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| Rev 1424 | Rev 1469 | ||
|---|---|---|---|
| Line 29... | Line 29... | ||
| 29 | SIGNAL (SIG_OVERFLOW0) // 9,7kHz |
29 | SIGNAL (SIG_OVERFLOW0) // 9,7kHz |
| 30 | { |
30 | { |
| 31 | static unsigned char cnt_1ms = 1,cnt = 0; |
31 | static unsigned char cnt_1ms = 1,cnt = 0; |
| 32 | unsigned char pieper_ein = 0; |
32 | unsigned char pieper_ein = 0; |
| 33 | if(SendSPI) SendSPI--; |
33 | if(SendSPI) SendSPI--; |
| 34 | if(SpektrumTimer) SpektrumTimer--; |
34 | if(SpektrumTimer) SpektrumTimer--; |
| Line 35... | Line 35... | ||
| 35 | 35 | ||
| 36 | if(!cnt--) |
36 | if(!cnt--) |
| 37 | { |
37 | { |
| 38 | cnt = 9; |
38 | cnt = 9; |
| Line 78... | Line 78... | ||
| 78 | { |
78 | { |
| 79 | if((cntKompass) && (cntKompass < 362)) |
79 | if((cntKompass) && (cntKompass < 362)) |
| 80 | { |
80 | { |
| 81 | cntKompass += cntKompass / 41; |
81 | cntKompass += cntKompass / 41; |
| 82 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
82 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| 83 | } |
- | |
| 84 | // if(cntKompass < 10) cntKompass =r 10; |
- | |
| 85 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
- | |
| 86 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
83 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| - | 84 | } |
|
| 87 | cntKompass = 0; |
85 | cntKompass = 0; |
| 88 | } |
86 | } |
| 89 | } |
87 | } |
| 90 | } |
88 | } |
| Line 130... | Line 128... | ||
| 130 | { |
128 | { |
| 131 | uint8_t sreg = SREG; |
129 | uint8_t sreg = SREG; |
| Line 132... | Line 130... | ||
| 132 | 130 | ||
| 133 | // disable all interrupts before reconfiguration |
131 | // disable all interrupts before reconfiguration |
| 134 | cli(); |
132 | cli(); |
| 135 | 133 | ||
| Line 136... | Line 134... | ||
| 136 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
134 | PORTD &= ~(1<<PORTD7); // set PD7 to low |
| 137 | 135 | ||
| 138 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
136 | DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |