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| Line 2... | Line 2... | ||
| 2 | #define _CONFIGURATION_H |
2 | #define _CONFIGURATION_H |
| Line 3... | Line 3... | ||
| 3 | 3 | ||
| 4 | #include <inttypes.h> |
4 | #include <inttypes.h> |
| Line -... | Line 5... | ||
| - | 5 | #include <avr/io.h> |
|
| 5 | #include <avr/io.h> |
6 | |
| 6 | 7 | #define MAX_CONTROLCHANNELS 8 |
|
| Line 7... | Line 8... | ||
| 7 | #define MAX_CHANNELS 10 |
8 | #define MAX_I2CCHANNELS 8 |
| 8 | #define MAX_MOTORS 12 |
9 | #define MAX_PWMCHANNELS 8 |
| 9 | 10 | ||
| 10 | // bitmask for VersionInfo_t.HardwareError[0] |
11 | // bitmask for VersionInfo_t.HardwareError[0] |
| 11 | #define FC_ERROR0_GYRO_PITCH 0x01 |
12 | #define FC_ERROR0_GYRO_X 0x01 |
| 12 | #define FC_ERROR0_GYRO_ROLL 0x02 |
13 | #define FC_ERROR0_GYRO_Y 0x02 |
| 13 | #define FC_ERROR0_GYRO_YAW 0x04 |
14 | #define FC_ERROR0_GYRO_Z 0x04 |
| 14 | #define FC_ERROR0_ACC_X 0x08 |
15 | #define FC_ERROR0_ACCEL_X 0x08 |
| 15 | #define FC_ERROR0_ACC_Y 0x10 |
16 | #define FC_ERROR0_ACCEL_Y 0x10 |
| 16 | #define FC_ERROR0_ACC_Z 0x20 |
17 | #define FC_ERROR0_ACCEL_Z 0x20 |
| 17 | #define FC_ERROR0_PRESSURE 0x40 |
18 | #define FC_ERROR0_PRESSURE 0x40 |
| 18 | #define FC_ERROR1_RES0 0x80 |
19 | #define FC_ERROR1_RES0 0x80 |
| Line 24... | Line 25... | ||
| 24 | #define FC_ERROR1_MIXER 0x10 |
25 | #define FC_ERROR1_MIXER 0x10 |
| 25 | #define FC_ERROR1_RES1 0x20 |
26 | #define FC_ERROR1_RES1 0x20 |
| 26 | #define FC_ERROR1_RES2 0x40 |
27 | #define FC_ERROR1_RES2 0x40 |
| 27 | #define FC_ERROR1_RES3 0x80 |
28 | #define FC_ERROR1_RES3 0x80 |
| Line -... | Line 29... | ||
| - | 29 | ||
| - | 30 | #define PID_NORMAL_VALUE 100 |
|
| 28 | 31 | ||
| 29 | typedef struct { |
32 | typedef struct { |
| 30 | uint8_t SWMajor; |
33 | uint8_t SWMajor; |
| - | 34 | uint8_t SWMinor; |
|
| 31 | uint8_t SWMinor; |
35 | uint8_t SWPatch; |
| 32 | uint8_t protoMajor; |
36 | uint8_t protoMajor; |
| 33 | uint8_t protoMinor; |
- | |
| 34 | uint8_t SWPatch; |
37 | uint8_t protoMinor; |
| 35 | uint8_t hardwareErrors[5]; |
38 | uint8_t hardwareErrors[5]; |
| Line 36... | Line 39... | ||
| 36 | }__attribute__((packed)) VersionInfo_t; |
39 | }__attribute__((packed)) VersionInfo_t; |
| Line 37... | Line 40... | ||
| 37 | 40 | ||
| 38 | extern VersionInfo_t versionInfo; |
41 | extern VersionInfo_t versionInfo; |
| - | 42 | ||
| - | 43 | typedef struct { |
|
| - | 44 | uint8_t flightMode; |
|
| - | 45 | ||
| - | 46 | uint8_t attGyroP; // Attitude mode Proportional (attitude error to control) |
|
| - | 47 | uint8_t attGyroI; // Attitude mode Integral (attitude error integral to control. Serves to eliminate permanent attitude errors) |
|
| - | 48 | uint8_t attGyroD; // Attitude mode rate |
|
| - | 49 | ||
| - | 50 | uint8_t rateGyroP; // Rate mode Proportional |
|
| 39 | 51 | uint8_t rateGyroI; // Rate mode Integral (serves to eliminate slow rotation errors in rate mode) |
|
| 40 | typedef struct { |
52 | uint8_t rateGyroD; // Rate mode Differential (GyroD) |
| 41 | /*PMM*/uint8_t gyroP; |
53 | |
| 42 | /* P */uint8_t gyroI; |
54 | uint8_t yawGyroP; |
| 43 | /* P */uint8_t gyroD; |
55 | uint8_t yawGyroI; |
| 44 | /* P */uint8_t compassControlHeading; |
56 | uint8_t yawGyroD; |
| 45 | 57 | ||
| 46 | // Control |
58 | // Control |
| 47 | /* P */uint8_t externalControl; |
59 | uint8_t externalControl; |
| 48 | /* P */uint8_t dynamicStability; |
60 | uint8_t attitudeControl; |
| 49 | 61 | ||
| 50 | // Height control |
62 | // Height control |
| 51 | /*PMM*/uint8_t heightP; |
63 | uint8_t heightP; |
| Line 52... | Line -... | ||
| 52 | /* P */uint8_t heightI; |
- | |
| Line 53... | Line 64... | ||
| 53 | /*PMM*/uint8_t heightD; |
64 | uint8_t heightI; |
| 54 | /* P */uint8_t heightSetting; |
65 | uint8_t heightD; |
| 55 | 66 | uint8_t heightSetting; |
|
| Line 56... | Line 67... | ||
| 56 | uint8_t attitudeControl; |
67 | |
| Line 57... | Line 68... | ||
| 57 | 68 | ||
| 58 | // Output and servo |
69 | // Output and servo |
| Line 85... | Line 96... | ||
| 85 | 96 | ||
| 86 | typedef struct { |
97 | typedef struct { |
| 87 | uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky. |
98 | uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky. |
| 88 | uint8_t HWTrim; |
99 | uint8_t HWTrim; |
| 89 | uint8_t variableOffset; |
100 | uint8_t variableOffset; |
| 90 | uint8_t channels[MAX_CHANNELS]; |
101 | uint8_t channels[MAX_CONTROLCHANNELS]; |
| Line 91... | Line 102... | ||
| 91 | } ChannelMap_t; |
102 | } ChannelMap_t; |
| Line -... | Line 103... | ||
| - | 103 | ||
| - | 104 | extern ChannelMap_t channelMap; |
|
| - | 105 | ||
| - | 106 | #define LOG_MOTOR_MIXER_UNIT 6 |
|
| - | 107 | #define LOG_DYNAMIC_STABILITY_SCALER 6 |
|
| - | 108 | ||
| - | 109 | typedef enum { |
|
| - | 110 | MIXER_SOURCE_ROLL = 0, |
|
| - | 111 | MIXER_SOURCE_PITCH = 1, |
|
| - | 112 | MIXER_SOURCE_THROTTLE = 2, |
|
| - | 113 | MIXER_SOURCE_YAW = 3 |
|
| - | 114 | } MixerSource_Control; |
|
| - | 115 | ||
| - | 116 | typedef enum { |
|
| - | 117 | MIXER_SOURCE_AUX_GIMBAL_ROLL = 0, |
|
| - | 118 | MIXER_SOURCE_AUX_GIMBAL_PITCH = 1, |
|
| - | 119 | MIXER_SOURCE_AUX_RCCHANNEL = 2, |
|
| - | 120 | MIXER_SOURCE_AUX_END = 2 + MAX_CONTROLCHANNELS |
|
| - | 121 | } MixerSourceAux; |
|
| - | 122 | ||
| - | 123 | typedef enum { |
|
| - | 124 | I2C0 = 0, |
|
| - | 125 | I2C1 = 1, |
|
| - | 126 | I2C2 = 2, |
|
| - | 127 | I2C3 = 3, |
|
| - | 128 | I2C4 = 4, |
|
| - | 129 | I2C5 = 5, |
|
| - | 130 | I2C6 = 6, |
|
| - | 131 | I2C7 = 7, |
|
| - | 132 | SERVO0 = MAX_I2CCHANNELS, |
|
| 92 | 133 | NUM_OUTPUTS = 8 + MAX_PWMCHANNELS |
|
| - | 134 | } MixerDestination; |
|
| 93 | extern ChannelMap_t channelMap; |
135 | |
| 94 | 136 | typedef struct { |
|
| 95 | typedef struct { |
137 | uint8_t outputType; |
| - | 138 | uint8_t minValue; |
|
| - | 139 | uint8_t maxValue; |
|
| 96 | char name[12]; |
140 | int8_t flightControls[4]; |
| - | 141 | uint8_t auxSource; // for selecting a gimbal axis or an RC channel. |
|
| - | 142 | uint8_t oppositeMotor; // only relevant where used to control a multicopter motor. |
|
| 97 | int8_t matrix[MAX_MOTORS][5]; |
143 | }__attribute__((packed)) MixerMatrixRow_t; |
| - | 144 | ||
| - | 145 | typedef MixerMatrixRow_t OutputMixer_t[NUM_OUTPUTS]; |
|
| - | 146 | extern OutputMixer_t outputMixer; |
|
| - | 147 | ||
| - | 148 | typedef enum { |
|
| - | 149 | OUTPUT_TYPE_UNDEFINED, |
|
| Line 98... | Line 150... | ||
| 98 | //int8_t oppositeMotor[MAX_MOTORS]; |
150 | OUTPUT_TYPE_MOTOR, |
| 99 | }__attribute__((packed)) MotorMixer_t; |
151 | OUTPUT_TYPE_SERVO |
| 100 | extern MotorMixer_t motorMixer; |
152 | } outputTypes; |
| Line 101... | Line 153... | ||
| 101 | 153 | ||
| 102 | typedef struct { |
154 | typedef struct { |
| 103 | int16_t offsets[3]; |
155 | int16_t offsets[3]; |
| 104 | } sensorOffset_t; |
- | |
| 105 | - | ||
| 106 | typedef struct { |
156 | } sensorOffset_t; |
| 107 | uint8_t manualControl; |
157 | |
| Line 108... | Line 158... | ||
| 108 | uint8_t stabilizationFactor; |
158 | typedef struct { |
| Line 117... | Line 167... | ||
| 117 | uint8_t bitmask; |
167 | uint8_t bitmask; |
| 118 | uint8_t timing; |
168 | uint8_t timing; |
| 119 | } output_flash_t; |
169 | } output_flash_t; |
| Line 120... | Line 170... | ||
| 120 | 170 | ||
| - | 171 | typedef struct { |
|
| - | 172 | /* Set up so that |
|
| - | 173 | * Nose-up is positive on pitch |
|
| - | 174 | * Roll-right is positive on roll |
|
| - | 175 | * Turn-ccw is positive on yaw |
|
| 121 | typedef struct { |
176 | */ |
| - | 177 | uint8_t gyroQuadrant; |
|
| - | 178 | /* |
|
| - | 179 | * Set up so that: |
|
| - | 180 | * Acc. Z is +1g in normal attitude |
|
| - | 181 | * Acc. X gets positive in a left roll |
|
| - | 182 | * Acc. Y gets positive in a nose-up attitude. |
|
| 122 | uint8_t gyroQuadrant; |
183 | */ |
| 123 | uint8_t accQuadrant; |
184 | uint8_t accQuadrant; |
| 124 | uint8_t imuReversedFlags; |
- | |
| 125 | 185 | uint8_t imuReversedFlags; |
|
| 126 | uint8_t gyroPIDFilterConstant; |
186 | uint8_t gyroPIDFilterConstant; |
| 127 | uint8_t gyroDWindowLength; |
- | |
| 128 | // uint8_t gyroDFilterConstant; |
187 | uint8_t gyroDWindowLength; |
| Line 129... | Line -... | ||
| 129 | uint8_t accFilterConstant; |
- | |
| 130 | - | ||
| 131 | uint8_t zerothOrderCorrection; |
- | |
| 132 | uint8_t rateTolerance; |
- | |
| 133 | - | ||
| 134 | uint8_t gyroActivityDamping; |
- | |
| 135 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
188 | uint8_t accFilterConstant; |
| Line 136... | Line 189... | ||
| 136 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
189 | |
| Line 137... | Line 190... | ||
| 137 | } IMUConfig_t; |
190 | } IMUConfig_t; |
| 138 | 191 | ||
| 139 | extern IMUConfig_t IMUConfig; |
192 | extern IMUConfig_t IMUConfig; |
| 140 | 193 | ||
| Line -... | Line 194... | ||
| - | 194 | // values above 250 representing poti1 to poti4 |
|
| - | 195 | typedef struct { |
|
| 141 | // values above 250 representing poti1 to poti4 |
196 | // Global bitflags |
| 142 | typedef struct { |
197 | uint8_t bitConfig; // see upper defines for bitcoding |
| 143 | // Global bitflags |
198 | |
| Line 144... | Line 199... | ||
| 144 | uint8_t bitConfig; // see upper defines for bitcoding |
199 | uint8_t flightMode; |
| Line 145... | Line 200... | ||
| 145 | 200 | ||
| - | 201 | // uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
|
| - | 202 | // uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
|
| - | 203 | // uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
|
| - | 204 | ||
| - | 205 | uint8_t levelCorrection[2]; |
|
| - | 206 | ||
| - | 207 | // Control |
|
| - | 208 | uint8_t attGyroP; // Attitude mode Proportional (attitude error to control) |
|
| - | 209 | uint8_t attGyroI; // Attitude mode Integral (attitude error integral to control. Serves to eliminate permanent attitude errors) |
|
| - | 210 | uint8_t attGyroIMax; // Attitude mode Integral max. limit |
|
| 146 | // uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
211 | uint8_t attGyroD; // Attitude mode rate |
| 147 | // uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
212 | |
| 148 | // uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
213 | uint8_t rateGyroP; // Rate mode Proportional |
| 149 | 214 | uint8_t rateGyroI; // Rate mode Integral (serves to eliminate slow rotation errors in rate mode) |
|
| - | 215 | uint8_t rateGyroIMax; // Rate mode Integral max. limit |
|
| 150 | uint8_t levelCorrection[2]; |
216 | uint8_t rateGyroD; // Rate mode Differential (GyroD) |
| - | 217 | ||
| Line 151... | Line 218... | ||
| 151 | 218 | uint8_t yawGyroP; |
|
| 152 | // Control |
219 | uint8_t yawGyroI; |
| 153 | uint8_t gyroP; |
220 | uint8_t yawGyroD; |
| 154 | uint8_t gyroI; |
221 | |
| Line -... | Line 222... | ||
| - | 222 | uint8_t externalControl; // for serial Control |
|
| 155 | uint8_t gyroD; |
223 | uint8_t attitudeControl; |
| - | 224 | uint8_t dynamicStability; |
|
| 156 | 225 | ||
| Line 157... | Line -... | ||
| 157 | uint8_t attitudeControl; |
- | |
| 158 | - | ||
| 159 | uint8_t stickP; |
- | |
| 160 | uint8_t stickD; |
- | |
| 161 | uint8_t stickYawP; |
- | |
| 162 | uint8_t stickThrottleD; |
- | |
| 163 | - | ||
| 164 | uint8_t minThrottle; |
226 | uint8_t stickP; |
| 165 | uint8_t maxThrottle; |
227 | uint8_t stickD; |
| 166 | 228 | uint8_t stickYawP; |
|
| 167 | uint8_t externalControl; // for serial Control |
229 | uint8_t stickThrottleD; |
| Line 228... | Line 290... | ||
| 228 | } ParamSet_t; |
290 | } ParamSet_t; |
| Line 229... | Line 291... | ||
| 229 | 291 | ||
| Line 230... | Line 292... | ||
| 230 | extern ParamSet_t staticParams; |
292 | extern ParamSet_t staticParams; |
| 231 | 293 | ||
| 232 | // MKFlags |
294 | // MKFlags |
| 233 | #define MKFLAG_MOTOR_RUN (1<<0) |
295 | #define MKFLAG_MOTOR_RUN (1<<0) |
| 234 | //#define MKFLAG_FLY (1<<1) |
- | |
| 235 | #define MKFLAG_CALIBRATE (1<<2) |
296 | //#define MKFLAG_FLY (1<<1) |
| 236 | #define MKFLAG_START (1<<3) |
297 | //#define MKFLAG_CALIBRATE (1<<2) |
| 237 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
298 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
| 238 | #define MKFLAG_LOWBAT (1<<5) |
299 | #define MKFLAG_LOWBAT (1<<5) |
| Line 239... | Line 300... | ||
| 239 | #define MKFLAG_RESERVE2 (1<<6) |
300 | //#define MKFLAG_RESERVE2 (1<<6) |
| 240 | #define MKFLAG_RESERVE3 (1<<7) |
301 | //#define MKFLAG_RESERVE3 (1<<7) |
| 241 | 302 | ||
| 242 | // bit mask for staticParams.bitConfig |
303 | // bit mask for staticParams.bitConfig |
| 243 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
304 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
| 244 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
305 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
| 245 | #define CFG_HEADING_HOLD (1<<2) |
306 | #define CFG_UNUSED (1<<2) |
| 246 | #define CFG_COMPASS_ENABLED (1<<3) |
307 | #define CFG_COMPASS_ENABLED (1<<3) |
| 247 | #define CFG_UNUSED (1<<4) |
308 | #define CFG_UNUSED2 (1<<4) |
| Line 248... | Line 309... | ||
| 248 | #define CFG_NAVI_ENABLED (1<<5) |
309 | #define CFG_NAVI_ENABLED (1<<5) |
| 249 | #define CFG_AXIS_COUPLING_ENABLED (1<<6) |
310 | #define CFG_UNUSED3 (1<<6) |
| 250 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
311 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
| 251 | 312 | ||
| Line 252... | Line 313... | ||
| 252 | #define IMU_REVERSE_GYRO_PR (1<<0) |
313 | #define IMU_REVERSE_GYRO_XY (1<<0) |
| 253 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
314 | #define IMU_REVERSE_GYRO_Z (1<<1) |
| 254 | #define IMU_REVERSE_ACC_XY (1<<2) |
- | |
| Line 255... | Line 315... | ||
| 255 | #define IMU_REVERSE_ACC_Z (1<<3) |
315 | #define IMU_REVERSE_ACCEL_XY (1<<2) |
| 256 | 316 | #define IMU_REVERSE_ACCEL_Z (1<<3) |
|
| 257 | #define ATMEGA644 0 |
317 | |
| 258 | #define ATMEGA644P 1 |
318 | #define ATMEGA644 0 |
| 259 | #define SYSCLK F_CPU |
319 | #define ATMEGA644P 1 |
| 260 | 320 | ||
| 261 | // Not really a part of configuration, but LEDs and HW s test are the same. |
321 | // Not really a part of configuration, but LEDs and HW s test are the same. |
| Line 262... | Line 322... | ||
| 262 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
322 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
| 263 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
- | |
| 264 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
- | |
| 265 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
- | |
| 266 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
- | |
| 267 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
- | |
| Line 268... | Line 323... | ||
| 268 | 323 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
|
| Line 269... | Line 324... | ||
| 269 | // Mixer table |
324 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
| 270 | #define MIX_PITCH 0 |
- | |
| 271 | #define MIX_ROLL 1 |
325 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
| 272 | #define MIX_THROTTLE 2 |
326 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
| 273 | #define MIX_YAW 3 |
327 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
| Line 274... | Line 328... | ||
| 274 | #define MIX_OPPOSITE_MOTOR 4 |
328 | |
| 275 | 329 | // Mixer table |
|
| Line 276... | Line 330... | ||
| 276 | #define VARIABLE_COUNT 8 |
330 | |
| 277 | 331 | #define VARIABLE_COUNT 8 |
|
| 278 | extern volatile uint8_t MKFlags; |
332 | |
| 279 | extern uint8_t requiredMotors; |
333 | extern volatile uint8_t MKFlags; |
| Line 280... | Line 334... | ||
| 280 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
334 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
| 281 | extern uint8_t boardRelease; |
335 | extern uint8_t boardRelease; |
| 282 | extern uint8_t CPUType; |
336 | extern uint8_t CPUType; |
| Line 283... | Line 337... | ||
| 283 | 337 | ||
| 284 | extern volatile uint8_t MKFlags; |
338 | extern volatile uint8_t MKFlags; |