| 0,0 → 1,166 |
|---|
| #ifndef _MAIN_H |
| #define _MAIN_H |
| |
| #define QUADRO |
| //#define OCTO // 2 Arms in Front |
| //#define OCTO2 // 1 Arm in front |
| //#define OCTO3 // 1 Arm with two Motors in front or Coax |
| |
| //+++++++++++ |
| // Quadro: |
| // 1 |
| // 4 3 |
| // 2 |
| //+++++++++++ |
| // Reverse Props on 1 2 |
| |
| //+++++++++++ |
| // Octo: |
| // 1 2 |
| // 8 3 |
| // 7 4 |
| // 6 5 |
| //+++++++++++ |
| |
| //+++++++++++ |
| // Octo2: |
| // 1 |
| // 8 2 |
| // 7 3 |
| // 6 4 |
| // 5 |
| //+++++++++++ |
| |
| //+++++++++++ |
| // Octo3: |
| // 1 |
| // 2 |
| // 8 7 3 4 |
| // 5 |
| // 6 |
| //+++++++++++ |
| // Reverse Props on octo: 1 3 5 7 |
| |
| |
| //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 |
| #endif |
| |
| #if defined (__AVR_ATmega644P__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| |
| // neue Hardware |
| #define ROT_OFF {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB &=~0x01; else PORTB |= 0x01;} |
| #define ROT_ON {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) 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 EE_DATENREVISION 75 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
| #define MIXER_REVISION 1 // wird angepasst, wenn sich die Mixer-Daten geändert haben |
| |
| #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_CHANNELS 80 |
| |
| #define EEPROM_ADR_PARAM_LENGTH 98 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| |
| #define EEPROM_ADR_MIXER_TABLE 1000 // 1001 - 1100 |
| |
| #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 |
| #define CFG_RES1 0x10 |
| #define CFG_RES2 0x20 |
| #define CFG_RES3 0x40 |
| #define CFG_RES4 0x80 |
| |
| #define J3High PORTD |= 0x20 |
| #define J3Low PORTD &= ~0x20 |
| #define J4High PORTD |= 0x10 |
| #define J4Low PORTD &= ~0x10 |
| #define J5High PORTD |= 0x08 |
| #define J5Low PORTD &= ~0x08 |
| |
| |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| 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); |
| void SetActiveParamSetNumber(unsigned char number); |
| 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 |
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