X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=bertos%2Fdrv%2Fstepper.c;h=a7320794c40ff53f09a336d2e70a54f66f63e1cd;hb=e8b0472be10fba4ca6baa62d8d483db90e28c06e;hp=57ac7fc4057a5b010ca9d25e38f147790bcef230;hpb=57b276690a570cd37b2f2448249e1558cafbd369;p=bertos.git

diff --git a/bertos/drv/stepper.c b/bertos/drv/stepper.c
index 57ac7fc4..a7320794 100644
--- a/bertos/drv/stepper.c
+++ b/bertos/drv/stepper.c
@@ -1,17 +1,39 @@
 /**
  * \file
  * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction.  Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License.  This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
  * Copyright 2004, 2008 Develer S.r.l. (http://www.develer.com/)
- * All Rights Reserved.
  * -->
  *
  * \brief Driver to control stepper motor
  *
- * \version $Id$
- *
  * \author Francesco Michelini <francesco.michelini@seacfi.com>
  * \author Giovanni Bajo <rasky@develer.com>
- * \author Bernardo Innocenti <bernie@develer.com>
+ * \author Bernie Innocenti <bernie@codewiz.org>
  * \author Simone Zinanni <s.zinanni@develer.com>
  * \author Daniele Basile <asterix@develer.com>
  */
@@ -25,8 +47,8 @@
 #include <cfg/debug.h>
 
 // Define logging setting (for cfg/log.h module).
-#define LOG_LEVEL         STEPPER_LOG_LEVEL
-#define LOG_VERBOSITY     STEPPER_LOG_VERBOSITY
+#define LOG_LEVEL   STEPPER_LOG_LEVEL
+#define LOG_FORMAT  STEPPER_LOG_FORMAT
 #include <cfg/log.h>
 
 #include <kern/proc.h>
@@ -313,7 +335,7 @@ static enum StepperState FAST_FUNC FSM_run(struct Stepper *motor)
 		//motor->rampValue = 0;
 		//motor->rampClock = motor->rampValue = motor->ramp->clocksMaxWL;
 
-	else if (distance <= motor->rampStep)
+	else if (distance <= (uint16_t)motor->rampStep)
 		stepper_decel(motor);
 
 	// check whether the velocity must be changed