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| Rev 1612 | Rev 1775 | ||
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| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 51 | #include <avr/io.h> |
51 | #include <avr/io.h> |
| 52 | #include <stdlib.h> |
52 | #include <stdlib.h> |
| 53 | #include <inttypes.h> |
53 | #include <inttypes.h> |
| 54 | #include "timer0.h" |
54 | #include "timer0.h" |
| 55 | #include "rc.h" |
55 | // #include "rc.h" |
| - | 56 | #include "attitude.h" |
|
| 56 | #include "eeprom.h" |
57 | #include "eeprom.h" |
| 57 | #include "mk3mag.h" |
58 | #include "mk3mag.h" |
| Line 58... | Line 59... | ||
| 58 | 59 | ||
| 59 | uint8_t PWMTimeout = 12; |
60 | uint8_t PWMTimeout = 12; |
| Line 97... | Line 98... | ||
| 97 | PWMCount++; |
98 | PWMCount++; |
| 98 | // pwm overflow? |
99 | // pwm overflow? |
| 99 | if (PWMCount > 400) |
100 | if (PWMCount > 400) |
| 100 | { |
101 | { |
| 101 | if(PWMTimeout) PWMTimeout--; // decrement timeout |
102 | if(PWMTimeout) PWMTimeout--; // decrement timeout |
| 102 | CompassHeading = -1; // unknown heading |
103 | compassHeading = -1; // unknown heading |
| 103 | PWMCount = 0; // reset PWM Counter |
104 | PWMCount = 0; // reset PWM Counter |
| 104 | } |
105 | } |
| Line 105... | Line 106... | ||
| 105 | 106 | ||
| 106 | } |
107 | } |
| 107 | else // pwm is low |
108 | else // pwm is low |
| 108 | { // ignore pwm values values of 0 and higher than 37 ms; |
109 | { // ignore pwm values values of 0 and higher than 37 ms; |
| 109 | if((PWMCount) && (PWMCount < 362)) // 362 * 102.4us = 37.0688 ms |
110 | if((PWMCount) && (PWMCount < 362)) // 362 * 102.4us = 37.0688 ms |
| 110 | { |
111 | { |
| 111 | if(PWMCount <10) CompassHeading = 0; |
112 | if(PWMCount <10) compassHeading = 0; |
| 112 | else CompassHeading = ((uint32_t)(PWMCount - 10) * 1049L)/1024; // correct timebase and offset |
113 | else compassHeading = ((uint32_t)(PWMCount - 10) * 1049L)/1024; // correct timebase and offset |
| 113 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
114 | compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
| 114 | PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
115 | PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| 115 | // 12 * 362 counts * 102.4 us |
116 | // 12 * 362 counts * 102.4 us |
| 116 | } |
117 | } |
| 117 | PWMCount = 0; // reset pwm counter |
118 | PWMCount = 0; // reset pwm counter |