42,7 → 42,9 |
CountMilliseconds++; |
cnt_ms++; |
// update compass value if this option is enabled in the settings |
#ifdef USE_COMPASS |
MM3_Update(); // read out mm3 board |
#endif |
} |
|
if(beeptime > 1) |
146,19 → 148,20 |
SIGNAL(SIG_OUTPUT_COMPARE2A) |
{ |
static unsigned char timer = 10; |
unsigned char Parameter_ServoNickControl = 100; |
|
if(!timer--) |
{ |
TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
ServoValue = Parameter_ServoNickControl; |
if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (0)) / 512; |
else ServoValue -= ((long) EE_Parameter.ServoNickComp * (0)) / 512; |
|
TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
if(ServoValue < EE_Parameter.ServoNickMin) |
{ |
ServoValue = EE_Parameter.ServoNickMin; |
} |
if(ServoValue > EE_Parameter.ServoNickMax) |
{ |
ServoValue = EE_Parameter.ServoNickMax; |
} |
|
if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
|
OCR2A = ServoValue;// + 75; |
OCR2A = ServoValue; |
timer = EE_Parameter.ServoNickRefresh; |
} |
else |
165,5 → 168,5 |
{ |
TCCR2A =3; |
PORTD&=~0x80; |
} |
} |
} |