WebSVN - FlightCtrl - Diff - Rev 864 and 867 - /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
 
 
 
 
// 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 864	Rev 867
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	-
16		13
17	// neue Hardware	14	// neue Hardware
18	#define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB \|= 0x01;}	15	#define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB \|= 0x01;}
19	#define ROT_ON {if(PlatinenVersion == 10) PORTB \|= 0x01; else PORTB &=~0x01;}	16	#define ROT_ON {if(PlatinenVersion == 10) PORTB \|= 0x01; else PORTB &=~0x01;}
20	#define ROT_FLASH PORTB ^= 0x01	17	#define ROT_FLASH PORTB ^= 0x01
21	#define GRN_OFF PORTB &=~0x02	18	#define GRN_OFF PORTB &=~0x02
22	#define GRN_ON PORTB \|= 0x02	19	#define GRN_ON PORTB \|= 0x02
23	#define GRN_FLASH PORTB ^= 0x02	20	#define GRN_FLASH PORTB ^= 0x02
24		21
25	#define EXT1OUT_ON PORTC \|= 0x04	22	#define EXT1OUT_ON PORTC \|= 0x04
26	#define EXT1OUT_OFF PORTC &=~ 0x04	23	#define EXT1OUT_OFF PORTC &=~ 0x04
27	#define EXT2OUT_ON PORTC \|= 0x08	24	#define EXT2OUT_ON PORTC \|= 0x08
28	#define EXT2OUT_OFF PORTC &=~ 0x08	25	#define EXT2OUT_OFF PORTC &=~ 0x08
29		26
30	#define EXT1OUT_INV_ON EXT1OUT_OFF	27	#define EXT1OUT_INV_ON EXT1OUT_OFF
31	#define EXT1OUT_INV_OFF EXT1OUT_ON	28	#define EXT1OUT_INV_OFF EXT1OUT_ON
32	#define EXT2OUT_INV_ON EXT2OUT_OFF	29	#define EXT2OUT_INV_ON EXT2OUT_OFF
33	#define EXT2OUT_INV_OFF EXT2OUT_ON	30	#define EXT2OUT_INV_OFF EXT2OUT_ON
34		31
35		32
36	#define F_CPU SYSCLK	33	#define F_CPU SYSCLK
37	//#ifndef F_CPU	34	//#ifndef F_CPU
38	//#error ################## F_CPU nicht definiert oder ungültig #############	35	//#error ################## F_CPU nicht definiert oder ungültig #############
39	//#endif	36	//#endif
40	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	37	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41		38
42	#define EEPROM_ADR_VALID 1	39	#define EEPROM_ADR_VALID 1
43	#define EEPROM_ADR_ACTIVE_SET 2	40	#define EEPROM_ADR_ACTIVE_SET 2
44	#define EEPROM_ADR_LAST_OFFSET 3	41	#define EEPROM_ADR_LAST_OFFSET 3
45		42
46	#define EEPROM_ADR_ACC_NICK 4	43	#define EEPROM_ADR_ACC_NICK 4
47	#define EEPROM_ADR_ACC_ROLL 6	44	#define EEPROM_ADR_ACC_ROLL 6
48	#define EEPROM_ADR_ACC_Z 8	45	#define EEPROM_ADR_ACC_Z 8
49		46
50	#define EEPROM_ADR_PARAM_BEGIN 100	47	#define EEPROM_ADR_PARAM_BEGIN 100
51		48
52	#define CFG_HOEHENREGELUNG 0x01	49	#define CFG_HOEHENREGELUNG 0x01
53	#define CFG_HOEHEN_SCHALTER 0x02	50	#define CFG_HOEHEN_SCHALTER 0x02
54	#define CFG_HEADING_HOLD 0x04	51	#define CFG_HEADING_HOLD 0x04
55	#define CFG_KOMPASS_AKTIV 0x08	52	#define CFG_KOMPASS_AKTIV 0x08
56	#define CFG_KOMPASS_FIX 0x10	53	#define CFG_KOMPASS_FIX 0x10
57	#define CFG_GPS_AKTIV 0x20	54	#define CFG_GPS_AKTIV 0x20
58	#define CFG_ACHSENKOPPLUNG_AKTIV 0x40	55	#define CFG_ACHSENKOPPLUNG_AKTIV 0x40
59	#define CFG_DREHRATEN_BEGRENZER 0x80	56	#define CFG_DREHRATEN_BEGRENZER 0x80
60		57
61	#define CFG_LOOP_OBEN 0x01	58	#define CFG_LOOP_OBEN 0x01
62	#define CFG_LOOP_UNTEN 0x02	59	#define CFG_LOOP_UNTEN 0x02
63	#define CFG_LOOP_LINKS 0x04	60	#define CFG_LOOP_LINKS 0x04
64	#define CFG_LOOP_RECHTS 0x08	61	#define CFG_LOOP_RECHTS 0x08
65		62
66	//#define SYSCLK	63	//#define SYSCLK
67	//extern unsigned long SYSCLK;	64	//extern unsigned long SYSCLK;
68	extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll;	65	extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll;
69	extern volatile unsigned char SenderOkay;	66	extern volatile unsigned char SenderOkay;
70	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	67	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
71	extern unsigned char PlatinenVersion;	68	extern unsigned char PlatinenVersion;
72		69
73	void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length);	70	void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length);
74	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length);	71	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length);
75	extern unsigned char GetActiveParamSetNumber(void);	72	extern unsigned char GetActiveParamSetNumber(void);
76	extern unsigned char EEPromArray[];	73	extern unsigned char EEPromArray[];
77		74
78	#include <stdlib.h>	75	#include <stdlib.h>
79	#include <string.h>	76	#include <string.h>
80	#include <avr/io.h>	77	#include <avr/io.h>
81	#include <avr/pgmspace.h>	78	#include <avr/pgmspace.h>
82	#include <avr/interrupt.h>	79	#include <avr/interrupt.h>
83	#include <avr/eeprom.h>	80	#include <avr/eeprom.h>
84	#include <avr/boot.h>	81	#include <avr/boot.h>
85	#include <avr/wdt.h>	82	#include <avr/wdt.h>
86		83
87	#include "old_macros.h"	84	#include "old_macros.h"
88		85
89	#include "_Settings.h"	86	#include "_Settings.h"
90	#include "printf_P.h"	87	#include "printf_P.h"
91	#include "timer0.h"	88	#include "timer0.h"
92	#include "uart.h"	89	#include "uart.h"
93	#include "analog.h"	90	#include "analog.h"
94	#include "twimaster.h"	91	#include "twimaster.h"
95	#include "menu.h"	92	#include "menu.h"
96	#include "rc.h"	93	#include "rc.h"
97	#include "fc.h"	94	#include "fc.h"
98	#include "gps.h"	95	#include "gps.h"
99	#include "spi.h"	96	#include "spi.h"
100		97
101		98
102	#ifndef EEMEM	99	#ifndef EEMEM
103	#define EEMEM __attribute__ ((section (".eeprom")))	100	#define EEMEM __attribute__ ((section (".eeprom")))
104	#endif	101	#endif
105		102
106	#define DEBUG_DISPLAY_INTERVALL 123 // in ms	103	#define DEBUG_DISPLAY_INTERVALL 123 // in ms
107		104
108		105
109	#define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU ))	106	#define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU ))
110		107
111	#endif //_MAIN_H	108	#endif //_MAIN_H
112		109
113		110
114		111
115		112
116		113
117		114
118		115

Subversion Repositories FlightCtrl

(root)/branches/V0.68d_DarkMod/main.h @ 879 - Rev 864 → 867