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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 | 13 | ||
14 | // neue Hardware |
14 | // neue Hardware |
15 | #define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;} |
15 | #define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;} |
16 | #define ROT_ON {if(PlatinenVersion == 10) PORTB |= 0x01; else PORTB &=~0x01;} |
16 | #define ROT_ON {if(PlatinenVersion == 10) PORTB |= 0x01; else PORTB &=~0x01;} |
17 | #define ROT_FLASH PORTB ^= 0x01 |
17 | #define ROT_FLASH PORTB ^= 0x01 |
18 | #define GRN_OFF {if(PlatinenVersion < 12) PORTB &=~0x02; else PORTB |= 0x02;} |
18 | #define GRN_OFF {if(PlatinenVersion < 12) PORTB &=~0x02; else PORTB |= 0x02;} |
19 | #define GRN_ON {if(PlatinenVersion < 12) PORTB |= 0x02; else PORTB &=~0x02;} |
19 | #define GRN_ON {if(PlatinenVersion < 12) PORTB |= 0x02; else PORTB &=~0x02;} |
20 | #define GRN_FLASH PORTB ^= 0x02 |
20 | #define GRN_FLASH PORTB ^= 0x02 |
21 | 21 | ||
22 | #define F_CPU SYSCLK |
22 | #define F_CPU SYSCLK |
23 | //#ifndef F_CPU |
23 | //#ifndef F_CPU |
24 | //#error ################## F_CPU nicht definiert oder ungültig ############# |
24 | //#error ################## F_CPU nicht definiert oder ungültig ############# |
25 | //#endif |
25 | //#endif |
26 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | 27 | ||
28 | #define EEPROM_ADR_VALID 1 |
28 | #define EEPROM_ADR_VALID 1 |
29 | #define EEPROM_ADR_ACTIVE_SET 2 |
29 | #define EEPROM_ADR_ACTIVE_SET 2 |
30 | #define EEPROM_ADR_LAST_OFFSET 3 |
30 | #define EEPROM_ADR_LAST_OFFSET 3 |
31 | 31 | ||
32 | #define EEPROM_ADR_ACC_NICK 4 |
32 | #define EEPROM_ADR_ACC_NICK 4 |
33 | #define EEPROM_ADR_ACC_ROLL 6 |
33 | #define EEPROM_ADR_ACC_ROLL 6 |
34 | #define EEPROM_ADR_ACC_Z 8 |
34 | #define EEPROM_ADR_ACC_Z 8 |
35 | 35 | ||
36 | #define EEPROM_ADR_PARAM_BEGIN 100 |
36 | #define EEPROM_ADR_PARAM_BEGIN 100 |
37 | 37 | ||
38 | #define CFG_HOEHENREGELUNG 0x01 |
38 | #define CFG_HOEHENREGELUNG 0x01 |
39 | #define CFG_HOEHEN_SCHALTER 0x02 |
39 | #define CFG_HOEHEN_SCHALTER 0x02 |
40 | #define CFG_HEADING_HOLD 0x04 |
40 | #define CFG_HEADING_HOLD 0x04 |
41 | #define CFG_KOMPASS_AKTIV 0x08 |
41 | #define CFG_KOMPASS_AKTIV 0x08 |
42 | #define CFG_KOMPASS_FIX 0x10 |
42 | #define CFG_KOMPASS_FIX 0x10 |
43 | #define CFG_GPS_AKTIV 0x20 |
43 | #define CFG_GPS_AKTIV 0x20 |
44 | #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
44 | #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
45 | #define CFG_DREHRATEN_BEGRENZER 0x80 |
45 | #define CFG_DREHRATEN_BEGRENZER 0x80 |
46 | 46 | ||
47 | #define CFG_LOOP_OBEN 0x01 |
47 | #define CFG_LOOP_OBEN 0x01 |
48 | #define CFG_LOOP_UNTEN 0x02 |
48 | #define CFG_LOOP_UNTEN 0x02 |
49 | #define CFG_LOOP_LINKS 0x04 |
49 | #define CFG_LOOP_LINKS 0x04 |
50 | #define CFG_LOOP_RECHTS 0x08 |
50 | #define CFG_LOOP_RECHTS 0x08 |
51 | 51 | ||
52 | //#define SYSCLK |
52 | //#define SYSCLK |
53 | //extern unsigned long SYSCLK; |
53 | //extern unsigned long SYSCLK; |
54 | extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
54 | extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
55 | extern volatile unsigned char SenderOkay; |
55 | extern volatile unsigned char SenderOkay; |
56 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
56 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
57 | extern unsigned char PlatinenVersion; |
57 | extern unsigned char PlatinenVersion; |
58 | extern unsigned char SendVersionToNavi; |
58 | extern unsigned char SendVersionToNavi; |
59 | void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
59 | void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
60 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
60 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
61 | extern unsigned char GetActiveParamSetNumber(void); |
61 | extern unsigned char GetActiveParamSetNumber(void); |
62 | extern unsigned char EEPromArray[]; |
62 | extern unsigned char EEPromArray[]; |
63 | 63 | ||
64 | #include <stdlib.h> |
64 | #include <stdlib.h> |
65 | #include <string.h> |
65 | #include <string.h> |
66 | #include <avr/io.h> |
66 | #include <avr/io.h> |
67 | #include <avr/pgmspace.h> |
67 | #include <avr/pgmspace.h> |
68 | #include <avr/interrupt.h> |
68 | #include <avr/interrupt.h> |
69 | #include <avr/eeprom.h> |
69 | #include <avr/eeprom.h> |
70 | #include <avr/boot.h> |
70 | #include <avr/boot.h> |
71 | #include <avr/wdt.h> |
71 | #include <avr/wdt.h> |
72 | 72 | ||
73 | #include "old_macros.h" |
73 | #include "old_macros.h" |
74 | 74 | ||
75 | #include "_Settings.h" |
75 | #include "_Settings.h" |
76 | #include "printf_P.h" |
76 | #include "printf_P.h" |
77 | #include "timer0.h" |
77 | #include "timer0.h" |
78 | #include "uart.h" |
78 | #include "uart.h" |
79 | #include "analog.h" |
79 | #include "analog.h" |
80 | #include "twimaster.h" |
80 | #include "twimaster.h" |
81 | #include "menu.h" |
81 | #include "menu.h" |
82 | #include "rc.h" |
82 | #include "rc.h" |
83 | #include "fc.h" |
83 | #include "fc.h" |
84 | #include "gps.h" |
84 | #include "gps.h" |
85 | #include "spi.h" |
85 | #include "spi.h" |
86 | - | ||
- | 86 | #include "led.h" |
|
87 | 87 | ||
88 | #ifndef EEMEM |
88 | #ifndef EEMEM |
89 | #define EEMEM __attribute__ ((section (".eeprom"))) |
89 | #define EEMEM __attribute__ ((section (".eeprom"))) |
90 | #endif |
90 | #endif |
91 | 91 | ||
92 | #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
92 | #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
93 | 93 | ||
94 | 94 | ||
95 | #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
95 | #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
96 | 96 | ||
97 | #endif //_MAIN_H |
97 | #endif //_MAIN_H |
98 | 98 | ||
99 | 99 | ||
100 | 100 | ||
101 | 101 | ||
102 | 102 | ||
103 | 103 | ||
104 | 104 |