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Line 8... Line 8...
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volatile unsigned char SendSPI = 0;
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volatile unsigned char SendSPI = 0;
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volatile unsigned int ServoState = 40;
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volatile unsigned int ServoState = 40;
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unsigned int BeepMuster = 0xffff;
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unsigned int BeepMuster = 0xffff;
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unsigned int ServoValue = 0;
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//Salvo 8.9.2007
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volatile uint8_t Kompass_Neuer_Wert= 0;
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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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unsigned int ServoValue = 0;
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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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  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 24.12.2007
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/*
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Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion
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*/
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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(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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         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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     if(!cnt_1ms) UpdateMotor = 1;
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     if(!cnt_1ms) UpdateMotor = 1;
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        {
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        {
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         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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        }
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        }
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 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
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 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) //Salvo 25.10.2008
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 {
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 {
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  if(PINC & 0x10)
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  if(PINC & 0x10)
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   {
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   {
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    cntKompass++;
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    cntKompass++;
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   {
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   {
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    if((cntKompass) && (cntKompass < 362))
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    if((cntKompass) && (cntKompass < 362))
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    {
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    {
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     cntKompass += cntKompass / 41;
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     cntKompass += cntKompass / 41;
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     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
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     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
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// Salvo Kompassoffset 23.12.2007 ***********
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         Kompass_present = 255;
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//       Kompass_Value_Old      =       KompassValue;
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         if (KOMPASS_OFFSET > 0)  KompassValue = cntKompass -KOMPASS_OFFSET;
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         else KompassValue = cntKompass - ((int) (Parameter_UserParam4*2));
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         if (KompassValue < 0)
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         {
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                KompassValue += 360;
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         }
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         if (KompassValue >= 360)
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         {
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                KompassValue -= 360;
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         }     
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 // Salvo End  
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    }
 105 
    }
81 
//     if(cntKompass < 10) cntKompass = 10;
 106 
//     if(cntKompass < 10) cntKompass = 10;
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//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
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//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
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     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
 108 
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
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 109 
//Salvo 13.9.2007 Ok Erkennung des Magnetkompasses
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 110 
         Kompass_Neuer_Wert     = 1;
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 111 
 // Salvo End
84 
    cntKompass = 0;
 112 
     cntKompass = 0;
85 
   }
 113 
   }
86 
 }
 114 
 }
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}
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}
Line 88... Line 116...
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