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Rev 624 Rev 683
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#include "main.h"
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#include "main.h"
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        }
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}
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}
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// -----------------------------------------------------------------------
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// -----------------------------------------------------------------------
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unsigned int SetDelay (unsigned int t)
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uint16_t SetDelay (uint16_t t)
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{
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{
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//  TIMSK0 &= ~_BV(TOIE0);
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//  TIMSK0 &= ~(1<<TOIE0);
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  return(CountMilliseconds + t + 1);                                            
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  return(CountMilliseconds + t + 1);
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//  TIMSK0 |= _BV(TOIE0);
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//  TIMSK0 |= (1<<TOIE0);
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}
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}
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// -----------------------------------------------------------------------
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// -----------------------------------------------------------------------
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char CheckDelay(unsigned int t)
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int8_t CheckDelay(uint16_t t)
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{
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//  TIMSK0 &= ~(1<<TOIE0);
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  return(((t - CountMilliseconds) & 0x8000) >> 9);
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//  TIMSK0 |= (1<<TOIE0);
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}
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// -----------------------------------------------------------------------
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void Delay_ms(uint16_t w)
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{
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{
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//  TIMSK0 &= ~_BV(TOIE0);
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 unsigned int t_stop;
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  return(((t - CountMilliseconds) & 0x8000) >> 9);
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 t_stop = SetDelay(w);
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//  TIMSK0 |= _BV(TOIE0);
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 while (!CheckDelay(t_stop));
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}
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}
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// -----------------------------------------------------------------------
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void Delay_ms(unsigned int w)
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{
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 unsigned int akt;
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 akt = SetDelay(w);
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 while (!CheckDelay(akt));
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}
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// -----------------------------------------------------------------------
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void Delay_ms_Mess(unsigned int w)
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{
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 unsigned int akt;
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 akt = SetDelay(w);
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 while (!CheckDelay(akt)) ANALOG_ON;
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}
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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//  Servo ansteuern
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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SIGNAL(SIG_OUTPUT_COMPARE2A)
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{
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  static unsigned char timer = 10;
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  if(!timer--)  
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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 * (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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     else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
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     OCR2A = ServoValue;// + 75;
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     timer = EE_Parameter.ServoNickRefresh;
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    }
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    else
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void Delay_ms_Mess(uint16_t w)
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{