Subversion Repositories FlightCtrl

Rev

Rev 1775 | Rev 1864 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1612 dongfang 1 
#ifndef _CONFIGURATION_H
2 
#define _CONFIGURATION_H
3 
 
4 
#include <inttypes.h>
5 
#include <avr/io.h>
6 
 
7 
typedef struct {
1821 - 8 
        /*PMM*/uint8_t HeightD;
9 
        /* P */uint8_t MaxHeight;
10 
        /*PMM*/uint8_t HeightP;
11 
        /* P */uint8_t Height_ACC_Effect;
12 
        /* P */uint8_t CompassYawEffect;
13 
        /* P */uint8_t GyroD;
14 
        /*PMM*/uint8_t GyroP;
15 
        /* P */uint8_t GyroI;
16 
        /* Never used */uint8_t StickYawP;
17 
        /* P */uint8_t IFactor;
18 
        /* P */uint8_t UserParams[8];
19 
        /* P */uint8_t ServoPitchControl;
20 
        /* P */uint8_t LoopGasLimit;
21 
        /* P */uint8_t AxisCoupling1;
22 
        /* P */uint8_t AxisCoupling2;
23 
        /* P */uint8_t AxisCouplingYawCorrection;
24 
        /* P */uint8_t DynamicStability;
25 
        /* P */uint8_t ExternalControl;
26 
        /*PMM*/uint8_t J16Timing;
27 
        /*PMM*/uint8_t J17Timing;
28 
        /* P */uint8_t NaviGpsModeControl;
29 
        /* P */uint8_t NaviGpsGain;
30 
        /* P */uint8_t NaviGpsP;
31 
        /* P */uint8_t NaviGpsI;
32 
        /* P */uint8_t NaviGpsD;
33 
        /* P */uint8_t NaviGpsACC;
34 
        /*PMM*/uint8_t NaviOperatingRadius;
35 
        /* P */uint8_t NaviWindCorrection;
36 
        /* P */uint8_t NaviSpeedCompensation;
37 
        int8_t KalmanK;
38 
        int8_t KalmanMaxDrift;
39 
        int8_t KalmanMaxFusion;
1775 - 40 
} dynamicParam_t;
41 
extern dynamicParam_t dynamicParams;
1612 dongfang 42 
 
1775 - 43 
typedef struct {
1821 - 44 
        uint8_t sourceIdx, targetIdx;
45 
        uint8_t min, max;
1775 - 46 
} MMXLATION;
1612 dongfang 47 
 
1775 - 48 
typedef struct {
1821 - 49 
        uint8_t sourceIdx, targetIdx;
1775 - 50 
} XLATION;
51 
 
1612 dongfang 52 
// values above 250 representing poti1 to poti4
53 
typedef struct {
1821 - 54 
        uint8_t ChannelAssignment[8]; // see upper defines for details
55 
        uint8_t GlobalConfig; // see upper defines for bitcoding
56 
        uint8_t HeightMinGas; // Value : 0-100
57 
        uint8_t HeightD; // Value : 0-250
58 
        uint8_t MaxHeight; // Value : 0-32
59 
        uint8_t HeightP; // Value : 0-32
60 
        uint8_t Height_Gain; // Value : 0-50
61 
        uint8_t Height_ACC_Effect; // Value : 0-250
62 
        uint8_t StickP; // Value : 1-6
63 
        uint8_t StickD; // Value : 0-64
64 
        uint8_t StickYawP; // Value : 1-20
65 
        uint8_t MinThrottle; // Value : 0-32
66 
        uint8_t MaxThrottle; // Value : 33-250
67 
        uint8_t GyroAccFactor; // Value : 1-64
68 
        uint8_t CompassYawEffect; // Value : 0-32
69 
        uint8_t GyroP; // Value : 10-250
70 
        uint8_t GyroI; // Value : 0-250
71 
        uint8_t GyroD; // Value : 0-250
72 
        uint8_t LowVoltageWarning; // Value : 0-250
73 
        uint8_t EmergencyGas; // Value : 0-250     //Gaswert bei Emp�ngsverlust
74 
        uint8_t EmergencyGasDuration; // Value : 0-250     // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen
75 
        uint8_t Unused0; //
76 
        uint8_t IFactor; // Value : 0-250
77 
        uint8_t UserParams1[4]; // Value : 0-250
78 
        /*
79 
         uint8_t UserParam2;             // Value : 0-250
80 
         uint8_t UserParam3;             // Value : 0-250
81 
         uint8_t UserParam4;             // Value : 0-250
82 
         */
83 
        uint8_t ServoPitchControl; // Value : 0-250     // Stellung des Servos
84 
        uint8_t ServoPitchComp; // Value : 0-250     // Einfluss Gyro/Servo
85 
        uint8_t ServoPitchMin; // Value : 0-250     // Anschlag
86 
        uint8_t ServoPitchMax; // Value : 0-250     // Anschlag
87 
        uint8_t ServoRefresh; // Value: 0-250        // Refreshrate of servo pwm output
88 
        uint8_t LoopGasLimit; // Value: 0-250  max. Gas w�hrend Looping
89 
        uint8_t LoopThreshold; // Value: 0-250  Schwelle f�r Stickausschlag
90 
        uint8_t LoopHysteresis; // Value: 0-250  Hysterese f�r Stickausschlag
91 
        uint8_t AxisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
92 
        uint8_t AxisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
1612 dongfang 93 
        uint8_t AxisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
1821 - 94 
        uint8_t AngleTurnOverPitch; // Value: 0-250  180�-Punkt
95 
        uint8_t AngleTurnOverRoll; // Value: 0-250  180�-Punkt
96 
        uint8_t GyroAccTrim; // 1/k  (Koppel_ACC_Wirkung)
97 
        uint8_t DriftComp; // limit for gyrodrift compensation
98 
        uint8_t DynamicStability; // PID limit for Attitude controller
99 
        uint8_t UserParams2[4]; // Value : 0-250
100 
        /*
101 
         uint8_t UserParam6;             // Value : 0-250
102 
         uint8_t UserParam7;             // Value : 0-250
103 
         uint8_t UserParam8;             // Value : 0-250
104 
         */
105 
        uint8_t J16Bitmask; // for the J16 Output
106 
        uint8_t J16Timing; // for the J16 Output
107 
        uint8_t J17Bitmask; // for the J17 Output
108 
        uint8_t J17Timing; // for the J17 Output
109 
        uint8_t NaviGpsModeControl; // Parameters for the Naviboard
110 
        uint8_t NaviGpsGain; // overall gain for GPS-PID controller
111 
        uint8_t NaviGpsP; // P gain for GPS-PID controller
112 
        uint8_t NaviGpsI; // I gain for GPS-PID controller
113 
        uint8_t NaviGpsD; // D gain for GPS-PID controller
114 
        uint8_t NaviGpsPLimit; // P limit for GPS-PID controller
115 
        uint8_t NaviGpsILimit; // I limit for GPS-PID controller
116 
        uint8_t NaviGpsDLimit; // D limit for GPS-PID controller
117 
        uint8_t NaviGpsACC; // ACC gain for GPS-PID controller
118 
        uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions
119 
        uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements
120 
        uint8_t NaviWindCorrection; // streng of wind course correction
121 
        uint8_t NaviSpeedCompensation; // D gain fefore position hold login
122 
        uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights
123 
        uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm
124 
        uint8_t NaviPHLoginTime; // position hold logintimeout
125 
        uint8_t ExternalControl; // for serial Control
126 
        uint8_t BitConfig; // see upper defines for bitcoding
127 
        uint8_t ServoPitchCompInvert; // Value : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
1612 dongfang 128 
        uint8_t Reserved[4];
129 
        int8_t Name[12];
1821 - 130 
} paramset_t;
1612 dongfang 131 
 
132 
#define  PARAMSET_STRUCT_LEN  sizeof(paramset_t)
133 
 
134 
extern paramset_t staticParams;
135 
 
136 
typedef struct {
1821 - 137 
        uint8_t Revision;
138 
        int8_t Name[12];
139 
        int8_t Motor[16][4];
140 
}__attribute__((packed)) MixerTable_t;
1612 dongfang 141 
 
142 
extern MixerTable_t Mixer;
143 
 
144 
// MKFlags
145 
#define MKFLAG_MOTOR_RUN        (1<<0)
146 
#define MKFLAG_FLY              (1<<1)
147 
#define MKFLAG_CALIBRATE        (1<<2)
148 
#define MKFLAG_START            (1<<3)
149 
#define MKFLAG_EMERGENCY_LANDING (1<<4)
150 
#define MKFLAG_RESERVE1         (1<<5)
151 
#define MKFLAG_RESERVE2         (1<<6)
152 
#define MKFLAG_RESERVE3         (1<<7)
153 
 
154 
// bit mask for staticParams.GlobalConfig
155 
#define CFG_HEIGHT_CONTROL      (1<<0)
156 
#define CFG_HEIGHT_SWITCH       (1<<1)
157 
#define CFG_HEADING_HOLD        (1<<2)
158 
#define CFG_COMPASS_ACTIVE      (1<<3)
159 
#define CFG_COMPASS_FIX         (1<<4)
160 
#define CFG_GPS_ACTIVE          (1<<5)
161 
#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
162 
#define CFG_ROTARY_RATE_LIMITER (1<<7)
163 
 
1775 - 164 
// bit mask for staticParams.BitConfig
1612 dongfang 165 
#define CFG_LOOP_UP             (1<<0)
166 
#define CFG_LOOP_DOWN           (1<<1)
167 
#define CFG_LOOP_LEFT           (1<<2)
168 
#define CFG_LOOP_RIGHT          (1<<3)
169 
#define CFG_HEIGHT_3SWITCH      (1<<4)
170 
 
171 
#define ATMEGA644       0
172 
#define ATMEGA644P      1
173 
#define SYSCLK F_CPU
174 
 
175 
// Not really a part of configuration, but heck, LEDs and beepers now have a home.
176 
#define RED_OFF   {if((BoardRelease == 10) || (BoardRelease == 20)) PORTB &=~(1<<PORTB0); else  PORTB |= (1<<PORTB0);}
177 
#define RED_ON    {if((BoardRelease == 10) || (BoardRelease == 20)) PORTB |= (1<<PORTB0); else  PORTB &=~(1<<PORTB0);}
178 
#define RED_FLASH PORTB ^= (1<<PORTB0)
179 
#define GRN_OFF   {if(BoardRelease  < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);}
180 
#define GRN_ON    {if(BoardRelease  < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
181 
#define GRN_FLASH PORTB ^= (1<<PORTB1)
182 
 
183 
// Mixer table
184 
#define MIX_THROTTLE    0
185 
#define MIX_PITCH       1
186 
#define MIX_ROLL        2
187 
#define MIX_YAW         3
188 
 
189 
extern volatile uint8_t MKFlags;
190 
extern int16_t variables[8];
191 
extern uint8_t BoardRelease;
192 
extern uint8_t CPUType;
193 
 
194 
void configuration_applyVariablesToParams(void);
195 
uint8_t getCPUType(void);
196 
uint8_t getBoardRelease(void);
197 
 
198 
// Not really a part of configuration, but heck, LEDs and beepers now have a home.
199 
void beep(uint16_t millis);
200 
void beepNumber(uint8_t numbeeps);
201 
void beepRCAlarm(void);
202 
void beepI2CAlarm(void);
203 
void beepBatteryAlarm(void);
204 
 
205 
#endif // _CONFIGURATION_H