Rev 966 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 966 | Rev 979 | ||
|---|---|---|---|
| Line 40... | Line 40... | ||
| 40 | UpdateMotor = 1; |
40 | UpdateMotor = 1; |
| 41 | } |
41 | } |
| 42 | CountMilliseconds++; |
42 | CountMilliseconds++; |
| 43 | cnt_ms++; |
43 | cnt_ms++; |
| 44 | // update compass value if this option is enabled in the settings |
44 | // update compass value if this option is enabled in the settings |
| - | 45 | #ifdef USE_COMPASS |
|
| 45 | MM3_Update(); // read out mm3 board |
46 | MM3_Update(); // read out mm3 board |
| - | 47 | #endif |
|
| 46 | } |
48 | } |
| Line 47... | Line 49... | ||
| 47 | 49 | ||
| 48 | if(beeptime > 1) |
50 | if(beeptime > 1) |
| 49 | { |
51 | { |
| Line 144... | Line 146... | ||
| 144 | // Servo ansteuern |
146 | // Servo ansteuern |
| 145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 146 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
148 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
| 147 | { |
149 | { |
| 148 | static unsigned char timer = 10; |
150 | static unsigned char timer = 10; |
| 149 | unsigned char Parameter_ServoNickControl = 100; |
- | |
| 150 | - | ||
| 151 | if(!timer--) |
151 | if(!timer--) |
| 152 | { |
152 | { |
| - | 153 | ||
| 153 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
154 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| 154 | ServoValue = Parameter_ServoNickControl; |
155 | if(ServoValue < EE_Parameter.ServoNickMin) |
| 155 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (0)) / 512; |
- | |
| - | 156 | { |
|
| 156 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (0)) / 512; |
157 | ServoValue = EE_Parameter.ServoNickMin; |
| 157 | 158 | } |
|
| 158 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
159 | if(ServoValue > EE_Parameter.ServoNickMax) |
| - | 160 | { |
|
| 159 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
161 | ServoValue = EE_Parameter.ServoNickMax; |
| - | 162 | } |
|
| Line 160... | Line 163... | ||
| 160 | 163 | ||
| 161 | OCR2A = ServoValue;// + 75; |
164 | OCR2A = ServoValue; |
| 162 | timer = EE_Parameter.ServoNickRefresh; |
165 | timer = EE_Parameter.ServoNickRefresh; |
| 163 | } |
166 | } |
| 164 | else |
167 | else |
| 165 | { |
168 | { |
| 166 | TCCR2A =3; |
169 | TCCR2A =3; |
| 167 | PORTD&=~0x80; |
170 | PORTD&=~0x80; |
| 168 | } |
171 | } |