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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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typedef struct {
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  // IMU
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  /*PMM*/uint8_t gyroP;
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  /* P */uint8_t gyroD;
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  /* P */uint8_t gyroI;
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  /* P */uint8_t IFactor;
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  uint8_t yawIFactor;
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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 axisCoupling1;
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  /* P */uint8_t axisCoupling2;
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  /* P */uint8_t axisCouplingYawCorrection;
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  /* P */uint8_t dynamicStability;
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  uint8_t maxControlActivityForAcc;
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  // Height control
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  /*PMM*/uint8_t heightP;
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  /*PMM*/uint8_t heightD;
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  /* P */uint8_t heightSetting;
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  /* P */uint8_t heightACCEffect;
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  uint8_t attitudeControl;
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  // The rest...
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  /* P */uint8_t userParams[8];
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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 motorSmoothing;
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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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  int8_t 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 manualMaxSpeed;
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  uint8_t compensationFactor;
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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_COMPENSATION_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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  // Height Control
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  uint8_t heightP; // Value : 0-32
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  uint8_t heightD; // Value : 0-250
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  uint8_t heightSetting; // Value : 0-32
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  uint8_t heightControlMaxThrottleChange; // Value : 0-100
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  uint8_t heightSlewRate; // Value : 0-50
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  // Attitude Control
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  uint8_t attitudeControl;
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  // Control
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  uint8_t stickP; // Value : 1-6
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  uint8_t stickD; // Value : 0-64
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  uint8_t stickYawP; // Value : 1-20
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  uint8_t stickThrottleD;
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  uint8_t minThrottle; // Value : 0-32
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  uint8_t maxThrottle; // Value : 33-250
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  uint8_t externalControl; // for serial Control
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  uint8_t maxControlActivityForAcc;
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  // IMU
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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 gyroP; // Value : 10-250
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  uint8_t gyroI; // Value : 0-250
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  uint8_t gyroD; // Value : 0-250
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  uint8_t zerothOrderCorrection; // Value : 1-64
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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 dynamicStability; // PID limit for Attitude controller
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  uint8_t IFactor; // Value : 0-250
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  uint8_t yawIFactor;
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  uint8_t compassYawEffect; // Value : 0-32
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  // Servos
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  servo_t servoConfigurations[2]; // [PITCH, ROLL]
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  uint8_t servoCount;
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  // Battery warning and emergency flight
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  uint8_t batteryVoltageWarning; // Value : 0-250
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  uint8_t emergencyThrottle; // Value : 0-250
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  uint8_t emergencyFlightDuration; // Value : 0-250 
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1960 - 145
  // Outputs
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  output_flash_t outputFlash[2];
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  uint8_t outputDebugMask;
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  uint8_t outputOptions;
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  // User params
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  uint8_t userParams[8]; // Value : 0-250
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  // Name
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  uint8_t 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 - 168
// 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 ATMEGA644       0
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#define ATMEGA644P      1
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#define SYSCLK F_CPU
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// Not really a part of configuration, but LEDs and HW version test are the same.
1960 - 183
#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);}
1612 dongfang 185
#define RED_FLASH PORTB ^= (1<<PORTB0)
1960 - 186
#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);}
1612 dongfang 188
#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 - 196
#define VARIABLE_COUNT 8
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1612 dongfang 198
extern volatile uint8_t MKFlags;
1960 - 199
extern uint8_t requiredMotors;
1961 - 200
extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
1960 - 201
extern uint8_t boardRelease;
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extern uint8_t CPUType;
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1963 - 204
extern volatile uint8_t MKFlags;
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extern uint16_t isFlying;
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1960 - 207
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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1612 dongfang 211
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