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Rev 251 Rev 341
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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 beeptime = 0;
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volatile unsigned int beeptime = 0;
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volatile unsigned int cntKompass = 0;
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volatile unsigned int cntKompass = 800;
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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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        if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
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        if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
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        {
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        {
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                MM3_timer0();           // Kompass auslesen
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                MM3_timer0();           // Kompass auslesen
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                if (!cntKompass--)              // Aufruf mit 25 Hz
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                if (!cntKompass--)              // Aufruf mit 10 Hz
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                {
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                {
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                        KompassValue = MM3_heading();
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                        KompassValue = MM3_heading();
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                        KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
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                        KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
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                        cntKompass = 320;
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                        cntKompass = 800;
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                }
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                }
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    tim_main = SetDelay(10);
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    tim_main = SetDelay(10);
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    TCCR0B = CK8;
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    TCCR0B = CK8;
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    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
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    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
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    OCR0A =  0;
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    OCR0A =  0;
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    OCR0B = 120;
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    OCR0B = 120;
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    TCNT0 = -TIMER_RELOAD_VALUE;  // reload
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    //TCNT0 = -TIMER_RELOAD_VALUE;  // reload
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    //OCR1  = 0x00;
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    //OCR1  = 0x00;
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    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;
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    TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3;