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183 | { |
183 | { |
184 | if (UpdateMotor) // ReglerIntervall |
184 | if (UpdateMotor) // ReglerIntervall |
185 | { |
185 | { |
186 | // SPI_TransmitByte(); |
186 | // SPI_TransmitByte(); |
187 | UpdateMotor=0; |
187 | UpdateMotor=0; |
188 | PORTD |= 0x08; |
188 | //PORTD |= 0x08; |
189 | MotorRegler(); |
189 | MotorRegler(); |
190 | PORTD &= ~0x08; |
190 | //PORTD &= ~0x08; |
191 | SendMotorData(); |
191 | SendMotorData(); |
192 | ROT_OFF; |
192 | ROT_OFF; |
193 | if(PcZugriff) PcZugriff--; |
193 | if(PcZugriff) PcZugriff--; |
194 | if(SenderOkay) SenderOkay--; |
194 | if(SenderOkay) SenderOkay--; |
195 | if(!I2CTimeout) |
195 | if(!I2CTimeout) |