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Rev 966 Rev 979
Line 40... Line 40...
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      UpdateMotor = 1;
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      UpdateMotor = 1;
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    }
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    }
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    CountMilliseconds++;
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    CountMilliseconds++;
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    cnt_ms++;
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    cnt_ms++;
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    // update compass value if this option is enabled in the settings
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    // update compass value if this option is enabled in the settings
- 
 
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#ifdef USE_COMPASS
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    MM3_Update(); // read out mm3 board
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    MM3_Update(); // read out mm3 board
- 
 
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#endif
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  }  
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  }  
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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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//  Servo ansteuern
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//  Servo ansteuern
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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SIGNAL(SIG_OUTPUT_COMPARE2A)
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SIGNAL(SIG_OUTPUT_COMPARE2A)
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{
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{
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  static unsigned char timer = 10;
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  static unsigned char timer = 10;
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  unsigned char Parameter_ServoNickControl = 100;
 - 
 
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 - 
 
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  if(!timer--)  
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  if(!timer--)  
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  {
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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 * (0)) / 512;
 - 
 
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    else ServoValue -= ((long) EE_Parameter.ServoNickComp * (0)) / 512;
 - 
 
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    TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;
- 
 
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    if(ServoValue < EE_Parameter.ServoNickMin)
- 
 
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    {
- 
 
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      ServoValue = EE_Parameter.ServoNickMin;
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    if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
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    }
- 
 
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    if(ServoValue > EE_Parameter.ServoNickMax)
- 
 
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    {
- 
 
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      ServoValue = EE_Parameter.ServoNickMax;
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    else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
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    }  
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    OCR2A = ServoValue;// + 75;
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    OCR2A = ServoValue;
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    timer = EE_Parameter.ServoNickRefresh;
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    timer = EE_Parameter.ServoNickRefresh;
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  }
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  }
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  else
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  else