| 1,6 → 1,8 |
|---|
| #include <avr/io.h> |
| #include <stdlib.h> |
| #include "fc.h" |
| #include "timer0.h" |
| #include "uart.h" |
| |
| int32_t PWMHeading = -1; |
| uint8_t PWMTimeout = 0; |
| 37,6 → 39,13 |
|---|
| // This counter is incremented by a periode of 102.4us, |
| // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
| PWMCount++; |
| // pwm overflow? |
| if (PWMCount > 400) |
| { |
| if(PWMTimeout ) PWMTimeout--; // decrement timeout |
| PWMCount = 0; // reset PWM Counter |
| } |
| |
| } |
| else // PWM is low |
| { |
| 52,14 → 61,6 |
|---|
| } |
| PWMCount = 0; // reset pwm counter |
| } |
| // overflow without a low edge (nothing connected to PC4) |
| if (PWMCount > 400) |
| { |
| if(PWMTimeout ) PWMTimeout--; |
| PWMCount = 0; |
| } |
| |
| |
| } |
| |
| |
| 69,6 → 70,9 |
|---|
| int16_t CMPS03_Heading(void) |
| { |
| int16_t heading, w, v; |
| |
| DebugOut.Analog[11] = PWMTimeout; |
| |
| if(PWMTimeout) |
| { |
| w = abs(IntegralPitch / 512); |
| 82,14 → 86,14 |
|---|
| if (heading < 0) heading += 360; |
| heading = heading%360; |
| } |
| else // no date available from compass |
| else // compass to much tilted |
| { |
| if(!BeepTime) BeepTime = 100; // make noise to signal the compass problem |
| heading = -1; |
| } |
| } |
| else // no data from compass |
| { |
| if(!BeepTime) BeepTime = 100; // make noise to signal the compass problem |
| heading = -1; |
| } |
| return heading; |