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#ifndef _MAIN_H
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#ifndef _MAIN_H_
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 #define _MAIN_H
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#define _MAIN_H_
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#include <stdio.h>
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#include <math.h>
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#include <stdlib.h>
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#include <string.h>
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#include <avr/io.h>
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#include <avr/pgmspace.h>
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#include <avr/interrupt.h>
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#include <avr/eeprom.h>
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#include <avr/boot.h>
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#include <avr/eeprom.h>
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#include <inttypes.h>
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typedef enum
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{
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        ATTITUDE_SOURCE_I2C,
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        ATTITUDE_SOURCE_UART,
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        ATTITUDE_SOURCE_ACC
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} AttitudeSource_t;
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typedef enum
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{
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        ORIENTATION_NC = 0,
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        ORIENTATION_FC = 1
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} Orientation_t;
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extern int16_t Heading;
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extern AttitudeSource_t AttitudeSource;
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extern Orientation_t Orientation;
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#include <avr/wdt.h>
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#include <avr/eeprom.h>
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#include "twislave.h"
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#include "old_macros.h"
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#include "analog.h"
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#include "uart.h"
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#include "timer0.h"
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#if defined(__AVR_ATmega8__)
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#  define OC1   PB1
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#  define DDROC DDRB
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#  define OCR   OCR1A
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#  define PWM10 WGM10
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#  define PWM11 WGM11
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#endif
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#define SYSCLK  8000000L        //Quarz Frequenz in Hz
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#define INT0_ENABLE      GIMSK |= 0x40          
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#define INT0_DISABLE     GIMSK &= ~0x40          
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#define TIM0_START       TIMSK0 |= _BV(TOIE0)
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#define TIM0_STOPP       TIMSK0 &= ~_BV(TOIE0)                        
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#define ICP_INT_ENABLE   TIMSK0 |= 0x20                        
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#define ICP_INT_DISABLE  TIMSK0 &= ~0x20                        
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#define TIMER1_INT_ENABLE   TIMSK0 |= 0x04                        
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#define TIMER1_INT_DISABLE  TIMSK0 &= ~0x04                        
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#define TIMER2_INT_ENABLE   TIMSK0 |= 0x40                        
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#define TIMER2_INT_DISABLE  TIMSK0 &= ~0x40                        
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#define INT0_POS_FLANKE   MCUCR |= 0x01
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#define INT0_ANY_FLANKE   MCUCR |= 0x01
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#define INT0_NEG_FLANKE   MCUCR &= ~0x01
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#define CLR_INT0_FLAG     GIFR &= ~0x40
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#define INIT_INT0_FLANKE  MCUCR &= ~0x03; MCUCR |= 0x02;
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#define TIMER0_PRESCALER  TCCR0
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#define ICP_POS_FLANKE    TCCR1B |= (1<<ICES1)
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#define ICP_NEG_FLANKE    TCCR1B &= ~(1<<ICES1)
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#define LED_ON     PORTD |= 0x80
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#define LED_OFF    PORTD &= ~0x80
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#define FLIP_HIGH  PORTD |= 0x60
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#define FLIP_LOW   PORTD &= ~0x60
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#define PIN_J3     (PIND & 0x08)
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extern unsigned int PwmHeading;
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extern unsigned int PC_Connected;
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extern unsigned int Heading;
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extern signed int MagnetN,MagnetR,MagnetZ;
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extern signed int RawAccN, RawAccR, RawAccZ;
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extern signed int AccN, AccR, AccZ;
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extern signed int OffsetAccN, OffsetAccR, OffsetAccZ;
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extern unsigned char AngleSource;
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extern uint16_t eeXmin EEMEM;
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extern uint16_t eeXmax EEMEM;
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extern uint16_t eeYmin EEMEM;
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extern uint16_t eeYmax EEMEM;
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extern uint16_t eeZmin EEMEM;
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extern int16_t MagX, MagY, MagZ;