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| Rev 438 | Rev 466 | ||
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| Line 1... | Line 1... | ||
| 1 | #include "main.h" |
1 | #include "main.h" |
| Line 2... | Line 2... | ||
| 2 | 2 | ||
| 3 | volatile unsigned int CountMilliseconds = 0; |
3 | volatile unsigned int CountMilliseconds = 0; |
| 4 | volatile static unsigned int tim_main; |
4 | volatile static unsigned int tim_main; |
| 5 | volatile unsigned char UpdateMotor = 0; |
- | |
| 6 | volatile unsigned int cntKompass = 0; |
5 | volatile unsigned char UpdateMotor = 0; |
| 7 | volatile unsigned int beeptime = 0; |
6 | volatile unsigned int beeptime = 0; |
| 8 | unsigned int BeepMuster = 0xffff; |
7 | unsigned int BeepMuster = 0xffff; |
| Line 9... | Line 8... | ||
| 9 | int ServoValue = 0; |
8 | int ServoValue = 0; |
| Line 18... | Line 17... | ||
| 18 | T0_FALLING_EDGE = 6, |
17 | T0_FALLING_EDGE = 6, |
| 19 | T0_RISING_EDGE = 7 |
18 | T0_RISING_EDGE = 7 |
| 20 | }; |
19 | }; |
| Line 21... | Line 20... | ||
| 21 | 20 | ||
| 22 | 21 | ||
| 23 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
22 | SIGNAL (SIG_OVERFLOW0) // 9,8kHz |
| 24 | { |
23 | { |
| 25 | static unsigned char cnt_1ms = 1,cnt = 0; |
24 | static unsigned char cnt_1ms = 1,cnt = 0; |
| Line 26... | Line 25... | ||
| 26 | unsigned char pieper_ein = 0; |
25 | unsigned char pieper_ein = 0; |
| 27 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
26 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| 28 | 27 | ||
| 29 | if(!cnt--) |
28 | if(!cnt--) |
| 30 | { |
29 | { |
| 31 | cnt = 9; |
30 | cnt = 10; |
| 32 | cnt_1ms++; |
31 | cnt_1ms++; |
| 33 | cnt_1ms %= 2; |
32 | cnt_1ms %= 2; |
| Line 60... | Line 59... | ||
| 60 | { |
59 | { |
| 61 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
60 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| 62 | else PORTC &= ~(1<<7); |
61 | else PORTC &= ~(1<<7); |
| 63 | } |
62 | } |
| Line 64... | Line 63... | ||
| 64 | 63 | ||
| 65 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
- | |
| 66 | { |
- | |
| 67 | timer0_MM3(); // Kompass auslesen |
- | |
| 68 | - | ||
| 69 | if (!cntKompass--) // Aufruf mit 10 Hz |
- | |
| 70 | { |
- | |
| 71 | KompassValue = heading_MM3(); |
- | |
| 72 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
- | |
| 73 | cntKompass = 980; |
- | |
| 74 | } |
- | |
| 75 | } |
64 | if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3(); // Kompass auslesen |
| Line 76... | Line 65... | ||
| 76 | } |
65 | } |
| 77 | 66 | ||