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975 ligi 1
#include "main.h"
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volatile unsigned int CountMilliseconds = 0;
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volatile static unsigned int tim_main;
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volatile unsigned char UpdateMotor = 0;
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volatile unsigned int cntKompass = 0;
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volatile unsigned int beeptime = 0;
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volatile unsigned char SendSPI = 0;
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volatile unsigned int ServoState = 40;
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unsigned int BeepMuster = 0xffff;
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unsigned int ServoValue = 0;
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enum {
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  STOP             = 0,
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  CK               = 1,
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  CK8              = 2,
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  CK64             = 3,
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  CK256            = 4,
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  CK1024           = 5,
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  T0_FALLING_EDGE  = 6,
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  T0_RISING_EDGE   = 7
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};
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SIGNAL (SIG_OVERFLOW0)    // 8kHz
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{
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    static unsigned char cnt_1ms = 1,cnt = 0;
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    unsigned char pieper_ein = 0;
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//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
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   if(SendSPI) SendSPI--;
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   if(!cnt--)
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    {
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     cnt = 9;
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     cnt_1ms++;
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     cnt_1ms %= 2;
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     if(!cnt_1ms) UpdateMotor = 1;
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     CountMilliseconds++;
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    }  
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     if(beeptime > 1)
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        {
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        beeptime--;      
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        if(beeptime & BeepMuster)
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         {
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          pieper_ein = 1;
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         }
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         else pieper_ein = 0;
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        }
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     else
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      {
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       pieper_ein = 0;
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       BeepMuster = 0xffff;
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      }
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     if(pieper_ein)
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        {
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          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
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          else                      PORTC |= (1<<7); // Speaker an PORTC.7
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        }
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     else  
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        {
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         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
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         else                      PORTC &= ~(1<<7);
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        }
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 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
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 {
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  if(PINC & 0x10)
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   {
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    cntKompass++;
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   }
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  else
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   {
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    if((cntKompass) && (cntKompass < 362))
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    {
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     cntKompass += cntKompass / 41;
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     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
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    }
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//     if(cntKompass < 10) cntKompass = 10;
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//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
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     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
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    cntKompass = 0;
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   }
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 }
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}
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//----------------------------
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void Timer_Init(void)
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{
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    tim_main = SetDelay(10);
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    TCCR0B = CK8;
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    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
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    OCR0A =  0;
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    OCR0B = 120;
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    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
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    //OCR1  = 0x00;
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    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
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//    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);    // clk/256
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    TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22);      // clk/64
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  TIMSK2 |= _BV(OCIE2A);
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    TIMSK0 |= _BV(TOIE0);
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    OCR2A = 10;
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    TCNT2 = 0;
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}
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// -----------------------------------------------------------------------
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unsigned int SetDelay (unsigned int t)
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{
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//  TIMSK0 &= ~_BV(TOIE0);
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  return(CountMilliseconds + t + 1);                                            
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//  TIMSK0 |= _BV(TOIE0);
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}
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// -----------------------------------------------------------------------
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char CheckDelay(unsigned int t)
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{
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//  TIMSK0 &= ~_BV(TOIE0);
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  return(((t - CountMilliseconds) & 0x8000) >> 9);
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//  TIMSK0 |= _BV(TOIE0);
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}
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// -----------------------------------------------------------------------
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void Delay_ms(unsigned int w)
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{
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 unsigned int akt;
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 akt = SetDelay(w);
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 while (!CheckDelay(akt));
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}
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void Delay_ms_Mess(unsigned int w)
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{
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 unsigned int akt;
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 akt = SetDelay(w);
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 while (!CheckDelay(akt)) ANALOG_ON;
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}
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
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//  Servo ansteuern
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                
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SIGNAL(SIG_OVERFLOW2)
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{
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  if (ServoState > 0) PORTD |= 0x80;
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  else PORTD &= ~0x80;
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  TCCR2A =3;
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  TIMSK2 &= ~_BV(TOIE2);
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}
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SIGNAL(SIG_OUTPUT_COMPARE2A)
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{
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  static unsigned char postPulse = 0x80;
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  static int filterServo = 100;
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  #define MULTIPLIER 4
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  if(ServoState == 4)  
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    {
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     ServoValue = 0x0030;  // Offset Part1
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     filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4;
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         ServoValue += filterServo;
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     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER);
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     else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER);
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     if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3;
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     else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3;
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         DebugOut.Analog[20] = ServoValue;
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         if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60;
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         OCR2A = 255-(ServoValue % 256);
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         TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;  
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        }
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  else if ((ServoState > 0) && (ServoState < 4))
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    {
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          if(ServoValue > 255)
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          { PORTD |= 0x80;
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                TCCR2A =3;
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                ServoValue -= 255;
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          }
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          else
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      {  
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             TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
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                 OCR2A = postPulse; // Offset Part2
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                 ServoState = 1;
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      }
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  }
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  else if (ServoState == 0)
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          {
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             ServoState  = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER;
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         PORTD&=~0x80;
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                 TCCR2A = 3;
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          }
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  ServoState--;
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}