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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 550 | walter | 1 | #ifndef _MAIN_H |
| 2 | #define _MAIN_H |
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| 3 | |||
| 4 | |||
| 5 | #define MM3IS 0x01 //iuf define is set MM3 is used, put in comment to switch back to cmps Compass module |
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| 6 | |||
| 7 | //Hier die Quarz Frequenz einstellen |
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| 8 | #if defined (__AVR_ATmega32__) |
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| 9 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
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| 10 | #endif |
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| 11 | |||
| 12 | #if defined (__AVR_ATmega644__) |
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| 13 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
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| 14 | //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
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| 15 | #endif |
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| 16 | |||
| 17 | #if defined (__AVR_ATmega644P__) |
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| 18 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
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| 19 | //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
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| 20 | #endif |
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| 21 | |||
| 22 | // neue Hardware |
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| 23 | #define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;} |
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| 24 | #define ROT_ON {if(PlatinenVersion == 10) PORTB |= 0x01; else PORTB &=~0x01;} |
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| 25 | #define ROT_FLASH PORTB ^= 0x01 |
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| 26 | #define GRN_OFF PORTB &=~0x02 |
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| 27 | #define GRN_ON PORTB |= 0x02 |
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| 28 | #define GRN_FLASH PORTB ^= 0x02 |
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| 29 | #define LED1_OFF PORTC &=~0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
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| 30 | #define LED1_ON PORTC |= 0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
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| 31 | #define LED1_FLASH PORTC ^= 0x04 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr) |
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| 32 | #define LED2_OFF PORTC &=~0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
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| 33 | #define LED2_ON PORTC |= 0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
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| 34 | #define LED2_FLASH PORTC ^= 0x08 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr) |
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| 35 | |||
| 36 | #define F_CPU SYSCLK |
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| 37 | //#ifndef F_CPU |
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| 38 | //#error ################## F_CPU nicht definiert oder ungültig ############# |
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| 39 | //#endif |
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| 40 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | |||
| 42 | #define EEPROM_ADR_VALID 1 |
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| 43 | #define EEPROM_ADR_ACTIVE_SET 2 |
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| 44 | #define EEPROM_ADR_LAST_OFFSET 3 |
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| 45 | |||
| 46 | #define EEPROM_ADR_ACC_NICK 4 |
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| 47 | #define EEPROM_ADR_ACC_ROLL 6 |
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| 48 | #define EEPROM_ADR_ACC_Z 8 |
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| 49 | |||
| 50 | #define EEPROM_ADR_PARAM_BEGIN 100 |
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| 51 | |||
| 52 | #define CFG_HOEHENREGELUNG 0x01 |
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| 53 | #define CFG_HOEHEN_SCHALTER 0x02 |
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| 54 | #define CFG_HEADING_HOLD 0x04 |
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| 55 | #define CFG_KOMPASS_AKTIV 0x08 |
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| 56 | #define CFG_KOMPASS_FIX 0x10 |
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| 57 | #define CFG_GPS_AKTIV 0x20 |
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| 58 | #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
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| 59 | #define CFG_DREHRATEN_BEGRENZER 0x80 |
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| 60 | |||
| 61 | #define CFG_LOOP_OBEN 0x01 |
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| 62 | #define CFG_LOOP_UNTEN 0x02 |
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| 63 | #define CFG_LOOP_LINKS 0x04 |
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| 64 | #define CFG_LOOP_RECHTS 0x08 |
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| 65 | |||
| 66 | //#define SYSCLK |
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| 67 | //extern unsigned long SYSCLK; |
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| 68 | extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
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| 69 | extern volatile unsigned char SenderOkay; |
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| 70 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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| 71 | extern unsigned char PlatinenVersion; |
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| 72 | |||
| 73 | void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
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| 74 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
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| 75 | extern unsigned char GetActiveParamSetNumber(void); |
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| 76 | extern unsigned char EEPromArray[]; |
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| 77 | |||
| 78 | volatile int P_GPS_Verstaerkung; //P-Anteil (80-120) |
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| 79 | volatile int D_GPS_Verstaerkung; //D-Anteil (90) |
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| 80 | |||
| 81 | #include <stdlib.h> |
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| 82 | #include <string.h> |
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| 83 | #include <avr/io.h> |
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| 84 | #include <avr/pgmspace.h> |
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| 85 | #include <avr/interrupt.h> |
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| 86 | #include <avr/eeprom.h> |
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| 87 | #include <avr/boot.h> |
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| 88 | #include <avr/wdt.h> |
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| 89 | |||
| 90 | #include "old_macros.h" |
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| 91 | |||
| 92 | #include "_Settings.h" |
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| 93 | #include "printf_P.h" |
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| 94 | #include "timer0.h" |
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| 95 | #include "uart.h" |
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| 96 | #include "analog.h" |
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| 97 | #include "twimaster.h" |
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| 98 | #include "menu.h" |
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| 99 | #include "rc.h" |
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| 100 | #include "fc.h" |
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| 101 | #include "gps.h" |
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| 102 | #include "spi.h" |
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| 103 | #include "mymath.h" |
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| 104 | |||
| 105 | |||
| 106 | #ifdef MM3IS |
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| 107 | #include "compass.h" |
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| 108 | #endif |
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| 109 | |||
| 110 | |||
| 111 | #ifndef EEMEM |
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| 112 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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| 113 | #endif |
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| 114 | |||
| 115 | #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
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| 116 | |||
| 117 | |||
| 118 | #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
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| 119 | |||
| 120 | #endif //_MAIN_H |
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| 121 | |||
| 122 | |||
| 123 | |||
| 124 | |||
| 125 | |||
| 126 |