| 42,7 → 42,9 |
|---|
| CountMilliseconds++; |
| cnt_ms++; |
| // update compass value if this option is enabled in the settings |
| #ifdef USE_COMPASS |
| MM3_Update(); // read out mm3 board |
| #endif |
| } |
| |
| if(beeptime > 1) |
| 146,19 → 148,20 |
|---|
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| unsigned char Parameter_ServoNickControl = 100; |
| |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (0)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (0)) / 512; |
| |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| if(ServoValue < EE_Parameter.ServoNickMin) |
| { |
| ServoValue = EE_Parameter.ServoNickMin; |
| } |
| if(ServoValue > EE_Parameter.ServoNickMax) |
| { |
| ServoValue = EE_Parameter.ServoNickMax; |
| } |
| |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| |
| OCR2A = ServoValue;// + 75; |
| OCR2A = ServoValue; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| 165,5 → 168,5 |
|---|
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| } |