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| Rev 1638 | Rev 1643 | ||
|---|---|---|---|
| Line 26... | Line 26... | ||
| 26 | }; |
26 | }; |
| Line 27... | Line 27... | ||
| 27 | 27 | ||
| 28 | 28 | ||
| 29 | ISR(TIMER0_OVF_vect) // 9,7kHz |
29 | ISR(TIMER0_OVF_vect) // 9,7kHz |
| 30 | { |
30 | { |
| 31 | static unsigned char cnt_1ms = 1,cnt = 0; |
31 | static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
| 32 | unsigned char pieper_ein = 0; |
32 | unsigned char pieper_ein = 0; |
| 33 | if(SendSPI) SendSPI--; |
33 | if(SendSPI) SendSPI--; |
| 34 | if(SpektrumTimer) SpektrumTimer--; |
34 | if(SpektrumTimer) SpektrumTimer--; |
| 35 | if(!cnt--) |
35 | if(!cnt--) |
| - | 36 | { |
|
| 36 | { |
37 | cnt = 9; |
| 37 | cnt = 9; |
38 | CountMilliseconds++; |
| - | 39 | cnt_1ms++; |
|
| 38 | cnt_1ms++; |
40 | cnt_1ms %= 2; |
| 39 | cnt_1ms %= 2; |
41 | |
| 40 | if(!cnt_1ms) UpdateMotor = 1; |
42 | if(!cnt_1ms) UpdateMotor = 1; |
| 41 | CountMilliseconds++; |
43 | if(!PINC & 0x10) compass_active = 1; |
| 42 | } |
44 | |
| 43 | if(beeptime >= 1) |
45 | if(beeptime >= 10) |
| 44 | { |
46 | { |
| 45 | beeptime--; |
47 | beeptime -= 10; |
| 46 | if(beeptime & BeepMuster) |
48 | if(beeptime & BeepMuster) |
| 47 | { |
49 | { |
| 48 | pieper_ein = 1; |
50 | pieper_ein = 1; |
| Line 62... | Line 64... | ||
| 62 | else |
64 | else |
| 63 | { |
65 | { |
| 64 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
66 | if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| 65 | else PORTC &= ~(1<<7); |
67 | else PORTC &= ~(1<<7); |
| 66 | } |
68 | } |
| 67 | 69 | } |
|
| 68 | if(!NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
70 | if(compass_active && !NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| 69 | { |
71 | { |
| 70 | if(PINC & 0x10) |
72 | if(PINC & 0x10) |
| 71 | { |
73 | { |
| 72 | cntKompass++; |
74 | if(++cntKompass > 1000) compass_active = 0; |
| 73 | } |
75 | } |
| 74 | else |
76 | else |
| 75 | { |
77 | { |
| 76 | if((cntKompass) && (cntKompass < 362)) |
78 | if((cntKompass) && (cntKompass < 362)) |
| 77 | { |
79 | { |