WebSVN - FlightCtrl - Diff - Rev 1868 and 1869 - /branches/dongfang_FC


#ifndef _CONFIGURATION_H
#define _CONFIGURATION_H
 
#include <inttypes.h>
#include <avr/io.h>
 
typedef struct {
  /*PMM*/uint8_t HeightD;
  /* P */uint8_t MaxHeight;
  /*PMM*/uint8_t HeightP;
  /* P */uint8_t Height_ACC_Effect;
  /* P */uint8_t CompassYawEffect;
  /* P */uint8_t GyroD;
  /*PMM*/uint8_t GyroP;
  /* P */uint8_t GyroI;
  /* Never used */uint8_t StickYawP;
  /* P */uint8_t IFactor;
  /* P */uint8_t UserParams[8];
  /* P */uint8_t ServoPitchControl;
  /* P */uint8_t LoopGasLimit;
  /* P */uint8_t AxisCoupling1;
  /* P */uint8_t AxisCoupling2;
  /* P */uint8_t AxisCouplingYawCorrection;
  /* P */uint8_t DynamicStability;
  /* P */uint8_t ExternalControl;
  /*PMM*/uint8_t J16Timing;
  /*PMM*/uint8_t J17Timing;
  /* P */uint8_t NaviGpsModeControl;
  /* P */uint8_t NaviGpsGain;
  /* P */uint8_t NaviGpsP;
  /* P */uint8_t NaviGpsI;
  /* P */uint8_t NaviGpsD;
  /* P */uint8_t NaviGpsACC;
  /*PMM*/uint8_t NaviOperatingRadius;
  /* P */uint8_t NaviWindCorrection;
  /* P */uint8_t NaviSpeedCompensation;
  int8_t KalmanK;
  int8_t KalmanMaxDrift;
  int8_t KalmanMaxFusion;
} dynamicParam_t;
extern dynamicParam_t dynamicParams;
 
typedef struct {
  uint8_t sourceIdx, targetIdx;
  uint8_t min, max;
} MMXLATION;
 
typedef struct {
  uint8_t sourceIdx, targetIdx;
} XLATION;
 
// values above 250 representing poti1 to poti4
typedef struct {
  uint8_t ChannelAssignment[8]; // see upper defines for details
  uint8_t GlobalConfig; // see upper defines for bitcoding
  uint8_t HeightMinGas; // Value : 0-100
  uint8_t HeightD; // Value : 0-250
  uint8_t MaxHeight; // Value : 0-32
  uint8_t HeightP; // Value : 0-32
  uint8_t Height_Gain; // Value : 0-50
  uint8_t Height_ACC_Effect; // Value : 0-250
  uint8_t StickP; // Value : 1-6
  uint8_t StickD; // Value : 0-64
  uint8_t StickYawP; // Value : 1-20
  uint8_t MinThrottle; // Value : 0-32
  uint8_t MaxThrottle; // Value : 33-250
  uint8_t GyroAccFactor; // Value : 1-64
  uint8_t CompassYawEffect; // Value : 0-32
  uint8_t GyroP; // Value : 10-250
  uint8_t GyroI; // Value : 0-250
  uint8_t GyroD; // Value : 0-250
  uint8_t LowVoltageWarning; // Value : 0-250
  uint8_t EmergencyGas; // Value : 0-250     //Gaswert bei Empüngsverlust
  uint8_t EmergencyGasDuration; // Value : 0-250     // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen
  uint8_t Unused0; //
  uint8_t IFactor; // Value : 0-250
  uint8_t UserParams1[4]; // Value : 0-250
  /*
   uint8_t UserParam2;             // Value : 0-250
   uint8_t UserParam3;             // Value : 0-250
   uint8_t UserParam4;             // Value : 0-250
   */
  uint8_t ServoPitchControl; // Value : 0-250     // Stellung des Servos
  uint8_t ServoPitchComp; // Value : 0-250     // Einfluss Gyro/Servo
  uint8_t ServoPitchMin; // Value : 0-250     // Anschlag
  uint8_t ServoPitchMax; // Value : 0-250     // Anschlag
  uint8_t ServoRefresh; // Value: 0-250      // Refreshrate of servo pwm output
  uint8_t LoopGasLimit; // Value: 0-250  max. Gas wührend Looping
  uint8_t LoopThreshold; // Value: 0-250  Schwelle für Stickausschlag
  uint8_t LoopHysteresis; // Value: 0-250  Hysterese für Stickausschlag
  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 unused0;
  uint8_t unused1;
  uint8_t GyroAccTrim; // 1/k  (Koppel_ACC_Wirkung)
  uint8_t DriftComp; // limit for gyrodrift compensation
  uint8_t DynamicStability; // PID limit for Attitude controller
  uint8_t UserParams2[4]; // Value : 0-250
  /*
   uint8_t UserParam6;             // Value : 0-250
   uint8_t UserParam7;             // Value : 0-250
   uint8_t UserParam8;             // Value : 0-250
   */
  uint8_t J16Bitmask; // for the J16 Output
  uint8_t J16Timing; // for the J16 Output
  uint8_t J17Bitmask; // for the J17 Output
  uint8_t J17Timing; // for the J17 Output
  uint8_t NaviGpsModeControl; // Parameters for the Naviboard
  uint8_t NaviGpsGain; // overall gain for GPS-PID controller
  uint8_t NaviGpsP; // P gain for GPS-PID controller
  uint8_t NaviGpsI; // I gain for GPS-PID controller
  uint8_t NaviGpsD; // D gain for GPS-PID controller
  uint8_t NaviGpsPLimit; // P limit for GPS-PID controller
  uint8_t NaviGpsILimit; // I limit for GPS-PID controller
  uint8_t NaviGpsDLimit; // D limit for GPS-PID controller
  uint8_t NaviGpsACC; // ACC gain for GPS-PID controller
  uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions
  uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements
  uint8_t NaviWindCorrection; // streng of wind course correction
  uint8_t NaviSpeedCompensation; // D gain fefore position hold login
  uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights
  uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm
  uint8_t NaviPHLoginTime; // position hold logintimeout
  uint8_t ExternalControl; // for serial Control
  uint8_t BitConfig; // see upper defines for bitcoding
  uint8_t ServoPitchCompInvert; // Value : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
  uint8_t Reserved[4];
  int8_t Name[12];
} paramset_t;
 
#define  PARAMSET_STRUCT_LEN  sizeof(paramset_t)
 
extern paramset_t staticParams;
 
typedef struct {
  uint8_t Revision;
  int8_t Name[12];
  int8_t Motor[16][4];
}__attribute__((packed)) MixerTable_t;
 
extern MixerTable_t Mixer;
 
// 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_LANDING (1<<4)
#define MKFLAG_RESERVE1         (1<<5)
#define MKFLAG_RESERVE2         (1<<6)
#define MKFLAG_RESERVE3         (1<<7)
 
// bit mask for staticParams.GlobalConfig
#define CFG_HEIGHT_CONTROL      (1<<0)
#define CFG_HEIGHT_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_ROTARY_RATE_LIMITER (1<<7)
 
// bit mask for staticParams.BitConfig
#define CFG_LOOP_UP                 (1<<0)
#define CFG_LOOP_DOWN           (1<<1)
#define CFG_LOOP_LEFT           (1<<2)
#define CFG_LOOP_RIGHT          (1<<3)
#define CFG_HEIGHT_3SWITCH      (1<<4)
 
#define ATMEGA644       0
#define ATMEGA644P      1
#define SYSCLK F_CPU
 
// Not really a part of configuration, but heck, LEDs and beepers now have a home.
#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
 
extern volatile uint8_t MKFlags;
extern int16_t variables[8]; // The "Poti"s.
extern uint8_t BoardRelease;
extern uint8_t CPUType;
 
void configuration_applyVariablesToParams(void);
uint8_t getCPUType(void);
uint8_t getBoardRelease(void);
 
// Not really a part of configuration, but heck, LEDs and beepers now have a home.
void beep(uint16_t millis);
void beepNumber(uint8_t numbeeps);
void beepRCAlarm(void);
void beepI2CAlarm(void);
void beepBatteryAlarm(void);
 
#endif // _CONFIGURATION_H
 

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.h @ 1887 - Rev 1868 → 1869

Rev 1868		Rev 1869
1	#ifndef _CONFIGURATION_H	1	#ifndef _CONFIGURATION_H
2	#define _CONFIGURATION_H	2	#define _CONFIGURATION_H
3		3
4	#include <inttypes.h>	4	#include <inttypes.h>
5	#include <avr/io.h>	5	#include <avr/io.h>
6		6
7	typedef struct {	7	typedef struct {
8	/PMM/uint8_t HeightD;	8	/PMM/uint8_t HeightD;
9	/* P */uint8_t MaxHeight;	9	/* P */uint8_t MaxHeight;
10	/PMM/uint8_t HeightP;	10	/PMM/uint8_t HeightP;
11	/* P */uint8_t Height_ACC_Effect;	11	/* P */uint8_t Height_ACC_Effect;
12	/* P */uint8_t CompassYawEffect;	12	/* P */uint8_t CompassYawEffect;
13	/* P */uint8_t GyroD;	13	/* P */uint8_t GyroD;
14	/PMM/uint8_t GyroP;	14	/PMM/uint8_t GyroP;
15	/* P */uint8_t GyroI;	15	/* P */uint8_t GyroI;
16	/* Never used */uint8_t StickYawP;	16	/* Never used */uint8_t StickYawP;
17	/* P */uint8_t IFactor;	17	/* P */uint8_t IFactor;
18	/* P */uint8_t UserParams[8];	18	/* P */uint8_t UserParams[8];
19	/* P */uint8_t ServoPitchControl;	19	/* P */uint8_t ServoPitchControl;
20	/* P */uint8_t LoopGasLimit;	20	/* P */uint8_t LoopGasLimit;
21	/* P */uint8_t AxisCoupling1;	21	/* P */uint8_t AxisCoupling1;
22	/* P */uint8_t AxisCoupling2;	22	/* P */uint8_t AxisCoupling2;
23	/* P */uint8_t AxisCouplingYawCorrection;	23	/* P */uint8_t AxisCouplingYawCorrection;
24	/* P */uint8_t DynamicStability;	24	/* P */uint8_t DynamicStability;
25	/* P */uint8_t ExternalControl;	25	/* P */uint8_t ExternalControl;
26	/PMM/uint8_t J16Timing;	26	/PMM/uint8_t J16Timing;
27	/PMM/uint8_t J17Timing;	27	/PMM/uint8_t J17Timing;
28	/* P */uint8_t NaviGpsModeControl;	28	/* P */uint8_t NaviGpsModeControl;
29	/* P */uint8_t NaviGpsGain;	29	/* P */uint8_t NaviGpsGain;
30	/* P */uint8_t NaviGpsP;	30	/* P */uint8_t NaviGpsP;
31	/* P */uint8_t NaviGpsI;	31	/* P */uint8_t NaviGpsI;
32	/* P */uint8_t NaviGpsD;	32	/* P */uint8_t NaviGpsD;
33	/* P */uint8_t NaviGpsACC;	33	/* P */uint8_t NaviGpsACC;
34	/PMM/uint8_t NaviOperatingRadius;	34	/PMM/uint8_t NaviOperatingRadius;
35	/* P */uint8_t NaviWindCorrection;	35	/* P */uint8_t NaviWindCorrection;
36	/* P */uint8_t NaviSpeedCompensation;	36	/* P */uint8_t NaviSpeedCompensation;
37	int8_t KalmanK;	37	int8_t KalmanK;
38	int8_t KalmanMaxDrift;	38	int8_t KalmanMaxDrift;
39	int8_t KalmanMaxFusion;	39	int8_t KalmanMaxFusion;
40	} dynamicParam_t;	40	} dynamicParam_t;
41	extern dynamicParam_t dynamicParams;	41	extern dynamicParam_t dynamicParams;
42		42
43	typedef struct {	43	typedef struct {
44	uint8_t sourceIdx, targetIdx;	44	uint8_t sourceIdx, targetIdx;
45	uint8_t min, max;	45	uint8_t min, max;
46	} MMXLATION;	46	} MMXLATION;
47		47
48	typedef struct {	48	typedef struct {
49	uint8_t sourceIdx, targetIdx;	49	uint8_t sourceIdx, targetIdx;
50	} XLATION;	50	} XLATION;
51		51
52	// values above 250 representing poti1 to poti4	52	// values above 250 representing poti1 to poti4
53	typedef struct {	53	typedef struct {
54	uint8_t ChannelAssignment[8]; // see upper defines for details	54	uint8_t ChannelAssignment[8]; // see upper defines for details
55	uint8_t GlobalConfig; // see upper defines for bitcoding	55	uint8_t GlobalConfig; // see upper defines for bitcoding
56	uint8_t HeightMinGas; // Value : 0-100	56	uint8_t HeightMinGas; // Value : 0-100
57	uint8_t HeightD; // Value : 0-250	57	uint8_t HeightD; // Value : 0-250
58	uint8_t MaxHeight; // Value : 0-32	58	uint8_t MaxHeight; // Value : 0-32
59	uint8_t HeightP; // Value : 0-32	59	uint8_t HeightP; // Value : 0-32
60	uint8_t Height_Gain; // Value : 0-50	60	uint8_t Height_Gain; // Value : 0-50
61	uint8_t Height_ACC_Effect; // Value : 0-250	61	uint8_t Height_ACC_Effect; // Value : 0-250
62	uint8_t StickP; // Value : 1-6	62	uint8_t StickP; // Value : 1-6
63	uint8_t StickD; // Value : 0-64	63	uint8_t StickD; // Value : 0-64
64	uint8_t StickYawP; // Value : 1-20	64	uint8_t StickYawP; // Value : 1-20
65	uint8_t MinThrottle; // Value : 0-32	65	uint8_t MinThrottle; // Value : 0-32
66	uint8_t MaxThrottle; // Value : 33-250	66	uint8_t MaxThrottle; // Value : 33-250
67	uint8_t GyroAccFactor; // Value : 1-64	67	uint8_t GyroAccFactor; // Value : 1-64
68	uint8_t CompassYawEffect; // Value : 0-32	68	uint8_t CompassYawEffect; // Value : 0-32
69	uint8_t GyroP; // Value : 10-250	69	uint8_t GyroP; // Value : 10-250
70	uint8_t GyroI; // Value : 0-250	70	uint8_t GyroI; // Value : 0-250
71	uint8_t GyroD; // Value : 0-250	71	uint8_t GyroD; // Value : 0-250
72	uint8_t LowVoltageWarning; // Value : 0-250	72	uint8_t LowVoltageWarning; // Value : 0-250
73	uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Empüngsverlust	73	uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Empüngsverlust
74	uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen	74	uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen
75	uint8_t Unused0; //	75	uint8_t Unused0; //
76	uint8_t IFactor; // Value : 0-250	76	uint8_t IFactor; // Value : 0-250
77	uint8_t UserParams1[4]; // Value : 0-250	77	uint8_t UserParams1[4]; // Value : 0-250
78	/*	78	/*
79	uint8_t UserParam2; // Value : 0-250	79	uint8_t UserParam2; // Value : 0-250
80	uint8_t UserParam3; // Value : 0-250	80	uint8_t UserParam3; // Value : 0-250
81	uint8_t UserParam4; // Value : 0-250	81	uint8_t UserParam4; // Value : 0-250
82	*/	82	*/
83	uint8_t ServoPitchControl; // Value : 0-250 // Stellung des Servos	83	uint8_t ServoPitchControl; // Value : 0-250 // Stellung des Servos
84	uint8_t ServoPitchComp; // Value : 0-250 // Einfluss Gyro/Servo	84	uint8_t ServoPitchComp; // Value : 0-250 // Einfluss Gyro/Servo
85	uint8_t ServoPitchMin; // Value : 0-250 // Anschlag	85	uint8_t ServoPitchMin; // Value : 0-250 // Anschlag
86	uint8_t ServoPitchMax; // Value : 0-250 // Anschlag	86	uint8_t ServoPitchMax; // Value : 0-250 // Anschlag
87	uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output	87	uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output
88	uint8_t LoopGasLimit; // Value: 0-250 max. Gas wührend Looping	88	uint8_t LoopGasLimit; // Value: 0-250 max. Gas wührend Looping
89	uint8_t LoopThreshold; // Value: 0-250 Schwelle für Stickausschlag	89	uint8_t LoopThreshold; // Value: 0-250 Schwelle für Stickausschlag
90	uint8_t LoopHysteresis; // Value: 0-250 Hysterese für Stickausschlag	90	uint8_t LoopHysteresis; // Value: 0-250 Hysterese für Stickausschlag
91	uint8_t AxisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)	91	uint8_t AxisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
92	uint8_t AxisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	92	uint8_t AxisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
93	uint8_t AxisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	93	uint8_t AxisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
94	uint8_t AngleTurnOverPitch; // Value: 0-250 180ü-Punkt	94	uint8_t unused0;
95	uint8_t AngleTurnOverRoll; // Value: 0-250 180ü-Punkt	95	uint8_t unused1;
96	uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung)	96	uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung)
97	uint8_t DriftComp; // limit for gyrodrift compensation	97	uint8_t DriftComp; // limit for gyrodrift compensation
98	uint8_t DynamicStability; // PID limit for Attitude controller	98	uint8_t DynamicStability; // PID limit for Attitude controller
99	uint8_t UserParams2[4]; // Value : 0-250	99	uint8_t UserParams2[4]; // Value : 0-250
100	/*	100	/*
101	uint8_t UserParam6; // Value : 0-250	101	uint8_t UserParam6; // Value : 0-250
102	uint8_t UserParam7; // Value : 0-250	102	uint8_t UserParam7; // Value : 0-250
103	uint8_t UserParam8; // Value : 0-250	103	uint8_t UserParam8; // Value : 0-250
104	*/	104	*/
105	uint8_t J16Bitmask; // for the J16 Output	105	uint8_t J16Bitmask; // for the J16 Output
106	uint8_t J16Timing; // for the J16 Output	106	uint8_t J16Timing; // for the J16 Output
107	uint8_t J17Bitmask; // for the J17 Output	107	uint8_t J17Bitmask; // for the J17 Output
108	uint8_t J17Timing; // for the J17 Output	108	uint8_t J17Timing; // for the J17 Output
109	uint8_t NaviGpsModeControl; // Parameters for the Naviboard	109	uint8_t NaviGpsModeControl; // Parameters for the Naviboard
110	uint8_t NaviGpsGain; // overall gain for GPS-PID controller	110	uint8_t NaviGpsGain; // overall gain for GPS-PID controller
111	uint8_t NaviGpsP; // P gain for GPS-PID controller	111	uint8_t NaviGpsP; // P gain for GPS-PID controller
112	uint8_t NaviGpsI; // I gain for GPS-PID controller	112	uint8_t NaviGpsI; // I gain for GPS-PID controller
113	uint8_t NaviGpsD; // D gain for GPS-PID controller	113	uint8_t NaviGpsD; // D gain for GPS-PID controller
114	uint8_t NaviGpsPLimit; // P limit for GPS-PID controller	114	uint8_t NaviGpsPLimit; // P limit for GPS-PID controller
115	uint8_t NaviGpsILimit; // I limit for GPS-PID controller	115	uint8_t NaviGpsILimit; // I limit for GPS-PID controller
116	uint8_t NaviGpsDLimit; // D limit for GPS-PID controller	116	uint8_t NaviGpsDLimit; // D limit for GPS-PID controller
117	uint8_t NaviGpsACC; // ACC gain for GPS-PID controller	117	uint8_t NaviGpsACC; // ACC gain for GPS-PID controller
118	uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions	118	uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions
119	uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements	119	uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements
120	uint8_t NaviWindCorrection; // streng of wind course correction	120	uint8_t NaviWindCorrection; // streng of wind course correction
121	uint8_t NaviSpeedCompensation; // D gain fefore position hold login	121	uint8_t NaviSpeedCompensation; // D gain fefore position hold login
122	uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights	122	uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights
123	uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm	123	uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm
124	uint8_t NaviPHLoginTime; // position hold logintimeout	124	uint8_t NaviPHLoginTime; // position hold logintimeout
125	uint8_t ExternalControl; // for serial Control	125	uint8_t ExternalControl; // for serial Control
126	uint8_t BitConfig; // see upper defines for bitcoding	126	uint8_t BitConfig; // see upper defines for bitcoding
127	uint8_t ServoPitchCompInvert; // Value : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen	127	uint8_t ServoPitchCompInvert; // Value : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen
128	uint8_t Reserved[4];	128	uint8_t Reserved[4];
129	int8_t Name[12];	129	int8_t Name[12];
130	} paramset_t;	130	} paramset_t;
131		131
132	#define PARAMSET_STRUCT_LEN sizeof(paramset_t)	132	#define PARAMSET_STRUCT_LEN sizeof(paramset_t)
133		133
134	extern paramset_t staticParams;	134	extern paramset_t staticParams;
135		135
136	typedef struct {	136	typedef struct {
137	uint8_t Revision;	137	uint8_t Revision;
138	int8_t Name[12];	138	int8_t Name[12];
139	int8_t Motor[16][4];	139	int8_t Motor[16][4];
140	}__attribute__((packed)) MixerTable_t;	140	}__attribute__((packed)) MixerTable_t;
141		141
142	extern MixerTable_t Mixer;	142	extern MixerTable_t Mixer;
143		143
144	// MKFlags	144	// MKFlags
145	#define MKFLAG_MOTOR_RUN (1<<0)	145	#define MKFLAG_MOTOR_RUN (1<<0)
146	#define MKFLAG_FLY (1<<1)	146	#define MKFLAG_FLY (1<<1)
147	#define MKFLAG_CALIBRATE (1<<2)	147	#define MKFLAG_CALIBRATE (1<<2)
148	#define MKFLAG_START (1<<3)	148	#define MKFLAG_START (1<<3)
149	#define MKFLAG_EMERGENCY_LANDING (1<<4)	149	#define MKFLAG_EMERGENCY_LANDING (1<<4)
150	#define MKFLAG_RESERVE1 (1<<5)	150	#define MKFLAG_RESERVE1 (1<<5)
151	#define MKFLAG_RESERVE2 (1<<6)	151	#define MKFLAG_RESERVE2 (1<<6)
152	#define MKFLAG_RESERVE3 (1<<7)	152	#define MKFLAG_RESERVE3 (1<<7)
153		153
154	// bit mask for staticParams.GlobalConfig	154	// bit mask for staticParams.GlobalConfig
155	#define CFG_HEIGHT_CONTROL (1<<0)	155	#define CFG_HEIGHT_CONTROL (1<<0)
156	#define CFG_HEIGHT_SWITCH (1<<1)	156	#define CFG_HEIGHT_SWITCH (1<<1)
157	#define CFG_HEADING_HOLD (1<<2)	157	#define CFG_HEADING_HOLD (1<<2)
158	#define CFG_COMPASS_ACTIVE (1<<3)	158	#define CFG_COMPASS_ACTIVE (1<<3)
159	#define CFG_COMPASS_FIX (1<<4)	159	#define CFG_COMPASS_FIX (1<<4)
160	#define CFG_GPS_ACTIVE (1<<5)	160	#define CFG_GPS_ACTIVE (1<<5)
161	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)	161	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
162	#define CFG_ROTARY_RATE_LIMITER (1<<7)	162	#define CFG_ROTARY_RATE_LIMITER (1<<7)
163		163
164	// bit mask for staticParams.BitConfig	164	// bit mask for staticParams.BitConfig
165	#define CFG_LOOP_UP (1<<0)	165	#define CFG_LOOP_UP (1<<0)
166	#define CFG_LOOP_DOWN (1<<1)	166	#define CFG_LOOP_DOWN (1<<1)
167	#define CFG_LOOP_LEFT (1<<2)	167	#define CFG_LOOP_LEFT (1<<2)
168	#define CFG_LOOP_RIGHT (1<<3)	168	#define CFG_LOOP_RIGHT (1<<3)
169	#define CFG_HEIGHT_3SWITCH (1<<4)	169	#define CFG_HEIGHT_3SWITCH (1<<4)
170		170
171	#define ATMEGA644 0	171	#define ATMEGA644 0
172	#define ATMEGA644P 1	172	#define ATMEGA644P 1
173	#define SYSCLK F_CPU	173	#define SYSCLK F_CPU
174		174
175	// Not really a part of configuration, but heck, LEDs and beepers now have a home.	175	// Not really a part of configuration, but heck, LEDs and beepers now have a home.
176	#define RED_OFF {if((BoardRelease == 10) \|\| (BoardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	176	#define RED_OFF {if((BoardRelease == 10) \|\| (BoardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
177	#define RED_ON {if((BoardRelease == 10) \|\| (BoardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	177	#define RED_ON {if((BoardRelease == 10) \|\| (BoardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
178	#define RED_FLASH PORTB ^= (1<<PORTB0)	178	#define RED_FLASH PORTB ^= (1<<PORTB0)
179	#define GRN_OFF {if(BoardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	179	#define GRN_OFF {if(BoardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
180	#define GRN_ON {if(BoardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	180	#define GRN_ON {if(BoardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
181	#define GRN_FLASH PORTB ^= (1<<PORTB1)	181	#define GRN_FLASH PORTB ^= (1<<PORTB1)
182		182
183	// Mixer table	183	// Mixer table
184	#define MIX_THROTTLE 0	184	#define MIX_THROTTLE 0
185	#define MIX_PITCH 1	185	#define MIX_PITCH 1
186	#define MIX_ROLL 2	186	#define MIX_ROLL 2
187	#define MIX_YAW 3	187	#define MIX_YAW 3
188		188
189	extern volatile uint8_t MKFlags;	189	extern volatile uint8_t MKFlags;
190	extern int16_t variables[8]; // The "Poti"s.	190	extern int16_t variables[8]; // The "Poti"s.
191	extern uint8_t BoardRelease;	191	extern uint8_t BoardRelease;
192	extern uint8_t CPUType;	192	extern uint8_t CPUType;
193		193
194	void configuration_applyVariablesToParams(void);	194	void configuration_applyVariablesToParams(void);
195	uint8_t getCPUType(void);	195	uint8_t getCPUType(void);
196	uint8_t getBoardRelease(void);	196	uint8_t getBoardRelease(void);
197		197
198	// Not really a part of configuration, but heck, LEDs and beepers now have a home.	198	// Not really a part of configuration, but heck, LEDs and beepers now have a home.
199	void beep(uint16_t millis);	199	void beep(uint16_t millis);
200	void beepNumber(uint8_t numbeeps);	200	void beepNumber(uint8_t numbeeps);
201	void beepRCAlarm(void);	201	void beepRCAlarm(void);
202	void beepI2CAlarm(void);	202	void beepI2CAlarm(void);
203	void beepBatteryAlarm(void);	203	void beepBatteryAlarm(void);
204		204
205	#endif // _CONFIGURATION_H	205	#endif // _CONFIGURATION_H
206		206