| 3,7 → 3,6 |
|---|
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| unsigned int BeepMuster = 0xffff; |
| int ServoValue = 0; |
| 20,7 → 19,7 |
|---|
| }; |
| |
| |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| SIGNAL (SIG_OVERFLOW0) // 9,8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| 28,7 → 27,7 |
|---|
| |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt = 10; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| 62,17 → 61,7 |
|---|
| else PORTC &= ~(1<<7); |
| } |
| |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| timer0_MM3(); // Kompass auslesen |
| |
| if (!cntKompass--) // Aufruf mit 10 Hz |
| { |
| KompassValue = heading_MM3(); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 980; |
| } |
| } |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3(); // Kompass auslesen |
| } |
| |
| |