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Line 5... Line 5...
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volatile unsigned char UpdateMotor = 0;
 5 
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;
 9 
int ServoValue = 0;
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 10 
//Salvo 8.9.2007
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 11 
volatile uint8_t Kompass_Neuer_Wert= 0;
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 12 
volatile unsigned int Kompass_Value_Old = 0;
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// Salvo End
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//Salvo 21.9.2007
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short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist
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// Salvo End
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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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  CK8              = 2,
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  CK8              = 2,
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  CK64             = 3,
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  CK64             = 3,
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  CK1024           = 5,
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  CK1024           = 5,
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  T0_FALLING_EDGE  = 6,
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  T0_FALLING_EDGE  = 6,
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  T0_RISING_EDGE   = 7
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  T0_RISING_EDGE   = 7
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};
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};
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// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 21.9.2007
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/*
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 30 
Driftkompensation fuer Gyros verbessert
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Linearsensor mit fixem Neutralwert
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 32 
Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion
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 33 
*/
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SIGNAL (SIG_OVERFLOW0)    // 8kHz
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SIGNAL (SIG_OVERFLOW0)    // 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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    unsigned char pieper_ein = 0;
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    unsigned char pieper_ein = 0;
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//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
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//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
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 39 
 
- 
 
 40 
   if(!cnt--)
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   if(!cnt--)
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    {
30 
    {
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         if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden
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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;
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     if(!cnt_1ms) UpdateMotor = 1;
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     CountMilliseconds++;
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     CountMilliseconds++;
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     if(Timeout) Timeout--;
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     }  
 49 
     }  
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 50 
 
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        {
 73 
        {
61 
         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
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         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
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         else                      PORTC &= ~(1<<7);
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         else                      PORTC &= ~(1<<7);
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        }
 76 
        }
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 77 
 
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 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
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// if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
66 
 {
 79 
 {
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  if(PINC & 0x10)
 80 
  if(PINC & 0x10)
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   {
 81 
   {
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    cntKompass++;
 82 
    cntKompass++;
70 
   }
 83 
   }
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  else
 84 
  else
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   {
 85 
   {
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    if((cntKompass) && (cntKompass < 4000))
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    if((cntKompass) && (cntKompass < 4000))
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 87 
    {
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 88 
// Salvo Kompassoffset 30.8.2007 und 21.9.2007 ***********
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 89 
         Kompass_present = 255;
74 
    {
 90 
         Kompass_Value_Old      =       KompassValue;
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 91 
     KompassValue = cntKompass -KOMPASS_OFFSET;
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 92 
 
- 
 
 93 
         if (KompassValue < 0)
- 
 
 94 
         {
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 95 
                KompassValue += 360;
- 
 
 96 
         }
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 97 
         if (KompassValue >= 360)
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 98 
         {
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 99 
                KompassValue -= 360;
- 
 
 100 
         }     
75 
     KompassValue = cntKompass;
 101 
 // Salvo End  
76 
    }
 102 
    }
77 
//     if(cntKompass < 10) cntKompass = 10;
 103 
//     if(cntKompass < 10) cntKompass = 10;
78 
//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
 104 
//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
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 105 
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
- 
 
 106 
//Salvo 13.9.2007 Ok Erkennung des Magnetkompasses
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 107 
         Kompass_Neuer_Wert     = 1;
79 
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
 108 
 // Salvo End
80 
    cntKompass = 0;
 109 
     cntKompass = 0;
81 
   }
 110 
   }
82 
 }
 111 
 }