Rev 785 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 785 | Rev 790 | ||
|---|---|---|---|
| Line 50... | Line 50... | ||
| 50 | else // PWM is low |
50 | else // PWM is low |
| 51 | { |
51 | { |
| 52 | if((PWMCount) && (PWMCount < 400)) |
52 | if((PWMCount) && (PWMCount < 400)) |
| 53 | { |
53 | { |
| 54 | if(PWMCount <9) PWMHeading = 0; |
54 | if(PWMCount <9) PWMHeading = 0; |
| 55 | else PWMHeading = ((uint32_t)(PWMCount - 9) * 1049L) >> 10; // correct timebase and offset |
55 | else PWMHeading = ((uint32_t)(PWMCount - 9) * 1049L)/1024; // correct timebase and offset |
| 56 | PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
56 | PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| 57 | // 12 * 400 counts * 102.4 us = 419 ms |
57 | // 12 * 400 counts * 102.4 us = 419 ms |
| 58 | } |
58 | } |
| 59 | PWMCount = 0; // reset pwm counter |
59 | PWMCount = 0; // reset pwm counter |
| 60 | } |
60 | } |
| Line 66... | Line 66... | ||
| 66 | /*********************************************/ |
66 | /*********************************************/ |
| 67 | int16_t CMPS03_Heading(void) |
67 | int16_t CMPS03_Heading(void) |
| 68 | { |
68 | { |
| 69 | int16_t heading, w, v; |
69 | int16_t heading, w, v; |
| Line 70... | Line -... | ||
| 70 | - | ||
| 71 | DebugOut.Analog[11] = PWMTimeout; |
- | |
| 72 | 70 | ||
| 73 | if(PWMTimeout) |
71 | if(PWMTimeout) |
| 74 | { |
72 | { |
| 75 | w = abs(IntegralPitch / 512); |
73 | w = abs(IntegralPitch / 512); |
| 76 | v = abs(IntegralRoll / 512); |
74 | v = abs(IntegralRoll / 512); |