Subversion Repositories FlightCtrl

Rev

Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
1068 thjac 1
#ifndef _MAIN_H
2
 #define _MAIN_H
3
 
4
#include "parameter.h"
5
 
6
//Hier die Quarz Frequenz einstellen
7
#if defined (__AVR_ATmega32__)
8
#define SYSCLK  20000000L       //Quarz Frequenz in Hz
9
#endif
10
 
11
#if defined (__AVR_ATmega644__)
12
#define SYSCLK  20000000L       //Quarz Frequenz in Hz
13
//#define SYSCLK        16000000L       //Quarz Frequenz in Hz
14
#endif
15
 
16
// neue Hardware
17
#define ROT_OFF   {if(PlatinenVersion == 10) PORTB &=~0x01; else  PORTB |= 0x01;}
18
#define ROT_ON    {if(PlatinenVersion == 10) PORTB |= 0x01; else  PORTB &=~0x01;}
19
#define ROT_FLASH PORTB ^= 0x01
20
#define GRN_OFF   {if(PlatinenVersion < 12) PORTB &=~0x02; else PORTB |= 0x02;} 
21
#define GRN_ON    {if(PlatinenVersion < 12) PORTB |= 0x02; else PORTB &=~0x02;} 
22
#define GRN_FLASH PORTB ^= 0x02
23
 
24
#define MUL_2                           1
25
#define MUL_4                           2
26
#define DIV_2                           1
27
#define DIV_4                           2
28
#define DIV_16                          4
29
#define DIV_32                          5
30
#define DIV_128                         7
31
 
32
#define F_CPU SYSCLK
33
//#ifndef F_CPU
34
//#error ################## F_CPU nicht definiert oder ungültig #############
35
//#endif
36
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
37
 
38
#define EEPROM_ADR_VALID            1
39
#define EEPROM_ADR_ACTIVE_SET       2
40
#define EEPROM_ADR_LAST_OFFSET      3
41
 
42
#define EEPROM_ADR_ACC_NICK         4
43
#define EEPROM_ADR_ACC_ROLL         6
44
#define EEPROM_ADR_ACC_Z            8
45
 
46
#define EEPROM_ADR_PARAM_BEGIN      100
47
 
48
#define CFG_HOEHENREGELUNG       0x01
49
#define CFG_HOEHEN_SCHALTER      0x02
50
#define CFG_HEADING_HOLD         0x04
51
#define CFG_KOMPASS_AKTIV        0x08
52
#define CFG_KOMPASS_FIX          0x10
53
#define CFG_GPS_AKTIV            0x20
54
#define CFG_ACHSENKOPPLUNG_AKTIV 0x40
55
#define CFG_DREHRATEN_BEGRENZER  0x80
56
 
57
#define CFG_LOOP_OBEN       0x01
58
#define CFG_LOOP_UNTEN      0x02
59
#define CFG_LOOP_LINKS      0x04
60
#define CFG_LOOP_RECHTS     0x08
61
 
62
//#define  SYSCLK  
63
//extern unsigned long SYSCLK;
64
extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll;
65
extern volatile unsigned char SenderOkay;
66
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
67
extern unsigned char PlatinenVersion;
68
extern unsigned char SendVersionToNavi;
69
void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length);
70
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length);
71
extern unsigned char GetActiveParamSetNumber(void);
72
extern unsigned char EEPromArray[];
73
 
74
#include <stdlib.h>
75
#include <string.h>
76
#include <avr/io.h>
77
#include <avr/pgmspace.h>
78
#include <avr/interrupt.h>
79
#include <avr/eeprom.h>
80
#include <avr/boot.h>
81
#include <avr/wdt.h>
82
 
83
#include "old_macros.h"
84
 
85
#include "_Settings.h"
86
#include "printf_P.h"
87
#include "timer0.h"
88
#include "uart.h"
89
#include "analog.h"
90
#include "twimaster.h"
91
#include "menu.h"
92
#include "rc.h"
93
#include "fc.h"
94
#include "gps.h"
95
#include "spi.h"
96
#include "led.h"
97
 
98
#ifndef EEMEM
99
#define EEMEM __attribute__ ((section (".eeprom")))
100
#endif
101
 
102
#define DEBUG_DISPLAY_INTERVALL  123 // in ms
103
 
104
 
105
#define DELAY_US(x)     ((unsigned int)( (x) * 1e-6 * F_CPU ))
106
 
107
#endif //_MAIN_H
108
 
109
 
110
 
111
 
112
 
113