Subversion Repositories FlightCtrl

#ifndef _CONFIGURATION_H

#define _CONFIGURATION_H

#include <inttypes.h>

#include <avr/io.h>

#define MAX_CHANNELS 10

#define MAX_MOTORS 12

typedef struct {

  // IMU

  /*PMM*/uint8_t gyroP;

  /* P */uint8_t gyroD;

  /* P */uint8_t gyroI;

  /* P */uint8_t IFactor;

  uint8_t yawIFactor;

  /* P */uint8_t compassYawEffect;

  // Control

  /* P */uint8_t externalControl;

  /* P */uint8_t axisCoupling1;

  /* P */uint8_t axisCoupling2;

  /* P */uint8_t axisCouplingYawCorrection;

  /* P */uint8_t dynamicStability;

  uint8_t maxAccVector;

  // Height control

  /*PMM*/uint8_t heightP;

  /*PMM*/uint8_t heightD;

  /* P */uint8_t heightSetting;

  /* P */uint8_t heightACCEffect;

  uint8_t attitudeControl;

  // The rest...

  /* P */uint8_t userParams[8];

  /*PMM*/uint8_t output0Timing;

  /*PMM*/uint8_t output1Timing;

  uint8_t servoManualControl[2];

  uint8_t motorSmoothing;

} dynamicParam_t;

extern volatile dynamicParam_t dynamicParams;

typedef struct {

  uint8_t sourceIdx, targetIdx;

  uint8_t min, max;

} MMXLATION;

typedef struct {

  uint8_t sourceIdx, targetIdx;

} XLATION;

typedef struct {

  uint8_t channels[MAX_CHANNELS];

} channelMap_t;

extern channelMap_t channelMap;

typedef struct {

  int8_t name[12];

  int8_t motor[MAX_MOTORS][4];

}__attribute__((packed)) mixerMatrix_t;

extern mixerMatrix_t mixerMatrix;

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

  // Height Control

  uint8_t heightP; // Value : 0-32

  uint8_t heightD; // Value : 0-250

  uint8_t heightSetting; // Value : 0-32

  uint8_t heightControlMaxThrottleChange; // Value : 0-100

  uint8_t heightSlewRate; // Value : 0-50

  // Attitude Control

  uint8_t attitudeControl;

  // Control

  uint8_t stickP; // Value : 1-6

  uint8_t stickD; // Value : 0-64

  uint8_t stickYawP; // Value : 1-20

  uint8_t stickThrottleD;

  uint8_t minThrottle; // Value : 0-32

  uint8_t maxThrottle; // Value : 33-250

  uint8_t externalControl; // for serial Control

  uint8_t maxAccVector;

  uint8_t maxControlActivity;

  // IMU

  uint8_t gyroPIDFilterConstant;

  uint8_t gyroATTFilterConstant;

  uint8_t gyroDFilterConstant;

  uint8_t accFilterConstant;

  uint8_t gyroP; // Value : 10-250

  uint8_t gyroI; // Value : 0-250

  uint8_t gyroD; // Value : 0-250

  uint8_t zerothOrderCorrection; // Value : 1-64

  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)

  uint8_t driftCompLimit;   // limit for gyrodrift compensation

  uint8_t axisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)

  uint8_t axisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

  uint8_t axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

  uint8_t dynamicStability; // PID limit for Attitude controller

  uint8_t IFactor; // Value : 0-250

  uint8_t yawIFactor;

  uint8_t compassYawEffect; // Value : 0-32

  // Servos

  uint8_t servoCount;

  uint8_t servoManualMaxSpeed;

  servo_t servoConfigurations[2]; // [PITCH, ROLL]

  // Battery warning and emergency flight

  uint8_t batteryVoltageWarning; // Value : 0-250

  uint8_t emergencyThrottle; // Value : 0-250

  uint8_t emergencyFlightDuration; // Value : 0-250 

  // Outputs

  output_flash_t outputFlash[2];

  uint8_t outputDebugMask;

  uint8_t outputFlags;

  // User params

  uint8_t userParams[8]; // Value : 0-250

  // Name

  uint8_t name[12];

} paramset_t;

extern paramset_t staticParams;

// MKFlags

#define MKFLAG_MOTOR_RUN        (1<<0)

#define MKFLAG_FLY              (1<<1)

#define MKFLAG_CALIBRATE        (1<<2)

#define MKFLAG_START            (1<<3)

#define MKFLAG_EMERGENCY_FLIGHT (1<<4)

#define MKFLAG_RESERVE1         (1<<5)

#define MKFLAG_RESERVE2         (1<<6)

#define MKFLAG_RESERVE3         (1<<7)

// bit mask for staticParams.bitConfig

#define CFG_SIMPLE_HEIGHT_CONTROL               (1<<0)

#define CFG_SIMPLE_HC_HOLD_SWITCH       (1<<1)

#define CFG_HEADING_HOLD                        (1<<2)

#define CFG_COMPASS_ACTIVE                          (1<<3)

#define CFG_COMPASS_FIX                                 (1<<4)

#define CFG_GPS_ACTIVE                          (1<<5)

#define CFG_AXIS_COUPLING_ACTIVE        (1<<6)

#define CFG_GYRO_SATURATION_PREVENTION  (1<<7)

#define ATMEGA644       0

#define ATMEGA644P      1

#define SYSCLK F_CPU

// Not really a part of configuration, but LEDs and HW version 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 volatile uint8_t MKFlags;

extern uint8_t requiredMotors;

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

extern uint8_t boardRelease;

extern uint8_t CPUType;

extern volatile uint8_t MKFlags;

extern uint16_t isFlying;

void channelMap_default(void);

void paramSet_default(uint8_t setnumber);

void mixerMatrix_default(void);

void configuration_applyVariablesToParams(void);

uint8_t getCPUType(void);

uint8_t getBoardRelease(void);

#endif // _CONFIGURATION_H