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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <inttypes.h>
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#include <inttypes.h>
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#include <avr/io.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include "eeprom.h"
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#include "eeprom.h"
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#include "analog.h"
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#include "analog.h"
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        PORTB &= ~((1<<PORTB4)|(1<<PORTB3));
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        PORTB &= ~((1<<PORTB4)|(1<<PORTB3));
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        // Timer/Counter 0 Control Register A
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        // Timer/Counter 0 Control Register A
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        // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)
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        // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1)
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    // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)
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        // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0)
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    // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)
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        // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0)
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    TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0));
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        TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0));
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    TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00);
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        TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00);
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        // Timer/Counter 0 Control Register B
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        // Timer/Counter 0 Control Register B
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        // set clock devider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz
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        // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz
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        // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
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        // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
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        // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz
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        // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz
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        // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
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        // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
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        TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02));
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        TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02));
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    TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00);
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        TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00);
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        // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4
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        // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4
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    OCR0A =  0;  // for PB3
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        OCR0A =  0;  // for PB3
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    OCR0B = 120; // for PB4
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        OCR0B = 120; // for PB4
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/*****************************************************/
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/*****************************************************/
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/*          Interrupt Routine of Timer 0             */
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/*          Interrupt Routine of Timer 0             */
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/*****************************************************/
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/*****************************************************/
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ISR(TIMER0_OVF_vect)    // 9.765 kHz
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ISR(TIMER0_OVF_vect)    // 9.765 kHz
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{
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{
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    static uint8_t cnt_1ms = 1,cnt = 0;
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        static uint8_t cnt_1ms = 1,cnt = 0;
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    uint8_t Beeper_On = 0;
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        uint8_t Beeper_On = 0;
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#ifdef USE_NAVICTRL
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#ifdef USE_NAVICTRL
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        if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done
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        if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done
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#endif
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#endif
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        if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)
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        if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz)
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        {
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        {
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         cnt = 9;
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                cnt = 9;
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         cnt_1ms++;
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                cnt_1ms++;
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         cnt_1ms %= 2;
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                cnt_1ms %= 2;
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         if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz)
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                if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz)
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         CountMilliseconds++; // increment millisecond counter
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                CountMilliseconds++; // increment millisecond counter
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        }
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        }
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        // beeper on if duration is not over
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        // beeper on if duration is not over
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        if(BeepTime)
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        if(BeepTime)
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        {
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        {
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           BeepTime--; // decrement BeepTime
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                BeepTime--; // decrement BeepTime
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           if(BeepTime & BeepModulation) Beeper_On = 1;
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                if(BeepTime & BeepModulation) Beeper_On = 1;
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           else Beeper_On = 0;
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                else Beeper_On = 0;
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        }
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        }
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        else // beeper off if duration is over
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        else // beeper off if duration is over
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        {
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        {
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           Beeper_On = 0;
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                Beeper_On = 0;
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           BeepModulation = 0xFFFF;
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                BeepModulation = 0xFFFF;
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// -----------------------------------------------------------------------
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// -----------------------------------------------------------------------
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uint16_t SetDelay (uint16_t t)
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uint16_t SetDelay (uint16_t t)
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{
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{
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  return(CountMilliseconds + t - 1);
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        return(CountMilliseconds + t - 1);
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}
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}
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// -----------------------------------------------------------------------
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// -----------------------------------------------------------------------
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int8_t CheckDelay(uint16_t t)
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int8_t CheckDelay(uint16_t t)
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{
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{
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  return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit
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        return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit
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}
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}
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// -----------------------------------------------------------------------
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// -----------------------------------------------------------------------
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void Delay_ms(uint16_t w)
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void Delay_ms(uint16_t w)
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{
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{
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 unsigned int t_stop;
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        uint16_t t_stop;
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 t_stop = SetDelay(w);
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        t_stop = SetDelay(w);
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 while (!CheckDelay(t_stop));
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        while (!CheckDelay(t_stop));
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}
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}
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// -----------------------------------------------------------------------
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// -----------------------------------------------------------------------
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void Delay_ms_Mess(uint16_t w)
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{
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        uint16_t t_stop;
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        t_stop = SetDelay(w);
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        while (!CheckDelay(t_stop))
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        {
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                if(ADReady)
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void Delay_ms_Mess(uint16_t w)
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                {