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Rev 863 Rev 876
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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 cntKompass = 0;
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volatile unsigned int cntKompass = 0;
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volatile unsigned int beeptime = 0;
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volatile unsigned int beeptime = 0;
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unsigned int BeepMuster = 0xffff;
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unsigned int BeepMuster = 0xffff;
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int ServoValue = 0;
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int ServoValue = 0;
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unsigned char ucBeeperActive=1;
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enum {
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enum {
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  STOP             = 0,
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  STOP             = 0,
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  CK               = 1,
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  CK               = 1,
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     if(beeptime > 1)
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     if(beeptime > 1)
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        {
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        {
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        beeptime--;      
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        beeptime--;      
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        if(beeptime & BeepMuster)
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        if(beeptime & BeepMuster)
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         {
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         {
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          pieper_ein = 1;
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          if(ucBeeperActive) pieper_ein = 1;
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          EXT1OUT_INV_OFF;
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          EXT1OUT_INV_OFF;
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         }
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         }
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         else
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         else
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         {
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         {
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                pieper_ein = 0;
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                if(ucBeeperActive) pieper_ein = 0;
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                EXT1OUT_INV_ON;
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                EXT1OUT_INV_ON;
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         }
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         }
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        }
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        }
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     else
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     else
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      {
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      {
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        EXT1OUT_INV_ON;
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        EXT1OUT_INV_ON;
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       pieper_ein = 0;
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       pieper_ein = 0;
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       ucBeeperActive=1;
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       BeepMuster = 0xffff;
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       BeepMuster = 0xffff;
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      }
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      }
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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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void setBeeperActive(unsigned char ucVal)
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{
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        ucBeeperActive=ucVal;
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}
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void Timer_Init(void)
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void Timer_Init(void)
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{
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{