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1 | #ifndef _MAIN_H |
1 | #ifndef _MAIN_H |
2 | #define _MAIN_H |
2 | #define _MAIN_H |
- | 3 | ||
3 | 4 | #define QUADRO |
|
- | 5 | //#define OCTO |
|
- | 6 | //#define OCTO2 |
|
4 | //#define OCTO |
7 | |
5 | 8 | ||
6 | //Hier die Quarz Frequenz einstellen |
9 | //Hier die Quarz Frequenz einstellen |
7 | #if defined (__AVR_ATmega32__) |
10 | #if defined (__AVR_ATmega32__) |
8 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
11 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
9 | #endif |
12 | #endif |
10 | 13 | ||
11 | #if defined (__AVR_ATmega644__) |
14 | #if defined (__AVR_ATmega644__) |
12 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
15 | #define SYSCLK 20000000L //Quarz Frequenz in Hz |
13 | //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
16 | //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
14 | #endif |
17 | #endif |
15 | 18 | ||
16 | // neue Hardware |
19 | // neue Hardware |
17 | #define ROT_OFF {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB &=~0x01; else PORTB |= 0x01;} |
20 | #define ROT_OFF {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB &=~0x01; else PORTB |= 0x01;} |
18 | #define ROT_ON {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB |= 0x01; else PORTB &=~0x01;} |
21 | #define ROT_ON {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB |= 0x01; else PORTB &=~0x01;} |
19 | #define ROT_FLASH PORTB ^= 0x01 |
22 | #define ROT_FLASH PORTB ^= 0x01 |
20 | #define GRN_OFF {if((PlatinenVersion < 12)) PORTB &=~0x02; else PORTB |= 0x02;} |
23 | #define GRN_OFF {if((PlatinenVersion < 12)) PORTB &=~0x02; else PORTB |= 0x02;} |
21 | #define GRN_ON {if((PlatinenVersion < 12)) PORTB |= 0x02; else PORTB &=~0x02;} |
24 | #define GRN_ON {if((PlatinenVersion < 12)) PORTB |= 0x02; else PORTB &=~0x02;} |
22 | #define GRN_FLASH PORTB ^= 0x02 |
25 | #define GRN_FLASH PORTB ^= 0x02 |
23 | 26 | ||
24 | #define F_CPU SYSCLK |
27 | #define F_CPU SYSCLK |
25 | //#ifndef F_CPU |
28 | //#ifndef F_CPU |
26 | //#error ################## F_CPU nicht definiert oder ungültig ############# |
29 | //#error ################## F_CPU nicht definiert oder ungültig ############# |
27 | //#endif |
30 | //#endif |
28 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | #define EE_DATENREVISION 74 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
32 | #define EE_DATENREVISION 74 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
30 | 33 | ||
31 | #define EEPROM_ADR_VALID 1 |
34 | #define EEPROM_ADR_VALID 1 |
32 | #define EEPROM_ADR_ACTIVE_SET 2 |
35 | #define EEPROM_ADR_ACTIVE_SET 2 |
33 | #define EEPROM_ADR_LAST_OFFSET 3 |
36 | #define EEPROM_ADR_LAST_OFFSET 3 |
34 | 37 | ||
35 | #define EEPROM_ADR_ACC_NICK 4 |
38 | #define EEPROM_ADR_ACC_NICK 4 |
36 | #define EEPROM_ADR_ACC_ROLL 6 |
39 | #define EEPROM_ADR_ACC_ROLL 6 |
37 | #define EEPROM_ADR_ACC_Z 8 |
40 | #define EEPROM_ADR_ACC_Z 8 |
38 | 41 | ||
39 | #define EEPROM_ADR_PARAM_BEGIN 100 |
42 | #define EEPROM_ADR_PARAM_BEGIN 100 |
40 | 43 | ||
41 | #define CFG_HOEHENREGELUNG 0x01 |
44 | #define CFG_HOEHENREGELUNG 0x01 |
42 | #define CFG_HOEHEN_SCHALTER 0x02 |
45 | #define CFG_HOEHEN_SCHALTER 0x02 |
43 | #define CFG_HEADING_HOLD 0x04 |
46 | #define CFG_HEADING_HOLD 0x04 |
44 | #define CFG_KOMPASS_AKTIV 0x08 |
47 | #define CFG_KOMPASS_AKTIV 0x08 |
45 | #define CFG_KOMPASS_FIX 0x10 |
48 | #define CFG_KOMPASS_FIX 0x10 |
46 | #define CFG_GPS_AKTIV 0x20 |
49 | #define CFG_GPS_AKTIV 0x20 |
47 | #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
50 | #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
48 | #define CFG_DREHRATEN_BEGRENZER 0x80 |
51 | #define CFG_DREHRATEN_BEGRENZER 0x80 |
49 | 52 | ||
50 | #define CFG_LOOP_OBEN 0x01 |
53 | #define CFG_LOOP_OBEN 0x01 |
51 | #define CFG_LOOP_UNTEN 0x02 |
54 | #define CFG_LOOP_UNTEN 0x02 |
52 | #define CFG_LOOP_LINKS 0x04 |
55 | #define CFG_LOOP_LINKS 0x04 |
53 | #define CFG_LOOP_RECHTS 0x08 |
56 | #define CFG_LOOP_RECHTS 0x08 |
54 | #define CFG_HIGHT_3SWITCH 0x10 |
57 | #define CFG_HIGHT_3SWITCH 0x10 |
55 | 58 | ||
56 | #define J3High PORTD |= 0x20 |
59 | #define J3High PORTD |= 0x20 |
57 | #define J3Low PORTD &= ~0x20 |
60 | #define J3Low PORTD &= ~0x20 |
58 | #define J4High PORTD |= 0x10 |
61 | #define J4High PORTD |= 0x10 |
59 | #define J4Low PORTD &= ~0x10 |
62 | #define J4Low PORTD &= ~0x10 |
60 | #define J5High PORTD |= 0x08 |
63 | #define J5High PORTD |= 0x08 |
61 | #define J5Low PORTD &= ~0x08 |
64 | #define J5Low PORTD &= ~0x08 |
62 | 65 | ||
63 | 66 | ||
64 | //#define SYSCLK |
67 | //#define SYSCLK |
65 | //extern unsigned long SYSCLK; |
68 | //extern unsigned long SYSCLK; |
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 | extern unsigned char SendVersionToNavi; |
72 | extern unsigned char SendVersionToNavi; |
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 | void SetActiveParamSetNumber(unsigned char number); |
76 | void SetActiveParamSetNumber(unsigned char number); |
74 | extern unsigned char EEPromArray[]; |
77 | extern unsigned char EEPromArray[]; |
75 | 78 | ||
76 | #include <stdlib.h> |
79 | #include <stdlib.h> |
77 | #include <string.h> |
80 | #include <string.h> |
78 | #include <avr/io.h> |
81 | #include <avr/io.h> |
79 | #include <avr/pgmspace.h> |
82 | #include <avr/pgmspace.h> |
80 | #include <avr/interrupt.h> |
83 | #include <avr/interrupt.h> |
81 | #include <avr/eeprom.h> |
84 | #include <avr/eeprom.h> |
82 | #include <avr/boot.h> |
85 | #include <avr/boot.h> |
83 | #include <avr/wdt.h> |
86 | #include <avr/wdt.h> |
84 | 87 | ||
85 | #include "old_macros.h" |
88 | #include "old_macros.h" |
86 | 89 | ||
87 | #include "_Settings.h" |
90 | #include "_Settings.h" |
88 | #include "printf_P.h" |
91 | #include "printf_P.h" |
89 | #include "timer0.h" |
92 | #include "timer0.h" |
90 | #include "uart.h" |
93 | #include "uart.h" |
91 | #include "analog.h" |
94 | #include "analog.h" |
92 | #include "twimaster.h" |
95 | #include "twimaster.h" |
93 | #include "menu.h" |
96 | #include "menu.h" |
94 | #include "rc.h" |
97 | #include "rc.h" |
95 | #include "fc.h" |
98 | #include "fc.h" |
96 | #include "gps.h" |
99 | #include "gps.h" |
97 | #include "spi.h" |
100 | #include "spi.h" |
98 | #include "led.h" |
101 | #include "led.h" |
99 | 102 | ||
100 | #ifndef EEMEM |
103 | #ifndef EEMEM |
101 | #define EEMEM __attribute__ ((section (".eeprom"))) |
104 | #define EEMEM __attribute__ ((section (".eeprom"))) |
102 | #endif |
105 | #endif |
103 | 106 | ||
104 | #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
107 | #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
105 | 108 | ||
106 | 109 | ||
107 | #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
110 | #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
108 | 111 | ||
109 | #endif //_MAIN_H |
112 | #endif //_MAIN_H |
110 | 113 | ||
111 | 114 | ||
112 | 115 | ||
113 | 116 | ||
114 | 117 | ||
115 | 118 | ||
116 | 119 |