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1612 dongfang 1
#ifndef _CONFIGURATION_H
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#define _CONFIGURATION_H
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#include <inttypes.h>
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#include <avr/io.h>
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#define MAX_CHANNELS 10
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#define MAX_MOTORS 12
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// bitmask for VersionInfo_t.HardwareError[0]
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#define FC_ERROR0_GYRO_PITCH    0x01
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#define FC_ERROR0_GYRO_ROLL     0x02
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#define FC_ERROR0_GYRO_YAW              0x04
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#define FC_ERROR0_ACC_X                 0x08
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#define FC_ERROR0_ACC_Y                 0x10
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#define FC_ERROR0_ACC_Z                 0x20
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#define FC_ERROR0_PRESSURE              0x40
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#define FC_ERROR1_RES0                  0x80
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// bitmask for VersionInfo_t.HardwareError[1]
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#define FC_ERROR1_I2C                   0x01
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#define FC_ERROR1_BL_MISSING    0x02
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#define FC_ERROR1_SPI_RX                0x04
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#define FC_ERROR1_PPM                   0x08
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#define FC_ERROR1_MIXER                 0x10
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#define FC_ERROR1_RES1                  0x20
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#define FC_ERROR1_RES2                  0x40
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#define FC_ERROR1_RES3                  0x80
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typedef struct {
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        uint8_t SWMajor;
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        uint8_t SWMinor;
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        uint8_t protoMajor;
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        uint8_t protoMinor;
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        uint8_t SWPatch;
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        uint8_t hardwareErrors[5];
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}__attribute__((packed)) VersionInfo_t;
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extern VersionInfo_t versionInfo;
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typedef struct {
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  // IMU
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  /*PMM*/uint8_t gyroP;
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  /* P */uint8_t gyroI;
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  /* P */uint8_t gyroD;
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  /* P */uint8_t compassYawEffect;
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  // Control
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  /* P */uint8_t externalControl;
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  /* P */uint8_t dynamicStability;
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  uint8_t maxAccVector;
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  // Height control
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  /*PMM*/uint8_t heightP;
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  /* P */uint8_t heightI;
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  /*PMM*/uint8_t heightD;
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  /* P */uint8_t heightSetting;
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  uint8_t attitudeControl;
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  // The rest...
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  /*PMM*/uint8_t output0Timing;
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  /*PMM*/uint8_t output1Timing;
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  uint8_t servoManualControl[2];
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  uint8_t levelCorrection[2];
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  /* P */uint8_t userParams[8];
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} dynamicParam_t;
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extern volatile dynamicParam_t dynamicParams;
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typedef struct {
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  uint8_t sourceIdx, targetIdx;
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  uint8_t min, max;
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} MMXLATION;
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typedef struct {
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  uint8_t sourceIdx, targetIdx;
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} XLATION;
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typedef struct {
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  uint8_t channels[MAX_CHANNELS];
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} channelMap_t;
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extern channelMap_t channelMap;
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typedef struct {
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  char name[12];
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  int8_t motor[MAX_MOTORS][4];
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}__attribute__((packed)) mixerMatrix_t;
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extern mixerMatrix_t mixerMatrix;
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typedef struct {
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  int16_t offsets[3];
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} sensorOffset_t;
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typedef struct {
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  uint8_t manualControl;
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  uint8_t stabilizationFactor;
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  uint8_t minValue;
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  uint8_t maxValue;
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  uint8_t flags;
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} servo_t;
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#define SERVO_STABILIZATION_REVERSE 1
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typedef struct {
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  uint8_t bitmask;
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  uint8_t timing;
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} output_flash_t;
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// values above 250 representing poti1 to poti4
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typedef struct {
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  // Global bitflags
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  uint8_t bitConfig;  // see upper defines for bitcoding
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  // IMU
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  uint8_t gyroQuadrant;
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  uint8_t accQuadrant;
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  uint8_t imuReversedFlags;
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  uint8_t gyroPIDFilterConstant;
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  uint8_t gyroATTFilterConstant;
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  uint8_t gyroDFilterConstant;
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  uint8_t accFilterConstant;
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  uint8_t maxAccVector;
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  uint8_t maxControlActivity;
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  uint8_t zerothOrderCorrection;
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  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
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  uint8_t driftCompLimit;   // limit for gyrodrift compensation
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  uint8_t axisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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  uint8_t axisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  uint8_t axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  uint8_t levelCorrection[2];
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  // Control
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  uint8_t gyroP;
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  uint8_t gyroI;
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  uint8_t gyroD;
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  uint8_t attitudeControl;
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  uint8_t stickP;
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  uint8_t stickD;
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  uint8_t stickYawP;
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  uint8_t stickThrottleD;
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  uint8_t minThrottle;
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  uint8_t maxThrottle;
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  uint8_t externalControl; // for serial Control
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  uint8_t motorSmoothing;
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  uint8_t dynamicStability; // PID limit for Attitude controller
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  uint8_t IFactor;
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  uint8_t yawIFactor;
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  uint8_t compassYawEffect;
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  uint8_t batteryVoltageWarning;
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  uint8_t emergencyThrottle;
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  uint8_t emergencyFlightDuration;
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  // Height Control
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  uint8_t airpressureFilter;
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  uint8_t airpressureAccZCorrection;
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  uint8_t heightP;
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  uint8_t heightI;
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  uint8_t heightD;
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  uint8_t heightSetting;
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  uint8_t heightControlMaxIntegral;
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  uint8_t heightControlMaxThrottleChange;
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  uint8_t heightSlewRate;
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  // Servos
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  uint8_t servoCount;
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  uint8_t servoManualMaxSpeed;
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  servo_t servoConfigurations[2]; // [PITCH, ROLL]
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  // Outputs
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  output_flash_t outputFlash[2];
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  uint8_t outputDebugMask;
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  uint8_t outputFlags;
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  // User params
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  uint8_t userParams[8];
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  // Name
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  char name[12];
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} paramset_t;
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extern paramset_t staticParams;
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// MKFlags
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#define MKFLAG_MOTOR_RUN        (1<<0)
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#define MKFLAG_FLY              (1<<1)
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#define MKFLAG_CALIBRATE        (1<<2)
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#define MKFLAG_START            (1<<3)
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#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
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#define MKFLAG_RESERVE1         (1<<5)
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#define MKFLAG_RESERVE2         (1<<6)
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#define MKFLAG_RESERVE3         (1<<7)
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1960 - 199
// bit mask for staticParams.bitConfig
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#define CFG_SIMPLE_HEIGHT_CONTROL               (1<<0)
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#define CFG_SIMPLE_HC_HOLD_SWITCH       (1<<1)
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#define CFG_HEADING_HOLD                        (1<<2)
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#define CFG_COMPASS_ACTIVE                          (1<<3)
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#define CFG_COMPASS_FIX                                 (1<<4)
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#define CFG_GPS_ACTIVE                          (1<<5)
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#define CFG_AXIS_COUPLING_ACTIVE        (1<<6)
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#define CFG_GYRO_SATURATION_PREVENTION  (1<<7)
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#define IMU_REVERSE_GYRO_PR                             (1<<0)
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#define IMU_REVERSE_GYRO_YAW                    (1<<1)
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#define IMU_REVERSE_ACC_XY                              (1<<2)
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#define IMU_REVERSE_ACC_Z                               (1<<3)
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#define ATMEGA644       0
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#define ATMEGA644P      1
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#define SYSCLK F_CPU
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2033 - 218
// Not really a part of configuration, but LEDs and HW s test are the same.
1960 - 219
#define RED_OFF   {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else  PORTB |= (1<<PORTB0);}
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#define RED_ON    {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else  PORTB &=~(1<<PORTB0);}
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#define RED_FLASH PORTB ^= (1<<PORTB0)
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#define GRN_OFF   {if(boardRelease  < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);}
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#define GRN_ON    {if(boardRelease  < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
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#define GRN_FLASH PORTB ^= (1<<PORTB1)
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// Mixer table
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#define MIX_THROTTLE    0
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#define MIX_PITCH       1
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#define MIX_ROLL        2
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#define MIX_YAW         3
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1961 - 232
#define VARIABLE_COUNT 8
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extern volatile uint8_t MKFlags;
1960 - 235
extern uint8_t requiredMotors;
1961 - 236
extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
1960 - 237
extern uint8_t boardRelease;
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extern uint8_t CPUType;
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1963 - 240
extern volatile uint8_t MKFlags;
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extern uint16_t isFlying;
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1960 - 243
void channelMap_default(void);
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void paramSet_default(uint8_t setnumber);
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void mixerMatrix_default(void);
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void configuration_applyVariablesToParams(void);
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uint8_t getCPUType(void);
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uint8_t getBoardRelease(void);
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#endif // _CONFIGURATION_H