WebSVN - FlightCtrl - Diff - Rev 36 and 63 - /branches/V0.60_GPS_BETA_chris2798


#ifndef _MAIN_H
 #define _MAIN_H
 
//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
//#define SYSCLK        16000000L       //Quarz Frequenz in Hz
#endif
 
 
// neue Hardware
#define ROT_OFF   PORTB &=~0x01 
#define ROT_ON    PORTB |= 0x01 
#define ROT_FLASH PORTB ^= 0x01
#define GRN_OFF   PORTB &=~0x02 
#define GRN_ON    PORTB |= 0x02 
#define GRN_FLASH PORTD ^= 0x02
 
//#ifndef F_CPU
//#error ################## F_CPU nicht definiert oder ungültig #############
//#endif
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
//#define ANZ_MITTELWERT   4
 
#define EEPROM_ADR_VALID            1
#define EEPROM_ADR_ACTIVE_SET       2
 
#define EEPROM_ADR_PARAM_BEGIN      100
 
#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  SYSCLK  
//extern unsigned long SYSCLK;
extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll;
extern volatile unsigned char SenderOkay;
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
 
extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length);
extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length);
extern unsigned char GetActiveParamSetNumber(void);
extern unsigned char EEPromArray[];
 
long durchschnitt_northing;
long durchschnitt_easting;
 
volatile int gps_p;                     //P-Anteil (10)
volatile int gps_d;                     //D-Anteil (4)
volatile int skal;                      //Skalierungsfaktor der Regelung (alter Wert: 10) (20)
 
volatile int  gps_gethome;
 
#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"
 
#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
 
 
 
 
 
 
 

Rev 36	Rev 63
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

Subversion Repositories FlightCtrl

(root)/branches/V0.60_GPS_BETA_chris2798_hallo2/main.h - Rev 36 → 63