PXMCC - use symbolic constants for PXMCC axis modes.

Signed-off-by: Pavel Pisa <ppisa@pikron.com>

diff --git a/hw/lx-rocon_firmware/firmware.c b/hw/lx-rocon_firmware/firmware.c
index 2e1822dc99afe3a84636190e1e7ef2a4023255fc..86a6076742cc22fe5355b082df01a6e266f3006f 100644 (file)
--- a/hw/lx-rocon_firmware/firmware.c
+++ b/hw/lx-rocon_firmware/firmware.c
@@ -2,7 +2,7 @@
   Components for embedded applications builded for
   laboratory and medical instruments firmware
 
-  firmware.c - multi axis motion controller comprocesor
+  firmware.c - multi axis motion controller coprocessor
                firmware for FPGA tumble CPU of lx-rocon system
 
   (C) 2001-2014 by Pavel Pisa pisa@cmp.felk.cvut.cz
@@ -91,7 +91,7 @@ void main(void)
   pxmcc = pxmcc_data.axis;
   do {
     pxmcc->ccflg  = 0;
-    pxmcc->mode   = 1;
+    pxmcc->mode   = PXMCC_MODE_IDLE;
     pxmcc->ptirc  = 1000;
     pxmcc->ptreci = 4294967; /* (1LL<<32)*ptper/ptirc */
     pxmcc->pwm_dq = 0;
@@ -162,7 +162,7 @@ void main(void)
         pwm_alp = pwm_d * pxmcc->ptcos - pwm_q * pxmcc->ptsin;
         pwm_bet = pwm_d * pxmcc->ptsin + pwm_q * pxmcc->ptcos;
 
-        if (!pxmcc->mode) {
+        if (pxmcc->mode == PXMCC_MODE_MODE_BLDC) {
           pwm_bet_div_2_k3 = RECI16_2_K3 * (pwm_bet >> 16);
 
          #ifndef SUPPRESS_CONDITIONALS
@@ -303,7 +303,7 @@ void main(void)
           *uptr = pwm4 | 0x4000;
         }
       } else {
-        if (!pxmcc->mode) {
+        if (pxmcc->mode == PXMCC_MODE_MODE_BLDC) {
           pwmtx_info = pxmcc->pwmtx_info;
           uptr = FPGA_LX_MASTER_TX + ((pwmtx_info >>  0) & 0xff);
           pxmcc->pwm_prew[1] = *uptr & 0x3fff;
@@ -392,7 +392,7 @@ void main(void)
      #endif /*COMPUTE_PHASE_SECTOR*/
 
       out_info = pxmcc->out_info;
-      if (!pxmcc->mode) {
+      if (pxmcc->mode == PXMCC_MODE_MODE_BLDC) {
 
         pwm1 = pxmcc->pwm_prew[0];
         pwm2 = pxmcc->pwm_prew[1];