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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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volatile unsigned char SendSPI = 0;
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volatile unsigned char SendSPI = 0;
- 
 
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volatile unsigned int ServoState = 40;
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 10 
 
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unsigned int BeepMuster = 0xffff;
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unsigned int BeepMuster = 0xffff;
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int ServoValue = 0;
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unsigned int ServoValue = 0;
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 13 
 
13 
enum {
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enum {
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  STOP             = 0,
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  STOP             = 0,
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    cntKompass = 0;
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    cntKompass = 0;
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   }
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   }
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 }
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 }
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}
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}
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 - 
 
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//----------------------------
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void Timer_Init(void)
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void Timer_Init(void)
90 
{
 91 
{
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    tim_main = SetDelay(10);
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    tim_main = SetDelay(10);
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    TCCR0B = CK8;
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    TCCR0B = CK8;
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    OCR0B = 120;
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    OCR0B = 120;
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    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
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    TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
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    //OCR1  = 0x00;
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    //OCR1  = 0x00;
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    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
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    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
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//    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);    // clk/256
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    TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22);
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    TCCR2B=(0<<CS20)|(0<<CS21)|(1<<CS22);      // clk/64
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//    TIMSK2 |= _BV(TOIE2);
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TIMSK2 |= _BV(OCIE2A);
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  TIMSK2 |= _BV(OCIE2A);
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}
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}
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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//  Servo ansteuern
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//  Servo ansteuern
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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SIGNAL(SIG_OVERFLOW2)
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{
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 150 
  if (ServoState > 0) PORTD |= 0x80;
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  else PORTD &= ~0x80;
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  TCCR2A =3;
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  TIMSK2 &= ~_BV(TOIE2);
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}
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++               
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146 
SIGNAL(SIG_OUTPUT_COMPARE2A)
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SIGNAL(SIG_OUTPUT_COMPARE2A)
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{
 157 
{
148 
  static unsigned char timer = 10;
 - 
 
- 
 
 158 
  static unsigned char postPulse = 0x80;
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 159 
  static int filterServo = 100;
149 
 
 160 
  #define MULTIPLIER 4
150 
  if(!timer--)  
 161 
  if(ServoState == 4)  
151 
    {
 162 
    {
152 
     TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
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     ServoValue = 0x0030;  // Offset Part1
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 164 
     filterServo = (filterServo * 3 + (int) Parameter_ServoNickControl * 2)/4;
153 
     ServoValue =  Parameter_ServoNickControl;
 165 
         ServoValue += filterServo;
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     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
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     if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L )/ (512L/MULTIPLIER);
155 
     else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512;
 - 
 
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 167 
     else ServoValue -= ((long) ((long)EE_Parameter.ServoNickComp * IntegralNick) / 128L) / (512L/MULTIPLIER);
157 
     if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin;
 168 
     if((ServoValue) < ((int)EE_Parameter.ServoNickMin*3)) ServoValue = (int)EE_Parameter.ServoNickMin*3;
158 
     else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax;
 169 
     else if((ServoValue) > ((int)EE_Parameter.ServoNickMax*3)) ServoValue = (int)EE_Parameter.ServoNickMax*3;
- 
 
 170 
   
- 
 
 171 
         DebugOut.Analog[20] = ServoValue;
159 
 
 172 
         if ((ServoValue % 255) < 45) { ServoValue+= 77; postPulse = 0x60 - 77; } else postPulse = 0x60;
160 
     OCR2A = ServoValue;// + 75;
 173 
         OCR2A = 255-(ServoValue % 256);
161 
     timer = EE_Parameter.ServoNickRefresh;
 174 
         TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;  
162 
    }
 175 
        }
163 
    else
 176 
  else if ((ServoState > 0) && (ServoState < 4))
- 
 
 177 
    {
- 
 
 178 
          if(ServoValue > 255)
164 
    {
 179 
          { PORTD |= 0x80;
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 180 
                TCCR2A =3;
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 181 
                ServoValue -= 255;
- 
 
 182 
          }
- 
 
 183 
          else
- 
 
 184 
      {  
- 
 
 185 
             TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3;  
- 
 
 186 
                 OCR2A = postPulse; // Offset Part2
- 
 
 187 
                 ServoState = 1;
- 
 
 188 
      }
- 
 
 189 
  }
- 
 
 190 
  else if (ServoState == 0)
- 
 
 191 
          {
165 
     TCCR2A =3;
 192 
             ServoState  = (int) EE_Parameter.ServoNickRefresh * MULTIPLIER;
- 
 
 193 
         PORTD&=~0x80;
166 
     PORTD&=~0x80;
 194 
                 TCCR2A = 3;
- 
 
 195 
          }
- 
 
 196 
  ServoState--;
167 
    }
 197