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Rev 693 Rev 723
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volatile unsigned int CountMilliseconds = 0;
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volatile unsigned int CountMilliseconds = 0;
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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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unsigned int BeepMuster = 0xffff;
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unsigned int BeepMuster = 0xffff;
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int ServoValue = 0;
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int ServoValue = 0;
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enum {
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enum {
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SIGNAL (SIG_OVERFLOW0)    // 8kHz
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SIGNAL (SIG_OVERFLOW0)    // 8kHz
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{
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{
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    static unsigned char cnt_1ms = 1,cnt = 0;
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    static unsigned char cnt_1ms = 1,cnt = 0;
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    unsigned char pieper_ein = 0;
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    unsigned char pieper_ein = 0;
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//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
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//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
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   if(SendSPI) SendSPI--;
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   if(!cnt--)
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   if(!cnt--)
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    {
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    {
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     cnt = 9;
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     cnt = 9;
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     cnt_1ms++;
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     cnt_1ms++;
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     cnt_1ms %= 2;
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     cnt_1ms %= 2;
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     if(!cnt_1ms) UpdateMotor = 1;
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     if(!cnt_1ms) UpdateMotor = 1;
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     CountMilliseconds++;
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     CountMilliseconds++;
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     }  
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    }  
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     if(beeptime > 1)
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     if(beeptime > 1)
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        {
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        {
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        beeptime--;      
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        beeptime--;