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1 | ingob | 1 | #ifndef _MAIN_H |
2 | #define _MAIN_H |
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3 | |||
4 | |||
5 | #include <stdio.h> |
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6 | #include <math.h> |
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7 | #include <stdlib.h> |
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8 | #include <string.h> |
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9 | #include <avr/io.h> |
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10 | #include <avr/pgmspace.h> |
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11 | #include <avr/interrupt.h> |
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12 | #include <avr/eeprom.h> |
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13 | #include <avr/boot.h> |
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14 | #include <avr/wdt.h> |
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15 | |||
16 | #include "twislave.h" |
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17 | #include "old_macros.h" |
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18 | #include "analog.h" |
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19 | #include "uart.h" |
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20 | #include "timer0.h" |
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21 | |||
22 | |||
23 | #if defined(__AVR_ATmega8__) |
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24 | # define OC1 PB1 |
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25 | # define DDROC DDRB |
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26 | # define OCR OCR1A |
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27 | # define PWM10 WGM10 |
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28 | # define PWM11 WGM11 |
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29 | #endif |
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30 | |||
31 | #define SYSCLK 8000000L //Quarz Frequenz in Hz |
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32 | |||
33 | #define INT0_ENABLE GIMSK |= 0x40 |
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34 | #define INT0_DISABLE GIMSK &= ~0x40 |
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35 | #define TIM0_START TIMSK0 |= _BV(TOIE0) |
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36 | #define TIM0_STOPP TIMSK0 &= ~_BV(TOIE0) |
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37 | |||
38 | #define ICP_INT_ENABLE TIMSK0 |= 0x20 |
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39 | #define ICP_INT_DISABLE TIMSK0 &= ~0x20 |
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40 | #define TIMER1_INT_ENABLE TIMSK0 |= 0x04 |
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41 | #define TIMER1_INT_DISABLE TIMSK0 &= ~0x04 |
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42 | #define TIMER2_INT_ENABLE TIMSK0 |= 0x40 |
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43 | #define TIMER2_INT_DISABLE TIMSK0 &= ~0x40 |
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44 | #define INT0_POS_FLANKE MCUCR |= 0x01 |
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45 | #define INT0_ANY_FLANKE MCUCR |= 0x01 |
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46 | #define INT0_NEG_FLANKE MCUCR &= ~0x01 |
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47 | #define CLR_INT0_FLAG GIFR &= ~0x40 |
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48 | #define INIT_INT0_FLANKE MCUCR &= ~0x03; MCUCR |= 0x02; |
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49 | #define TIMER0_PRESCALER TCCR0 |
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50 | #define ICP_POS_FLANKE TCCR1B |= (1<<ICES1) |
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51 | #define ICP_NEG_FLANKE TCCR1B &= ~(1<<ICES1) |
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52 | |||
53 | #define LED_ON PORTD |= 0x80 |
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54 | #define LED_OFF PORTD &= ~0x80 |
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55 | #define FLIP_HIGH PORTD |= 0x60 |
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56 | #define FLIP_LOW PORTD &= ~0x60 |
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57 | |||
58 | extern unsigned int PwmHeading; |
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59 | extern unsigned char PC_Connected; |
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60 | #endif //_MAIN_H |
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61 | |||
62 | |||
63 | |||
64 | |||
65 |