Subversion Repositories FlightCtrl

#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

//#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_LAST_OFFSET      3

#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_LOOP_OBEN       0x01
#define CFG_LOOP_UNTEN      0x02
#define CFG_LOOP_LINKS      0x04
#define CFG_LOOP_RECHTS     0x08

long durchschnitt_x;
long durchschnitt_y;
long durchschnitt_z;

int gps_h_d1;
int gps_h_d2;

long target_x, target_y, target_z;

volatile int  gps_error;
volatile int  gps_getpos;

volatile int gps_p;                     //P-Anteil
volatile int gps_d;                     //D-Anteil
volatile int gps_acc;         //Acc-Anteil

int sticks_centered;
int stick_time;

long gps_home_x;
long gps_home_y;
long home_height;

int homing_state;

int way, way1, wayn, way2;

volatile int gpsmax;

volatile int komp_dreh;         // verdrehten Kompasseinbau kompensieren (+/-Grad)
volatile int gps_new;
volatile int skal;                      //Skalierungsfaktor der Regelung (alter Wert: 10) (20)
volatile int  gps_gethome;

//#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;

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[];

#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