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volatile unsigned int CountMilliseconds = 0;
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volatile unsigned int CountMilliseconds = 0;
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volatile static unsigned int tim_main;
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volatile static unsigned int tim_main;
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volatile unsigned char UpdateMotor = 0;
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volatile unsigned char UpdateMotor = 0;
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volatile unsigned int beeptime = 0;
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volatile unsigned int beeptime = 0;
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volatile unsigned int cntKompass = 0;
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int ServoValue = 0;
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int ServoValue = 0;
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enum {
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enum {
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        PORTD |= (1<<PD2);
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        PORTD |= (1<<PD2);
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        }
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        }
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     else  
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     else  
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        PORTD &= ~(1<<PD2);
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        PORTD &= ~(1<<PD2);
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        if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
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        {
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  if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) MM3_timer0();
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                MM3_timer0();           // Kompass auslesen
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                if (!cntKompass--)              // Aufruf mit 25 Hz
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                {
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                        KompassValue = MM3_heading();
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                        KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
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                        cntKompass = 320;
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                }
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  //KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
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        }