Rev 2033 | Rev 2039 | 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 | |||
1960 | - | 7 | #define MAX_CHANNELS 10 |
8 | #define MAX_MOTORS 12 |
||
9 | |||
2018 | - | 10 | // bitmask for VersionInfo_t.HardwareError[0] |
11 | #define FC_ERROR0_GYRO_PITCH 0x01 |
||
12 | #define FC_ERROR0_GYRO_ROLL 0x02 |
||
13 | #define FC_ERROR0_GYRO_YAW 0x04 |
||
14 | #define FC_ERROR0_ACC_X 0x08 |
||
15 | #define FC_ERROR0_ACC_Y 0x10 |
||
16 | #define FC_ERROR0_ACC_Z 0x20 |
||
17 | #define FC_ERROR0_PRESSURE 0x40 |
||
18 | #define FC_ERROR1_RES0 0x80 |
||
19 | // bitmask for VersionInfo_t.HardwareError[1] |
||
20 | #define FC_ERROR1_I2C 0x01 |
||
21 | #define FC_ERROR1_BL_MISSING 0x02 |
||
22 | #define FC_ERROR1_SPI_RX 0x04 |
||
23 | #define FC_ERROR1_PPM 0x08 |
||
24 | #define FC_ERROR1_MIXER 0x10 |
||
25 | #define FC_ERROR1_RES1 0x20 |
||
26 | #define FC_ERROR1_RES2 0x40 |
||
27 | #define FC_ERROR1_RES3 0x80 |
||
28 | |||
1612 | dongfang | 29 | typedef struct { |
2018 | - | 30 | uint8_t SWMajor; |
31 | uint8_t SWMinor; |
||
32 | uint8_t protoMajor; |
||
33 | uint8_t protoMinor; |
||
34 | uint8_t SWPatch; |
||
35 | uint8_t hardwareErrors[5]; |
||
36 | }__attribute__((packed)) VersionInfo_t; |
||
37 | |||
38 | extern VersionInfo_t versionInfo; |
||
39 | |||
40 | typedef struct { |
||
1960 | - | 41 | // IMU |
42 | /*PMM*/uint8_t gyroP; |
||
2032 | - | 43 | /* P */uint8_t gyroI; |
1960 | - | 44 | /* P */uint8_t gyroD; |
45 | /* P */uint8_t compassYawEffect; |
||
46 | |||
47 | // Control |
||
48 | /* P */uint8_t externalControl; |
||
49 | /* P */uint8_t dynamicStability; |
||
1980 | - | 50 | uint8_t maxAccVector; |
1960 | - | 51 | |
52 | // Height control |
||
53 | /*PMM*/uint8_t heightP; |
||
2032 | - | 54 | /* P */uint8_t heightI; |
1960 | - | 55 | /*PMM*/uint8_t heightD; |
56 | /* P */uint8_t heightSetting; |
||
57 | |||
58 | uint8_t attitudeControl; |
||
59 | |||
60 | // The rest... |
||
61 | /*PMM*/uint8_t output0Timing; |
||
62 | /*PMM*/uint8_t output1Timing; |
||
63 | |||
64 | uint8_t servoManualControl[2]; |
||
2032 | - | 65 | uint8_t levelCorrection[2]; |
1960 | - | 66 | |
2032 | - | 67 | /* P */uint8_t userParams[8]; |
1775 | - | 68 | } dynamicParam_t; |
1960 | - | 69 | |
1969 | - | 70 | extern volatile dynamicParam_t dynamicParams; |
1612 | dongfang | 71 | |
1775 | - | 72 | typedef struct { |
1864 | - | 73 | uint8_t sourceIdx, targetIdx; |
74 | uint8_t min, max; |
||
1775 | - | 75 | } MMXLATION; |
1612 | dongfang | 76 | |
1775 | - | 77 | typedef struct { |
1864 | - | 78 | uint8_t sourceIdx, targetIdx; |
1775 | - | 79 | } XLATION; |
80 | |||
1960 | - | 81 | typedef struct { |
82 | uint8_t channels[MAX_CHANNELS]; |
||
83 | } channelMap_t; |
||
84 | extern channelMap_t channelMap; |
||
85 | |||
86 | typedef struct { |
||
2017 | - | 87 | char name[12]; |
1960 | - | 88 | int8_t motor[MAX_MOTORS][4]; |
89 | }__attribute__((packed)) mixerMatrix_t; |
||
90 | extern mixerMatrix_t mixerMatrix; |
||
91 | |||
92 | typedef struct { |
||
1965 | - | 93 | int16_t offsets[3]; |
94 | } sensorOffset_t; |
||
95 | |||
96 | typedef struct { |
||
1960 | - | 97 | uint8_t manualControl; |
1980 | - | 98 | uint8_t stabilizationFactor; |
1960 | - | 99 | uint8_t minValue; |
100 | uint8_t maxValue; |
||
101 | uint8_t flags; |
||
102 | } servo_t; |
||
103 | |||
1980 | - | 104 | #define SERVO_STABILIZATION_REVERSE 1 |
1977 | - | 105 | |
1960 | - | 106 | typedef struct { |
107 | uint8_t bitmask; |
||
108 | uint8_t timing; |
||
109 | } output_flash_t; |
||
110 | |||
1612 | dongfang | 111 | // values above 250 representing poti1 to poti4 |
112 | typedef struct { |
||
1960 | - | 113 | // Global bitflags |
114 | uint8_t bitConfig; // see upper defines for bitcoding |
||
115 | |||
116 | // IMU |
||
2015 | - | 117 | uint8_t gyroQuadrant; |
118 | uint8_t accQuadrant; |
||
119 | uint8_t imuReversedFlags; |
||
120 | |||
1960 | - | 121 | uint8_t gyroPIDFilterConstant; |
122 | uint8_t gyroATTFilterConstant; |
||
123 | uint8_t gyroDFilterConstant; |
||
124 | uint8_t accFilterConstant; |
||
125 | |||
2032 | - | 126 | uint8_t maxAccVector; |
127 | uint8_t maxControlActivity; |
||
2018 | - | 128 | uint8_t zerothOrderCorrection; |
1960 | - | 129 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
130 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
||
131 | |||
132 | uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
||
133 | uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
||
134 | uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
||
135 | |||
2032 | - | 136 | uint8_t levelCorrection[2]; |
137 | |||
138 | // Control |
||
139 | uint8_t gyroP; |
||
140 | uint8_t gyroI; |
||
141 | uint8_t gyroD; |
||
142 | |||
143 | uint8_t attitudeControl; |
||
144 | uint8_t stickP; |
||
145 | uint8_t stickD; |
||
146 | uint8_t stickYawP; |
||
147 | uint8_t stickThrottleD; |
||
148 | uint8_t minThrottle; |
||
149 | uint8_t maxThrottle; |
||
150 | uint8_t externalControl; // for serial Control |
||
151 | uint8_t motorSmoothing; |
||
1960 | - | 152 | uint8_t dynamicStability; // PID limit for Attitude controller |
2018 | - | 153 | uint8_t IFactor; |
1960 | - | 154 | uint8_t yawIFactor; |
2018 | - | 155 | uint8_t compassYawEffect; |
2032 | - | 156 | uint8_t batteryVoltageWarning; |
157 | uint8_t emergencyThrottle; |
||
158 | uint8_t emergencyFlightDuration; |
||
1612 | dongfang | 159 | |
2032 | - | 160 | // Height Control |
2035 | - | 161 | uint8_t airpressureFilterConstant; |
162 | uint8_t airpressureWindowLength; // 0 means: Use filter. |
||
2032 | - | 163 | uint8_t airpressureAccZCorrection; |
164 | uint8_t heightP; |
||
165 | uint8_t heightI; |
||
166 | uint8_t heightD; |
||
167 | uint8_t heightSetting; |
||
2033 | - | 168 | uint8_t heightControlMaxIntegral; |
2032 | - | 169 | uint8_t heightControlMaxThrottleChange; |
170 | uint8_t heightSlewRate; |
||
171 | |||
1960 | - | 172 | // Servos |
1980 | - | 173 | uint8_t servoCount; |
174 | uint8_t servoManualMaxSpeed; |
||
1960 | - | 175 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
1612 | dongfang | 176 | |
1960 | - | 177 | // Outputs |
178 | output_flash_t outputFlash[2]; |
||
179 | uint8_t outputDebugMask; |
||
1986 | - | 180 | uint8_t outputFlags; |
1612 | dongfang | 181 | |
1960 | - | 182 | // User params |
2018 | - | 183 | uint8_t userParams[8]; |
1612 | dongfang | 184 | |
1960 | - | 185 | // Name |
2017 | - | 186 | char name[12]; |
1960 | - | 187 | } paramset_t; |
188 | extern paramset_t staticParams; |
||
189 | |||
1612 | dongfang | 190 | // MKFlags |
191 | #define MKFLAG_MOTOR_RUN (1<<0) |
||
192 | #define MKFLAG_FLY (1<<1) |
||
193 | #define MKFLAG_CALIBRATE (1<<2) |
||
194 | #define MKFLAG_START (1<<3) |
||
1960 | - | 195 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
2035 | - | 196 | #define MKFLAG_LOWBAT (1<<5) |
1612 | dongfang | 197 | #define MKFLAG_RESERVE2 (1<<6) |
198 | #define MKFLAG_RESERVE3 (1<<7) |
||
199 | |||
1960 | - | 200 | // bit mask for staticParams.bitConfig |
1980 | - | 201 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
1961 | - | 202 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
1980 | - | 203 | #define CFG_HEADING_HOLD (1<<2) |
204 | #define CFG_COMPASS_ACTIVE (1<<3) |
||
205 | #define CFG_COMPASS_FIX (1<<4) |
||
206 | #define CFG_GPS_ACTIVE (1<<5) |
||
1961 | - | 207 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
1960 | - | 208 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
1612 | dongfang | 209 | |
2020 | - | 210 | #define IMU_REVERSE_GYRO_PR (1<<0) |
211 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
||
212 | #define IMU_REVERSE_ACC_XY (1<<2) |
||
213 | #define IMU_REVERSE_ACC_Z (1<<3) |
||
214 | |||
1612 | dongfang | 215 | #define ATMEGA644 0 |
216 | #define ATMEGA644P 1 |
||
217 | #define SYSCLK F_CPU |
||
218 | |||
2033 | - | 219 | // Not really a part of configuration, but LEDs and HW s test are the same. |
1960 | - | 220 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
221 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
||
1612 | dongfang | 222 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
1960 | - | 223 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
224 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
||
1612 | dongfang | 225 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
226 | |||
227 | // Mixer table |
||
228 | #define MIX_THROTTLE 0 |
||
229 | #define MIX_PITCH 1 |
||
230 | #define MIX_ROLL 2 |
||
231 | #define MIX_YAW 3 |
||
232 | |||
1961 | - | 233 | #define VARIABLE_COUNT 8 |
234 | |||
1612 | dongfang | 235 | extern volatile uint8_t MKFlags; |
1960 | - | 236 | extern uint8_t requiredMotors; |
1961 | - | 237 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
1960 | - | 238 | extern uint8_t boardRelease; |
1612 | dongfang | 239 | extern uint8_t CPUType; |
240 | |||
1963 | - | 241 | extern volatile uint8_t MKFlags; |
242 | extern uint16_t isFlying; |
||
243 | |||
1960 | - | 244 | void channelMap_default(void); |
245 | void paramSet_default(uint8_t setnumber); |
||
246 | void mixerMatrix_default(void); |
||
247 | |||
1612 | dongfang | 248 | void configuration_applyVariablesToParams(void); |
249 | uint8_t getCPUType(void); |
||
250 | uint8_t getBoardRelease(void); |
||
251 | |||
252 | #endif // _CONFIGURATION_H |