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1612 | dongfang | 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 | |||
1960 | - | 7 | #define MAX_CHANNELS 10 |
8 | #define MAX_MOTORS 12 |
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9 | |||
1612 | dongfang | 10 | typedef struct { |
1960 | - | 11 | // IMU |
12 | /*PMM*/uint8_t gyroP; |
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13 | /* P */uint8_t gyroD; |
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14 | /* P */uint8_t gyroI; |
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1864 | - | 15 | /* P */uint8_t IFactor; |
1960 | - | 16 | uint8_t yawIFactor; |
17 | /* P */uint8_t compassYawEffect; |
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18 | |||
19 | // Control |
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20 | /* P */uint8_t externalControl; |
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21 | |||
22 | /* P */uint8_t axisCoupling1; |
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23 | /* P */uint8_t axisCoupling2; |
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24 | /* P */uint8_t axisCouplingYawCorrection; |
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25 | /* P */uint8_t dynamicStability; |
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26 | uint8_t maxControlActivityForAcc; |
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27 | |||
28 | // Height control |
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29 | /*PMM*/uint8_t heightP; |
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30 | /*PMM*/uint8_t heightD; |
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31 | /* P */uint8_t heightSetting; |
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32 | /* P */uint8_t heightACCEffect; |
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33 | |||
34 | uint8_t attitudeControl; |
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35 | |||
36 | // The rest... |
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37 | /* P */uint8_t userParams[8]; |
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38 | /*PMM*/uint8_t output0Timing; |
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39 | /*PMM*/uint8_t output1Timing; |
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40 | |||
41 | uint8_t servoManualControl[2]; |
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42 | |||
43 | uint8_t motorSmoothing; |
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1775 | - | 44 | } dynamicParam_t; |
1960 | - | 45 | |
1969 | - | 46 | extern volatile dynamicParam_t dynamicParams; |
1612 | dongfang | 47 | |
1775 | - | 48 | typedef struct { |
1864 | - | 49 | uint8_t sourceIdx, targetIdx; |
50 | uint8_t min, max; |
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1775 | - | 51 | } MMXLATION; |
1612 | dongfang | 52 | |
1775 | - | 53 | typedef struct { |
1864 | - | 54 | uint8_t sourceIdx, targetIdx; |
1775 | - | 55 | } XLATION; |
56 | |||
1960 | - | 57 | typedef struct { |
58 | uint8_t channels[MAX_CHANNELS]; |
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59 | } channelMap_t; |
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60 | extern channelMap_t channelMap; |
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61 | |||
62 | typedef struct { |
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63 | int8_t name[12]; |
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64 | int8_t motor[MAX_MOTORS][4]; |
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65 | }__attribute__((packed)) mixerMatrix_t; |
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66 | extern mixerMatrix_t mixerMatrix; |
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67 | |||
68 | typedef struct { |
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1965 | - | 69 | int16_t offsets[3]; |
70 | } sensorOffset_t; |
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71 | |||
72 | typedef struct { |
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1960 | - | 73 | uint8_t manualControl; |
1977 | - | 74 | uint8_t manualMaxSpeed; |
1960 | - | 75 | uint8_t compensationFactor; |
76 | uint8_t minValue; |
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77 | uint8_t maxValue; |
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78 | uint8_t flags; |
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79 | } servo_t; |
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80 | |||
1977 | - | 81 | #define SERVO_COMPENSATION_REVERSE 1 |
82 | |||
1960 | - | 83 | typedef struct { |
84 | uint8_t bitmask; |
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85 | uint8_t timing; |
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86 | } output_flash_t; |
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87 | |||
1612 | dongfang | 88 | // values above 250 representing poti1 to poti4 |
89 | typedef struct { |
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1960 | - | 90 | // Global bitflags |
91 | uint8_t bitConfig; // see upper defines for bitcoding |
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92 | |||
93 | // Height Control |
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94 | uint8_t heightP; // Value : 0-32 |
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95 | uint8_t heightD; // Value : 0-250 |
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96 | uint8_t heightSetting; // Value : 0-32 |
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1961 | - | 97 | uint8_t heightControlMaxThrottleChange; // Value : 0-100 |
1960 | - | 98 | uint8_t heightSlewRate; // Value : 0-50 |
99 | |||
100 | // Attitude Control |
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101 | uint8_t attitudeControl; |
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102 | |||
103 | // Control |
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104 | uint8_t stickP; // Value : 1-6 |
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105 | uint8_t stickD; // Value : 0-64 |
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106 | uint8_t stickYawP; // Value : 1-20 |
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107 | uint8_t stickThrottleD; |
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108 | uint8_t minThrottle; // Value : 0-32 |
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109 | uint8_t maxThrottle; // Value : 33-250 |
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110 | uint8_t externalControl; // for serial Control |
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111 | uint8_t maxControlActivityForAcc; |
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112 | |||
113 | // IMU |
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114 | uint8_t gyroPIDFilterConstant; |
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115 | uint8_t gyroATTFilterConstant; |
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116 | uint8_t gyroDFilterConstant; |
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117 | uint8_t accFilterConstant; |
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118 | |||
119 | uint8_t gyroP; // Value : 10-250 |
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120 | uint8_t gyroI; // Value : 0-250 |
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121 | uint8_t gyroD; // Value : 0-250 |
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122 | |||
123 | uint8_t zerothOrderCorrection; // Value : 1-64 |
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124 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
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125 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
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126 | |||
127 | uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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128 | uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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129 | uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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130 | |||
131 | uint8_t dynamicStability; // PID limit for Attitude controller |
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1864 | - | 132 | uint8_t IFactor; // Value : 0-250 |
1960 | - | 133 | uint8_t yawIFactor; |
134 | uint8_t compassYawEffect; // Value : 0-32 |
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1612 | dongfang | 135 | |
1960 | - | 136 | // Servos |
137 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
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138 | uint8_t servoCount; |
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1612 | dongfang | 139 | |
1960 | - | 140 | // Battery warning and emergency flight |
141 | uint8_t batteryVoltageWarning; // Value : 0-250 |
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1977 | - | 142 | uint8_t emergencyThrottle; // Value : 0-250 |
143 | uint8_t emergencyFlightDuration; // Value : 0-250 |
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1612 | dongfang | 144 | |
1960 | - | 145 | // Outputs |
146 | output_flash_t outputFlash[2]; |
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147 | uint8_t outputDebugMask; |
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1964 | - | 148 | uint8_t outputOptions; |
1612 | dongfang | 149 | |
1960 | - | 150 | // User params |
151 | uint8_t userParams[8]; // Value : 0-250 |
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1612 | dongfang | 152 | |
1960 | - | 153 | // Name |
154 | uint8_t name[12]; |
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155 | } paramset_t; |
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156 | extern paramset_t staticParams; |
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157 | |||
1612 | dongfang | 158 | // MKFlags |
159 | #define MKFLAG_MOTOR_RUN (1<<0) |
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160 | #define MKFLAG_FLY (1<<1) |
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161 | #define MKFLAG_CALIBRATE (1<<2) |
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162 | #define MKFLAG_START (1<<3) |
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1960 | - | 163 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
1612 | dongfang | 164 | #define MKFLAG_RESERVE1 (1<<5) |
165 | #define MKFLAG_RESERVE2 (1<<6) |
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166 | #define MKFLAG_RESERVE3 (1<<7) |
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167 | |||
1960 | - | 168 | // bit mask for staticParams.bitConfig |
1961 | - | 169 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
170 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
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171 | #define CFG_HEADING_HOLD (1<<2) |
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172 | #define CFG_COMPASS_ACTIVE (1<<3) |
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173 | #define CFG_COMPASS_FIX (1<<4) |
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174 | #define CFG_GPS_ACTIVE (1<<5) |
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175 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
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1960 | - | 176 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
1612 | dongfang | 177 | |
178 | #define ATMEGA644 0 |
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179 | #define ATMEGA644P 1 |
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180 | #define SYSCLK F_CPU |
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181 | |||
1887 | - | 182 | // 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);} |
184 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
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1612 | dongfang | 185 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
1960 | - | 186 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
187 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
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1612 | dongfang | 188 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
189 | |||
190 | // Mixer table |
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191 | #define MIX_THROTTLE 0 |
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192 | #define MIX_PITCH 1 |
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193 | #define MIX_ROLL 2 |
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194 | #define MIX_YAW 3 |
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195 | |||
1961 | - | 196 | #define VARIABLE_COUNT 8 |
197 | |||
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; |
1612 | dongfang | 202 | extern uint8_t CPUType; |
203 | |||
1963 | - | 204 | extern volatile uint8_t MKFlags; |
205 | extern uint16_t isFlying; |
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206 | |||
1960 | - | 207 | void channelMap_default(void); |
208 | void paramSet_default(uint8_t setnumber); |
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209 | void mixerMatrix_default(void); |
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210 | |||
1612 | dongfang | 211 | void configuration_applyVariablesToParams(void); |
212 | uint8_t getCPUType(void); |
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213 | uint8_t getBoardRelease(void); |
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214 | |||
215 | #endif // _CONFIGURATION_H |