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Rev 440 Rev 453
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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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        }
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        }
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     else  
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     else  
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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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        {
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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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        }
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        if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3();         // Kompass auslesen
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}
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}
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// -----------------------------------------------------------------------
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// -----------------------------------------------------------------------
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unsigned int SetDelay (unsigned int t)
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{
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unsigned int SetDelay (unsigned int t)
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//  TIMSK0 &= ~_BV(TOIE0);
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  return(CountMilliseconds + t + 1);                                            
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{
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//  TIMSK0 |= _BV(TOIE0);
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  return(CountMilliseconds + t + 1);                                            
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}
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}
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// -----------------------------------------------------------------------
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char CheckDelay(unsigned int t)
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// -----------------------------------------------------------------------
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{
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//  TIMSK0 &= ~_BV(TOIE0);
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char CheckDelay(unsigned int t)
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  return(((t - CountMilliseconds) & 0x8000) >> 9);
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{
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//  TIMSK0 |= _BV(TOIE0);
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  return(((t - CountMilliseconds) & 0x8000) >> 9);
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}
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}
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// -----------------------------------------------------------------------
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// -----------------------------------------------------------------------
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void Delay_ms(unsigned int w)
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void Delay_ms(unsigned int w)
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{
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{
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 unsigned int akt;
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 akt = SetDelay(w);
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 while (!CheckDelay(akt));
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}
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void Delay_ms_Mess(unsigned int w)
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{
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 unsigned int akt;
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 unsigned int akt;
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 akt = SetDelay(w);
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 akt = SetDelay(w);
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 while (!CheckDelay(akt));
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 while (!CheckDelay(akt)) ANALOG_ON;
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}
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}
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