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| Rev 1232 | Rev 1320 | ||
|---|---|---|---|
| Line 1... | Line 1... | ||
| 1 | #include "main.h" |
1 | #include "main.h" |
| - | 2 | #include "spectrum.h" |
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| Line 2... | Line 3... | ||
| 2 | 3 | ||
| 3 | volatile unsigned int CountMilliseconds = 0; |
4 | volatile unsigned int CountMilliseconds = 0; |
| 4 | volatile static unsigned int tim_main; |
5 | volatile static unsigned int tim_main; |
| 5 | volatile unsigned char UpdateMotor = 0; |
6 | volatile unsigned char UpdateMotor = 0; |
| Line 28... | Line 29... | ||
| 28 | 29 | ||
| 29 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
30 | SIGNAL (SIG_OVERFLOW0) // 8kHz |
| 30 | { |
31 | { |
| 31 | static unsigned char cnt_1ms = 1,cnt = 0; |
32 | static unsigned char cnt_1ms = 1,cnt = 0; |
| 32 | unsigned char pieper_ein = 0; |
- | |
| 33 | // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
33 | unsigned char pieper_ein = 0; |
| - | 34 | if(SendSPI) SendSPI--; |
|
| - | 35 | if(SpektrumTimer) SpektrumTimer--; |
|
| 34 | if(SendSPI) SendSPI--; |
36 | |
| 35 | if(!cnt--) |
37 | if(!cnt--) |
| 36 | { |
38 | { |
| 37 | cnt = 9; |
39 | cnt = 9; |
| 38 | cnt_1ms++; |
40 | cnt_1ms++; |
| Line 78... | Line 80... | ||
| 78 | if((cntKompass) && (cntKompass < 362)) |
80 | if((cntKompass) && (cntKompass < 362)) |
| 79 | { |
81 | { |
| 80 | cntKompass += cntKompass / 41; |
82 | cntKompass += cntKompass / 41; |
| 81 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
83 | if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| 82 | } |
84 | } |
| 83 | // if(cntKompass < 10) cntKompass = 10; |
85 | // if(cntKompass < 10) cntKompass =r 10; |
| 84 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
86 | // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| 85 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
87 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 86 | cntKompass = 0; |
88 | cntKompass = 0; |
| 87 | } |
89 | } |
| 88 | } |
90 | } |
| - | 91 | ||
| 89 | } |
92 | } |
| Line 90... | Line 93... | ||
| 90 | 93 | ||