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Line 3... Line 3...
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volatile unsigned int CountMilliseconds = 0;
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volatile unsigned int CountMilliseconds = 0;
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volatile static unsigned int tim_main;
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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 char UpdateMotor = 0;
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volatile unsigned int cntKompass = 0;
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volatile unsigned int cntKompass = 0;
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volatile unsigned int beeptime = 0;
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volatile unsigned int beeptime = 0;
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unsigned int BeepMuster = 0xffff;
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int ServoValue = 0;
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int ServoValue = 0;
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enum {
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enum {
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  STOP             = 0,
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  STOP             = 0,
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SIGNAL (SIG_OVERFLOW0)    // 8kHz
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SIGNAL (SIG_OVERFLOW0)    // 8kHz
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{
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{
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    static unsigned char cnt_1ms = 1,cnt = 0;
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    static unsigned char cnt_1ms = 1,cnt = 0;
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    unsigned char pieper_ein = 0;
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//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
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//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
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   if(!cnt--)
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   if(!cnt--)
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    {
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    {
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     cnt = 9;
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     cnt = 9;
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     cnt_1ms++;
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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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     cnt_1ms %= 2;
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     CountMilliseconds++;
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     if(!cnt_1ms) UpdateMotor = 1;
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     if(Timeout) Timeout--;
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     CountMilliseconds++;
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     }  
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     }  
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     if(beeptime > 1)
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        {
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        beeptime--;      
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        if(beeptime & BeepMuster)
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     if(beeptime > 1)
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         {
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        {
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          pieper_ein = 1;
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         }
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         else pieper_ein = 0;
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        beeptime--;
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        }
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     else
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      {
Line -... Line 49...
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       pieper_ein = 0;
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       BeepMuster = 0xffff;
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      }
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     if(pieper_ein)
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        {
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          if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2
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          else                      PORTC |= (1<<7); // Speaker an PORTC.7
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        }
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     else  
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        PORTD |= (1<<2);
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        {
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        }
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         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
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     else  
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         else                      PORTC &= ~(1<<7);
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        PORTD &= ~(1<<2);
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        }
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Line 125... Line 145...
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     else 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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     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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     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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     OCR2A = ServoValue;// + 75;
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     timer = EE_Parameter.ServoNickRefresh;
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     timer = EE_Parameter.ServoNickRefresh;
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    }
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    }