| 2,7 → 2,6 |
|---|
| #include <stdlib.h> |
| #include <inttypes.h> |
| #include "timer0.h" |
| #include "uart.h" |
| #include "fc.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| 41,6 → 40,7 |
|---|
| // so the cycle time is 65mS + the pulse width. |
| |
| // pwm is high |
| |
| if(PINC & (1<<PINC4)) |
| { // If PWM signal is high increment PWM high counter |
| // This counter is incremented by a periode of 102.4us, |
| 56,7 → 56,7 |
|---|
| |
| } |
| 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; |
| 65,15 → 65,8 |
|---|
| PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| // 12 * 362 counts * 102.4 us |
| } |
| else |
| { // bad pwm value (out of range or permanent low) |
| if(PWMTimeout) PWMTimeout--; // decrement timeout |
| CompassHeading = -1; // unknown heading |
| CompassOffCourse = 0; |
| } |
| PWMCount = 0; // reset pwm counter |
| } |
| |
| if(!PWMTimeout) |
| { |
| if(CheckDelay(BeepDelay)) |