| 87,9 → 87,13 |
|---|
| // in other words 100us/° with a +1ms offset. |
| // The signal goes low for 65ms between pulses, |
| // so the cycle time is 65mS + the pulse width. |
| |
| // pwm is high |
| |
| if (debugCounter++ == 5000) { |
| DebugOut.Digital[0] ^= DEBUG_MK3MAG; |
| debugCounter = 0; |
| } |
| |
| if (PINC & (1 << PINC4)) { |
| // If PWM signal is high increment PWM high counter |
| // This counter is incremented by a periode of 102.4us, |
| 103,26 → 107,34 |
|---|
| PWMCount = 0; // reset PWM Counter |
| } |
| } else { // pwm is low |
| // ignore pwm values values of 0 and higher than 37 ms; |
| // ignore pwm values values of 0 and higher than 37 ms; |
| if ((PWMCount) && (PWMCount < 362)) { // 362 * 102.4us = 37.0688 ms |
| if (PWMCount < 10) |
| compassHeading = 0; |
| else |
| else { |
| compassHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
| compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
| DebugOut.Digital[1] ^= DEBUG_MK3MAG; // correct signal recd. |
| } |
| /* |
| compassHeading - compassCourse on a -180..179 range. |
| compassHeading 20 compassCourse 30 --> ((540 - 10)%360) - 180 = -10 |
| compassHeading 30 compassCourse 20 --> ((540 + 10)%360) - 180 = 10 |
| compassHeading 350 compassCourse 10 --> ((540 + 340)%360) - 180 = -20 |
| compassHeading 10 compassCourse 350 --> ((540 - 340)%360) - 180 = 20 |
| */ |
| //compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
| PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| // 12 * 362 counts * 102.4 us |
| } |
| PWMCount = 0; // reset pwm counter |
| DebugOut.Digital[0] ^= DEBUG_MK3MAG; |
| DebugOut.Digital[1] &= ~DEBUG_MK3MAG; |
| } if (!PWMTimeout) { |
| } |
| if (!PWMTimeout) { |
| if (CheckDelay(BeepDelay)) { |
| if (!BeepTime) |
| BeepTime = 100; // make noise with 10Hz to signal the compass problem |
| BeepDelay = SetDelay(100); |
| DebugOut.Digital[1] |= DEBUG_MK3MAG; |
| } |
| } |
| } |
| |
| |