WebSVN - FlightCtrl - Diff - Rev 861 and 864 - /branches/V0.68d


#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
 
#define MAJOR_DARKMOD 0
#define MINOR_DARKMOD 1
 
// neue Hardware
#define ROT_OFF   {if(PlatinenVersion == 10) PORTB &=~0x01; else  PORTB |= 0x01;}
#define ROT_ON    {if(PlatinenVersion == 10) PORTB |= 0x01; else  PORTB &=~0x01;}
#define ROT_FLASH PORTB ^= 0x01
#define GRN_OFF   PORTB &=~0x02 
#define GRN_ON    PORTB |= 0x02 
#define GRN_FLASH PORTB ^= 0x02
 
#define EXT1OUT_ON PORTC |= 0x04
#define EXT1OUT_OFF PORTC &=~ 0x04
#define EXT2OUT_ON PORTC |= 0x08
#define EXT2OUT_OFF PORTC &=~ 0x08
 
#define EXT1OUT_INV_ON EXT1OUT_OFF
#define EXT1OUT_INV_OFF EXT1OUT_ON
#define EXT2OUT_INV_ON EXT2OUT_OFF
#define EXT2OUT_INV_OFF EXT2OUT_ON
 
 
#define F_CPU SYSCLK
//#ifndef F_CPU
//#error ################## F_CPU nicht definiert oder ungültig #############
//#endif
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#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_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 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  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 unsigned char PlatinenVersion;
 
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);
extern unsigned char EEPromArray[];
 
#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"
 
 
#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 861	Rev 864
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	#define MAJOR_DARKMOD 0
-		15	#define MINOR_DARKMOD 1
13		16
14	// neue Hardware	17	// neue Hardware
15	#define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB \|= 0x01;}	18	#define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB \|= 0x01;}
16	#define ROT_ON {if(PlatinenVersion == 10) PORTB \|= 0x01; else PORTB &=~0x01;}	19	#define ROT_ON {if(PlatinenVersion == 10) PORTB \|= 0x01; else PORTB &=~0x01;}
17	#define ROT_FLASH PORTB ^= 0x01	20	#define ROT_FLASH PORTB ^= 0x01
18	#define GRN_OFF PORTB &=~0x02	21	#define GRN_OFF PORTB &=~0x02
19	#define GRN_ON PORTB \|= 0x02	22	#define GRN_ON PORTB \|= 0x02
20	#define GRN_FLASH PORTB ^= 0x02	23	#define GRN_FLASH PORTB ^= 0x02
21		24
22	#define EXT1OUT_ON PORTC \|= 0x04	25	#define EXT1OUT_ON PORTC \|= 0x04
23	#define EXT1OUT_OFF PORTC &=~ 0x04	26	#define EXT1OUT_OFF PORTC &=~ 0x04
24	#define EXT2OUT_ON PORTC \|= 0x08	27	#define EXT2OUT_ON PORTC \|= 0x08
25	#define EXT2OUT_OFF PORTC &=~ 0x08	28	#define EXT2OUT_OFF PORTC &=~ 0x08
26		29
27	#define EXT1OUT_INV_ON EXT1OUT_OFF	30	#define EXT1OUT_INV_ON EXT1OUT_OFF
28	#define EXT1OUT_INV_OFF EXT1OUT_ON	31	#define EXT1OUT_INV_OFF EXT1OUT_ON
29	#define EXT2OUT_INV_ON EXT2OUT_OFF	32	#define EXT2OUT_INV_ON EXT2OUT_OFF
30	#define EXT2OUT_INV_OFF EXT2OUT_ON	33	#define EXT2OUT_INV_OFF EXT2OUT_ON
31		34
32		35
33	#define F_CPU SYSCLK	36	#define F_CPU SYSCLK
34	//#ifndef F_CPU	37	//#ifndef F_CPU
35	//#error ################## F_CPU nicht definiert oder ungültig #############	38	//#error ################## F_CPU nicht definiert oder ungültig #############
36	//#endif	39	//#endif
37	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	40	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
38		41
39	#define EEPROM_ADR_VALID 1	42	#define EEPROM_ADR_VALID 1
40	#define EEPROM_ADR_ACTIVE_SET 2	43	#define EEPROM_ADR_ACTIVE_SET 2
41	#define EEPROM_ADR_LAST_OFFSET 3	44	#define EEPROM_ADR_LAST_OFFSET 3
42		45
43	#define EEPROM_ADR_ACC_NICK 4	46	#define EEPROM_ADR_ACC_NICK 4
44	#define EEPROM_ADR_ACC_ROLL 6	47	#define EEPROM_ADR_ACC_ROLL 6
45	#define EEPROM_ADR_ACC_Z 8	48	#define EEPROM_ADR_ACC_Z 8
46		49
47	#define EEPROM_ADR_PARAM_BEGIN 100	50	#define EEPROM_ADR_PARAM_BEGIN 100
48		51
49	#define CFG_HOEHENREGELUNG 0x01	52	#define CFG_HOEHENREGELUNG 0x01
50	#define CFG_HOEHEN_SCHALTER 0x02	53	#define CFG_HOEHEN_SCHALTER 0x02
51	#define CFG_HEADING_HOLD 0x04	54	#define CFG_HEADING_HOLD 0x04
52	#define CFG_KOMPASS_AKTIV 0x08	55	#define CFG_KOMPASS_AKTIV 0x08
53	#define CFG_KOMPASS_FIX 0x10	56	#define CFG_KOMPASS_FIX 0x10
54	#define CFG_GPS_AKTIV 0x20	57	#define CFG_GPS_AKTIV 0x20
55	#define CFG_ACHSENKOPPLUNG_AKTIV 0x40	58	#define CFG_ACHSENKOPPLUNG_AKTIV 0x40
56	#define CFG_DREHRATEN_BEGRENZER 0x80	59	#define CFG_DREHRATEN_BEGRENZER 0x80
57		60
58	#define CFG_LOOP_OBEN 0x01	61	#define CFG_LOOP_OBEN 0x01
59	#define CFG_LOOP_UNTEN 0x02	62	#define CFG_LOOP_UNTEN 0x02
60	#define CFG_LOOP_LINKS 0x04	63	#define CFG_LOOP_LINKS 0x04
61	#define CFG_LOOP_RECHTS 0x08	64	#define CFG_LOOP_RECHTS 0x08
62		65
63	//#define SYSCLK	66	//#define SYSCLK
64	//extern unsigned long SYSCLK;	67	//extern unsigned long SYSCLK;
65	extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll;	68	extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll;
66	extern volatile unsigned char SenderOkay;	69	extern volatile unsigned char SenderOkay;
67	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	70	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
68	extern unsigned char PlatinenVersion;	71	extern unsigned char PlatinenVersion;
69		72
70	void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length);	73	void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length);
71	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length);	74	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length);
72	extern unsigned char GetActiveParamSetNumber(void);	75	extern unsigned char GetActiveParamSetNumber(void);
73	extern unsigned char EEPromArray[];	76	extern unsigned char EEPromArray[];
74		77
75	#include <stdlib.h>	78	#include <stdlib.h>
76	#include <string.h>	79	#include <string.h>
77	#include <avr/io.h>	80	#include <avr/io.h>
78	#include <avr/pgmspace.h>	81	#include <avr/pgmspace.h>
79	#include <avr/interrupt.h>	82	#include <avr/interrupt.h>
80	#include <avr/eeprom.h>	83	#include <avr/eeprom.h>
81	#include <avr/boot.h>	84	#include <avr/boot.h>
82	#include <avr/wdt.h>	85	#include <avr/wdt.h>
83		86
84	#include "old_macros.h"	87	#include "old_macros.h"
85		88
86	#include "_Settings.h"	89	#include "_Settings.h"
87	#include "printf_P.h"	90	#include "printf_P.h"
88	#include "timer0.h"	91	#include "timer0.h"
89	#include "uart.h"	92	#include "uart.h"
90	#include "analog.h"	93	#include "analog.h"
91	#include "twimaster.h"	94	#include "twimaster.h"
92	#include "menu.h"	95	#include "menu.h"
93	#include "rc.h"	96	#include "rc.h"
94	#include "fc.h"	97	#include "fc.h"
95	#include "gps.h"	98	#include "gps.h"
96	#include "spi.h"	99	#include "spi.h"
97		100
98		101
99	#ifndef EEMEM	102	#ifndef EEMEM
100	#define EEMEM __attribute__ ((section (".eeprom")))	103	#define EEMEM __attribute__ ((section (".eeprom")))
101	#endif	104	#endif
102		105
103	#define DEBUG_DISPLAY_INTERVALL 123 // in ms	106	#define DEBUG_DISPLAY_INTERVALL 123 // in ms
104		107
105		108
106	#define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU ))	109	#define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU ))
107		110
108	#endif //_MAIN_H	111	#endif //_MAIN_H
109		112
110		113
111		114
112		115
113		116
114		117
115		118

Subversion Repositories FlightCtrl

(root)/branches/V0.68d_DarkMod/main.h @ 2076 - Rev 861 → 864