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Rev | Author | Line No. | Line |
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1300 | acid | 1 | #ifndef _MAIN_H |
2 | #define _MAIN_H |
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3 | |||
4 | #define QUADRO |
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5 | //#define OCTO // 2 Arms in Front |
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6 | //#define OCTO2 // 1 Arm in front |
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7 | //#define OCTO3 // 1 Arm with two Motors in front or Coax |
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8 | |||
9 | //+++++++++++ |
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10 | // Quadro: |
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11 | // 1 |
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12 | // 4 3 |
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13 | // 2 |
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14 | //+++++++++++ |
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15 | // Reverse Props on 1 2 |
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16 | |||
17 | //+++++++++++ |
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18 | // Octo: |
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19 | // 1 2 |
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20 | // 8 3 |
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21 | // 7 4 |
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22 | // 6 5 |
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23 | //+++++++++++ |
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24 | |||
25 | //+++++++++++ |
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26 | // Octo2: |
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27 | // 1 |
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28 | // 8 2 |
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29 | // 7 3 |
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30 | // 6 4 |
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31 | // 5 |
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32 | //+++++++++++ |
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33 | |||
34 | //+++++++++++ |
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35 | // Octo3: |
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36 | // 1 |
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37 | // 2 |
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38 | // 8 7 3 4 |
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39 | // 5 |
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40 | // 6 |
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41 | //+++++++++++ |
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42 | // Reverse Props on octo: 1 3 5 7 |
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43 | |||
44 | |||
45 | //Hier die Quarz Frequenz einstellen |
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46 | #if defined (__AVR_ATmega32__) |
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47 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
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48 | #endif |
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49 | |||
50 | #if defined (__AVR_ATmega644__) |
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51 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
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52 | #endif |
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53 | |||
54 | #if defined (__AVR_ATmega644P__) |
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55 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
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56 | #endif |
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57 | |||
58 | // neue Hardware |
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59 | #define ROT_OFF {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB &=~0x01; else PORTB |= 0x01;} |
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60 | #define ROT_ON {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB |= 0x01; else PORTB &=~0x01;} |
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61 | #define ROT_FLASH PORTB ^= 0x01 |
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62 | #define GRN_OFF {if((PlatinenVersion < 12)) PORTB &=~0x02; else PORTB |= 0x02;} |
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63 | #define GRN_ON {if((PlatinenVersion < 12)) PORTB |= 0x02; else PORTB &=~0x02;} |
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64 | #define GRN_FLASH PORTB ^= 0x02 |
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65 | |||
66 | #define F_CPU SYSCLK |
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67 | //#ifndef F_CPU |
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68 | //#error ################## F_CPU nicht definiert oder ungültig ############# |
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69 | //#endif |
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70 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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71 | #define EE_DATENREVISION 75 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
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72 | #define MIXER_REVISION 1 // wird angepasst, wenn sich die Mixer-Daten geändert haben |
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73 | |||
74 | #define EEPROM_ADR_VALID 1 |
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75 | #define EEPROM_ADR_ACTIVE_SET 2 |
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76 | #define EEPROM_ADR_LAST_OFFSET 3 |
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77 | |||
78 | #define EEPROM_ADR_ACC_NICK 4 |
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79 | #define EEPROM_ADR_ACC_ROLL 6 |
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80 | #define EEPROM_ADR_ACC_Z 8 |
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81 | |||
82 | #define EEPROM_ADR_CHANNELS 80 |
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83 | |||
84 | #define EEPROM_ADR_PARAM_LENGTH 98 |
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85 | #define EEPROM_ADR_PARAM_BEGIN 100 |
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86 | |||
87 | #define EEPROM_ADR_MIXER_TABLE 1000 // 1001 - 1100 |
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88 | |||
89 | #define CFG_HOEHENREGELUNG 0x01 |
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90 | #define CFG_HOEHEN_SCHALTER 0x02 |
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91 | #define CFG_HEADING_HOLD 0x04 |
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92 | #define CFG_KOMPASS_AKTIV 0x08 |
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93 | #define CFG_KOMPASS_FIX 0x10 |
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94 | #define CFG_GPS_AKTIV 0x20 |
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95 | #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
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96 | #define CFG_DREHRATEN_BEGRENZER 0x80 |
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97 | |||
98 | #define CFG_LOOP_OBEN 0x01 |
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99 | #define CFG_LOOP_UNTEN 0x02 |
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100 | #define CFG_LOOP_LINKS 0x04 |
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101 | #define CFG_LOOP_RECHTS 0x08 |
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102 | #define CFG_RES1 0x10 |
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103 | #define CFG_RES2 0x20 |
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104 | #define CFG_RES3 0x40 |
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105 | #define CFG_RES4 0x80 |
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106 | |||
107 | #define J3High PORTD |= 0x20 |
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108 | #define J3Low PORTD &= ~0x20 |
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109 | #define J4High PORTD |= 0x10 |
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110 | #define J4Low PORTD &= ~0x10 |
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111 | #define J5High PORTD |= 0x08 |
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112 | #define J5Low PORTD &= ~0x08 |
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113 | |||
114 | |||
115 | //#define SYSCLK |
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116 | //extern unsigned long SYSCLK; |
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117 | extern volatile unsigned char SenderOkay; |
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118 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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119 | extern unsigned char PlatinenVersion; |
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120 | extern unsigned char SendVersionToNavi; |
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121 | void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
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122 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
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123 | extern unsigned char GetActiveParamSetNumber(void); |
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124 | void SetActiveParamSetNumber(unsigned char number); |
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125 | extern unsigned char EEPromArray[]; |
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126 | |||
127 | #include <stdlib.h> |
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128 | #include <string.h> |
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129 | #include <avr/io.h> |
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130 | #include <avr/pgmspace.h> |
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131 | #include <avr/interrupt.h> |
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132 | #include <avr/eeprom.h> |
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133 | #include <avr/boot.h> |
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134 | #include <avr/wdt.h> |
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135 | |||
136 | #include "old_macros.h" |
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137 | |||
138 | #include "_Settings.h" |
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139 | #include "printf_P.h" |
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140 | #include "timer0.h" |
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141 | #include "uart.h" |
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142 | #include "analog.h" |
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143 | #include "twimaster.h" |
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144 | #include "menu.h" |
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145 | #include "rc.h" |
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146 | #include "fc.h" |
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147 | #include "gps.h" |
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148 | #include "spi.h" |
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149 | #include "led.h" |
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150 | |||
151 | #ifndef EEMEM |
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152 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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153 | #endif |
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154 | |||
155 | #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
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156 | |||
157 | |||
158 | #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
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159 | |||
160 | #endif //_MAIN_H |
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161 | |||
162 | |||
163 | |||
164 | |||
165 | |||
166 |