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Line 5... Line 5...
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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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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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//Salvo 8.9.2007
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 11 
volatile uint8_t Kompass_Neuer_Wert= 0;
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 12 
volatile unsigned int Kompass_Value_Old = 0;
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// Salvo End
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//Salvo 21.9.2007
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short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist
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// Salvo End
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enum {
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enum {
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  STOP             = 0,
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  STOP             = 0,
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  CK               = 1,
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  CK               = 1,
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  CK8              = 2,
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  CK8              = 2,
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  CK64             = 3,
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  CK64             = 3,
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  CK1024           = 5,
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  CK1024           = 5,
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  T0_FALLING_EDGE  = 6,
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  T0_FALLING_EDGE  = 6,
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  T0_RISING_EDGE   = 7
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  T0_RISING_EDGE   = 7
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};
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};
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// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 21.9.2007
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 29 
/*
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 30 
Driftkompensation fuer Gyros verbessert
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Linearsensor mit fixem Neutralwert
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 32 
Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion
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 33 
*/
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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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 39 
 
- 
 
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   if(!cnt--)
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   if(!cnt--)
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    {
30 
    {
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         if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden
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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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        {
 72 
        {
61 
         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
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         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
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         else                      PORTC &= ~(1<<7);
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         else                      PORTC &= ~(1<<7);
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        }
 75 
        }
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 76 
 
65 
 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
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// if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
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 {
 78 
 {
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  if(PINC & 0x10)
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  if(PINC & 0x10)
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   {
 80 
   {
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    cntKompass++;
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    cntKompass++;
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   }
 82 
   }
71 
  else
 83 
  else
72 
   {
 84 
   {
73 
    if((cntKompass) && (cntKompass < 4000))
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    if((cntKompass) && (cntKompass < 4000))
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 86 
    {
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 87 
// Salvo Kompassoffset 30.8.2007 und 21.9.2007 ***********
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 88 
         Kompass_present = 255;
74 
    {
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         Kompass_Value_Old      =       KompassValue;
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 90 
     KompassValue = cntKompass -KOMPASS_OFFSET;
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 91 
 
- 
 
 92 
         if (KompassValue < 0)
- 
 
 93 
         {
- 
 
 94 
                KompassValue += 360;
- 
 
 95 
         }
- 
 
 96 
         if (KompassValue >= 360)
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 97 
         {
- 
 
 98 
                KompassValue -= 360;
- 
 
 99 
         }     
75 
     KompassValue = cntKompass;
 100 
 // Salvo End  
76 
    }
 101 
    }
77 
//     if(cntKompass < 10) cntKompass = 10;
 102 
//     if(cntKompass < 10) cntKompass = 10;
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//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
 103 
//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
- 
 
 104 
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
- 
 
 105 
//Salvo 13.9.2007 Ok Erkennung des Magnetkompasses
- 
 
 106 
         Kompass_Neuer_Wert     = 1;
79 
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
 107 
 // Salvo End
80 
    cntKompass = 0;
 108 
     cntKompass = 0;
81 
   }
 109 
   }
82 
 }
 110 
 }