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425 Nick666 1 
#include "main.h"
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volatile unsigned int CountMilliseconds = 0;
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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 int beeptime = 0;
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int ServoValue = 0;
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enum {
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  STOP             = 0,
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  CK               = 1,
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  CK8              = 2,
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  CK64             = 3,
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  CK256            = 4,
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  CK1024           = 5,
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  T0_FALLING_EDGE  = 6,
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  T0_RISING_EDGE   = 7
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};
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SIGNAL (SIG_OVERFLOW0)    // 9,8kHz
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{
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    static unsigned char cnt_1ms = 1,cnt = 0;
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//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
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   if(!cnt--)
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    {
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     cnt = 10;
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     cnt_1ms++;
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     cnt_1ms %= 2;
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     if(!cnt_1ms) UpdateMotor = 1;
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     CountMilliseconds++;
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     if(Timeout) Timeout--;
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     }  
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     if(beeptime > 1)
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        {
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        beeptime--;
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        PORTD |= (1<<PD2);
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        }
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     else  
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        PORTD &= ~(1<<PD2);
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461 Nick666 44 
        if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3();         // Kompass auslesen
425 Nick666 45 
}
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void Timer_Init(void)
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{
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    tim_main = SetDelay(10);
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    TCCR0B = CK8;
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    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
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    OCR0A =  0;
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    OCR0B = 120;
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    //TCNT0 = -TIMER_RELOAD_VALUE;  // reload
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    //OCR1  = 0x00;
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    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
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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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    TIMSK0 |= _BV(TOIE0);
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    OCR2A = 10;
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    TCNT2 = 0;
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}
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// -----------------------------------------------------------------------
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unsigned int SetDelay (unsigned int t)
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{
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//  TIMSK0 &= ~_BV(TOIE0);
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  return(CountMilliseconds + t + 1);                                            
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//  TIMSK0 |= _BV(TOIE0);
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}
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// -----------------------------------------------------------------------
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char CheckDelay(unsigned int t)
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{
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//  TIMSK0 &= ~_BV(TOIE0);
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  return(((t - CountMilliseconds) & 0x8000) >> 9);
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//  TIMSK0 |= _BV(TOIE0);
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}
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// -----------------------------------------------------------------------
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void Delay_ms(unsigned int w)
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{
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 unsigned int akt;
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 akt = SetDelay(w);
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 while (!CheckDelay(akt));
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}
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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//  Servo ansteuern
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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SIGNAL(SIG_OUTPUT_COMPARE2A)
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{
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  static unsigned char timer = 10;
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  if(!timer--)  
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    {
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     TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
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     ServoValue =  Parameter_ServoNickControl;
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     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
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     else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
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     if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
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     else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
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     //DebugOut.Analog[10] = ServoValue;    
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     OCR2A = ServoValue;// + 75;
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     timer = EE_Parameter.ServoNickRefresh;
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    }
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    else
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    {
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     TCCR2A =3;
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     PORTD&=~0x80;
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    }
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}