#ifndef _CHECKDEATH_
#define _CHECKDEATH_
#include "HardwareInfo.c"
#include <GetCompassB.h>
#include <GetSysTime.h>

int checkDeath(unsigned int degree)
{
    // extern global var
    extern unsigned int beginDeathHeading;   //全局變量，其存儲上一循環時的角度，也就是剛卡死時的角度
    extern unsigned long beginDeathTime;   //其存儲上一循環時的時間，也就是剛卡死時的時間

    unsigned int b = 0;   //指南針的返回值。
    unsigned long t = 0;   //系統時間
    b = GetCompassB(_COMPASS_jd_);
    t = GetSysTime();
    if ( ((beginDeathHeading>b)&&((beginDeathHeading-b)<degree))||((beginDeathHeading<b)&&((b-beginDeathHeading)<degree)) )
    {
        if ( (t-beginDeathTime)>250 )
        {
            return 1;
        }
        else
        {
            return 0;
        }
    }
    else
    {
         beginDeathHeading = b;
        beginDeathTime = t;
        return 0;
    }
}
#endif