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Line 83... Line 83...
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    cntKompass = 0;
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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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}
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}
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//----------------------------
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89 
void Timer_Init(void)
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void Timer_Init(void)
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{
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{
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    tim_main = SetDelay(10);
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    tim_main = SetDelay(10);
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    TCCR0B = CK8;
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    TCCR0B = CK8;
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    OCR0B = 120;
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    OCR0B = 120;
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    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
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    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
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    //OCR1  = 0x00;
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    //OCR1  = 0x00;
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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);    // clk/256
 - 
 
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    TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22);      // clk/64
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- 
 
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    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
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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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}
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}
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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//  Servo ansteuern
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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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  PORTD |= 0x80;
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  TCCR2A =3;
 - 
 
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  TIMSK2 &= ~_BV(TOIE2);
 - 
 
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}
 - 
 
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 145 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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SIGNAL(SIG_OUTPUT_COMPARE2A)
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SIGNAL(SIG_OUTPUT_COMPARE2A)
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{
 - 
 
156 
  #define MULTIPLIER 4
 - 
 
157 
  #define PPM_OFFSET  256  //  820us
 - 
 
158 
  static unsigned int timer = 10 * MULTIPLIER;
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 - 
 
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  if(timer == 3)  
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    {
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162 
     ServoValue = PPM_OFFSET;
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         ServoValue +=  (int) Parameter_ServoNickControl * 2;
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164 
         
 - 
 
165 
     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) (EE_Parameter.ServoNickComp * IntegralNick) / 128 )/ (512/MULTIPLIER);
 - 
 
166 
     else ServoValue -= ((long) (EE_Parameter.ServoNickComp * IntegralNick) / 128) / (512/MULTIPLIER);
 - 
 
167 
     
 - 
 
168 
     if((ServoValue) < ((int)EE_Parameter.ServoNickMin*MULTIPLIER)) ServoValue = (int)EE_Parameter.ServoNickMin*MULTIPLIER;
 - 
 
169 
     else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*MULTIPLIER)) ServoValue = (int)EE_Parameter.ServoNickMax*MULTIPLIER;
 - 
 
170 
     
 - 
 
171 
ServoValue = 500;
 - 
 
172 
         DebugOut.Analog[23] = ServoValue;
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 - 
 
174 
         TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
 - 
 
175 
         OCR2A = ServoValue % 256;
 - 
 
176 
         TIMSK2 |= _BV(TOIE2);
 - 
 
177 
    }
 - 
 
178 
  else if (timer < 3)
 - 
 
179 
    {
 - 
 
180 
         
 - 
 
181 
          if (ServoValue > 255)
 - 
 
182 
          { PORTD |= 0x80;
 - 
 
183 
                TCCR2A =3;
 - 
 
184 
                ServoValue -= 255;
 - 
 
185 
          }
 - 
 
186 
          else
 - 
 
187 
      {
 - 
 
188 
            TCCR2A =3;
 - 
 
189 
        PORTD&=~0x80;
 - 
 
190 
                OCR2A = 0xff;
 - 
 
191 
      }
 - 
 
192 
         
 - 
 
193 
          if (timer == 0) timer = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER;
 - 
 
194 
    }
 - 
 
195 
 
 - 
 
196 
 
 - 
 
197 
  timer--;
 - 
 
198 
       
 147 
{
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199 
/*  static unsigned char timer = 10;
 148 
  static unsigned char timer = 10;
200 
 
 149 
 
201 
  if(!timer--)  
 150 
  if(!timer--)  
202 
    {
 151 
    {
Line 213... Line 162...
213 
    }
 162 
    }
214 
    else
 163 
    else
215 
    {
 164 
    {
216 
     TCCR2A =3;
 165 
     TCCR2A =3;
217 
     PORTD&=~0x80;
 166 
     PORTD&=~0x80;
218 
    } */
 167 
    }
219 
       
 - 
 
220 
}
 168 
}