| 80,7 → 80,7 |
|---|
| void MK3MAG_periodicTask(void) {// called every 102.4 us by timer 0 ISR |
| static uint16_t PWMCount = 0; |
| static uint16_t beepDelay = 0; |
| static uint16_t debugCounter = 0; |
| // static uint16_t debugCounter = 0; |
| // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
| // in other words 100us/° with a +1ms offset. |
| // The signal goes low for 65ms between pulses, |
| 87,10 → 87,10 |
|---|
| // so the cycle time is 65mS + the pulse width. |
| // pwm is high |
| |
| if (debugCounter++ == 5000) { |
| // DebugOut.Digital[0] ^= DEBUG_MK3MAG; |
| debugCounter = 0; |
| } |
| // if (debugCounter++ == 5000) { |
| // DebugOut.Digital[0] ^= DEBUG_MK3MAG; |
| // debugCounter = 0; |
| // } |
| |
| if (PINC & (1 << PINC4)) { |
| // If PWM signal is high increment PWM high counter |
| 101,7 → 101,7 |
|---|
| if (PWMCount > 400) { |
| if (PWMTimeout) |
| PWMTimeout--; // decrement timeout |
| compassHeading = -1; // unknown heading |
| magneticHeading = -1; // unknown heading |
| PWMCount = 0; // reset PWM Counter |
| } |
| } else { // pwm is low |
| 108,9 → 108,9 |
|---|
| // 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; |
| magneticHeading = 0; |
| else { |
| compassHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
| magneticHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
| //DebugOut.Digital[1] ^= DEBUG_MK3MAG; // correct signal recd. |
| } |
| /* |
| 126,10 → 126,11 |
|---|
| } |
| PWMCount = 0; // reset pwm counter |
| } |
| |
| if (!PWMTimeout) { |
| if (checkDelay(beepDelay)) { |
| if (!beepTime) |
| beepTime = 100; // make noise with 10Hz to signal the compass problem |
| beep(100); // make noise with 10Hz to signal the compass problem |
| beepDelay = setDelay(100); |
| } |
| } |