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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 | 14 | ||
15 | // neue Hardware |
15 | // neue Hardware |
16 | #define ROT_OFF PORTB &=~0x01 |
16 | #define ROT_OFF PORTB &=~0x01 |
17 | #define ROT_ON PORTB |= 0x01 |
17 | #define ROT_ON PORTB |= 0x01 |
18 | #define ROT_FLASH PORTB ^= 0x01 |
18 | #define ROT_FLASH PORTB ^= 0x01 |
19 | #define GRN_OFF PORTB &=~0x02 |
19 | #define GRN_OFF PORTB &=~0x02 |
20 | #define GRN_ON PORTB |= 0x02 |
20 | #define GRN_ON PORTB |= 0x02 |
21 | #define GRN_FLASH PORTD ^= 0x02 |
21 | #define GRN_FLASH PORTD ^= 0x02 |
22 | 22 | ||
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 | 28 | ||
29 | //#define ANZ_MITTELWERT 4 |
29 | //#define ANZ_MITTELWERT 4 |
30 | 30 | ||
31 | #define EEPROM_ADR_VALID 1 |
31 | #define EEPROM_ADR_VALID 1 |
32 | #define EEPROM_ADR_ACTIVE_SET 2 |
32 | #define EEPROM_ADR_ACTIVE_SET 2 |
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 | 42 | ||
43 | 43 | ||
44 | //#define SYSCLK |
44 | //#define SYSCLK |
45 | //extern unsigned long SYSCLK; |
45 | //extern unsigned long SYSCLK; |
46 | extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
46 | extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
47 | extern volatile unsigned char SenderOkay; |
47 | extern volatile unsigned char SenderOkay; |
48 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
48 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
49 | 49 | ||
50 | extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
50 | 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); |
51 | extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
52 | extern unsigned char GetActiveParamSetNumber(void); |
52 | extern unsigned char GetActiveParamSetNumber(void); |
53 | extern unsigned char EEPromArray[]; |
53 | extern unsigned char EEPromArray[]; |
54 | 54 | ||
55 | long durchschnitt_northing; |
55 | long durchschnitt_northing; |
56 | long durchschnitt_easting; |
56 | long durchschnitt_easting; |
57 | 57 | ||
58 | volatile int gps_p; //P-Anteil (10) |
58 | volatile int gps_p; //P-Anteil (10) |
59 | volatile int gps_d; //D-Anteil (4) |
59 | volatile int gps_d; //D-Anteil (4) |
60 | volatile int skal; //Skalierungsfaktor der Regelung (alter Wert: 10) (20) |
60 | volatile int skal; //Skalierungsfaktor der Regelung (alter Wert: 10) (20) |
61 | 61 | ||
62 | volatile int gps_gethome; |
62 | volatile int gps_gethome; |
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 | 85 | ||
86 | #ifndef EEMEM |
86 | #ifndef EEMEM |
87 | #define EEMEM __attribute__ ((section (".eeprom"))) |
87 | #define EEMEM __attribute__ ((section (".eeprom"))) |
88 | #endif |
88 | #endif |
89 | 89 | ||
90 | #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
90 | #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
91 | 91 | ||
92 | 92 | ||
93 | #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
93 | #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
94 | 94 | ||
95 | #endif //_MAIN_H |
95 | #endif //_MAIN_H |
96 | 96 | ||
97 | 97 | ||
98 | 98 | ||
99 | 99 | ||
100 | 100 | ||
101 | 101 | ||
102 | 102 |