| 11,14 → 11,13 |
|---|
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| |
| |
| // neue Hardware |
| #define ROT_OFF PORTB &=~0x01 |
| #define ROT_ON PORTB |= 0x01 |
| #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 PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTD ^= 0x02 |
| #define GRN_FLASH PORTB ^= 0x02 |
| |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| 30,6 → 29,7 |
|---|
| |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_LAST_OFFSET 3 |
| |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| |
| 40,12 → 40,51 |
|---|
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| |
| #define CFG_LOOP_OBEN 0x01 |
| #define CFG_LOOP_UNTEN 0x02 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| |
| long durchschnitt_x; |
| long durchschnitt_y; |
| long durchschnitt_z; |
| |
| int gps_h_d1; |
| int gps_h_d2; |
| |
| long target_x, target_y, target_z; |
| |
| volatile int gps_error; |
| volatile int gps_getpos; |
| |
| volatile int gps_p; //P-Anteil |
| volatile int gps_d; //D-Anteil |
| volatile int gps_acc; //Acc-Anteil |
| |
| int sticks_centered; |
| int stick_time; |
| |
| long gps_home_x; |
| long gps_home_y; |
| long home_height; |
| |
| int homing_state; |
| |
| int way, way1, wayn, way2; |
| |
| volatile int gpsmax; |
| |
| volatile int komp_dreh; // verdrehten Kompasseinbau kompensieren (+/-Grad) |
| volatile int gps_new; |
| volatile int skal; //Skalierungsfaktor der Regelung (alter Wert: 10) (20) |
| volatile int gps_gethome; |
| |
| //#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 void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| 52,15 → 91,6 |
|---|
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| |
| long durchschnitt_northing; |
| long durchschnitt_easting; |
| |
| volatile int gps_p; //P-Anteil (10) |
| volatile int gps_d; //D-Anteil (4) |
| volatile int skal; //Skalierungsfaktor der Regelung (alter Wert: 10) (20) |
| |
| volatile int gps_gethome; |
| |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| 72,7 → 102,7 |
|---|
| |
| #include "old_macros.h" |
| |
| #include "_Settings.h" |
| #include "_settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |