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| Rev 709 | Rev 717 | ||
|---|---|---|---|
| Line 87... | Line 87... | ||
| 87 | //############################################################################ |
87 | //############################################################################ |
| 88 | //Hauptprogramm |
88 | //Hauptprogramm |
| 89 | int main (void) |
89 | int main (void) |
| 90 | //############################################################################ |
90 | //############################################################################ |
| 91 | { |
91 | { |
| 92 | unsigned int timer; |
92 | unsigned int timer, alt_ms; |
| Line 93... | Line 93... | ||
| 93 | 93 | ||
| 94 | //unsigned int timer2 = 0; |
94 | //unsigned int timer2 = 0; |
| 95 | DDRB = 0x00; |
95 | DDRB = 0x00; |
| 96 | PORTB = 0x00; |
96 | PORTB = 0x00; |
| Line 185... | Line 185... | ||
| 185 | I2CTimeout = 5000; |
185 | I2CTimeout = 5000; |
| 186 | while (1) |
186 | while (1) |
| 187 | { |
187 | { |
| 188 | if(UpdateMotor) // ReglerIntervall |
188 | if(UpdateMotor) // ReglerIntervall |
| 189 | { |
189 | { |
| 190 | SPI_TransmitByte(); //# |
- | |
| 191 | UpdateMotor=0; |
190 | UpdateMotor=0; |
| 192 | //PORTD |= 0x08; |
191 | //PORTD |= 0x08; |
| 193 | MotorRegler(); |
192 | MotorRegler(); |
| Line 194... | Line 193... | ||
| 194 | 193 | ||
| 195 | //PORTD &= ~0x08; |
194 | //PORTD &= ~0x08; |
| Line 240... | Line 239... | ||
| 240 | SPI_StartTransmitPacket(SPI_CMD_VALUE);//# |
239 | SPI_StartTransmitPacket(SPI_CMD_VALUE);//# |
| 241 | timer = SetDelay(50); |
240 | timer = SetDelay(50); |
| 242 | } |
241 | } |
| 243 | //if(UpdateMotor) DebugOut.Analog[26]++; |
242 | //if(UpdateMotor) DebugOut.Analog[26]++; |
| 244 | } |
243 | } |
| - | 244 | if(alt_ms != CountMilliseconds) { SPI_TransmitByte(); alt_ms = CountMilliseconds;} |
|
| - | 245 | ||
| 245 | } |
246 | } |
| 246 | return (1); |
247 | return (1); |
| 247 | } |
248 | } |