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def.h
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def.h
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#ifndef DEF_H_
#define DEF_H_
/**************************************************************************************/
/*************** test configurations ********************/
/**************************************************************************************/
#if COPTERTEST == 1
#define QUADP
#define WMP
#elif COPTERTEST == 2
#define FLYING_WING
#define WMP
#define BMA020
#define FAILSAFE
#define LCD_CONF
#define LCD_TEXTSTAR
#define VBAT
#define POWERMETER_SOFT
#elif COPTERTEST == 3
#define TRI
#define FREEIMUv035_MS
#define BUZZER
#define VBAT
#define POWERMETER_HARD
#define LCD_CONF
#define LCD_CONF_AUX
#define LCD_VT100
#define LCD_TELEMETRY
#define LCD_TELEMETRY_STEP "01245"
#define LOG_VALUES 1
#define SUPPRESS_BARO_ALTHOLD
#define VARIOMETER 12
#elif COPTERTEST == 4
#define QUADX
#define CRIUS_SE
#define SPEKTRUM 2048
#define LED_RING
#define GPS_SERIAL 2
#define LOG_VALUES 2
#define LOG_PERMANENT
#define LOG_PERMANENT_SERVICE_LIFETIME 36000
#elif COPTERTEST == 5
#define HELI_120_CCPM
#define CRIUS_LITE
#undef DISABLE_POWER_PIN
#define RCAUXPIN8
#define OLED_I2C_128x64
#define LCD_TELEMETRY
#define LOG_VALUES 3
#define DEBUG
#undef SERVO_RFR_50HZ
#define SERVO_RFR_160HZ
#define VBAT
#define POWERMETER_SOFT
#define MMGYRO 10
#define MMGYROVECTORLENGTH 15
#define GYRO_SMOOTHING {45, 45, 50}
#define INFLIGHT_ACC_CALIBRATION
#define LOG_PERMANENT
#define LOG_PERMANENT_SHOW_AT_STARTUP
#define LOG_PERMANENT_SHOW_AT_L
#define LOG_PERMANENT_SERVICE_LIFETIME 36000
#define GOVERNOR_P 0
#define GOVERNOR_D 10
#define VOLTAGEDROP_COMPENSATION
#elif COPTERTEST == 6
#define HEX6H
#define DIYFLYING_MAGE_V1
#define BUZZER
#define RCOPTIONSBEEP // ca. 80byte
#define ARMEDTIMEWARNING 480 // 8 min = 480seconds
#define VBAT
#define VOLTAGEDROP_COMPENSATION
#define MEGA_HW_PWM_SERVOS
#define SERVO_RFR_RATE 300 // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode
#define LOG_VALUES 1
#define DEBUG
#define MULTIPLE_CONFIGURATION_PROFILES
#define DISPLAY_FONT_DSIZE
#define OLED_DIGOLE
#define LCD_CONF
#elif COPTERTEST == 7
#define HELI_120_CCPM
#define NANOWII
#define FORCE_ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = X; imu.accADC[PITCH] = Y; imu.accADC[YAW] = Z;}
#define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = -Z;}
#define A32U4_4_HW_PWM_SERVOS
#define SERVO_RFR_RATE 200 // 200 for graupner is ok
#define SERVO_PIN5_RFR_RATE 165 // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for mega and 32u4
#define SPEKTRUM 1024
#define BUZZER
#define RCOPTIONSBEEP // ca. 80byte
#define VBAT
#define LOG_VALUES 1
#define DISPLAY_FONT_DSIZE
#define OLED_DIGOLE
#define LCD_CONF
#define LCD_TELEMETRY
#define LCD_TELEMETRY_AUTO "1"
#define LCD_TELEMETRY_STEP "F14$5R"
#define LOG_PERMANENT
#define LOG_PERMANENT_SHOW_AFTER_CONFIG
#define SUPPRESS_OTHER_SERIAL_COMMANDS
#define SUPPRESS_DEFAULTS_FROM_GUI
#define NO_FLASH_CHECK
#define DEBUG_FREE
#elif COPTERTEST == 8
#define BI
#define ITG3200
#define PID_CONTROLLER 2
#define ESC_CALIB_CANNOT_FLY
#elif defined(COPTERTEST)
#error "*** this test is not yet defined"
#endif
/**************************************************************************************/
/*************** Proc specific definitions ********************/
/**************************************************************************************/
// Proc auto detection
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
#define PROMINI
#endif
#if defined(__AVR_ATmega32U4__) || defined(TEENSY20)
#define PROMICRO
#endif
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)
#define MEGA
#endif
/**************************************************************************************/
/*************** motor and servo numbers ********************/
/**************************************************************************************/
#define SERVO_RATES {30,30,100,100,100,100,100,100}
#if defined (AIRPLANE) || defined(FLYING_WING)
#define FIXEDWING
#endif
#if defined(HELI_120_CCPM) || defined(HELI_90_DEG)
#define HELICOPTER
#endif
#if defined(BI) || defined(TRI) || defined(FIXEDWING) || defined(HELICOPTER) || defined(SINGLECOPTER)|| defined(DUALCOPTER)
#define COPTER_WITH_SERVO
#endif
#if defined(COPTER_WITH_SERVO) || defined(SERVO_TILT) || defined(GIMBAL) || defined(CAMTRIG) || defined(SERVO_MIX_TILT)
#define SERVO
#endif
#if defined(DYNBALANCE)
#define DYNBAL 1
#else
#define DYNBAL 0
#endif
#if defined(FLAPS)
#define FLAP 1
#else
#define FLAP 0
#endif
#if defined(MEGA) && defined(MEGA_HW_PWM_SERVOS)
#define TRI_SERVO 4
#else
#define TRI_SERVO 6
#endif
#if defined(GIMBAL)
#define NUMBER_MOTOR 0
#define PRI_SERVO_FROM 1 // use servo from 1 to 2
#define PRI_SERVO_TO 2
#elif defined(FLYING_WING)
#define PRI_SERVO_FROM 4
#if defined (USE_THROTTLESERVO)
#define NUMBER_MOTOR 0
#define PRI_SERVO_TO 8 // use servo from 4,5 and 8
#else
#define NUMBER_MOTOR 1
#define PRI_SERVO_TO 5 // use servo from 4 to 5
#endif
#elif defined(SINGLECOPTER)
#define NUMBER_MOTOR 1
#define PRI_SERVO_FROM 4 // use servo from 4 to 7
#define PRI_SERVO_TO 7
#elif defined(DUALCOPTER)
#define NUMBER_MOTOR 2
#define PRI_SERVO_FROM 5 // use servo from 5 to 6
#define PRI_SERVO_TO 6
#elif defined(AIRPLANE)
#if defined (USE_THROTTLESERVO)
#define NUMBER_MOTOR 0
#define PRI_SERVO_TO 8
#else
#define NUMBER_MOTOR 1
#define PRI_SERVO_TO 7
#endif
#if defined(FLAPS)
#define PRI_SERVO_FROM 3 // use servo from 3 to 8
#undef CAMTRIG // Disable Camtrig on A2
#else
#define PRI_SERVO_FROM 4 // use servo from 4 to 8
#endif
#elif defined(BI)
#define NUMBER_MOTOR 2
#define PRI_SERVO_FROM 5 // use servo from 5 to 6
#define PRI_SERVO_TO 6
#elif defined(TRI)
#define NUMBER_MOTOR 3
#define PRI_SERVO_FROM TRI_SERVO // use only servo 6 (or 4 with Mega HW PWM)
#define PRI_SERVO_TO TRI_SERVO
#elif defined(QUADP) || defined(QUADX) || defined(Y4)|| defined(VTAIL4)
#define NUMBER_MOTOR 4
#elif defined(Y6) || defined(HEX6) || defined(HEX6X) || defined(HEX6H)
#define NUMBER_MOTOR 6
#elif defined(OCTOX8) || defined(OCTOFLATP) || defined(OCTOFLATX)
#define NUMBER_MOTOR 8
#elif defined(HELICOPTER)
#define PRI_SERVO_FROM 4
#ifdef HELI_USE_SERVO_FOR_THROTTLE
#define NUMBER_MOTOR 0 // use servo to drive throttle output
#define PRI_SERVO_TO 8 // use servo from 4 to 8
#else
#define NUMBER_MOTOR 1 // use motor1 for throttle, DO NOT SET TO 2, OR IT WILL BURN/DESTROY SERVO7 USED FOR SWASH
#define PRI_SERVO_TO 7 // use servo from 4 to 7
#endif
#endif
#if (defined(SERVO_TILT)|| defined(SERVO_MIX_TILT))&& defined(CAMTRIG)
#define SEC_SERVO_FROM 1 // use servo from 1 to 3
#define SEC_SERVO_TO 3
#else
#if defined(SERVO_TILT)|| defined(SERVO_MIX_TILT)
// if A0 and A1 is taken by motors, we can use A2 and 12 for Servo tilt
#if defined(A0_A1_PIN_HEX) && (NUMBER_MOTOR == 6) && defined(PROMINI)
#define SEC_SERVO_FROM 3 // use servo from 3 to 4
#define SEC_SERVO_TO 4
#else
#define SEC_SERVO_FROM 1 // use servo from 1 to 2
#define SEC_SERVO_TO 2
#endif
#endif
#if defined(CAMTRIG)
#define SEC_SERVO_FROM 3 // use servo 3
#define SEC_SERVO_TO 3
#endif
#endif
#if defined(SIRIUS_AIR) || defined(SIRIUS_AIR_GPS)
#define RCAUX2PIND17
#endif
/************************** atmega328P (Promini) ************************************/
#if defined(PROMINI)
#if !defined(MONGOOSE1_0)
#define LEDPIN_PINMODE pinMode (13, OUTPUT);
#define LEDPIN_TOGGLE PINB |= 1<<5; //switch LEDPIN state (digital PIN 13)
#define LEDPIN_OFF PORTB &= ~(1<<5);
#define LEDPIN_ON PORTB |= (1<<5);
#endif
#if !defined(RCAUXPIN8)
#if !defined(MONGOOSE1_0)
#define BUZZERPIN_PINMODE pinMode (8, OUTPUT);
#if NUMBER_MOTOR >4
#undef PILOTLAMP
#endif
#if defined PILOTLAMP && NUMBER_MOTOR <5
#define PL_PIN_ON PORTB |= 1;
#define PL_PIN_OFF PORTB &= ~1;
#else
#define BUZZERPIN_ON PORTB |= 1;
#define BUZZERPIN_OFF PORTB &= ~1;
#endif
#endif
#else
#define BUZZERPIN_PINMODE ;
#define BUZZERPIN_ON ;
#define BUZZERPIN_OFF ;
#define RCAUXPIN
#endif
#if !defined(RCAUXPIN12) && !defined(DISABLE_POWER_PIN)
#define POWERPIN_PINMODE pinMode (12, OUTPUT);
#define POWERPIN_ON PORTB |= 1<<4;
#define POWERPIN_OFF PORTB &= ~(1<<4); //switch OFF WMP, digital PIN 12
#else
#define POWERPIN_PINMODE ;
#define POWERPIN_ON ;
#define POWERPIN_OFF ;
#endif
#if defined(RCAUXPIN12)
#define RCAUXPIN
#endif
#define I2C_PULLUPS_ENABLE PORTC |= 1<<4; PORTC |= 1<<5; // PIN A4&A5 (SDA&SCL)
#define I2C_PULLUPS_DISABLE PORTC &= ~(1<<4); PORTC &= ~(1<<5);
#if !defined(MONGOOSE1_0)
#define PINMODE_LCD pinMode(0, OUTPUT);
#define LCDPIN_OFF PORTD &= ~1; //switch OFF digital PIN 0
#define LCDPIN_ON PORTD |= 1;
#define STABLEPIN_PINMODE ;
#define STABLEPIN_ON ;
#define STABLEPIN_OFF ;
#endif
#define PPM_PIN_INTERRUPT attachInterrupt(0, rxInt, RISING); //PIN 0
#define SPEK_SERIAL_PORT 0
//RX PIN assignment inside the port //for PORTD
#define THROTTLEPIN 2
#define ROLLPIN 4
#define PITCHPIN 5
#define YAWPIN 6
#define AUX1PIN 7
#define AUX2PIN 0 // optional PIN 8 or PIN 12
#define AUX3PIN 1 // unused
#define AUX4PIN 3 // unused
#define PCINT_PIN_COUNT 5
#define PCINT_RX_BITS (1<<2),(1<<4),(1<<5),(1<<6),(1<<7)
#define PCINT_RX_PORT PORTD
#define PCINT_RX_MASK PCMSK2
#define PCIR_PORT_BIT (1<<2)
#define RX_PC_INTERRUPT PCINT2_vect
#define RX_PCINT_PIN_PORT PIND
#define V_BATPIN A3 // Analog PIN 3
#define PSENSORPIN A2 // Analog PIN 2
#if defined(A0_A1_PIN_HEX) || (NUMBER_MOTOR > 6)
#define SOFT_PWM_1_PIN_HIGH PORTC |= 1<<0;
#define SOFT_PWM_1_PIN_LOW PORTC &= ~(1<<0);
#define SOFT_PWM_2_PIN_HIGH PORTC |= 1<<1;
#define SOFT_PWM_2_PIN_LOW PORTC &= ~(1<<1);
#else
#define SOFT_PWM_1_PIN_HIGH PORTD |= 1<<5;
#define SOFT_PWM_1_PIN_LOW PORTD &= ~(1<<5);
#define SOFT_PWM_2_PIN_HIGH PORTD |= 1<<6;
#define SOFT_PWM_2_PIN_LOW PORTD &= ~(1<<6);
#endif
#define SOFT_PWM_3_PIN_HIGH PORTC |= 1<<2;
#define SOFT_PWM_3_PIN_LOW PORTC &= ~(1<<2);
#define SOFT_PWM_4_PIN_HIGH PORTB |= 1<<4;
#define SOFT_PWM_4_PIN_LOW PORTB &= ~(1<<4);
#define SERVO_1_PINMODE pinMode(A0,OUTPUT); // TILT_PITCH - WING left
#define SERVO_1_PIN_HIGH PORTC |= 1<<0;
#define SERVO_1_PIN_LOW PORTC &= ~(1<<0);
#define SERVO_2_PINMODE pinMode(A1,OUTPUT); // TILT_ROLL - WING right
#define SERVO_2_PIN_HIGH PORTC |= 1<<1;
#define SERVO_2_PIN_LOW PORTC &= ~(1<<1);
#define SERVO_3_PINMODE pinMode(A2,OUTPUT); // CAM TRIG - alt TILT_PITCH
#define SERVO_3_PIN_HIGH PORTC |= 1<<2;
#define SERVO_3_PIN_LOW PORTC &= ~(1<<2);
#if !defined(MONGOOSE1_0)
#define SERVO_4_PINMODE pinMode(12,OUTPUT); // new - alt TILT_ROLL
#define SERVO_4_PIN_HIGH PORTB |= 1<<4;
#define SERVO_4_PIN_LOW PORTB &= ~(1<<4);
#endif
#define SERVO_5_PINMODE pinMode(11,OUTPUT); // BI LEFT
#define SERVO_5_PIN_HIGH PORTB |= 1<<3;
#define SERVO_5_PIN_LOW PORTB &= ~(1<<3);
#define SERVO_6_PINMODE pinMode(3,OUTPUT); // TRI REAR - BI RIGHT
#define SERVO_6_PIN_HIGH PORTD|= 1<<3;
#define SERVO_6_PIN_LOW PORTD &= ~(1<<3);
#define SERVO_7_PINMODE pinMode(10,OUTPUT); // new
#define SERVO_7_PIN_HIGH PORTB |= 1<<2;
#define SERVO_7_PIN_LOW PORTB &= ~(1<<2);
#define SERVO_8_PINMODE pinMode(9,OUTPUT); // new
#define SERVO_8_PIN_HIGH PORTB |= 1<<1;
#define SERVO_8_PIN_LOW PORTB &= ~(1<<1);
#endif
/************************** atmega32u4 (Promicro) ***********************************/
#if defined(PROMICRO)
#if defined(MICROWII)
#define A32U4ALLPINS
#endif
#if !defined(TEENSY20)
#define LEDPIN_PINMODE //
#define LEDPIN_TOGGLE PIND |= 1<<5; //switch LEDPIN state (Port D5)
#if !defined(PROMICRO10)
#define LEDPIN_OFF PORTD |= (1<<5);
#define LEDPIN_ON PORTD &= ~(1<<5);
#else
#define LEDPIN_OFF PORTD &= ~(1<<5);
#define LEDPIN_ON PORTD |= (1<<5);
#endif
#else
#define LEDPIN_PINMODE DDRD |= (1<<6);
#define LEDPIN_OFF PORTD &= ~(1<<6);
#define LEDPIN_ON PORTD |= (1<<6);
#define LEDPIN_TOGGLE PIND |= 1<<6; //switch LEDPIN state (Port D6)
#endif
#if defined(D8BUZZER)
#define BUZZERPIN_PINMODE DDRB |= (1<<4);
#if defined PILOTLAMP
#define PL_PIN_ON PORTB |= 1<<4;
#define PL_PIN_OFF PORTB &= ~(1<<4);
#else
#define BUZZERPIN_ON PORTB |= 1<<4;
#define BUZZERPIN_OFF PORTB &= ~(1<<4);
#endif
#elif defined(A32U4ALLPINS)
#define BUZZERPIN_PINMODE DDRD |= (1<<4);
#if defined PILOTLAMP
#define PL_PIN_ON PORTD |= 1<<4;
#define PL_PIN_OFF PORTD &= ~(1<<4);
#else
#define BUZZERPIN_ON PORTD |= 1<<4;
#define BUZZERPIN_OFF PORTD &= ~(1<<4);
#endif
#else
#define BUZZERPIN_PINMODE DDRD |= (1<<3);
#if defined PILOTLAMP
#define PL_PIN_ON PORTD |= 1<<3;
#define PL_PIN_OFF PORTD &= ~(1<<3);
#else
#define BUZZERPIN_ON PORTD |= 1<<3;
#define BUZZERPIN_OFF PORTD &= ~(1<<3);
#endif
#endif
#define POWERPIN_PINMODE //
#define POWERPIN_ON //
#define POWERPIN_OFF //
#define I2C_PULLUPS_ENABLE PORTD |= 1<<0; PORTD |= 1<<1; // PIN 2&3 (SDA&SCL)
#define I2C_PULLUPS_DISABLE PORTD &= ~(1<<0); PORTD &= ~(1<<1);
#define PINMODE_LCD DDRD |= (1<<2);
#define LCDPIN_OFF PORTD &= ~1;
#define LCDPIN_ON PORTD |= 1;
#define STABLEPIN_PINMODE ;
#define STABLEPIN_ON ;
#define STABLEPIN_OFF ;
#define PPM_PIN_INTERRUPT DDRE &= ~(1 << 6);PORTE |= (1 << 6); EICRB |= (1 << ISC61)|(1 << ISC60); EIMSK |= (1 << INT6);
#if !defined(SPEK_SERIAL_PORT)
#define SPEK_SERIAL_PORT 1
#endif
#define USB_CDC_TX 3
#define USB_CDC_RX 2
//soft PWM Pins
#define SOFT_PWM_1_PIN_HIGH PORTD |= 1<<4;
#define SOFT_PWM_1_PIN_LOW PORTD &= ~(1<<4);
#define SOFT_PWM_2_PIN_HIGH PORTF |= 1<<5;
#define SOFT_PWM_2_PIN_LOW PORTF &= ~(1<<5);
#if !defined(A32U4ALLPINS)
#define SOFT_PWM_3_PIN_HIGH PORTF |= 1<<7;
#define SOFT_PWM_3_PIN_LOW PORTF &= ~(1<<7);
#define SOFT_PWM_4_PIN_HIGH PORTF |= 1<<6;
#define SOFT_PWM_4_PIN_LOW PORTF &= ~(1<<6);
#define SW_PWM_P3 A1
#define SW_PWM_P4 A0
#else
#define SOFT_PWM_3_PIN_HIGH PORTF |= 1<<4;
#define SOFT_PWM_3_PIN_LOW PORTF &= ~(1<<4);
#define SOFT_PWM_4_PIN_HIGH PORTF |= 1<<5;
#define SOFT_PWM_4_PIN_LOW PORTF &= ~(1<<5);
#define SW_PWM_P3 A2
#define SW_PWM_P4 A3
#endif
// Servos
#define SERVO_1_PINMODE DDRF |= (1<<7); // A0
#define SERVO_1_PIN_HIGH PORTF|= 1<<7;
#define SERVO_1_PIN_LOW PORTF &= ~(1<<7);
#define SERVO_2_PINMODE DDRF |= (1<<6); // A1
#define SERVO_2_PIN_HIGH PORTF |= 1<<6;
#define SERVO_2_PIN_LOW PORTF &= ~(1<<6);
#define SERVO_3_PINMODE DDRF |= (1<<5); // A2
#define SERVO_3_PIN_HIGH PORTF |= 1<<5;
#define SERVO_3_PIN_LOW PORTF &= ~(1<<5);
#if !defined(A32U4ALLPINS)
#define SERVO_4_PINMODE DDRD |= (1<<4); // 4
#define SERVO_4_PIN_HIGH PORTD |= 1<<4;
#define SERVO_4_PIN_LOW PORTD &= ~(1<<4);
#else
#define SERVO_4_PINMODE DDRF |= (1<<4); // A3
#define SERVO_4_PIN_HIGH PORTF |= 1<<4;
#define SERVO_4_PIN_LOW PORTF &= ~(1<<4);
#endif
#define SERVO_5_PINMODE DDRC |= (1<<6); // 5
#define SERVO_5_PIN_HIGH PORTC|= 1<<6;
#define SERVO_5_PIN_LOW PORTC &= ~(1<<6);
#define SERVO_6_PINMODE DDRD |= (1<<7); // 6
#define SERVO_6_PIN_HIGH PORTD |= 1<<7;
#define SERVO_6_PIN_LOW PORTD &= ~(1<<7);
#define SERVO_7_PINMODE DDRB |= (1<<6); // 10
#define SERVO_7_PIN_HIGH PORTB |= 1<<6;
#define SERVO_7_PIN_LOW PORTB &= ~(1<<6);
#define SERVO_8_PINMODE DDRB |= (1<<5); // 9
#define SERVO_8_PIN_HIGH PORTB |= 1<<5;
#define SERVO_8_PIN_LOW PORTB &= ~(1<<5);
//Standart RX
#define THROTTLEPIN 3
#if defined(A32U4ALLPINS)
#define ROLLPIN 6
#define PITCHPIN 2
#define YAWPIN 4
#define AUX1PIN 5
#else
#define ROLLPIN 4
#define PITCHPIN 5
#define YAWPIN 2
#define AUX1PIN 6
#endif
#define AUX2PIN 7
#define AUX3PIN 1 // unused
#define AUX4PIN 0 // unused
#if !defined(RCAUX2PIND17)
#define PCINT_PIN_COUNT 4
#define PCINT_RX_BITS (1<<1),(1<<2),(1<<3),(1<<4)
#else
#define PCINT_PIN_COUNT 5 // one more bit (PB0) is added in RX code
#define PCINT_RX_BITS (1<<1),(1<<2),(1<<3),(1<<4),(1<<0)
#endif
#define PCINT_RX_PORT PORTB
#define PCINT_RX_MASK PCMSK0
#define PCIR_PORT_BIT (1<<0)
#define RX_PC_INTERRUPT PCINT0_vect
#define RX_PCINT_PIN_PORT PINB
#if !defined(A32U4ALLPINS) && !defined(TEENSY20)
#define V_BATPIN A3 // Analog PIN 3
#elif defined(A32U4ALLPINS)
#define V_BATPIN A4 // Analog PIN 4
#else
#define V_BATPIN A2 // Analog PIN 3
#endif
#if !defined(TEENSY20)
#define PSENSORPIN A2 // Analog PIN 2
#else
#define PSENSORPIN A2 // Analog PIN 2
#endif
#endif
/************************** all the Mega types ***********************************/
#if defined(MEGA)
#define LEDPIN_PINMODE pinMode (13, OUTPUT);pinMode (30, OUTPUT);
#define LEDPIN_TOGGLE PINB |= (1<<7); PINC |= (1<<7);
#define LEDPIN_ON PORTB |= (1<<7); PORTC |= (1<<7);
#define LEDPIN_OFF PORTB &= ~(1<<7);PORTC &= ~(1<<7);
#define BUZZERPIN_PINMODE pinMode (32, OUTPUT);
#if defined PILOTLAMP
#define PL_PIN_ON PORTC |= 1<<5;
#define PL_PIN_OFF PORTC &= ~(1<<5);
#else
#define BUZZERPIN_ON PORTC |= 1<<5;
#define BUZZERPIN_OFF PORTC &= ~(1<<5);
#endif
#if !defined(DISABLE_POWER_PIN)
#define POWERPIN_PINMODE pinMode (37, OUTPUT);
#define POWERPIN_ON PORTC |= 1<<0;
#define POWERPIN_OFF PORTC &= ~(1<<0);
#else
#define POWERPIN_PINMODE ;
#define POWERPIN_ON ;
#define POWERPIN_OFF ;
#endif
#define I2C_PULLUPS_ENABLE PORTD |= 1<<0; PORTD |= 1<<1; // PIN 20&21 (SDA&SCL)
#define I2C_PULLUPS_DISABLE PORTD &= ~(1<<0); PORTD &= ~(1<<1);
#define PINMODE_LCD pinMode(0, OUTPUT);
#define LCDPIN_OFF PORTE &= ~1; //switch OFF digital PIN 0
#define LCDPIN_ON PORTE |= 1;
#define STABLEPIN_PINMODE pinMode (31, OUTPUT);
#define STABLEPIN_ON PORTC |= 1<<6;
#define STABLEPIN_OFF PORTC &= ~(1<<6);
#if defined(PPM_ON_THROTTLE)
//configure THROTTLE PIN (A8 pin) as input witch pullup and enabled PCINT interrupt
#define PPM_PIN_INTERRUPT DDRK &= ~(1<<0); PORTK |= (1<<0); PCICR |= (1<<2); PCMSK2 |= (1<<0);
#else
#define PPM_PIN_INTERRUPT attachInterrupt(4, rxInt, RISING); //PIN 19, also used for Spektrum satellite option
#endif
#if !defined(SPEK_SERIAL_PORT)
#define SPEK_SERIAL_PORT 1
#endif
//RX PIN assignment inside the port //for PORTK
#define THROTTLEPIN 0 //PIN 62 = PIN A8
#define ROLLPIN 1 //PIN 63 = PIN A9
#define PITCHPIN 2 //PIN 64 = PIN A10
#define YAWPIN 3 //PIN 65 = PIN A11
#define AUX1PIN 4 //PIN 66 = PIN A12
#define AUX2PIN 5 //PIN 67 = PIN A13
#define AUX3PIN 6 //PIN 68 = PIN A14
#define AUX4PIN 7 //PIN 69 = PIN A15
#define V_BATPIN A0 // Analog PIN 0
#define PSENSORPIN A2 // Analog PIN 2
#define PCINT_PIN_COUNT 8
#define PCINT_RX_BITS (1<<2),(1<<4),(1<<5),(1<<6),(1<<7),(1<<0),(1<<1),(1<<3)
#define PCINT_RX_PORT PORTK
#define PCINT_RX_MASK PCMSK2
#define PCIR_PORT_BIT (1<<2)
#define RX_PC_INTERRUPT PCINT2_vect
#define RX_PCINT_PIN_PORT PINK
#define SERVO_1_PINMODE pinMode(34,OUTPUT);pinMode(44,OUTPUT); // TILT_PITCH - WING left
#define SERVO_1_PIN_HIGH PORTC |= 1<<3;PORTL |= 1<<5;
#define SERVO_1_PIN_LOW PORTC &= ~(1<<3);PORTL &= ~(1<<5);
#define SERVO_2_PINMODE pinMode(35,OUTPUT);pinMode(45,OUTPUT); // TILT_ROLL - WING right
#define SERVO_2_PIN_HIGH PORTC |= 1<<2;PORTL |= 1<<4;
#define SERVO_2_PIN_LOW PORTC &= ~(1<<2);PORTL &= ~(1<<4);
#define SERVO_3_PINMODE pinMode(33,OUTPUT); pinMode(46,OUTPUT); // CAM TRIG - alt TILT_PITCH
#define SERVO_3_PIN_HIGH PORTC |= 1<<4;PORTL |= 1<<3;
#define SERVO_3_PIN_LOW PORTC &= ~(1<<4);PORTL &= ~(1<<3);
#define SERVO_4_PINMODE pinMode (37, OUTPUT); // new - alt TILT_ROLL
#define SERVO_4_PIN_HIGH PORTC |= 1<<0;
#define SERVO_4_PIN_LOW PORTC &= ~(1<<0);
#define SERVO_5_PINMODE pinMode(6,OUTPUT); // BI LEFT
#define SERVO_5_PIN_HIGH PORTH |= 1<<3;
#define SERVO_5_PIN_LOW PORTH &= ~(1<<3);
#define SERVO_6_PINMODE pinMode(2,OUTPUT); // TRI REAR - BI RIGHT
#define SERVO_6_PIN_HIGH PORTE |= 1<<4;
#define SERVO_6_PIN_LOW PORTE &= ~(1<<4);
#define SERVO_7_PINMODE pinMode(5,OUTPUT); // new
#define SERVO_7_PIN_HIGH PORTE |= 1<<3;
#define SERVO_7_PIN_LOW PORTE &= ~(1<<3);
#define SERVO_8_PINMODE pinMode(3,OUTPUT); // new
#define SERVO_8_PIN_HIGH PORTE |= 1<<5;
#define SERVO_8_PIN_LOW PORTE &= ~(1<<5);
#endif
// special defines for the Mongose IMU board
// note: that may be moved to the IMU Orientations because this are board defines .. not Proc
#if defined(MONGOOSE1_0) // basically it's a PROMINI without some PINS => same code as a PROMINI board except PIN definition
// note: to avoid too much dubble code there are now just the differencies
// http://www.multiwii.com/forum/viewtopic.php?f=6&t=627
#define LEDPIN_PINMODE pinMode (4, OUTPUT);
#define LEDPIN_TOGGLE PIND |= 1<<4; //switch LEDPIN state (digital PIN 13)
#define LEDPIN_OFF PORTD &= ~(1<<4);
#define LEDPIN_ON PORTD |= (1<<4);
#define SPEK_BAUD_SET UCSR0A = (1<<U2X0); UBRR0H = ((F_CPU / 4 / 115200 -1) / 2) >> 8; UBRR0L = ((F_CPU / 4 / 115200 -1) / 2);
#define SPEK_SERIAL_PORT 0
/* Unavailable pins on MONGOOSE1_0 */
#define BUZZERPIN_PINMODE ; // D8
#define BUZZERPIN_ON ;
#define BUZZERPIN_OFF ;
#define POWERPIN_PINMODE ; // D12
#define POWERPIN_ON ;
#define POWERPIN_OFF ;
#define STABLEPIN_PINMODE ; //
#define STABLEPIN_ON ;
#define STABLEPIN_OFF ;
#define PINMODE_LCD ; //
#define LCDPIN_OFF ;
#define LCDPIN_ON ;
#define SERVO_4_PINMODE ; // Not available
#define SERVO_4_PIN_HIGH ;
#define SERVO_4_PIN_LOW ;
#endif
/********************** Sort the Servos for the most ideal SW PWM ************************/
// this define block sorts the above slected servos to be in a simple order from 1 - (count of total servos)
// its pretty fat but its the best way i found to get less compiled code and max speed in the ISR without loosing its flexibility
#if (PRI_SERVO_FROM == 1) || (SEC_SERVO_FROM == 1)
#define LAST_LOW SERVO_1_PIN_LOW
#define SERVO_1_HIGH SERVO_1_PIN_HIGH
#define SERVO_1_LOW SERVO_1_PIN_LOW
#define SERVO_1_ARR_POS 0
#endif
#if (PRI_SERVO_FROM <= 2 && PRI_SERVO_TO >= 2) || (SEC_SERVO_FROM <= 2 && SEC_SERVO_TO >= 2)
#undef LAST_LOW
#define LAST_LOW SERVO_2_PIN_LOW
#if !defined(SERVO_1_HIGH)
#define SERVO_1_HIGH SERVO_2_PIN_HIGH
#define SERVO_1_LOW SERVO_2_PIN_LOW
#define SERVO_1_ARR_POS 1
#else
#define SERVO_2_HIGH SERVO_2_PIN_HIGH
#define SERVO_2_LOW SERVO_2_PIN_LOW
#define SERVO_2_ARR_POS 1
#endif
#endif
#if (PRI_SERVO_FROM <= 3 && PRI_SERVO_TO >= 3) || (SEC_SERVO_FROM <= 3 && SEC_SERVO_TO >= 3)
#undef LAST_LOW
#define LAST_LOW SERVO_3_PIN_LOW
#if !defined(SERVO_1_HIGH)
#define SERVO_1_HIGH SERVO_3_PIN_HIGH
#define SERVO_1_LOW SERVO_3_PIN_LOW
#define SERVO_1_ARR_POS 2
#elif !defined(SERVO_2_HIGH)
#define SERVO_2_HIGH SERVO_3_PIN_HIGH
#define SERVO_2_LOW SERVO_3_PIN_LOW
#define SERVO_2_ARR_POS 2
#else
#define SERVO_3_HIGH SERVO_3_PIN_HIGH
#define SERVO_3_LOW SERVO_3_PIN_LOW
#define SERVO_3_ARR_POS 2
#endif
#endif
#if (PRI_SERVO_FROM <= 4 && PRI_SERVO_TO >= 4) || (SEC_SERVO_FROM <= 4 && SEC_SERVO_TO >= 4)
#undef LAST_LOW
#define LAST_LOW SERVO_4_PIN_LOW
#if !defined(SERVO_1_HIGH)
#define SERVO_1_HIGH SERVO_4_PIN_HIGH
#define SERVO_1_LOW SERVO_4_PIN_LOW
#define SERVO_1_ARR_POS 3
#elif !defined(SERVO_2_HIGH)
#define SERVO_2_HIGH SERVO_4_PIN_HIGH
#define SERVO_2_LOW SERVO_4_PIN_LOW
#define SERVO_2_ARR_POS 3
#elif !defined(SERVO_3_HIGH)
#define SERVO_3_HIGH SERVO_4_PIN_HIGH
#define SERVO_3_LOW SERVO_4_PIN_LOW
#define SERVO_3_ARR_POS 3
#else
#define SERVO_4_HIGH SERVO_4_PIN_HIGH
#define SERVO_4_LOW SERVO_4_PIN_LOW
#define SERVO_4_ARR_POS 3
#endif
#endif
#if (PRI_SERVO_FROM <= 5 && PRI_SERVO_TO >= 5) || (SEC_SERVO_FROM <= 5 && SEC_SERVO_TO >= 5)
#undef LAST_LOW
#define LAST_LOW SERVO_5_PIN_LOW
#if !defined(SERVO_1_HIGH)
#define SERVO_1_HIGH SERVO_5_PIN_HIGH
#define SERVO_1_LOW SERVO_5_PIN_LOW
#define SERVO_1_ARR_POS 4
#elif !defined(SERVO_2_HIGH)
#define SERVO_2_HIGH SERVO_5_PIN_HIGH
#define SERVO_2_LOW SERVO_5_PIN_LOW
#define SERVO_2_ARR_POS 4
#elif !defined(SERVO_3_HIGH)
#define SERVO_3_HIGH SERVO_5_PIN_HIGH
#define SERVO_3_LOW SERVO_5_PIN_LOW
#define SERVO_3_ARR_POS 4
#elif !defined(SERVO_4_HIGH)
#define SERVO_4_HIGH SERVO_5_PIN_HIGH
#define SERVO_4_LOW SERVO_5_PIN_LOW
#define SERVO_4_ARR_POS 4
#else
#define SERVO_5_HIGH SERVO_5_PIN_HIGH
#define SERVO_5_LOW SERVO_5_PIN_LOW
#define SERVO_5_ARR_POS 4
#endif
#endif
#if (PRI_SERVO_FROM <= 6 && PRI_SERVO_TO >= 6) || (SEC_SERVO_FROM <= 6 && SEC_SERVO_TO >= 6)
#undef LAST_LOW
#define LAST_LOW SERVO_6_PIN_LOW
#if !defined(SERVO_1_HIGH)
#define SERVO_1_HIGH SERVO_6_PIN_HIGH
#define SERVO_1_LOW SERVO_6_PIN_LOW
#define SERVO_1_ARR_POS 5
#elif !defined(SERVO_2_HIGH)
#define SERVO_2_HIGH SERVO_6_PIN_HIGH
#define SERVO_2_LOW SERVO_6_PIN_LOW
#define SERVO_2_ARR_POS 5
#elif !defined(SERVO_3_HIGH)
#define SERVO_3_HIGH SERVO_6_PIN_HIGH
#define SERVO_3_LOW SERVO_6_PIN_LOW
#define SERVO_3_ARR_POS 5
#elif !defined(SERVO_4_HIGH)
#define SERVO_4_HIGH SERVO_6_PIN_HIGH
#define SERVO_4_LOW SERVO_6_PIN_LOW
#define SERVO_4_ARR_POS 5
#elif !defined(SERVO_5_HIGH)
#define SERVO_5_HIGH SERVO_6_PIN_HIGH
#define SERVO_5_LOW SERVO_6_PIN_LOW
#define SERVO_5_ARR_POS 5
#else
#define SERVO_6_HIGH SERVO_6_PIN_HIGH
#define SERVO_6_LOW SERVO_6_PIN_LOW
#define SERVO_6_ARR_POS 5
#endif
#endif
#if (PRI_SERVO_FROM <= 7 && PRI_SERVO_TO >= 7) || (SEC_SERVO_FROM <= 7 && SEC_SERVO_TO >= 7)
#undef LAST_LOW
#define LAST_LOW SERVO_7_PIN_LOW
#if !defined(SERVO_1_HIGH)
#define SERVO_1_HIGH SERVO_7_PIN_HIGH
#define SERVO_1_LOW SERVO_7_PIN_LOW
#define SERVO_1_ARR_POS 6
#elif !defined(SERVO_2_HIGH)
#define SERVO_2_HIGH SERVO_7_PIN_HIGH
#define SERVO_2_LOW SERVO_7_PIN_LOW
#define SERVO_2_ARR_POS 6
#elif !defined(SERVO_3_HIGH)
#define SERVO_3_HIGH SERVO_7_PIN_HIGH
#define SERVO_3_LOW SERVO_7_PIN_LOW
#define SERVO_3_ARR_POS 6
#elif !defined(SERVO_4_HIGH)
#define SERVO_4_HIGH SERVO_7_PIN_HIGH
#define SERVO_4_LOW SERVO_7_PIN_LOW
#define SERVO_4_ARR_POS 6
#elif !defined(SERVO_5_HIGH)
#define SERVO_5_HIGH SERVO_7_PIN_HIGH
#define SERVO_5_LOW SERVO_7_PIN_LOW
#define SERVO_5_ARR_POS 6
#elif !defined(SERVO_6_HIGH)
#define SERVO_6_HIGH SERVO_7_PIN_HIGH
#define SERVO_6_LOW SERVO_7_PIN_LOW
#define SERVO_6_ARR_POS 6
#else
#define SERVO_7_HIGH SERVO_7_PIN_HIGH
#define SERVO_7_LOW SERVO_7_PIN_LOW
#define SERVO_7_ARR_POS 6
#endif
#endif
#if (PRI_SERVO_FROM <= 8 && PRI_SERVO_TO >= 8) || (SEC_SERVO_FROM <= 8 && SEC_SERVO_TO >= 8)
#undef LAST_LOW
#define LAST_LOW SERVO_8_PIN_LOW
#if !defined(SERVO_1_HIGH)
#define SERVO_1_HIGH SERVO_8_PIN_HIGH
#define SERVO_1_LOW SERVO_8_PIN_LOW
#define SERVO_1_ARR_POS 7
#elif !defined(SERVO_2_HIGH)
#define SERVO_2_HIGH SERVO_8_PIN_HIGH
#define SERVO_2_LOW SERVO_8_PIN_LOW
#define SERVO_2_ARR_POS 7
#elif !defined(SERVO_3_HIGH)
#define SERVO_3_HIGH SERVO_8_PIN_HIGH
#define SERVO_3_LOW SERVO_8_PIN_LOW
#define SERVO_3_ARR_POS 7
#elif !defined(SERVO_4_HIGH)
#define SERVO_4_HIGH SERVO_8_PIN_HIGH
#define SERVO_4_LOW SERVO_8_PIN_LOW
#define SERVO_4_ARR_POS 7
#elif !defined(SERVO_5_HIGH)
#define SERVO_5_HIGH SERVO_8_PIN_HIGH
#define SERVO_5_LOW SERVO_8_PIN_LOW
#define SERVO_5_ARR_POS 7
#elif !defined(SERVO_6_HIGH)
#define SERVO_6_HIGH SERVO_8_PIN_HIGH
#define SERVO_6_LOW SERVO_8_PIN_LOW
#define SERVO_6_ARR_POS 7
#elif !defined(SERVO_7_HIGH)
#define SERVO_7_HIGH SERVO_8_PIN_HIGH
#define SERVO_7_LOW SERVO_8_PIN_LOW
#define SERVO_7_ARR_POS 7
#else
#define SERVO_8_HIGH SERVO_8_PIN_HIGH
#define SERVO_8_LOW SERVO_8_PIN_LOW
#define SERVO_8_ARR_POS 7
#endif
#endif
#if ( defined(MEGA) && defined(MEGA_HW_PWM_SERVOS) ) || (defined(PROMICRO) && defined(A32U4_4_HW_PWM_SERVOS))
#undef SERVO_1_HIGH // No software PWM's if we use hardware MEGA PWM or promicro hardware pwm
#define HW_PWM_SERVOS
#endif
/**************************************************************************************/
/*************** IMU Orientations and Sensor definitions ********************/
/**************************************************************************************/
//please submit any correction to this list.
#if defined(FFIMUv1)
#define ITG3200
#define BMA180
#define BMP085
#define HMC5843
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;}
#endif
#if defined(FFIMUv2)
#define ITG3200
#define BMA180
#define BMP085
#define HMC5883
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = Y; imu.magADC[PITCH] = -X; imu.magADC[YAW] = -Z;}
#endif
#if defined(FREEIMUv1)
#define ITG3200
#define ADXL345
#define HMC5843
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;}
#define ADXL345_ADDRESS 0x53
#undef INTERNAL_I2C_PULLUPS
#endif
#if defined(FREEIMUv03)
#define ITG3200
#define ADXL345 // this is actually an ADXL346 but that's just the same as ADXL345
#define HMC5883
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;}
#define ADXL345_ADDRESS 0x53
#undef INTERNAL_I2C_PULLUPS
#endif
#if defined(FREEIMUv035) || defined(FREEIMUv035_MS) || defined(FREEIMUv035_BMP)
#define ITG3200
#define BMA180
#define HMC5883
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;}
#undef INTERNAL_I2C_PULLUPS
#if defined(FREEIMUv035_MS)
#define MS561101BA
#elif defined(FREEIMUv035_BMP)
#define BMP085
#endif
#endif
#if defined(FREEIMUv04)
#define FREEIMUv043
#endif
#if defined(MultiWiiMega)
#define FREEIMUv043
#endif
#if defined(FREEIMUv043) || defined(MICROWII)
#define MPU6050
#define HMC5883
#define MS561101BA
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;}
#define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050
#undef INTERNAL_I2C_PULLUPS
#endif
#if defined(NANOWII)
#define MPU6050
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -Y; imu.accADC[PITCH] = X; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;}
#undef INTERNAL_I2C_PULLUPS
// move motor 7 & 8 to pin 4 & A2
#define SOFT_PWM_3_PIN_HIGH PORTD |= 1<<4;
#define SOFT_PWM_3_PIN_LOW PORTD &= ~(1<<4);
#define SOFT_PWM_4_PIN_HIGH PORTF |= 1<<5;
#define SOFT_PWM_4_PIN_LOW PORTF &= ~(1<<5);
#define SW_PWM_P3 4
#define SW_PWM_P4 A2
#define HWPWM6
// move servo 3 & 4 to pin 13 & 11
#define SERVO_3_PINMODE DDRC |= (1<<7); // 13
#define SERVO_3_PIN_HIGH PORTC |= 1<<7;
#define SERVO_3_PIN_LOW PORTC &= ~(1<<7);
#define SERVO_4_PINMODE DDRB |= (1<<7); // 11
#define SERVO_4_PIN_HIGH PORTB |= 1<<7;
#define SERVO_4_PIN_LOW PORTB &= ~(1<<7);
// use pin 4 as status LED output if we have no octo
#if !defined(OCTOX8) && !defined(OCTOFLATP) && !defined(OCTOFLATX)
#define LEDPIN_PINMODE DDRD |= (1<<4); //D4 to output
#define LEDPIN_TOGGLE PIND |= (1<<5)|(1<<4); //switch LEDPIN state (Port D5) & pin D4
#define LEDPIN_OFF PORTD |= (1<<5); PORTD &= ~(1<<4);
#define LEDPIN_ON PORTD &= ~(1<<5); PORTD |= (1<<4);
#endif
#endif
#if defined(PIPO)
#define L3G4200D
#define ADXL345
#define HMC5883
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = Y; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = Y; imu.magADC[PITCH] = -X; imu.magADC[YAW] = Z;}
#define ADXL345_ADDRESS 0x53
#endif
#if defined(QUADRINO)
#define ITG3200
#define BMA180
#define BMP085
#define HMC5883
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;}
#endif
#if defined(QUADRINO_ZOOM)
#define ITG3200
#define BMA180
#define BMP085
#define HMC5883
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;}
#define STABLEPIN_PINMODE pinMode (A2, OUTPUT);
#define STABLEPIN_ON PORTC |= (1<<2);
#define STABLEPIN_OFF PORTC &= ~(1<<2);
#endif
#if defined(QUADRINO_ZOOM_MS)
#define ITG3200
#define BMA180
#define MS561101BA
#define HMC5883
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;}
#define STABLEPIN_PINMODE pinMode (A2, OUTPUT);
#define STABLEPIN_ON PORTC |= (1<<2);
#define STABLEPIN_OFF PORTC &= ~(1<<2);