code:ground_control
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| Both sides previous revision Previous revision Next revision | Previous revision | ||
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code:ground_control [2008/11/13 00:40] laurenceb |
code:ground_control [2008/11/13 09:50] (current) laurenceb |
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| Line 13: | Line 13: | ||
| void run_ground_control(); | void run_ground_control(); | ||
| </code> | </code> | ||
| + | |||
| ====Main code=== | ====Main code=== | ||
| Line 20: | Line 21: | ||
| #include "main.h" | #include "main.h" | ||
| extern volatile u08 counter; //globals | extern volatile u08 counter; //globals | ||
| - | extern volatile s16 diff; | + | extern volatile u16 diff; |
| Line 36: | Line 37: | ||
| if(!(counter&0x80)) //the lock bit isn't set, so we are free to run | if(!(counter&0x80)) //the lock bit isn't set, so we are free to run | ||
| { | { | ||
| - | diff=(s16)(ICR1>>1)-(s16)(start>>1); //set the global volatile s16 diff | + | diff=ICR1; //set the global volatile s16 diff |
| - | if(start>ICR1) //our pwm pulse spans a timer overflow | + | if(start>diff) //our pwm pulse spans a timer overflow |
| { | { | ||
| - | diff+=(s16)(TOP_COUNT>>1); | + | diff+=TOP_COUNT; |
| } | } | ||
| + | diff-=start; | ||
| if(diff>PULSE_MIN && diff<PULSE_MAX) //test against criterion | if(diff>PULSE_MIN && diff<PULSE_MAX) //test against criterion | ||
| { | { | ||
| Line 61: | Line 63: | ||
| { | { | ||
| counter|=0x80; //lock the diff variable using the counter flag bit | counter|=0x80; //lock the diff variable using the counter flag bit | ||
| - | OCR1B=((u16)diff)<<1; | + | OCR1B=diff; |
| counter&=~0x80; | counter&=~0x80; | ||
| GROUND_LED_ON; | GROUND_LED_ON; | ||
code/ground_control.1226536805.txt.gz · Last modified: 2008/11/13 00:40 by laurenceb
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