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#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 Emp�ngsverlust
        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 w�hrend Looping
        uint8_t LoopThreshold;          // Value: 0-250  Schwelle f�r Stickausschlag
        uint8_t LoopHysteresis;         // Value: 0-250  Hysterese f�r 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 AngleTurnOverPitch;     // Value: 0-250  180�-Punkt
        uint8_t AngleTurnOverRoll;      // Value: 0-250  180�-Punkt
        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];
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