Changeset 776 for firmware/trunk/libraries/stepper/stepper.c

Timestamp:

08/01/08 18:18:52 (5 months ago)

Author:

liamstask

Message:

- fix for negative step positions, resolves #68

Files:

• firmware/trunk/libraries/stepper/stepper.c (modified) (2 diffs)

firmware/trunk/libraries/stepper/stepper.c

@@ -634 +634 @@
 void Stepper_IRQCallback( int id )
 {
+  if(id < 0 || id > 1)
+    return;
   StepperControl* s = Stepper->control[ id ]; 
 
@@ -876 +878 @@
 void Stepper_SetBipolarOutput( StepperControl *s, int position )
 {
-  int output = position % 4;
+  //int output = position % 4; // work around % bug - negative numbers not handled properly
+  int output = position & 0x3;
   int* iop = s->io;