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Rev 438 Rev 455
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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 cntKompass = 800;
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volatile unsigned int beeptime = 0;
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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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        PORTD &= ~(1<<PD2);
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        PORTD &= ~(1<<PD2);
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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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                timer0_MM3();           // Kompass auslesen
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                if (!cntKompass--)              // Aufruf mit 10 Hz
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                {
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                        KompassValue = heading_MM3();
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                        KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
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                        cntKompass = 980;
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                }
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                timer0_MM3();           // Kompass auslesen
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        }
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        }
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}
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}