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| Rev 436 | Rev 437 | ||
|---|---|---|---|
| Line 60... | Line 60... | ||
| 60 | { |
60 | { |
| 61 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
61 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| 62 | else PORTC &= ~(1<<7); |
62 | else PORTC &= ~(1<<7); |
| 63 | } |
63 | } |
| Line 64... | Line 64... | ||
| 64 | 64 | ||
| 65 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
65 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| 66 | { |
- | |
| 67 | if(PINC & 0x10) |
- | |
| 68 | { |
66 | { |
| 69 | cntKompass++; |
- | |
| 70 | } |
- | |
| 71 | else |
67 | timer0_MM3(); // Kompass auslesen |
| 72 | { |
68 | |
| 73 | if((cntKompass) && (cntKompass < 4000)) |
69 | if (!cntKompass--) // Aufruf mit 10 Hz |
| 74 | { |
70 | { |
| 75 | KompassValue = cntKompass; |
- | |
| 76 | } |
71 | int heading; |
| 77 | // if(cntKompass < 10) cntKompass = 10; |
72 | heading = heading_MM3(); |
| 78 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
73 | KompassValue = (KompassValue * 3 + heading) / 4; // Filtern |
| 79 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
74 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 80 | cntKompass = 0; |
75 | cntKompass = 980; |
| 81 | } |
76 | } |
| 82 | } |
77 | } |
| Line 83... | Line 78... | ||
| 83 | } |
78 | } |
| 84 | 79 | ||