( CMPS03 Robot Compass Module
( 1 +5
( 2 SCL I2C
( 3 SDA I2C
( 4 PWM out
( 5 
( 6 Calibrate
( 7 50/60HZ
( 8 
( 9 GND

( The PWM signal is a pulse width modulated signal with a positive width of
( pulse representing the angel 1ms equals 0 deg, 36.99ms equals 359.9 deg

( TMRA 0D00
( TMRB 0D20
( TMRC 0D40
( TMRD 0D60

( Count rising edges of primary source while secondary input high active
(       011 ( COUNT MODE
(          1101 ( PRIMARY COUNT SOURCE IP/32
(              00 ( SECONDARY COUNT Counter # 0 input
(                0 ( COUNT ONCE - 0 FOR REPEATEDLY
(                 0 ( COUNT LENGTH - 0 FOR ROLL OVER
(                  0 ( DIR COUNT - 0 FOR UP
(                   0 ( COINIT NO FORCE BY OTHER CHANNELS
(                    000 ( OUPUT MODE, Active while counter is active

(       011 1101 00 0 0 0 0 000
(       0111 1010 0000 0000
(       7A00

( STATUS 00 TCF, TCFIE
(          00 TOF, TOFIE
(            00 IEF, IEFIE
(              0 IPS
(               0 INPUT
(                10 CAPTURE REGISTER OPERATION CAP ON FALLING EDGE
(                  0 MASTER
(                   0 EEOF
(                    0 VAL
(                     0 FORCE
(                      0 OPS
(                       0 OEN
(        0080
( BASE + F


( CMP1   VALUE
( BASE + 0

( CMP2   VALUE
( BASE + 1


COLD

HEX

: PLS
  D07 @ 0100 AND 0=
  IF
    7A00  D06 ! ( CTRL REG. TMRC0 CNT RISING IP/16 2ND PIN#0 
    0080 D07 ! ( SCR REG. TMRC0 CAP MODE RISING EDGE
    0 D05 ! ( ZERO TMRA0 CNTR REG.
    0 D40 ! ( ZERO TMRA0 CMP1 REG.
(   0 D01 ! ( ZERO TMRA0 CMP2 REG.
  THEN
(    BEGIN D07 @ 0< UNTIL ( SPIN UNTIL CMP HAPPENS ILLEGAL PCC
;

EVERY C350 CYCLES SCHEDULE-RUNS PLS

( : BEARING D02 @ DUP U. 4E2 - 0 7D UM/MOD SWAP DROP . ." deg. " ;
( : BEARING D02 @ DUP U. 4D4 - 0 7C UM/MOD SWAP DROP . ." deg. " ;
: BEARING D02 @ DUP U. 470 - 0 7C UM/MOD SWAP DROP . ." deg. " ;

: Z DECIMAL BEGIN D EMIT BEARING ?TERMINAL UNTIL ;