Rev 1969 | Rev 2041 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1969 | Rev 2039 | ||
|---|---|---|---|
| Line 63... | Line 63... | ||
| 63 | ToMk3Mag_t toMk3Mag; |
63 | ToMk3Mag_t toMk3Mag; |
| Line 64... | Line 64... | ||
| 64 | 64 | ||
| 65 | /*********************************************/ |
65 | /*********************************************/ |
| 66 | /* Initialize Interface to MK3MAG Compass */ |
66 | /* Initialize Interface to MK3MAG Compass */ |
| 67 | /*********************************************/ |
67 | /*********************************************/ |
| 68 | void MK3MAG_Init(void) { |
68 | void MK3MAG_init(void) { |
| 69 | // Port PC4 connected to PWM output from compass module |
69 | // Port PC4 connected to PWM output from compass module |
| 70 | DDRC &= ~(1 << DDC4); // set as input |
70 | DDRC &= ~(1 << DDC4); // set as input |
| 71 | PORTC |= (1 << PORTC4); // pull up to increase PWM counter also if nothing is connected |
- | |
| 72 | 71 | PORTC |= (1 << PORTC4); // pull up to increase PWM counter also if nothing is connected |
|
| 73 | PWMTimeout = 0; |
- | |
| 74 | 72 | PWMTimeout = 0; |
|
| 75 | toMk3Mag.CalState = 0; |
73 | toMk3Mag.calState = 0; |
| 76 | toMk3Mag.Orientation = 1; |
74 | toMk3Mag.orientation = 1; |
| Line 77... | Line 75... | ||
| 77 | } |
75 | } |
| 78 | 76 | ||
| 79 | /*********************************************/ |
77 | /*********************************************/ |
| 80 | /* Get PWM from MK3MAG */ |
78 | /* Get PWM from MK3MAG */ |
| 81 | /*********************************************/ |
79 | /*********************************************/ |
| 82 | void MK3MAG_Update(void) {// called every 102.4 us by timer 0 ISR |
80 | void MK3MAG_periodicTask(void) {// called every 102.4 us by timer 0 ISR |
| 83 | static uint16_t PWMCount = 0; |
81 | static uint16_t PWMCount = 0; |
| 84 | static uint16_t beepDelay = 0; |
82 | static uint16_t beepDelay = 0; |
| 85 | static uint16_t debugCounter = 0; |
83 | static uint16_t debugCounter = 0; |