channel.
pwm_freq_t freq; ///< Pwm waveform frequency.
adc_ch_t adc_ch; ///< ADC channel.
@@
-92,14
+93,18
@@
typedef struct DCMotorConfig
*/
typedef struct DCMotor
{
*/
typedef struct DCMotor
{
- const DCMotorConfig *cfg; //
/<
All configuration for select DC motor.
- PidContext pid_ctx; //
/<
Pid control.
+ const DCMotorConfig *cfg; // All configuration for select DC motor.
+ PidContext pid_ctx; // Pid control.
- int index; ///< DC motor id.
- uint32_t status; ///< Status of select DC motor
- dc_speed_t tgt_speed; ///< Target speed for select DC motor
+#if !CFG_PWM_ENABLE_OLD_API
+ Pwm pwm; // Pwm context
+#endif
- ticks_t expire_time; ///< Amount of time that dc motor run
+ int index; // DC motor id.
+ uint32_t status; // Status of select DC motor
+ dc_speed_t tgt_speed; // Target speed for select DC motor
+
+ ticks_t expire_time; // Amount of time that dc motor run
} DCMotor;
} DCMotor;