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| Rev 108 | Rev 136 | ||
|---|---|---|---|
| Line 4... | Line 4... | ||
| 4 | volatile static unsigned int tim_main; |
4 | volatile static unsigned int tim_main; |
| 5 | volatile unsigned char UpdateMotor = 0; |
5 | volatile unsigned char UpdateMotor = 0; |
| 6 | volatile unsigned int cntKompass = 0; |
6 | volatile unsigned int cntKompass = 0; |
| 7 | volatile unsigned int beeptime = 0; |
7 | volatile unsigned int beeptime = 0; |
| 8 | int ServoValue = 0; |
8 | int ServoValue = 0; |
| - | 9 | //Salvo 8.9.2007 |
|
| - | 10 | volatile unsigned int Kompass_Neuer_Wert= 0; |
|
| - | 11 | volatile unsigned int Kompass_Value_Old = 0; |
|
| 9 | 12 | // Salvo End |
|
| 10 | enum { |
13 | enum { |
| 11 | STOP = 0, |
14 | STOP = 0, |
| 12 | CK = 1, |
15 | CK = 1, |
| 13 | CK8 = 2, |
16 | CK8 = 2, |
| 14 | CK64 = 3, |
17 | CK64 = 3, |
| Line 40... | Line 43... | ||
| 40 | PORTD |= (1<<2); |
43 | PORTD |= (1<<2); |
| 41 | } |
44 | } |
| 42 | else |
45 | else |
| 43 | PORTD &= ~(1<<2); |
46 | PORTD &= ~(1<<2); |
| Line 44... | Line 47... | ||
| 44 | 47 | ||
| 45 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
48 | // if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| 46 | { |
49 | { |
| 47 | if(PINC & 0x10) |
50 | if(PINC & 0x10) |
| 48 | { |
51 | { |
| 49 | cntKompass++; |
52 | cntKompass++; |
| 50 | } |
53 | } |
| 51 | else |
54 | else |
| 52 | { |
55 | { |
| 53 | if((cntKompass) && (cntKompass < 4000)) |
56 | if((cntKompass) && (cntKompass < 4000)) |
| 54 | { |
57 | { |
| - | 58 | // Salvo Kompassoffset 30.8.2007 *********** |
|
| 55 | // Salvo Kompassoffset 30.8.2007 *********** |
59 | Kompass_Value_Old = KompassValue; |
| Line 56... | Line 60... | ||
| 56 | KompassValue = cntKompass -KOMPASS_OFFSET; |
60 | KompassValue = cntKompass -KOMPASS_OFFSET; |
| 57 | 61 | ||
| 58 | if (KompassValue < 0) |
62 | if (KompassValue < 0) |
| Line 66... | Line 70... | ||
| 66 | // Salvo End |
70 | // Salvo End |
| 67 | } |
71 | } |
| 68 | // if(cntKompass < 10) cntKompass = 10; |
72 | // if(cntKompass < 10) cntKompass = 10; |
| 69 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
73 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| 70 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
74 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| - | 75 | Kompass_Neuer_Wert = 1; |
|
| 71 | cntKompass = 0; |
76 | cntKompass = 0; |
| 72 | } |
77 | } |
| 73 | } |
78 | } |
| 74 | } |
79 | } |