Differences

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--- code:ground_control [2008/11/13 00:40] – laurenceb
+++ code:ground_control [2008/11/13 09:50] (current) – laurenceb
@@ Line 13: / Line 13: @@
 void run_ground_control();
 </code>
 ====Main code===
@@ Line 20: / Line 21: @@
 #include "main.h"
 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
 		{
-			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
 			{
@@ Line 61: / Line 63: @@
 	{
 		counter|=0x80;								//lock the diff variable using the counter flag bit
-		OCR1B=((u16)diff)<<1;
+		OCR1B=diff;
 		counter&=~0x80;
 		GROUND_LED_ON;