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| Rev | Author | Line No. | Line |
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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 | |||
| 7 | typedef struct { |
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| 8 | uint8_t HeightD; |
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| 9 | uint8_t MaxHeight; |
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| 10 | uint8_t HeightP; |
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| 11 | uint8_t Height_ACC_Effect; |
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| 12 | uint8_t CompassYawEffect; |
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| 13 | uint8_t GyroD; |
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| 14 | uint8_t GyroP; |
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| 15 | uint8_t GyroI; |
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| 16 | uint8_t StickYawP; |
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| 17 | uint8_t IFactor; |
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| 18 | uint8_t UserParams[8]; |
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| 19 | /* |
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| 20 | uint8_t UserParam2; |
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| 21 | uint8_t UserParam3; |
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| 22 | uint8_t UserParam4; |
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| 23 | uint8_t UserParam5; |
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| 24 | uint8_t UserParam6; |
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| 25 | uint8_t UserParam7; |
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| 26 | uint8_t UserParam8; |
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| 27 | */ |
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| 28 | uint8_t ServoPitchControl; |
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| 29 | uint8_t LoopGasLimit; |
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| 30 | uint8_t AxisCoupling1; |
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| 31 | uint8_t AxisCoupling2; |
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| 32 | uint8_t AxisCouplingYawCorrection; |
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| 33 | uint8_t DynamicStability; |
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| 34 | uint8_t ExternalControl; |
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| 35 | uint8_t J16Timing; |
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| 36 | uint8_t J17Timing; |
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| 37 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
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| 38 | uint8_t NaviGpsModeControl; |
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| 39 | uint8_t NaviGpsGain; |
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| 40 | uint8_t NaviGpsP; |
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| 41 | uint8_t NaviGpsI; |
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| 42 | uint8_t NaviGpsD; |
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| 43 | uint8_t NaviGpsACC; |
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| 44 | uint8_t NaviOperatingRadius; |
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| 45 | uint8_t NaviWindCorrection; |
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| 46 | uint8_t NaviSpeedCompensation; |
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| 47 | #endif |
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| 48 | int8_t KalmanK; |
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| 49 | int8_t KalmanMaxDrift; |
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| 50 | int8_t KalmanMaxFusion; |
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| 51 | } fc_param_t; |
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| 52 | |||
| 53 | extern fc_param_t dynamicParams; |
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| 54 | |||
| 55 | // values above 250 representing poti1 to poti4 |
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| 56 | typedef struct { |
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| 57 | uint8_t ChannelAssignment[8]; // see upper defines for details |
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| 58 | uint8_t GlobalConfig; // see upper defines for bitcoding |
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| 59 | uint8_t HeightMinGas; // Value : 0-100 |
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| 60 | uint8_t HeightD; // Value : 0-250 |
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| 61 | uint8_t MaxHeight; // Value : 0-32 |
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| 62 | uint8_t HeightP; // Value : 0-32 |
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| 63 | uint8_t Height_Gain; // Value : 0-50 |
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| 64 | uint8_t Height_ACC_Effect; // Value : 0-250 |
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| 65 | uint8_t StickP; // Value : 1-6 |
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| 66 | uint8_t StickD; // Value : 0-64 |
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| 67 | uint8_t StickYawP; // Value : 1-20 |
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| 68 | uint8_t GasMin; // Value : 0-32 |
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| 69 | uint8_t GasMax; // Value : 33-250 |
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| 70 | uint8_t GyroAccFactor; // Value : 1-64 |
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| 71 | uint8_t CompassYawEffect; // Value : 0-32 |
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| 72 | uint8_t GyroP; // Value : 10-250 |
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| 73 | uint8_t GyroI; // Value : 0-250 |
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| 74 | uint8_t GyroD; // Value : 0-250 |
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| 75 | uint8_t LowVoltageWarning; // Value : 0-250 |
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| 76 | uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Empängsverlust |
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| 77 | uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
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| 78 | uint8_t UfoArrangement; // x oder + Formation |
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| 79 | uint8_t IFactor; // Value : 0-250 |
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| 80 | uint8_t UserParams1[4]; // Value : 0-250 |
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| 81 | /* |
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| 82 | uint8_t UserParam2; // Value : 0-250 |
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| 83 | uint8_t UserParam3; // Value : 0-250 |
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| 84 | uint8_t UserParam4; // Value : 0-250 |
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| 85 | */ |
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| 86 | uint8_t ServoPitchControl; // Value : 0-250 // Stellung des Servos |
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| 87 | uint8_t ServoPitchComp; // Value : 0-250 // Einfluss Gyro/Servo |
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| 88 | uint8_t ServoPitchMin; // Value : 0-250 // Anschlag |
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| 89 | uint8_t ServoPitchMax; // Value : 0-250 // Anschlag |
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| 90 | uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
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| 91 | uint8_t LoopGasLimit; // Value: 0-250 max. Gas während Looping |
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| 92 | uint8_t LoopThreshold; // Value: 0-250 Schwelle für Stickausschlag |
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| 93 | uint8_t LoopHysteresis; // Value: 0-250 Hysterese für Stickausschlag |
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| 94 | uint8_t AxisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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| 95 | uint8_t AxisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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| 96 | uint8_t AxisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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| 97 | uint8_t AngleTurnOverPitch; // Value: 0-250 180°-Punkt |
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| 98 | uint8_t AngleTurnOverRoll; // Value: 0-250 180°-Punkt |
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| 99 | uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
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| 100 | uint8_t DriftComp; // limit for gyrodrift compensation |
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| 101 | uint8_t DynamicStability; // PID limit for Attitude controller |
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| 102 | uint8_t UserParams2[4]; // Value : 0-250 |
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| 103 | /* |
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| 104 | uint8_t UserParam6; // Value : 0-250 |
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| 105 | uint8_t UserParam7; // Value : 0-250 |
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| 106 | uint8_t UserParam8; // Value : 0-250 |
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| 107 | */ |
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| 108 | uint8_t J16Bitmask; // for the J16 Output |
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| 109 | uint8_t J16Timing; // for the J16 Output |
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| 110 | uint8_t J17Bitmask; // for the J17 Output |
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| 111 | uint8_t J17Timing; // for the J17 Output |
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| 112 | uint8_t NaviGpsModeControl; // Parameters for the Naviboard |
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| 113 | uint8_t NaviGpsGain; // overall gain for GPS-PID controller |
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| 114 | uint8_t NaviGpsP; // P gain for GPS-PID controller |
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| 115 | uint8_t NaviGpsI; // I gain for GPS-PID controller |
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| 116 | uint8_t NaviGpsD; // D gain for GPS-PID controller |
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| 117 | uint8_t NaviGpsPLimit; // P limit for GPS-PID controller |
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| 118 | uint8_t NaviGpsILimit; // I limit for GPS-PID controller |
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| 119 | uint8_t NaviGpsDLimit; // D limit for GPS-PID controller |
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| 120 | uint8_t NaviGpsACC; // ACC gain for GPS-PID controller |
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| 121 | uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions |
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| 122 | uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements |
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| 123 | uint8_t NaviWindCorrection; // streng of wind course correction |
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| 124 | uint8_t NaviSpeedCompensation; // D gain fefore position hold login |
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| 125 | uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights |
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| 126 | uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
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| 127 | uint8_t NaviPHLoginTime; // position hold logintimeout |
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| 128 | uint8_t ExternalControl; // for serial Control |
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| 129 | uint8_t BitConfig; // see upper defines for bitcoding |
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| 130 | uint8_t ServoPitchCompInvert; // Value : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
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| 131 | uint8_t Reserved[4]; |
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| 132 | int8_t Name[12]; |
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| 133 | } paramset_t; |
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| 134 | |||
| 135 | #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
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| 136 | |||
| 137 | extern paramset_t staticParams; |
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| 138 | |||
| 139 | typedef struct { |
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| 140 | uint8_t Revision; |
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| 141 | int8_t Name[12]; |
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| 142 | int8_t Motor[16][4]; |
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| 143 | } __attribute__((packed)) MixerTable_t; |
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| 144 | |||
| 145 | extern MixerTable_t Mixer; |
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| 146 | |||
| 147 | // MKFlags |
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| 148 | #define MKFLAG_MOTOR_RUN (1<<0) |
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| 149 | #define MKFLAG_FLY (1<<1) |
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| 150 | #define MKFLAG_CALIBRATE (1<<2) |
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| 151 | #define MKFLAG_START (1<<3) |
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| 152 | #define MKFLAG_EMERGENCY_LANDING (1<<4) |
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| 153 | #define MKFLAG_RESERVE1 (1<<5) |
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| 154 | #define MKFLAG_RESERVE2 (1<<6) |
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| 155 | #define MKFLAG_RESERVE3 (1<<7) |
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| 156 | |||
| 157 | // bit mask for staticParams.GlobalConfig |
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| 158 | #define CFG_HEIGHT_CONTROL (1<<0) |
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| 159 | #define CFG_HEIGHT_SWITCH (1<<1) |
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| 160 | #define CFG_HEADING_HOLD (1<<2) |
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| 161 | #define CFG_COMPASS_ACTIVE (1<<3) |
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| 162 | #define CFG_COMPASS_FIX (1<<4) |
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| 163 | #define CFG_GPS_ACTIVE (1<<5) |
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| 164 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
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| 165 | #define CFG_ROTARY_RATE_LIMITER (1<<7) |
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| 166 | |||
| 167 | // bit mask for ParamSet.BitConfig |
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| 168 | #define CFG_LOOP_UP (1<<0) |
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| 169 | #define CFG_LOOP_DOWN (1<<1) |
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| 170 | #define CFG_LOOP_LEFT (1<<2) |
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| 171 | #define CFG_LOOP_RIGHT (1<<3) |
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| 172 | #define CFG_HEIGHT_3SWITCH (1<<4) |
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| 173 | |||
| 174 | #define ATMEGA644 0 |
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| 175 | #define ATMEGA644P 1 |
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| 176 | #define SYSCLK F_CPU |
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| 177 | |||
| 178 | // Not really a part of configuration, but heck, LEDs and beepers now have a home. |
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| 179 | #define RED_OFF {if((BoardRelease == 10) || (BoardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
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| 180 | #define RED_ON {if((BoardRelease == 10) || (BoardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
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| 181 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
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| 182 | #define GRN_OFF {if(BoardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
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| 183 | #define GRN_ON {if(BoardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
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| 184 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
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| 185 | |||
| 186 | // Mixer table |
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| 187 | #define MIX_THROTTLE 0 |
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| 188 | #define MIX_PITCH 1 |
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| 189 | #define MIX_ROLL 2 |
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| 190 | #define MIX_YAW 3 |
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| 191 | |||
| 192 | extern volatile uint8_t MKFlags; |
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| 193 | extern int16_t variables[8]; |
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| 194 | extern uint8_t BoardRelease; |
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| 195 | extern uint8_t CPUType; |
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| 196 | |||
| 197 | void configuration_applyVariablesToParams(void); |
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| 198 | uint8_t getCPUType(void); |
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| 199 | uint8_t getBoardRelease(void); |
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| 200 | |||
| 201 | // Not really a part of configuration, but heck, LEDs and beepers now have a home. |
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| 202 | void beep(uint16_t millis); |
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| 203 | void beepNumber(uint8_t numbeeps); |
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| 204 | void beepRCAlarm(void); |
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| 205 | void beepI2CAlarm(void); |
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| 206 | void beepBatteryAlarm(void); |
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| 207 | |||
| 208 | #endif // _CONFIGURATION_H |