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/*********************************************/
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/*********************************************/
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/*  Get PWM from MK3MAG                      */
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/*  Get PWM from MK3MAG                      */
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/*********************************************/
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/*********************************************/
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void MK3MAG_Update(void) {// called every 102.4 us by timer 0 ISR
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void MK3MAG_Update(void) {// called every 102.4 us by timer 0 ISR
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        static uint16_t PWMCount = 0;
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        static uint16_t PWMCount = 0;
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        static uint16_t BeepDelay = 0;
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        static uint16_t beepDelay = 0;
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        static uint16_t debugCounter = 0;
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        static uint16_t debugCounter = 0;
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        // The pulse width varies from 1ms (0°) to 36.99ms (359.9°)
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        // The pulse width varies from 1ms (0°) to 36.99ms (359.9°)
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        // in other words 100us/° with a +1ms offset.
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        // in other words 100us/° with a +1ms offset.
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        // The signal goes low for 65ms between pulses,
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        // The signal goes low for 65ms between pulses,
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        // so the cycle time is 65mS + the pulse width.
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        // so the cycle time is 65mS + the pulse width.
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                        // 12 * 362 counts * 102.4 us
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                        // 12 * 362 counts * 102.4 us
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                }
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                }
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                PWMCount = 0; // reset pwm counter
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                PWMCount = 0; // reset pwm counter
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        }
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        }
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        if (!PWMTimeout) {
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        if (!PWMTimeout) {
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                if (CheckDelay(BeepDelay)) {
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                if (checkDelay(beepDelay)) {
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                        if (!BeepTime)
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                        if (!beepTime)
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                                BeepTime = 100; // make noise with 10Hz to signal the compass problem
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                                beepTime = 100; // make noise with 10Hz to signal the compass problem
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                        BeepDelay = SetDelay(100);
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                        beepDelay = setDelay(100);
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                }
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                }
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        }
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        }
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}
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}