Subversion Repositories FlightCtrl

#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_PITCH_MD_HOVER   10

#define EEPROM_ADR_PITCH_NEUTRAL_DIFF 12

#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[];

extern void init( void );

#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"

#define DIV_4   2

#define DIV_128 7

#define MUL_4   2

#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