Fix the majority of conversion warnings.

firmware/src/adc.c

@@ -25,7 +25,9 @@ uint8_t ma_adc0(void)
     for(uint8_t i = cbuf_adc0_SIZE; i; i--){
         sum += CBUF_Get(cbuf_adc0, i);
     }
-    avg_adc0 = sum >> cbuf_adc0_SIZE_2;
+    // Here it is matematically safe to expect sum to fit into uint8_t only because
+    // cbuf_adc0_SIZE and cbuf_adc0_SIZE_2 are coherently defined.
+    avg_adc0 = (uint8_t) (sum >> cbuf_adc0_SIZE_2);
     return avg_adc0;
 }
 
@@ -35,7 +37,9 @@ uint8_t ma_adc0(void)
 void adc_select_channel(adc_channels_t __ch)
 {
     ADC_CHANNEL = __ch;
-    ADMUX = (ADMUX & 0xF8) | ADC_CHANNEL; // clears the bottom 3 bits before ORing
+    #pragma GCC diagnostic ignored "-Wconversion"
+        ADMUX =(ADMUX & 0xF8) | ADC_CHANNEL; // clears the bottom 3 bits before ORing
+    #pragma GCC diagnostic pop
 }
 
 /**

firmware/src/can_app.c

@@ -71,8 +71,7 @@ inline void can_app_send_motor(void)
     msg.flags.rtr = 0;
 
     msg.data[CAN_MSG_GENERIC_STATE_SIGNATURE_BYTE]  = CAN_SIGNATURE_SELF;
-    msg.data[CAN_MSG_MAM19_MOTOR_D_BYTE]            = control.D;
-    msg.data[CAN_MSG_MAM19_MOTOR_I_BYTE]            = control.I;    
+    msg.data[CAN_MSG_MAM19_MOTOR_D_BYTE]            = (uint8_t) control.D >> 8;
 
     can_send_message(&msg); 
 }

firmware/src/conf.h

@@ -33,22 +33,22 @@
 
 
 // PWM DEFINITIONS
-#define INITIAL_D                   0   //!< float value from 0 to 1
-#define PWM_D_DELTA                 1   //!< amount to increase (may interfer on threshholds)
-#define PWM_D_MAX_DELTA             1   //!< clock divisor
-#define PWM_D_MIN                   0   //!< minimum D
-#define PWM_D_MAX                   640 //!< maximum D
-#define PWM_D_MIN_THRESHHOLD        6   //!< minimum D threshhold
-#define PWM_D_MAX_THRESHHOLD        634 //!< maximum D threshhold
-#define PWM_D_LIN_MULT              5   //!< this is A for D = (D*A) >> B
-#define PWM_D_LIN_DIV               1   //!< this is B for D = (D*A) >> B
-
-// tempo em que o potenciometro deve ficar zerado para que seja permitido ligar 
-#define MIN_ZERO_WIDTH_TIMES        10     
+#define INITIAL_D                   (uint8_t)0      //!< float value from 0 to 1
+#define PWM_D_DELTA                 (uint8_t)1      //!< amount to increase (may interfer on threshholds)
+#define PWM_D_MAX_DELTA             (uint8_t)1      //!< clock divisor
+#define PWM_D_MIN                   (uint16_t)0     //!< minimum D
+#define PWM_D_MAX                   (uint16_t)640   //!< maximum D
+#define PWM_D_MIN_THRESHHOLD        (uint16_t)6     //!< minimum D threshhold
+#define PWM_D_MAX_THRESHHOLD        (uint16_t)634   //!< maximum D threshhold
+#define PWM_D_LIN_MULT              (uint8_t)5      //!< this is A for D = (D*A) >> B
+#define PWM_D_LIN_DIV               (uint8_t)1      //!< this is B for D = (D*A) >> B
+
+// tempo em que o potenciometro deve ficar zerado para que seja permitido ligar
+#define MIN_ZERO_WIDTH_TIMES        (uint8_t)10
 // number of checks before reset the pwm fault counter.
-#define CHECKS_BEFORE_RESET_FAULT_COUNTER 100
+#define CHECKS_BEFORE_RESET_FAULT_COUNTER (uint8_t)100
 // maximum of consecutive faults before state an error
-#define FAULT_COUNT_LIMIT           50
+#define FAULT_COUNT_LIMIT           (uint8_t)50
 
 
 // INPUT PINS DEFINITIONS

firmware/src/machine.c

@@ -41,7 +41,7 @@ void machine_init(void)
 */
 inline void check_idle_zero_pot(void)
 {
-    system_flags.pot_zero_width = pwm_zero_width(control.D_raw_target);
+    system_flags.pot_zero_width = pwm_zero_width(control.D_raw_target)? 1 : 0;
 }
 
 
@@ -308,9 +308,9 @@ void set_initial_state(void)
     system_flags.all__ = 0;
     error_flags.all = 0;
 
-    control.D_raw = control.D_raw_target = control. D = 0;
+    control. D = control.D_raw = control.D_raw_target = 0;
 
-    control.I_raw = control.I_raw_target = control.I = 0;
+    control.I = control.I_raw = control.I_raw_target = 0;
     control.V = control.R = control.T = control.fault = 0;
 }
 

firmware/src/pwm.c

@@ -39,8 +39,8 @@ void pwm_init(void)
 inline void pwm_reset(void)
 {
     set_pwm_off();
-    control.D_raw = control.D_raw_target = control.D = 0;
-    control.I_raw = control.I_raw_target = control.I = 0;
+    control.D = control.D_raw = control.D_raw_target = 0;
+    control.I = control.I_raw = control.I_raw_target = 0;
     VERBOSE_MSG_PWM(usart_send_string("PWM turned off!\n"));
 }
 
@@ -75,7 +75,7 @@ inline void pwm_compute(void)
     }
 
     // converts to OCR1A range.
-    control.D = (control.D_raw*PWM_D_LIN_MULT) >> PWM_D_LIN_DIV;
+    control.D = (((uint16_t)control.D_raw)*PWM_D_LIN_MULT) >> PWM_D_LIN_DIV;
 
     // apply some threshhold saturation limits
     if(control.D > PWM_D_MAX_THRESHHOLD)        control.D = PWM_D_MAX;

firmware/src/sleep.h

@@ -17,7 +17,9 @@ void sleep_init(void);
 
 void sleep_init(void)
 {
-	set_sleep_mode(SLEEP_MODE_IDLE);
+	#pragma GCC diagnostic ignored "-Wconversion"
+		set_sleep_mode(SLEEP_MODE_IDLE);
+	#pragma GCC diagnostic pop
 }
 
 #endif /* ifndef SLEEP_H */

firmware/src/usart.c

@@ -45,7 +45,9 @@ inline void usart_send_uint16(uint16_t num)
     char str[LEN] = {FILL};         // ascii zero filled array
     str[i] = '\0';                  // adds string null terminator
     while(i--){
-        str[i] = FILL + (num % BASE);// gets each algarism}
+        #pragma GCC diagnostic ignored "-Wconversion"
+            str[i] = FILL + (num % BASE);// gets each algarism}
+        #pragma GCC diagnostic pop
         num /= BASE;                // prepare the next
     }
     usart_send_string(str);       // sends the string
@@ -83,6 +85,8 @@ inline void usart_init(uint16_t ubrr, uint8_t rx, uint8_t tx)
     UBRR0L = (uint8_t)ubrr;
 
     // Enable RX and TX
-    UCSR0B = ((rx&1)<<RXEN0) | ((tx&1)<<TXEN0);
+    #pragma GCC diagnostic ignored "-Wconversion"
+        UCSR0B = ((rx&1)<<RXEN0) | ((tx&1)<<TXEN0);
+    #pragma GCC diagnostic pop
 }