Subversion Repositories FlightCtrl

#ifndef _MAIN_H

 #define _MAIN_H

//Hier die Quarz Frequenz einstellen

#if defined (__AVR_ATmega32__)

#define SYSCLK  20000000L       //Quarz Frequenz in Hz

#endif

#if defined (__AVR_ATmega644__)

#define SYSCLK  20000000L       //Quarz Frequenz in Hz

//#define SYSCLK        16000000L       //Quarz Frequenz in Hz

#endif

// neue Hardware

#define ROT_OFF   {if(PlatinenVersion == 10) PORTB &=~0x01; else  PORTB |= 0x01;}

#define ROT_ON    {if(PlatinenVersion == 10) PORTB |= 0x01; else  PORTB &=~0x01;}

#define ROT_FLASH PORTB ^= 0x01

#define GRN_OFF   {if(PlatinenVersion < 12) PORTB &=~0x02; else PORTB |= 0x02;} 

#define GRN_ON    {if(PlatinenVersion < 12) PORTB |= 0x02; else PORTB &=~0x02;} 

#define GRN_FLASH PORTB ^= 0x02

#define F_CPU SYSCLK

//#ifndef F_CPU

//#error ################## F_CPU nicht definiert oder ungültig #############

//#endif

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#define EEPROM_ADR_VALID            1

#define EEPROM_ADR_ACTIVE_SET       2

#define EEPROM_ADR_LAST_OFFSET      3

#define EEPROM_ADR_ACC_NICK         4

#define EEPROM_ADR_ACC_ROLL         6

#define EEPROM_ADR_ACC_Z            8

#define EEPROM_ADR_PARAM_BEGIN      100

#define CFG_HOEHENREGELUNG       0x01

#define CFG_HOEHEN_SCHALTER      0x02

#define CFG_HEADING_HOLD         0x04

#define CFG_KOMPASS_AKTIV        0x08

#define CFG_KOMPASS_FIX          0x10

#define CFG_GPS_AKTIV            0x20

#define CFG_ACHSENKOPPLUNG_AKTIV 0x40

#define CFG_DREHRATEN_BEGRENZER  0x80

#define CFG_LOOP_OBEN       0x01

#define CFG_LOOP_UNTEN      0x02

#define CFG_LOOP_LINKS      0x04

#define CFG_LOOP_RECHTS     0x08

#ifdef HEXAKOPTER

#define MOTOR_COUNT 6

#else

#define MOTOR_COUNT 4

#endif

//#define  SYSCLK  

//extern unsigned long SYSCLK;

extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll;

extern volatile unsigned char SenderOkay;

extern unsigned char CosinusNickWinkel, CosinusRollWinkel;

extern unsigned char PlatinenVersion;

extern unsigned char SendVersionToNavi;

void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length);

void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length);

extern unsigned char GetActiveParamSetNumber(void);

extern unsigned char EEPromArray[];

#include <stdlib.h>

#include <string.h>

#include <avr/io.h>

#include <avr/pgmspace.h>

#include <avr/interrupt.h>

#include <avr/eeprom.h>

#include <avr/boot.h>

#include <avr/wdt.h>

#include "old_macros.h"

#include "_Settings.h"

#include "printf_P.h"

#include "timer0.h"

#include "uart.h"

#include "analog.h"

#include "twimaster.h"

#include "menu.h"

#include "rc.h"

#include "fc.h"

#include "gps.h"

#include "spi.h"

#include "led.h"

#ifndef EEMEM

#define EEMEM __attribute__ ((section (".eeprom")))

#endif

#define DEBUG_DISPLAY_INTERVALL  123 // in ms

#define DELAY_US(x)     ((unsigned int)( (x) * 1e-6 * F_CPU ))

#endif //_MAIN_H