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1 | #ifndef _MAIN_H |
1 | #ifndef _MAIN_H |
2 | #define _MAIN_H |
2 | #define _MAIN_H |
3 | 3 | ||
4 | //Hier die Quarz Frequenz einstellen |
4 | //Hier die Quarz Frequenz einstellen |
5 | #if defined (__AVR_ATmega32__) |
5 | #if defined (__AVR_ATmega32__) |
6 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
6 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
7 | #endif |
7 | #endif |
8 | 8 | ||
9 | #if defined (__AVR_ATmega644__) |
9 | #if defined (__AVR_ATmega644__) |
10 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
10 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
11 | //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
11 | //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
12 | #endif |
12 | #endif |
13 | - | ||
14 | 13 | ||
15 | // neue Hardware |
14 | // neue Hardware |
16 | #define ROT_OFF PORTB &=~0x01 |
15 | #define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;} |
17 | #define ROT_ON PORTB |= 0x01 |
16 | #define ROT_ON {if(PlatinenVersion == 10) PORTB |= 0x01; else PORTB &=~0x01;} |
18 | #define ROT_FLASH PORTB ^= 0x01 |
17 | #define ROT_FLASH PORTB ^= 0x01 |
19 | #define GRN_OFF PORTB &=~0x02 |
18 | #define GRN_OFF PORTB &=~0x02 |
20 | #define GRN_ON PORTB |= 0x02 |
19 | #define GRN_ON PORTB |= 0x02 |
21 | #define GRN_FLASH PORTD ^= 0x02 |
20 | #define GRN_FLASH PORTB ^= 0x02 |
22 | 21 | ||
23 | //#ifndef F_CPU |
22 | //#ifndef F_CPU |
24 | //#error ################## F_CPU nicht definiert oder ungültig ############# |
23 | //#error ################## F_CPU nicht definiert oder ungültig ############# |
25 | //#endif |
24 | //#endif |
26 | 25 | ||
27 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | 27 | ||
29 | //#define ANZ_MITTELWERT 4 |
28 | //#define ANZ_MITTELWERT 4 |
30 | 29 | ||
31 | #define EEPROM_ADR_VALID 1 |
30 | #define EEPROM_ADR_VALID 1 |
32 | #define EEPROM_ADR_ACTIVE_SET 2 |
31 | #define EEPROM_ADR_ACTIVE_SET 2 |
- | 32 | #define EEPROM_ADR_LAST_OFFSET 3 |
|
33 | 33 | ||
34 | #define EEPROM_ADR_PARAM_BEGIN 100 |
34 | #define EEPROM_ADR_PARAM_BEGIN 100 |
35 | 35 | ||
36 | #define CFG_HOEHENREGELUNG 0x01 |
36 | #define CFG_HOEHENREGELUNG 0x01 |
37 | #define CFG_HOEHEN_SCHALTER 0x02 |
37 | #define CFG_HOEHEN_SCHALTER 0x02 |
38 | #define CFG_HEADING_HOLD 0x04 |
38 | #define CFG_HEADING_HOLD 0x04 |
39 | #define CFG_KOMPASS_AKTIV 0x08 |
39 | #define CFG_KOMPASS_AKTIV 0x08 |
40 | #define CFG_KOMPASS_FIX 0x10 |
40 | #define CFG_KOMPASS_FIX 0x10 |
41 | #define CFG_GPS_AKTIV 0x20 |
41 | #define CFG_GPS_AKTIV 0x20 |
- | 42 | ||
- | 43 | #define CFG_LOOP_OBEN 0x01 |
|
- | 44 | #define CFG_LOOP_UNTEN 0x02 |
|
- | 45 | #define CFG_LOOP_LINKS 0x04 |
|
- | 46 | #define CFG_LOOP_RECHTS 0x08 |
|
- | 47 | ||
- | 48 | long durchschnitt_x; |
|
- | 49 | long durchschnitt_y; |
|
- | 50 | long durchschnitt_z; |
|
- | 51 | ||
- | 52 | int gps_h_d1; |
|
- | 53 | int gps_h_d2; |
|
- | 54 | ||
- | 55 | long target_x, target_y, target_z; |
|
- | 56 | ||
- | 57 | volatile int gps_error; |
|
- | 58 | volatile int gps_getpos; |
|
- | 59 | ||
- | 60 | volatile int gps_p; //P-Anteil |
|
- | 61 | volatile int gps_d; //D-Anteil |
|
- | 62 | volatile int gps_acc; //Acc-Anteil |
|
- | 63 | ||
- | 64 | int sticks_centered; |
|
- | 65 | int stick_time; |
|
- | 66 | ||
- | 67 | long gps_home_x; |
|
- | 68 | long gps_home_y; |
|
- | 69 | long home_height; |
|
- | 70 | ||
- | 71 | int homing_state; |
|
- | 72 | ||
- | 73 | int way, way1, wayn, way2; |
|
- | 74 | ||
- | 75 | volatile int gpsmax; |
|
- | 76 | ||
- | 77 | volatile int komp_dreh; // verdrehten Kompasseinbau kompensieren (+/-Grad) |
|
- | 78 | volatile int gps_new; |
|
- | 79 | volatile int skal; //Skalierungsfaktor der Regelung (alter Wert: 10) (20) |
|
42 | 80 | volatile int gps_gethome; |
|
43 | 81 | ||
44 | //#define SYSCLK |
82 | //#define SYSCLK |
45 | //extern unsigned long SYSCLK; |
83 | //extern unsigned long SYSCLK; |
46 | extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
84 | extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
47 | extern volatile unsigned char SenderOkay; |
85 | extern volatile unsigned char SenderOkay; |
48 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
86 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
- | 87 | extern unsigned char PlatinenVersion; |
|
49 | 88 | ||
50 | extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
89 | extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
51 | extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
90 | extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
52 | extern unsigned char GetActiveParamSetNumber(void); |
91 | extern unsigned char GetActiveParamSetNumber(void); |
53 | extern unsigned char EEPromArray[]; |
92 | extern unsigned char EEPromArray[]; |
54 | - | ||
55 | long durchschnitt_northing; |
- | |
56 | long durchschnitt_easting; |
- | |
57 | - | ||
58 | volatile int gps_p; //P-Anteil (10) |
- | |
59 | volatile int gps_d; //D-Anteil (4) |
- | |
60 | volatile int skal; //Skalierungsfaktor der Regelung (alter Wert: 10) (20) |
- | |
61 | - | ||
62 | volatile int gps_gethome; |
- | |
63 | 93 | ||
64 | #include <stdlib.h> |
94 | #include <stdlib.h> |
65 | #include <string.h> |
95 | #include <string.h> |
66 | #include <avr/io.h> |
96 | #include <avr/io.h> |
67 | #include <avr/pgmspace.h> |
97 | #include <avr/pgmspace.h> |
68 | #include <avr/interrupt.h> |
98 | #include <avr/interrupt.h> |
69 | #include <avr/eeprom.h> |
99 | #include <avr/eeprom.h> |
70 | #include <avr/boot.h> |
100 | #include <avr/boot.h> |
71 | #include <avr/wdt.h> |
101 | #include <avr/wdt.h> |
72 | 102 | ||
73 | #include "old_macros.h" |
103 | #include "old_macros.h" |
74 | 104 | ||
75 | #include "_Settings.h" |
105 | #include "_settings.h" |
76 | #include "printf_P.h" |
106 | #include "printf_P.h" |
77 | #include "timer0.h" |
107 | #include "timer0.h" |
78 | #include "uart.h" |
108 | #include "uart.h" |
79 | #include "analog.h" |
109 | #include "analog.h" |
80 | #include "twimaster.h" |
110 | #include "twimaster.h" |
81 | #include "menu.h" |
111 | #include "menu.h" |
82 | #include "rc.h" |
112 | #include "rc.h" |
83 | #include "fc.h" |
113 | #include "fc.h" |
84 | #include "gps.h" |
114 | #include "gps.h" |
85 | 115 | ||
86 | #ifndef EEMEM |
116 | #ifndef EEMEM |
87 | #define EEMEM __attribute__ ((section (".eeprom"))) |
117 | #define EEMEM __attribute__ ((section (".eeprom"))) |
88 | #endif |
118 | #endif |
89 | 119 | ||
90 | #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
120 | #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
91 | 121 | ||
92 | 122 | ||
93 | #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
123 | #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
94 | 124 | ||
95 | #endif //_MAIN_H |
125 | #endif //_MAIN_H |
96 | 126 | ||
97 | 127 | ||
98 | 128 | ||
99 | 129 | ||
100 | 130 | ||
101 | 131 | ||
102 | 132 |