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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 | } |