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Ignore whitespace Rev 2160 → Rev 2189

/branches/dongfang_FC_rewrite/configuration.h
4,16 → 4,17
#include <inttypes.h>
#include <avr/io.h>
 
#define MAX_CHANNELS 10
#define MAX_MOTORS 12
#define MAX_CONTROLCHANNELS 8
#define MAX_I2CCHANNELS 8
#define MAX_PWMCHANNELS 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_GYRO_X 0x01
#define FC_ERROR0_GYRO_Y 0x02
#define FC_ERROR0_GYRO_Z 0x04
#define FC_ERROR0_ACCEL_X 0x08
#define FC_ERROR0_ACCEL_Y 0x10
#define FC_ERROR0_ACCEL_Z 0x20
#define FC_ERROR0_PRESSURE 0x40
#define FC_ERROR1_RES0 0x80
// bitmask for VersionInfo_t.HardwareError[1]
26,12 → 27,14
#define FC_ERROR1_RES2 0x40
#define FC_ERROR1_RES3 0x80
 
#define PID_NORMAL_VALUE 100
 
typedef struct {
uint8_t SWMajor;
uint8_t SWMinor;
uint8_t SWPatch;
uint8_t protoMajor;
uint8_t protoMinor;
uint8_t SWPatch;
uint8_t hardwareErrors[5];
}__attribute__((packed)) VersionInfo_t;
 
38,26 → 41,34
extern VersionInfo_t versionInfo;
 
typedef struct {
/*PMM*/uint8_t gyroP;
/* P */uint8_t gyroI;
/* P */uint8_t gyroD;
/* P */uint8_t compassControlHeading;
uint8_t flightMode;
uint8_t attGyroP; // Attitude mode Proportional (attitude error to control)
uint8_t attGyroI; // Attitude mode Integral (attitude error integral to control. Serves to eliminate permanent attitude errors)
uint8_t attGyroD; // Attitude mode rate
uint8_t rateGyroP; // Rate mode Proportional
uint8_t rateGyroI; // Rate mode Integral (serves to eliminate slow rotation errors in rate mode)
uint8_t rateGyroD; // Rate mode Differential (GyroD)
 
uint8_t yawGyroP;
uint8_t yawGyroI;
uint8_t yawGyroD;
// Control
/* P */uint8_t externalControl;
/* P */uint8_t dynamicStability;
 
uint8_t externalControl;
uint8_t attitudeControl;
// Height control
/*PMM*/uint8_t heightP;
/* P */uint8_t heightI;
/*PMM*/uint8_t heightD;
/* P */uint8_t heightSetting;
uint8_t heightP;
uint8_t heightI;
uint8_t heightD;
uint8_t heightSetting;
 
uint8_t attitudeControl;
 
// Output and servo
/*PMM*/uint8_t output0Timing;
/*PMM*/uint8_t output1Timing;
uint8_t output0Timing;
uint8_t output1Timing;
 
uint8_t servoManualControl[2];
 
87,18 → 98,59
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];
uint8_t channels[MAX_CONTROLCHANNELS];
} ChannelMap_t;
 
extern ChannelMap_t channelMap;
 
#define LOG_MOTOR_MIXER_UNIT 6
#define LOG_DYNAMIC_STABILITY_SCALER 6
 
typedef enum {
MIXER_SOURCE_ROLL = 0,
MIXER_SOURCE_PITCH = 1,
MIXER_SOURCE_THROTTLE = 2,
MIXER_SOURCE_YAW = 3
} MixerSource_Control;
 
typedef enum {
MIXER_SOURCE_AUX_GIMBAL_ROLL = 0,
MIXER_SOURCE_AUX_GIMBAL_PITCH = 1,
MIXER_SOURCE_AUX_RCCHANNEL = 2,
MIXER_SOURCE_AUX_END = 2 + MAX_CONTROLCHANNELS
} MixerSourceAux;
 
typedef enum {
I2C0 = 0,
I2C1 = 1,
I2C2 = 2,
I2C3 = 3,
I2C4 = 4,
I2C5 = 5,
I2C6 = 6,
I2C7 = 7,
SERVO0 = MAX_I2CCHANNELS,
NUM_OUTPUTS = 8 + MAX_PWMCHANNELS
} MixerDestination;
 
typedef struct {
char name[12];
int8_t matrix[MAX_MOTORS][5];
//int8_t oppositeMotor[MAX_MOTORS];
}__attribute__((packed)) MotorMixer_t;
extern MotorMixer_t motorMixer;
uint8_t outputType;
uint8_t minValue;
uint8_t maxValue;
int8_t flightControls[4];
uint8_t auxSource; // for selecting a gimbal axis or an RC channel.
uint8_t oppositeMotor; // only relevant where used to control a multicopter motor.
}__attribute__((packed)) MixerMatrixRow_t;
 
typedef MixerMatrixRow_t OutputMixer_t[NUM_OUTPUTS];
extern OutputMixer_t outputMixer;
 
typedef enum {
OUTPUT_TYPE_UNDEFINED,
OUTPUT_TYPE_MOTOR,
OUTPUT_TYPE_SERVO
} outputTypes;
 
typedef struct {
int16_t offsets[3];
} sensorOffset_t;
106,8 → 158,6
typedef struct {
uint8_t manualControl;
uint8_t stabilizationFactor;
uint8_t minValue;
uint8_t maxValue;
uint8_t flags;
} Servo_t;
 
119,21 → 169,24
} output_flash_t;
 
typedef struct {
/* Set up so that
* Nose-up is positive on pitch
* Roll-right is positive on roll
* Turn-ccw is positive on yaw
*/
uint8_t gyroQuadrant;
/*
* Set up so that:
* Acc. Z is +1g in normal attitude
* Acc. X gets positive in a left roll
* Acc. Y gets positive in a nose-up attitude.
*/
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
} IMUConfig_t;
 
extern IMUConfig_t IMUConfig;
143,6 → 196,8
// Global bitflags
uint8_t bitConfig; // see upper defines for bitcoding
 
uint8_t flightMode;
// 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
150,11 → 205,23
uint8_t levelCorrection[2];
 
// Control
uint8_t gyroP;
uint8_t gyroI;
uint8_t gyroD;
uint8_t attGyroP; // Attitude mode Proportional (attitude error to control)
uint8_t attGyroI; // Attitude mode Integral (attitude error integral to control. Serves to eliminate permanent attitude errors)
uint8_t attGyroIMax; // Attitude mode Integral max. limit
uint8_t attGyroD; // Attitude mode rate
uint8_t rateGyroP; // Rate mode Proportional
uint8_t rateGyroI; // Rate mode Integral (serves to eliminate slow rotation errors in rate mode)
uint8_t rateGyroIMax; // Rate mode Integral max. limit
uint8_t rateGyroD; // Rate mode Differential (GyroD)
 
uint8_t yawGyroP;
uint8_t yawGyroI;
uint8_t yawGyroD;
uint8_t externalControl; // for serial Control
uint8_t attitudeControl;
uint8_t dynamicStability;
 
uint8_t stickP;
uint8_t stickD;
161,16 → 228,11
uint8_t stickYawP;
uint8_t stickThrottleD;
 
// Idle throttle. Affects the throttle stick only.
uint8_t minThrottle;
// Value of max. throttle stick.
uint8_t maxThrottle;
 
uint8_t externalControl; // for serial Control
uint8_t motorSmoothing;
uint8_t dynamicStability; // PID limit for Attitude controller
 
uint8_t IFactor;
uint8_t yawIFactor;
 
uint8_t compassMode; // bitflag thing.
uint8_t compassYawCorrection;
uint8_t compassBendingReturnSpeed;
230,33 → 292,31
extern ParamSet_t staticParams;
 
// MKFlags
#define MKFLAG_MOTOR_RUN (1<<0)
#define MKFLAG_MOTOR_RUN (1<<0)
//#define MKFLAG_FLY (1<<1)
#define MKFLAG_CALIBRATE (1<<2)
#define MKFLAG_START (1<<3)
//#define MKFLAG_CALIBRATE (1<<2)
#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
#define MKFLAG_LOWBAT (1<<5)
#define MKFLAG_RESERVE2 (1<<6)
#define MKFLAG_RESERVE3 (1<<7)
#define MKFLAG_LOWBAT (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_UNUSED (1<<2)
#define CFG_COMPASS_ENABLED (1<<3)
#define CFG_UNUSED (1<<4)
#define CFG_UNUSED2 (1<<4)
#define CFG_NAVI_ENABLED (1<<5)
#define CFG_AXIS_COUPLING_ENABLED (1<<6)
#define CFG_UNUSED3 (1<<6)
#define CFG_GYRO_SATURATION_PREVENTION (1<<7)
 
#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 IMU_REVERSE_GYRO_XY (1<<0)
#define IMU_REVERSE_GYRO_Z (1<<1)
#define IMU_REVERSE_ACCEL_XY (1<<2)
#define IMU_REVERSE_ACCEL_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);}
267,16 → 327,10
#define GRN_FLASH PORTB ^= (1<<PORTB1)
 
// Mixer table
#define MIX_PITCH 0
#define MIX_ROLL 1
#define MIX_THROTTLE 2
#define MIX_YAW 3
#define MIX_OPPOSITE_MOTOR 4
 
#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;
287,10 → 341,10
void IMUConfig_default(void);
void channelMap_default(void);
void paramSet_default(uint8_t setnumber);
void motorMixer_default(void);
void outputMixer_default(void);
 
void configuration_setNormalFlightParameters(void);
void configuration_setFailsafeFlightParameters(void);
void configuration_setNormalFlightMode(void);
void configuration_setFailsafeFlightMode(void);
void configuration_applyVariablesToParams(void);
 
void setCPUType(void);