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Rev | Author | Line No. | Line |
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796 | joko | 1 | #ifndef _MAIN_H |
2 | #define _MAIN_H |
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3 | |||
4 | //hier kann durch Auskommentierung zwischen CMPS03- und MM3-Kompass gewählt werden |
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5 | #define MM3IS 1 |
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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 kann der Transistorausgang J16 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 kann der Transistorausgang J16 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 kann der Transistorausgang 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 kann der Transistorausgang 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 | #ifdef MM3IS |
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37 | #define SWITCH_BT_2_RX PORTC &=~0x10 //(PC4)dient zur Umschaltung zwischen Bluetooth und GPS in Verbindung mit dem GPS/MM3-Board von Walter //(050208Kr) |
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38 | #define SWITCH_GPS_2_RX PORTC |= 0x10 //(PC4)dient zur Umschaltung zwischen Bluetooth und GPS in Verbindung mit dem GPS/MM3-Board von Walter //(050208Kr) |
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39 | #endif |
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40 | |||
41 | #define F_CPU SYSCLK |
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42 | //#ifndef F_CPU |
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43 | //#error ################## F_CPU nicht definiert oder ungültig ############# |
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44 | //#endif |
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45 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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46 | |||
47 | #define EEPROM_ADR_VALID 1 |
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48 | #define EEPROM_ADR_ACTIVE_SET 2 |
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49 | #define EEPROM_ADR_LAST_OFFSET 3 |
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50 | |||
51 | #define EEPROM_ADR_ACC_NICK 4 |
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52 | #define EEPROM_ADR_ACC_ROLL 6 |
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53 | #define EEPROM_ADR_ACC_Z 8 |
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54 | |||
55 | #define EEPROM_ADR_MM3_CALIB 10 |
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56 | |||
57 | #define EEPROM_ADR_PARAM_BEGIN 100 |
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58 | |||
59 | #define CFG_HOEHENREGELUNG 0x01 |
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60 | #define CFG_HOEHEN_SCHALTER 0x02 |
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61 | #define CFG_HEADING_HOLD 0x04 |
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62 | #define CFG_KOMPASS_AKTIV 0x08 |
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63 | #define CFG_KOMPASS_FIX 0x10 |
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64 | #define CFG_GPS_AKTIV 0x20 |
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65 | #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
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66 | #define CFG_DREHRATEN_BEGRENZER 0x80 |
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67 | |||
68 | #define CFG_LOOP_OBEN 0x01 |
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69 | #define CFG_LOOP_UNTEN 0x02 |
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70 | #define CFG_LOOP_LINKS 0x04 |
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71 | #define CFG_LOOP_RECHTS 0x08 |
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72 | |||
73 | //#define SYSCLK |
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74 | //extern unsigned long SYSCLK; |
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75 | extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
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76 | extern volatile unsigned char SenderOkay; |
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77 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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78 | extern unsigned char PlatinenVersion; |
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79 | |||
80 | void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
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81 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
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82 | extern unsigned char GetActiveParamSetNumber(void); |
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83 | extern unsigned char EEPromArray[]; |
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84 | |||
85 | volatile int P_GPS_Verstaerkung; //P-Anteil (80-120) |
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86 | volatile int D_GPS_Verstaerkung; //D-Anteil (90) |
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87 | volatile int ACC_GPS_Verstaerkung; //ACC-Faktor |
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88 | |||
89 | #include <stdlib.h> |
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90 | #include <string.h> |
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91 | #include <avr/io.h> |
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92 | #include <avr/pgmspace.h> |
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93 | #include <avr/interrupt.h> |
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94 | #include <avr/eeprom.h> |
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95 | #include <avr/boot.h> |
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96 | #include <avr/wdt.h> |
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97 | |||
98 | #include "old_macros.h" |
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99 | |||
100 | #include "_Settings.h" |
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101 | #include "printf_P.h" |
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102 | #include "timer0.h" |
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103 | #include "uart.h" |
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104 | #include "analog.h" |
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105 | #include "twimaster.h" |
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106 | #include "menu.h" |
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107 | #include "rc.h" |
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108 | #include "fc.h" |
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109 | #include "gps.h" |
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110 | #include "spi.h" |
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111 | #include "math.h" |
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112 | |||
113 | #ifdef MM3IS |
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114 | #include "compass.h" |
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115 | #endif |
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116 | |||
117 | |||
118 | #ifndef EEMEM |
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119 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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120 | #endif |
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121 | |||
122 | #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
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123 | |||
124 | |||
125 | #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
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126 | |||
127 | #endif //_MAIN_H |
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128 | |||
129 | |||
130 | |||
131 | |||
132 | |||
133 |