Rev 966 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 966 | Rev 979 | ||
---|---|---|---|
Line 40... | Line 40... | ||
40 | UpdateMotor = 1; |
40 | UpdateMotor = 1; |
41 | } |
41 | } |
42 | CountMilliseconds++; |
42 | CountMilliseconds++; |
43 | cnt_ms++; |
43 | cnt_ms++; |
44 | // update compass value if this option is enabled in the settings |
44 | // update compass value if this option is enabled in the settings |
- | 45 | #ifdef USE_COMPASS |
|
45 | MM3_Update(); // read out mm3 board |
46 | MM3_Update(); // read out mm3 board |
- | 47 | #endif |
|
46 | } |
48 | } |
Line 47... | Line 49... | ||
47 | 49 | ||
48 | if(beeptime > 1) |
50 | if(beeptime > 1) |
49 | { |
51 | { |
Line 144... | Line 146... | ||
144 | // Servo ansteuern |
146 | // Servo ansteuern |
145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
146 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
148 | SIGNAL(SIG_OUTPUT_COMPARE2A) |
147 | { |
149 | { |
148 | static unsigned char timer = 10; |
150 | static unsigned char timer = 10; |
149 | unsigned char Parameter_ServoNickControl = 100; |
- | |
150 | - | ||
151 | if(!timer--) |
151 | if(!timer--) |
152 | { |
152 | { |
153 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
- | |
154 | ServoValue = Parameter_ServoNickControl; |
- | |
155 | if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (0)) / 512; |
- | |
156 | else ServoValue -= ((long) EE_Parameter.ServoNickComp * (0)) / 512; |
- | |
Line -... | Line 153... | ||
- | 153 | ||
157 | 154 | TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
|
- | 155 | if(ServoValue < EE_Parameter.ServoNickMin) |
|
- | 156 | { |
|
- | 157 | ServoValue = EE_Parameter.ServoNickMin; |
|
158 | if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
158 | } |
- | 159 | if(ServoValue > EE_Parameter.ServoNickMax) |
|
- | 160 | { |
|
- | 161 | ServoValue = EE_Parameter.ServoNickMax; |
|
Line 159... | Line 162... | ||
159 | else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
162 | } |
160 | 163 | ||
161 | OCR2A = ServoValue;// + 75; |
164 | OCR2A = ServoValue; |
162 | timer = EE_Parameter.ServoNickRefresh; |
165 | timer = EE_Parameter.ServoNickRefresh; |
163 | } |
166 | } |
164 | else |
167 | else |