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Rev 749 Rev 753
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SIGNAL (SIG_OVERFLOW0)    // 9,8kHz
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SIGNAL (SIG_OVERFLOW0)    // 9,8kHz
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{
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{
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    static unsigned char cnt_1ms = 1,cnt = 0;
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    static unsigned char cnt_1ms = 1,cnt = 0;
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        static uint8_t led_dim, led_duty;
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    unsigned char pieper_ein = 0;
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    unsigned char pieper_ein = 0;
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   if(!cnt--)
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   if(!cnt--)           // ca. 1 kHz
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    {
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    {
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     cnt = 10;
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     cnt = 10;
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     cnt_1ms++;
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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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         // LED-Dimmung Duty-Cycle
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         if (!led_duty--)
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         {
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                led_duty = 4;
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     cnt_1ms %= 2;
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                led_dim = Poti2 >> 2;
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                PORTD &= ~(1<<PD4);     // J5 auf Low
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         }       
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     }
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     if(!cnt_1ms) UpdateMotor = 1;
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     CountMilliseconds++;
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        if (led_dim) led_dim--;
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     }  
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        else PORTD |= (1<<PD4);
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    OCR0B = 120;
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    OCR0B = 120;
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    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
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    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
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    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
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    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
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//    TIMSK2 |= _BV(TOIE2);
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        //    TIMSK2 |= _BV(TOIE2);
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TIMSK2 |= _BV(OCIE2A);
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        TIMSK2 |= _BV(OCIE2A);
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    TIMSK0 |= _BV(TOIE0);
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    OCR2A = 10;
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    TIMSK0 |= _BV(TOIE0);
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    TCNT2 = 0;
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    OCR2A = 10;
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    TCNT2 = 0;    
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    else
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    else
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    {
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    {
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                // disable PWM at PD7
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                // disable PWM at PD7
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                TCCR2A = 3;
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                TCCR2A = 3;
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                // set PD7 to low
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                // set PD7 to low
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                PORTD &= ~(1<<PORTD7);
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                PORTD &= ~(1<<PD7);
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    }
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    }
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}
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}