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#ifndef _MAIN_H
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#ifndef _MAIN_H
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 #define _MAIN_H
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 #define _MAIN_H
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#define QUADRO
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#define QUADRO
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//#define OCTO  // 2 Arms in Front
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//#define OCTO2 // 1 Arm in front
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//#define OCTO3 // 1 Arm with two Motors in front or Coax
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//+++++++++++
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//  Quadro:
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//    1
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//  4   3
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//    2
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//+++++++++++
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// Reverse Props on 1 2
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//+++++++++++
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//   Octo:
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//    1 2
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//  8     3
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//  7     4
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//    6 5
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//+++++++++++
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//+++++++++++
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//   Octo2:
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//      1
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//    8   2
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//#define OCTO
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//  7       3
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//    6   4    
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//      5
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//+++++++++++
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//+++++++++++
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//   Octo3:
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//      1
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//      2
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//#define OCTO2
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// 8 7     3 4
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//      5
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//      6
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//+++++++++++
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// Reverse Props on octo: 1 3 5 7
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//Hier die Quarz Frequenz einstellen
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//Hier die Quarz Frequenz einstellen
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#if defined (__AVR_ATmega32__)
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#if defined (__AVR_ATmega32__)
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#define SYSCLK  20000000L       //Quarz Frequenz in Hz
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#define SYSCLK  20000000L       //Quarz Frequenz in Hz
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#endif
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#endif
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#if defined (__AVR_ATmega644__)
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#if defined (__AVR_ATmega644__)
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#define SYSCLK  20000000L       //Quarz Frequenz in Hz
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#define SYSCLK  20000000L       //Quarz Frequenz in Hz
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#endif
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#endif
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#if defined (__AVR_ATmega644P__)
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#if defined (__AVR_ATmega644P__)
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#define SYSCLK  20000000L       //Quarz Frequenz in Hz
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#define SYSCLK  20000000L       //Quarz Frequenz in Hz
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#endif
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#endif
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// neue Hardware
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// neue Hardware
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#define ROT_OFF   {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB &=~0x01; else  PORTB |= 0x01;}
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#define ROT_OFF   {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB &=~0x01; else  PORTB |= 0x01;}
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#define ROT_ON    {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB |= 0x01; else  PORTB &=~0x01;}
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#define ROT_ON    {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB |= 0x01; else  PORTB &=~0x01;}
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#define ROT_FLASH PORTB ^= 0x01
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#define ROT_FLASH PORTB ^= 0x01
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#define GRN_OFF   {if((PlatinenVersion < 12)) PORTB &=~0x02; else PORTB |= 0x02;}
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#define GRN_OFF   {if((PlatinenVersion < 12)) PORTB &=~0x02; else PORTB |= 0x02;}
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#define GRN_ON    {if((PlatinenVersion < 12)) PORTB |= 0x02; else PORTB &=~0x02;}
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#define GRN_ON    {if((PlatinenVersion < 12)) PORTB |= 0x02; else PORTB &=~0x02;}
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#define GRN_FLASH PORTB ^= 0x02
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#define GRN_FLASH PORTB ^= 0x02
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#define F_CPU SYSCLK
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#define F_CPU SYSCLK
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//#ifndef F_CPU
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//#ifndef F_CPU
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//#error ################## F_CPU nicht definiert oder ungültig #############
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//#error ################## F_CPU nicht definiert oder ungültig #############
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//#endif
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//#endif
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//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#define EE_DATENREVISION 74 // wird angepasst, wenn sich die EEPROM-Daten geändert haben
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#define EE_DATENREVISION 74 // wird angepasst, wenn sich die EEPROM-Daten geändert haben
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#define EEPROM_ADR_VALID            1
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#define EEPROM_ADR_VALID            1
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#define EEPROM_ADR_ACTIVE_SET       2
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#define EEPROM_ADR_ACTIVE_SET       2
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#define EEPROM_ADR_LAST_OFFSET      3
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#define EEPROM_ADR_LAST_OFFSET      3
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#define EEPROM_ADR_ACC_NICK         4
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#define EEPROM_ADR_ACC_NICK         4
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#define EEPROM_ADR_ACC_ROLL         6
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#define EEPROM_ADR_ACC_ROLL         6
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#define EEPROM_ADR_ACC_Z            8
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#define EEPROM_ADR_ACC_Z            8
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#define EEPROM_ADR_CHANNELS          80
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#define EEPROM_ADR_CHANNELS          80
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#define EEPROM_ADR_PARAM_LENGTH      98
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#define EEPROM_ADR_PARAM_LENGTH      98
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#define EEPROM_ADR_PARAM_BEGIN      100
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#define EEPROM_ADR_PARAM_BEGIN      100
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#define CFG_HOEHENREGELUNG       0x01
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#define CFG_HOEHENREGELUNG       0x01
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#define CFG_HOEHEN_SCHALTER      0x02
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#define CFG_HOEHEN_SCHALTER      0x02
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#define CFG_HEADING_HOLD         0x04
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#define CFG_HEADING_HOLD         0x04
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#define CFG_KOMPASS_AKTIV        0x08
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#define CFG_KOMPASS_AKTIV        0x08
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#define CFG_KOMPASS_FIX          0x10
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#define CFG_KOMPASS_FIX          0x10
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#define CFG_GPS_AKTIV            0x20
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#define CFG_GPS_AKTIV            0x20
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#define CFG_ACHSENKOPPLUNG_AKTIV 0x40
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#define CFG_ACHSENKOPPLUNG_AKTIV 0x40
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#define CFG_DREHRATEN_BEGRENZER  0x80
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#define CFG_DREHRATEN_BEGRENZER  0x80
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#define CFG_LOOP_OBEN       0x01
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#define CFG_LOOP_OBEN       0x01
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#define CFG_LOOP_UNTEN      0x02
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#define CFG_LOOP_UNTEN      0x02
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#define CFG_LOOP_LINKS      0x04
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#define CFG_LOOP_LINKS      0x04
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#define CFG_LOOP_RECHTS     0x08
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#define CFG_LOOP_RECHTS     0x08
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#define CFG_HIGHT_3SWITCH   0x10
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#define CFG_HIGHT_3SWITCH   0x10
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#define J3High    PORTD |= 0x20
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#define J3High    PORTD |= 0x20
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#define J3Low     PORTD &= ~0x20
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#define J3Low     PORTD &= ~0x20
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#define J4High    PORTD |= 0x10
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#define J4High    PORTD |= 0x10
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#define J4Low     PORTD &= ~0x10
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#define J4Low     PORTD &= ~0x10
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#define J5High    PORTD |= 0x08
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#define J5High    PORTD |= 0x08
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#define J5Low     PORTD &= ~0x08
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#define J5Low     PORTD &= ~0x08
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//#define  SYSCLK
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//#define  SYSCLK
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//extern unsigned long SYSCLK;
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//extern unsigned long SYSCLK;
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extern volatile unsigned char SenderOkay;
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extern volatile unsigned char SenderOkay;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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extern unsigned char PlatinenVersion;
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extern unsigned char PlatinenVersion;
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extern unsigned char SendVersionToNavi;
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extern unsigned char SendVersionToNavi;
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void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length);
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void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length);
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void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length);
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void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length);
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extern unsigned char GetActiveParamSetNumber(void);
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extern unsigned char GetActiveParamSetNumber(void);
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void SetActiveParamSetNumber(unsigned char number);
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void SetActiveParamSetNumber(unsigned char number);
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extern unsigned char EEPromArray[];
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extern unsigned char EEPromArray[];
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#include <stdlib.h>
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#include <stdlib.h>
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#include <string.h>
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#include <string.h>
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#include <avr/io.h>
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#include <avr/io.h>
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#include <avr/pgmspace.h>
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#include <avr/pgmspace.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include <avr/eeprom.h>
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#include <avr/eeprom.h>
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#include <avr/boot.h>
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#include <avr/boot.h>
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#include <avr/wdt.h>
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#include <avr/wdt.h>
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#include "old_macros.h"
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#include "old_macros.h"
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#include "_Settings.h"
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#include "_Settings.h"
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#include "printf_P.h"
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#include "printf_P.h"
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#include "timer0.h"
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#include "timer0.h"
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#include "uart.h"
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#include "uart.h"
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#include "analog.h"
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#include "analog.h"
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#include "twimaster.h"
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#include "twimaster.h"
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#include "menu.h"
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#include "menu.h"
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#include "rc.h"
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#include "rc.h"
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#include "fc.h"
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#include "fc.h"
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#include "gps.h"
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#include "gps.h"
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#include "spi.h"
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#include "spi.h"
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#include "led.h"
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#include "led.h"
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#ifndef EEMEM
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#ifndef EEMEM
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#define EEMEM __attribute__ ((section (".eeprom")))
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#define EEMEM __attribute__ ((section (".eeprom")))
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#endif
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#endif
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#define DEBUG_DISPLAY_INTERVALL  123 // in ms
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#define DEBUG_DISPLAY_INTERVALL  123 // in ms
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#define DELAY_US(x)     ((unsigned int)( (x) * 1e-6 * F_CPU ))
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#define DELAY_US(x)     ((unsigned int)( (x) * 1e-6 * F_CPU ))
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#endif //_MAIN_H
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#endif //_MAIN_H
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