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#define _CONFIGURATION_H
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#define _CONFIGURATION_H
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#include <inttypes.h>
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#include <inttypes.h>
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#include <avr/io.h>
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#define MAX_CHANNELS 10
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#define MAX_MOTORS 12
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 10 
// bitmask for VersionInfo_t.HardwareError[0]
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#define FC_ERROR0_GYRO_PITCH    0x01
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 12 
#define FC_ERROR0_GYRO_ROLL     0x02
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#define FC_ERROR0_GYRO_YAW      0x04
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#define FC_ERROR0_ACC_X         0x08
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#define FC_ERROR0_ACC_Y         0x10
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#define FC_ERROR0_ACC_Z         0x20
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#define FC_ERROR0_PRESSURE      0x40
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#define FC_ERROR1_RES0          0x80
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// bitmask for VersionInfo_t.HardwareError[1]
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#define FC_ERROR1_I2C           0x01
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#define FC_ERROR1_BL_MISSING    0x02
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#define FC_ERROR1_SPI_RX        0x04
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#define FC_ERROR1_PPM           0x08
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#define FC_ERROR1_MIXER         0x10
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#define FC_ERROR1_RES1          0x20
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#define FC_ERROR1_RES2          0x40
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#define FC_ERROR1_RES3          0x80
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 29 
typedef struct {
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 30 
    uint8_t SWMajor;
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 31 
    uint8_t SWMinor;
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    uint8_t protoMajor;
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    uint8_t protoMinor;
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 34 
    uint8_t SWPatch;
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    uint8_t hardwareErrors[5];
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 36 
}__attribute__((packed)) VersionInfo_t;
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 37 
 
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#include <avr/io.h>
 38 
extern VersionInfo_t versionInfo;
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 39 
 
7 
typedef struct {
 40 
typedef struct {
8 
  /*PMM*/uint8_t HeightD;
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  /*PMM*/uint8_t gyroPitchD;
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  /* P */uint8_t gyroRollD;
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  /* P */uint8_t MaxHeight;
 43 
  /* P */uint8_t gyroYawD;
10 
  /*PMM*/uint8_t HeightP;
 44 
 
11 
  /* P */uint8_t Height_ACC_Effect;
 45 
  // Control
12 
  /* P */uint8_t CompassYawEffect;
 46 
  /* P */uint8_t externalControl;
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 47 
 
14 
  /* P */uint8_t GyroPitchP;
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  // Height control
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  /* P */uint8_t GyroRollP;
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  /* P */uint8_t GyroYawP;
 49 
  /*PMM*/uint8_t heightP;
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  /* P */uint8_t heightI;
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  /* P */uint8_t UserParams[8];
 51 
  /*PMM*/uint8_t heightD;
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  /* P */uint8_t ServoPitchControl;
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  /* P */uint8_t heightSetting;
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 53 
 
21 
  /* P */uint8_t GyroPitchD;  // LoopGasLimit in tool
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  // Output and servo
22 
  /* P */uint8_t GyroRollD;   // AxisCoupling1 in tool
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  /*PMM*/uint8_t output0Timing;
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  /* P */uint8_t GyroYawD;    // AxisCoupling2 in tool
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  /*PMM*/uint8_t output1Timing;
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25 
  /* P */uint8_t ExternalControl;
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  uint8_t servoManualControl[2];
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  /*PMM*/uint8_t J16Timing;
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  /* P */uint8_t userParams[8];
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  /*PMM*/uint8_t J17Timing;
 61 
} DynamicParams_t;
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} dynamicParam_t;
 62 
 
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extern dynamicParam_t dynamicParams;
 63 
extern volatile DynamicParams_t dynamicParams;
30 
 
 64 
 
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typedef struct {
 65 
typedef struct {
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  uint8_t sourceIdx, targetIdx;
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  uint8_t sourceIdx, targetIdx;
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  uint8_t min, max;
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  uint8_t min, max;
 68 
} MMXLATION;
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} MMXLATION;
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/*
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 71 
typedef struct {
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  uint8_t sourceIdx, targetIdx;
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 73 
} XLATION;
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 74 
*/
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 76 
typedef struct {
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  uint8_t channels[MAX_CHANNELS];
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 78 
} channelMap_t;
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extern channelMap_t channelMap;
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 81 
typedef struct {
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typedef struct {
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  char name[12];
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  uint8_t sourceIdx, targetIdx;
 - 
 
38 
} XLATION;
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// values above 250 representing poti1 to poti4
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typedef struct {
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  uint8_t ChannelAssignment[8]; // see upper defines for details
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  uint8_t GlobalConfig; // see upper defines for bitcoding
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44 
  uint8_t HeightMinGas; // Value : 0-100
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45 
  uint8_t HeightD; // Value : 0-250
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46 
  uint8_t MaxHeight; // Value : 0-32
 83 
  int8_t motor[MAX_MOTORS][4];
47 
  uint8_t HeightP; // Value : 0-32
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  uint8_t Height_Gain; // Value : 0-50
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}__attribute__((packed)) mixerMatrix_t;
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extern mixerMatrix_t mixerMatrix;
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  uint8_t Height_ACC_Effect; // Value : 0-250
 87 
typedef struct {
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  int16_t offsets[3];
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 89 
} sensorOffset_t;
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 91 
typedef struct {
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 92 
  uint8_t manualControl;
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 93 
  uint8_t stabilizationFactor;
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 94 
  uint8_t minValue;
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 95 
  uint8_t maxValue;
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  uint8_t flags;
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 97 
} servo_t;
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 99 
#define SERVO_STABILIZATION_REVERSE 1
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 101 
typedef struct {
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 102 
  uint8_t bitmask;
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  uint8_t timing;
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 104 
} output_flash_t;
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 105 
 
51 
  uint8_t StickElevatorP;
 106 
typedef struct {
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  uint8_t gyroQuadrant;
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 108 
  uint8_t accQuadrant;
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 109 
  uint8_t imuReversedFlags;
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  uint8_t gyroPIDFilterConstant;
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 112 
  uint8_t gyroDWindowLength;
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 113 
  uint8_t gyroDFilterConstant;
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 114 
  uint8_t accFilterConstant;
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 115 
 
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  uint8_t StickAileronsP;
 116 
  uint8_t zerothOrderCorrection;
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  uint8_t rateTolerance;
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  uint8_t StickRudderP;
 118 
 
54 
 
 119 
  uint8_t gyroActivityDamping;
55 
  uint8_t PIDGyroFilter;// Value: 1-8
 120 
  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
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 121 
  uint8_t driftCompLimit;   // limit for gyrodrift compensation
56 
 
 122 
} IMUConfig_t;
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 123 
 
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  uint8_t DGyroFilter; // Value: 1-8
 124 
extern IMUConfig_t IMUConfig;
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 125 
 
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// values above 250 representing poti1 to poti4
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  uint8_t attitudeGyroFilter; // Value: 1-8
 127 
typedef struct {
59 
 
 128 
  // Global bitflags
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  uint8_t accFilter;
 129 
  uint8_t bitConfig;  // see upper defines for bitcoding
61 
 
 130 
 
62 
  uint8_t GyroPitchP;
 131 
  // uint8_t axisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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  // uint8_t axisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  uint8_t GyroRollP;
 133 
  // uint8_t axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  uint8_t GyroYawP;
 134 
 
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 135 
  uint8_t levelCorrection[2];
66 
  uint8_t UserParams[8]; // Value : 0-250
 136 
 
67 
 
 137 
  // Control
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  uint8_t LowVoltageWarning; // Value : 0-250
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  uint8_t servoDirections;
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  uint8_t ServoRefresh; // Value: 0-250      // Refreshrate of servo pwm output
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  uint8_t gyroPitchP;
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  uint8_t GyroPitchD;
 139 
  uint8_t gyroPitchI;
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 140 
  uint8_t gyroPitchD;
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 141 
 
74 
  uint8_t GyroRollD;
 142 
  uint8_t gyroRollP;
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 143 
  uint8_t gyroRollI;
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 144 
  uint8_t gyroRollD;
75 
  uint8_t GyroYawD;
 145 
 
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 146 
  uint8_t gyroYawP;
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 147 
  uint8_t gyroYawI;
77 
  uint8_t zerothOrderGyroCorrectionZAccLimit;
 148 
  uint8_t gyroYawD;
78 
  uint8_t zerothOrderGyroCorrectionFactorx1000;
 149 
 
79 
 
 150 
  uint8_t stickIElevator;
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 151 
  uint8_t stickIAilerons;
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 152 
  uint8_t stickIRudder;
80 
  uint8_t secondOrderGyroCorrectionDivisor;
 153 
 
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 154 
  uint8_t externalControl; // for serial Control
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  uint8_t IFactor;
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 157 
 
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  uint8_t secondOrderGyroCorrectionLimit;
 158 
  uint8_t batteryVoltageWarning;
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82 
  uint8_t CompassYawEffect; // Value : 0-32
 159 
  uint8_t emergencyThrottle;
83 
 
 160 
  uint8_t emergencyFlightDuration;
84 
  uint8_t J16Bitmask; // for the J16 Output
 161 
 
85 
  uint8_t J16Timing; // for the J16 Output
 162 
  // Servos
86 
  uint8_t J17Bitmask; // for the J17 Output
 163 
  uint8_t servoCount;
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  uint8_t J17Timing; // for the J17 Output
 164 
  uint8_t servoManualMaxSpeed;
88 
 
 165 
  servo_t servoConfigurations[2]; // [PITCH, ROLL]
89 
  uint8_t ExternalControl; // for serial Control
 166 
 
90 
} paramset_t;
 167 
  // Outputs
91 
 
 168 
  output_flash_t outputFlash[2];
92 
#define  PARAMSET_STRUCT_LEN  sizeof(paramset_t)
 169 
  uint8_t outputDebugMask;
93 
 
 170 
  uint8_t outputFlags;
94 
extern paramset_t staticParams;
 171 
 
95 
 
 172 
  // User params
96 
typedef struct {
 173 
  uint8_t userParams[8];
97 
  uint8_t Revision;
 174 
 
98 
  int8_t Name[12];
 175 
  // Name
99 
  int8_t Motor[16][4];
 176 
  char name[12];
100 
}__attribute__((packed)) MixerTable_t;
 177 
} ParamSet_t;
101 
 
 178 
 
102 
extern MixerTable_t Mixer;
 179 
extern ParamSet_t staticParams;
103 
 
 180 
 
104 
// MKFlags
 181 
// MKFlags
105 
#define MKFLAG_MOTOR_RUN        (1<<0)
 182 
#define MKFLAG_MOTOR_RUN    (1<<0)
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106 
#define MKFLAG_FLY              (1<<1)
 183 
//#define MKFLAG_FLY            (1<<1)
107 
#define MKFLAG_CALIBRATE        (1<<2)
 184 
#define MKFLAG_CALIBRATE    (1<<2)
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#define MKFLAG_START            (1<<3)
 185 
#define MKFLAG_START        (1<<3)
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109 
#define MKFLAG_EMERGENCY_LANDING (1<<4)
 186 
#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
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#define MKFLAG_RESERVE1         (1<<5)
 187 
#define MKFLAG_LOWBAT       (1<<5)
111 
#define MKFLAG_RESERVE2         (1<<6)
 188 
#define MKFLAG_RESERVE2     (1<<6)
112 
#define MKFLAG_RESERVE3         (1<<7)
 189 
#define MKFLAG_RESERVE3     (1<<7)
113 
 
 190 
 
114 
// bit mask for staticParams.GlobalConfig
 191 
// bit mask for staticParams.bitConfig
115 
#define CFG_HEIGHT_CONTROL      (1<<0)
 192 
#define CFG_SIMPLE_HEIGHT_CONTROL       (1<<0)
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116 
#define CFG_HEIGHT_SWITCH       (1<<1)
 193 
#define CFG_SIMPLE_HC_HOLD_SWITCH       (1<<1)
117 
#define CFG_HEADING_HOLD        (1<<2)
 194 
#define CFG_HEADING_HOLD                (1<<2)
118 
#define CFG_COMPASS_ACTIVE      (1<<3)
 195 
#define CFG_COMPASS_ENABLED             (1<<3)
119 
#define CFG_COMPASS_FIX         (1<<4)
 196 
#define CFG_UNUSED                      (1<<4)
120 
#define CFG_GPS_ACTIVE          (1<<5)
 197 
#define CFG_NAVI_ENABLED                (1<<5)
- 
 
 198 
#define CFG_AXIS_COUPLING_ENABLED       (1<<6)
- 
 
 199 
#define CFG_GYRO_SATURATION_PREVENTION  (1<<7)
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121 
#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
 200 
 
- 
 
 201 
#define IMU_REVERSE_GYRO_PR             (1<<0)
122 
#define CFG_ROTARY_RATE_LIMITER (1<<7)
 202 
#define IMU_REVERSE_GYRO_YAW            (1<<1)
123 
 
 203 
#define IMU_REVERSE_ACC_XY              (1<<2)
124 
// bit mask for staticParams.ServoDirections
 204 
#define IMU_REVERSE_ACC_Z               (1<<3)
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 205 
 
- 
 
 206 
#define ATMEGA644   0
- 
 
 207 
#define ATMEGA644P  1
- 
 
 208 
#define SYSCLK F_CPU
- 
 
 209 
 
- 
 
 210 
// Not really a part of configuration, but LEDs and HW s test are the same.
- 
 
 211 
#define RED_OFF   {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else  PORTB |= (1<<PORTB0);}
- 
 
 212 
#define RED_ON    {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else  PORTB &=~(1<<PORTB0);}
- 
 
 213 
#define RED_FLASH PORTB ^= (1<<PORTB0)
- 
 
 214 
#define GRN_OFF   {if(boardRelease  < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);}
125 
#define SERVO_DIRECTION_ELEVATOR        (1<<0)
 215 
#define GRN_ON    {if(boardRelease  < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
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 216 
#define GRN_FLASH PORTB ^= (1<<PORTB1)
126 
#define SERVO_DIRECTION_AILERONS        (1<<1)
 217 
 
127 
#define SERVO_DIRECTION_RUDDER          (1<<2)
 218 
// Mixer table
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- 
 
 219 
#define MIX_THROTTLE    0
- 
 
 220 
#define MIX_PITCH   1
128 
 
 221 
#define MIX_ROLL    2