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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1910 | - | 1 | #ifndef _CONFIGURATION_H |
| 2 | #define _CONFIGURATION_H |
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| 3 | |||
| 4 | #include <inttypes.h> |
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| 5 | #include <avr/io.h> |
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| 6 | |||
| 7 | typedef struct { |
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| 8 | /*PMM*/uint8_t HeightD; |
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| 9 | /* P */uint8_t MaxHeight; |
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| 10 | /*PMM*/uint8_t HeightP; |
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| 11 | /* P */uint8_t Height_ACC_Effect; |
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| 12 | /* P */uint8_t CompassYawEffect; |
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| 13 | /* P */uint8_t unnused; |
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| 14 | |||
| 15 | /* P */uint8_t GyroPitchP; |
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| 16 | /* P */uint8_t GyroRollP; |
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| 17 | /* P */uint8_t GyroYawP; |
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| 18 | |||
| 19 | /* P */uint8_t UserParams[8]; |
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| 20 | /* P */uint8_t ServoPitchControl; |
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| 21 | |||
| 22 | /* P */uint8_t GyroPitchD; // LoopGasLimit in tool |
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| 23 | /* P */uint8_t GyroRollD; // AxisCoupling1 in tool |
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| 24 | /* P */uint8_t GyroYawD; // AxisCoupling2 in tool |
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| 25 | |||
| 26 | /* P */uint8_t AxisCouplingYawCorrection; |
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| 27 | /* P */uint8_t DynamicStability; |
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| 28 | /* P */uint8_t ExternalControl; |
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| 29 | /*PMM*/uint8_t J16Timing; |
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| 30 | /*PMM*/uint8_t J17Timing; |
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| 31 | /* P */uint8_t NaviGpsModeControl; |
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| 32 | /* P */uint8_t NaviGpsGain; |
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| 33 | /* P */uint8_t NaviGpsP; |
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| 34 | /* P */uint8_t NaviGpsI; |
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| 35 | /* P */uint8_t NaviGpsD; |
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| 36 | /* P */uint8_t NaviGpsACC; |
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| 37 | /*PMM*/uint8_t NaviOperatingRadius; |
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| 38 | /* P */uint8_t NaviWindCorrection; |
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| 39 | /* P */uint8_t NaviSpeedCompensation; |
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| 40 | int8_t KalmanK; |
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| 41 | int8_t KalmanMaxDrift; |
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| 42 | int8_t KalmanMaxFusion; |
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| 43 | } dynamicParam_t; |
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| 44 | extern dynamicParam_t dynamicParams; |
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| 45 | |||
| 46 | typedef struct { |
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| 47 | uint8_t sourceIdx, targetIdx; |
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| 48 | uint8_t min, max; |
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| 49 | } MMXLATION; |
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| 50 | |||
| 51 | typedef struct { |
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| 52 | uint8_t sourceIdx, targetIdx; |
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| 53 | } XLATION; |
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| 54 | |||
| 55 | // values above 250 representing poti1 to poti4 |
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| 56 | typedef struct { |
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| 57 | uint8_t ChannelAssignment[8]; // see upper defines for details |
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| 58 | uint8_t GlobalConfig; // see upper defines for bitcoding |
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| 59 | uint8_t HeightMinGas; // Value : 0-100 |
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| 60 | uint8_t HeightD; // Value : 0-250 |
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| 61 | uint8_t MaxHeight; // Value : 0-32 |
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| 62 | uint8_t HeightP; // Value : 0-32 |
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| 63 | uint8_t Height_Gain; // Value : 0-50 |
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| 64 | uint8_t Height_ACC_Effect; // Value : 0-250 |
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| 65 | |||
| 66 | uint8_t StickElevatorP; // StickP in tool. |
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| 67 | uint8_t StickAileronsP; // StickD in tool. |
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| 68 | uint8_t StickRudderP; // StickYawP in tool. |
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| 69 | |||
| 70 | uint8_t GyroAccFactor; // Value : 1-64 |
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| 71 | uint8_t CompassYawEffect; // Value : 0-32 |
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| 72 | |||
| 73 | uint8_t GyroPitchP; // GyroP in tool |
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| 74 | uint8_t GyroRollP; // GyroI in tool |
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| 75 | uint8_t GyroYawP; // GyroD in tool |
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| 76 | |||
| 1926 | - | 77 | uint8_t UserParams[8]; // Value : 0-250 |
| 78 | |||
| 1910 | - | 79 | uint8_t LowVoltageWarning; // Value : 0-250 |
| 80 | |||
| 81 | uint8_t ControlSigns; |
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| 82 | uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
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| 83 | |||
| 84 | uint8_t GyroPitchD; // LoopGasLimit in tool |
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| 85 | uint8_t GyroRollD; // loopThreshold in tool |
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| 86 | uint8_t GyroYawD; // loopHysteresis in tool |
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| 87 | |||
| 88 | uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
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| 89 | uint8_t DriftComp; // limit for gyrodrift compensation |
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| 90 | |||
| 91 | uint8_t J16Bitmask; // for the J16 Output |
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| 92 | uint8_t J16Timing; // for the J16 Output |
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| 93 | uint8_t J17Bitmask; // for the J17 Output |
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| 94 | uint8_t J17Timing; // for the J17 Output |
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| 1926 | - | 95 | |
| 1910 | - | 96 | uint8_t ExternalControl; // for serial Control |
| 97 | uint8_t BitConfig; // see upper defines for bitcoding |
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| 1926 | - | 98 | |
| 1910 | - | 99 | uint8_t Reserved[4]; |
| 100 | } paramset_t; |
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| 101 | |||
| 102 | #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
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| 103 | |||
| 104 | extern paramset_t staticParams; |
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| 105 | |||
| 106 | typedef struct { |
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| 107 | uint8_t Revision; |
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| 108 | int8_t Name[12]; |
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| 109 | int8_t Motor[16][4]; |
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| 110 | }__attribute__((packed)) MixerTable_t; |
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| 111 | |||
| 112 | extern MixerTable_t Mixer; |
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| 113 | |||
| 114 | // MKFlags |
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| 115 | #define MKFLAG_MOTOR_RUN (1<<0) |
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| 116 | #define MKFLAG_FLY (1<<1) |
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| 117 | #define MKFLAG_CALIBRATE (1<<2) |
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| 118 | #define MKFLAG_START (1<<3) |
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| 119 | #define MKFLAG_EMERGENCY_LANDING (1<<4) |
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| 120 | #define MKFLAG_RESERVE1 (1<<5) |
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| 121 | #define MKFLAG_RESERVE2 (1<<6) |
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| 122 | #define MKFLAG_RESERVE3 (1<<7) |
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| 123 | |||
| 124 | // bit mask for staticParams.GlobalConfig |
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| 125 | #define CFG_HEIGHT_CONTROL (1<<0) |
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| 126 | #define CFG_HEIGHT_SWITCH (1<<1) |
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| 127 | #define CFG_HEADING_HOLD (1<<2) |
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| 128 | #define CFG_COMPASS_ACTIVE (1<<3) |
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| 129 | #define CFG_COMPASS_FIX (1<<4) |
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| 130 | #define CFG_GPS_ACTIVE (1<<5) |
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| 131 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
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| 132 | #define CFG_ROTARY_RATE_LIMITER (1<<7) |
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| 133 | |||
| 134 | // bit mask for staticParams.BitConfig |
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| 135 | #define CFG_LOOP_UP (1<<0) |
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| 136 | #define CFG_LOOP_DOWN (1<<1) |
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| 137 | #define CFG_LOOP_LEFT (1<<2) |
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| 138 | #define CFG_LOOP_RIGHT (1<<3) |
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| 139 | #define CFG_HEIGHT_3SWITCH (1<<4) |
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| 140 | |||
| 141 | #define ATMEGA644 0 |
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| 142 | #define ATMEGA644P 1 |
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| 143 | #define SYSCLK F_CPU |
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| 144 | |||
| 145 | // Not really a part of configuration, but LEDs and HW version test are the same. |
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| 146 | #define RED_OFF {if((BoardRelease == 10) || (BoardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
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| 147 | #define RED_ON {if((BoardRelease == 10) || (BoardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
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| 148 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
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| 149 | #define GRN_OFF {if(BoardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
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| 150 | #define GRN_ON {if(BoardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
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| 151 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
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| 152 | |||
| 153 | // Mixer table |
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| 154 | #define MIX_THROTTLE 0 |
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| 155 | #define MIX_PITCH 1 |
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| 156 | #define MIX_ROLL 2 |
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| 157 | #define MIX_YAW 3 |
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| 158 | |||
| 159 | extern volatile uint8_t MKFlags; |
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| 160 | extern int16_t variables[8]; // The "Poti"s. |
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| 161 | extern uint8_t BoardRelease; |
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| 162 | extern uint8_t CPUType; |
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| 163 | |||
| 164 | void configuration_staticToDynamic(void); |
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| 165 | uint8_t getCPUType(void); |
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| 166 | uint8_t getBoardRelease(void); |
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| 167 | |||
| 168 | #endif // _CONFIGURATION_H |