Subversion Repositories FlightCtrl

#ifndef _MAIN_H
 #define _MAIN_H

//#define QUADRO
//#define OCTO  // 2 Arms in Front
//#define OCTO2 // 1 Arm in front
//#define OCTO3 // 1 Arm with two Motors in front or Coax
#define HEXA1 // 1 Arm in front (+-Config)
//#define HEXA2 // 2 Arms in front (X-Config)
//+++++++++++
//  Quadro:
//    1
//  4   3
//    2
//+++++++++++
// Reverse Props on 1 2

//+++++++++++
//   Octo:
//    1 2
//  8     3
//  7     4
//    6 5
//+++++++++++

//+++++++++++
//   Octo2:
//      1
//    8   2
//  7       3
//    6   4    
//      5
//+++++++++++

//+++++++++++
//   Octo3:
//      1
//      2
// 8 7     3 4
//      5
//      6
//+++++++++++
// Reverse Props on octo: 1 3 5 7
// ++++++++++
// Hexa1: "+"-Configuration
//      6
// 4        1
// 2        3
//      5
// ++++++++++
// Hexa1: "X"-Configuration
//   1  3
// 6      5
//   4  2
//      
// reverse props on Hexa: 1,4,5
// ++++++++++

//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
#endif

#if defined (__AVR_ATmega644P__)
#define SYSCLK  20000000L       //Quarz Frequenz in Hz
#endif

// neue Hardware
#define ROT_OFF   {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB &=~0x01; else  PORTB |= 0x01;}
#define ROT_ON    {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB |= 0x01; else  PORTB &=~0x01;}
#define ROT_FLASH PORTB ^= 0x01
#define GRN_OFF   {if((PlatinenVersion < 12)) PORTB &=~0x02; else PORTB |= 0x02;}
#define GRN_ON    {if((PlatinenVersion < 12)) PORTB |= 0x02; else PORTB &=~0x02;}
#define GRN_FLASH PORTB ^= 0x02

#define F_CPU SYSCLK
//#ifndef F_CPU
//#error ################## F_CPU nicht definiert oder ungültig #############
//#endif
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#define EE_DATENREVISION 74 // wird angepasst, wenn sich die EEPROM-Daten geändert haben

#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_CHANNELS          80

#define EEPROM_ADR_PARAM_LENGTH      98
#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 CFG_HIGHT_3SWITCH   0x10

#define J3High    PORTD |= 0x20
#define J3Low     PORTD &= ~0x20
#define J4High    PORTD |= 0x10
#define J4Low     PORTD &= ~0x10
#define J5High    PORTD |= 0x08
#define J5Low     PORTD &= ~0x08


//#define  SYSCLK
//extern unsigned long SYSCLK;
extern volatile unsigned char SenderOkay;
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
extern unsigned char PlatinenVersion;
extern unsigned char SendVersionToNavi;
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);
void SetActiveParamSetNumber(unsigned char number);
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"
#include "led.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