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// +  POSSIBILITY OF SUCH DAMAGE.
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "91x_lib.h"
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#include "91x_lib.h"
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#include "timer1.h"
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#include "timer1.h"
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#include "uart1.h"
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#include "uart1.h"
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#include "i2c.h"
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#include "config.h"
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#include "config.h"
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u32 CountMilliseconds;
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u32 CountMilliseconds;
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{
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{
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        if(TIM_GetFlagStatus(TIM1, TIM_FLAG_OC1) == SET)
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        if(TIM_GetFlagStatus(TIM1, TIM_FLAG_OC1) == SET)
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        {
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        {
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                TIM1->OC1R += 200;    // Timerfreq is 200kHz, generate an interrupt every 1ms
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                TIM1->OC1R += 200;    // Timerfreq is 200kHz, generate an interrupt every 1ms
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                CountMilliseconds++;
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                CountMilliseconds++;
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                //if (GPIO_ReadBit(GPIO6, GPIO_Pin_3)) GPIO_WriteBit(GPIO6, GPIO_Pin_3, Bit_RESET);  else GPIO_WriteBit(GPIO6, GPIO_Pin_3, Bit_SET);
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                I2C1_UpdateCompass(); // update compass communication
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                TIM_ClearFlag(TIM1, TIM_FLAG_OC1); // clear irq pending bit
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                TIM_ClearFlag(TIM1, TIM_FLAG_OC1); // clear irq pending bit
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        }
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        }
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        // write any value to VIC0 Vector address register
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        // write any value to VIC0 Vector address register
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        VIC0->VAR = 0xFF;
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        VIC0->VAR = 0xFF;
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}
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}