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   PORTB &=~0x01
#define ROT_ON    PORTB |= 0x01
#define ROT_FLASH PORTB ^= 0x01
#define GRN_OFF   PORTB &=~0x02
#define GRN_ON    PORTB |= 0x02
#define GRN_FLASH PORTD ^= 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_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  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 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[];

long durchschnitt_northing;
long durchschnitt_easting;

volatile int gps_p;                     //P-Anteil (10)
volatile int gps_d;                     //D-Anteil (4)
volatile int skal;                      //Skalierungsfaktor der Regelung (alter Wert: 10) (20)

#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