Subversion Repositories FlightCtrl

#ifndef _CONFIGURATION_H

#define _CONFIGURATION_H

#include <inttypes.h>

#include <avr/io.h>

#define MAX_CHANNELS 8

// bitmask for VersionInfo_t.HardwareError[0]

#define FC_ERROR0_GYRO_PITCH    0x01

#define FC_ERROR0_GYRO_ROLL     0x02

#define FC_ERROR0_GYRO_YAW      0x04

#define FC_ERROR0_ACC_X         0x08

#define FC_ERROR0_ACC_Y         0x10

#define FC_ERROR0_ACC_Z         0x20

#define FC_ERROR0_PRESSURE      0x40

#define FC_ERROR1_RES0          0x80

// bitmask for VersionInfo_t.HardwareError[1]

#define FC_ERROR1_I2C           0x01

#define FC_ERROR1_BL_MISSING    0x02

#define FC_ERROR1_SPI_RX        0x04

#define FC_ERROR1_PPM           0x08

#define FC_ERROR1_MIXER         0x10

#define FC_ERROR1_RES1          0x20

#define FC_ERROR1_RES2          0x40

#define FC_ERROR1_RES3          0x80

typedef struct {

  uint8_t gyroQuadrant;

  uint8_t accQuadrant;

  uint8_t imuReversedFlags;

  uint8_t gyroPIDFilterConstant;

  uint8_t gyroDWindowLength;

  uint8_t gyroDFilterConstant;

  uint8_t accFilterConstant;

  uint8_t zerothOrderCorrection;

  uint8_t rateTolerance;

  uint8_t gyroActivityDamping;

  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)

  uint8_t driftCompLimit;   // limit for gyrodrift compensation

  int8_t gyroCalibrationTweak[3];

} IMUConfig_t;

extern IMUConfig_t IMUConfig;

typedef struct {

        uint8_t P;

        uint8_t I;

        uint8_t D;

} PID_t;

typedef struct {

        uint8_t P;

        uint8_t I;

        uint8_t D;

        uint8_t iMax;

} PIDIM_t;

typedef enum {

  FLIGHT_MODE_NONE,

  FLIGHT_MODE_MANUAL,

  FLIGHT_MODE_RATE,

  FLIGHT_MODE_ANGLES

} FlightMode_t;

#define CONTROL_SERVO_REVERSE_ELEVATOR 1

#define CONTROL_SERVO_REVERSE_AILERONS 2

#define CONTROL_SERVO_REVERSE_RUDDER 4

typedef struct {

    uint8_t SWMajor;

    uint8_t SWMinor;

    uint8_t protoMajor;

    uint8_t protoMinor;

    uint8_t SWPatch;

    uint8_t hardwareErrors[5];

}__attribute__((packed)) VersionInfo_t;

extern VersionInfo_t versionInfo;

typedef struct {

  // IMU stuff:

  PID_t gyroPID[3];

  // Control

  /* P */uint8_t externalControl;

  // Output and servo

  /*PMM*/uint8_t output0Timing;

  /*PMM*/uint8_t output1Timing;

  uint8_t gimbalServoManualControl[2];

  /* P */uint8_t userParams[8];

} DynamicParams_t;

extern volatile DynamicParams_t dynamicParams;

typedef struct {

  uint8_t sourceIdx, targetIdx;

  uint8_t min, max;

} MMXLATION;

/*

typedef struct {

  uint8_t sourceIdx, targetIdx;

} XLATION;

*/

typedef struct {

  uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.

  uint8_t HWTrim;

  uint8_t variableOffset;

  uint8_t channels[MAX_CHANNELS];

} ChannelMap_t;

extern ChannelMap_t channelMap;

// With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated,

// and then save in a succeeding gyro calibration command.

typedef struct {

  int16_t trim[MAX_CHANNELS];

} RCTrim_t;

extern RCTrim_t rcTrim;

typedef struct {

  int16_t offsets[3];

} sensorOffset_t;

typedef struct {

  uint8_t manualControl;

  uint8_t stabilizationFactor;

  uint8_t minValue;

  uint8_t maxValue;

  uint8_t flags;

} Servo_t;

#define SERVO_STABILIZATION_REVERSE 1

typedef struct {

  uint8_t bitmask;

  uint8_t timing;

} output_flash_t;

// values above 250 representing poti1 to poti4

typedef struct {

  // Global bitflags

  uint8_t bitConfig;  // see upper defines for bitcoding

  // Control

  PIDIM_t gyroPID[3];

  uint8_t stickIElevator;

  uint8_t stickIAilerons;

  uint8_t stickIRudder;

  uint8_t externalControl; // for serial Control

  uint8_t IFactor;

  uint8_t batteryWarningVoltage;

  // Airspeed

  uint8_t airspeedCorrection;

  uint8_t isFlyingThreshold;

  // Servos

  uint8_t servoCount;

  uint8_t servosReverse;

  uint8_t controlServoMinValue;

  uint8_t controlServoMaxValue;

  uint8_t gimbalServoMaxManualSpeed;

  Servo_t gimbalServoConfigurations[2]; // [PITCH, ROLL]

  // Outputs

  output_flash_t outputFlash[2];

  uint8_t outputDebugMask;

  uint8_t outputFlags;

  // User params

  uint8_t userParams[8];

  // Name

  char name[12];

} ParamSet_t;

extern ParamSet_t staticParams;

// bit mask for staticParams.bitConfig

#define CFG_GYRO_SATURATION_PREVENTION  (1<<0)

#define CFG_USE_AIRSPEED_PID            (1<<1)

#define IMU_REVERSE_GYRO_PR             (1<<0)

#define IMU_REVERSE_GYRO_YAW            (1<<1)

#define IMU_REVERSE_ACC_XY              (1<<2)

#define IMU_REVERSE_ACC_Z               (1<<3)

#define ATMEGA644   0

#define ATMEGA644P  1

#define SYSCLK F_CPU

// Not really a part of configuration, but LEDs and HW s test are the same.

#define RED_OFF   {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else  PORTB |= (1<<PORTB0);}

#define RED_ON    {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else  PORTB &=~(1<<PORTB0);}

#define RED_FLASH PORTB ^= (1<<PORTB0)

#define GRN_OFF   {if(boardRelease  < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);}

#define GRN_ON    {if(boardRelease  < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}

#define GRN_FLASH PORTB ^= (1<<PORTB1)

// Mixer table

#define MIX_THROTTLE    0

#define MIX_PITCH   1

#define MIX_ROLL    2

#define MIX_YAW     3

#define VARIABLE_COUNT 8

extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.

extern uint8_t boardRelease;

extern uint8_t CPUType;

extern volatile uint16_t isFlying;

extern FlightMode_t currentFlightMode;

void IMUConfig_default(void);

void channelMap_default(void);

void rcTrim_setZero(void);

void paramSet_default(uint8_t setnumber);

void configuration_setFlightParameters(uint8_t newFlightMode);

void configuration_applyVariablesToParams(void);

void setCPUType(void);

void setBoardRelease(void);

// Called after a change in configuration parameters, as a hook for modules to take over changes.

void configuration_paramSetDidChange(void);

#endif // _CONFIGURATION_H