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2108 - 1
#ifndef _CONFIGURATION_H
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#define _CONFIGURATION_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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// bitmask for VersionInfo_t.HardwareError[0]
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#define FC_ERROR0_GYRO_PITCH    0x01
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#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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typedef struct {
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  uint8_t gyroQuadrant;
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  uint8_t accQuadrant;
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  uint8_t imuReversedFlags;
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  uint8_t gyroPIDFilterConstant;
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  uint8_t gyroDWindowLength;
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  uint8_t gyroDFilterConstant;
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  uint8_t accFilterConstant;
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  uint8_t zerothOrderCorrection;
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  uint8_t rateTolerance;
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  uint8_t gyroActivityDamping;
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  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
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  uint8_t driftCompLimit;   // limit for gyrodrift compensation
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} IMUConfig_t;
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extern IMUConfig_t IMUConfig;
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typedef struct {
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        uint8_t P;
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        uint8_t I;
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        uint8_t D;
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} PID_t;
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typedef struct {
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        uint8_t P;
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        uint8_t I;
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        uint8_t D;
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        uint8_t iMax;
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} PIDIM_t;
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typedef enum {
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  FLIGHT_MODE_NONE,
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  FLIGHT_MODE_MANUAL,
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  FLIGHT_MODE_RATE,
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  FLIGHT_MODE_ANGLES
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} FlightMode_t;
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#define CONTROL_SERVO_REVERSE_ELEVATOR 1
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#define CONTROL_SERVO_REVERSE_AILERONS 2
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#define CONTROL_SERVO_REVERSE_RUDDER 4
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typedef struct {
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    uint8_t SWMajor;
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    uint8_t SWMinor;
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    uint8_t protoMajor;
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    uint8_t protoMinor;
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    uint8_t SWPatch;
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    uint8_t hardwareErrors[5];
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}__attribute__((packed)) VersionInfo_t;
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extern VersionInfo_t versionInfo;
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typedef struct {
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  // IMU stuff:
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  PID_t gyroPID[3];
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  // Control
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  /* P */uint8_t externalControl;
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  // Output and servo
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  /*PMM*/uint8_t output0Timing;
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  /*PMM*/uint8_t output1Timing;
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  uint8_t servoManualControl[2];
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  /* P */uint8_t userParams[8];
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} DynamicParams_t;
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extern volatile DynamicParams_t dynamicParams;
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typedef struct {
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  uint8_t sourceIdx, targetIdx;
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  uint8_t min, max;
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} MMXLATION;
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/*
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typedef struct {
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  uint8_t sourceIdx, targetIdx;
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} XLATION;
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*/
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typedef struct {
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        uint8_t trim;
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        uint8_t variableOffset;
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  uint8_t channels[MAX_CHANNELS];
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} ChannelMap_t;
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extern ChannelMap_t channelMap;
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typedef struct {
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  int16_t offsets[3];
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} sensorOffset_t;
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typedef struct {
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  uint8_t manualControl;
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  uint8_t stabilizationFactor;
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  uint8_t minValue;
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  uint8_t maxValue;
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  uint8_t flags;
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} Servo_t;
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#define SERVO_STABILIZATION_REVERSE 1
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typedef struct {
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  uint8_t bitmask;
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  uint8_t timing;
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} output_flash_t;
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// values above 250 representing poti1 to poti4
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typedef struct {
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  // Global bitflags
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  uint8_t bitConfig;  // see upper defines for bitcoding
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  // Control
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  PIDIM_t gyroPID[3];
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  uint8_t stickIElevator;
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  uint8_t stickIAilerons;
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  uint8_t stickIRudder;
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  uint8_t externalControl; // for serial Control
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  uint8_t IFactor;
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  uint8_t batteryVoltageWarning;
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  uint8_t emergencyThrottle;
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  uint8_t emergencyFlightDuration;
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  // Airspeed
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  uint8_t airspeedCorrection;
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  uint8_t isFlyingThreshold;
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  // Servos
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  uint8_t controlServosReverse;
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  uint8_t servoCount;
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  uint8_t controlServoMinValue;
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  uint8_t controlServoMaxValue;
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  uint8_t servoManualMaxSpeed;
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  Servo_t servoConfigurations[2]; // [PITCH, ROLL]
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  // Outputs
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  output_flash_t outputFlash[2];
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  uint8_t outputDebugMask;
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  uint8_t outputFlags;
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  // User params
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  uint8_t userParams[8];
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  // Name
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  char name[12];
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} ParamSet_t;
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extern ParamSet_t staticParams;
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// bit mask for staticParams.bitConfig
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#define CFG_GYRO_SATURATION_PREVENTION  (1<<0)
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#define CFG_USE_AIRSPEED_PID            (1<<1)
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#define IMU_REVERSE_GYRO_PR             (1<<0)
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#define IMU_REVERSE_GYRO_YAW            (1<<1)
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#define IMU_REVERSE_ACC_XY              (1<<2)
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#define IMU_REVERSE_ACC_Z               (1<<3)
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#define ATMEGA644   0
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#define ATMEGA644P  1
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#define SYSCLK F_CPU
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// Not really a part of configuration, but LEDs and HW s test are the same.
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#define RED_OFF   {PORTD &=~(1<<PORTD6);}
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#define RED_ON    {PORTD |= (1<<PORTD6);}
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#define RED_FLASH PORTD ^= (1<<PORTD6)
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#define GRN_OFF   {PORTD &=~(1<<PORTD7);}
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#define GRN_ON    {PORTD |= (1<<PORTD7);}
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#define GRN_FLASH PORTD ^= (1<<PORTD7)
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// Mixer table
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#define MIX_THROTTLE    0
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#define MIX_PITCH   1
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#define MIX_ROLL    2
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#define MIX_YAW     3
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#define VARIABLE_COUNT 8
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extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
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extern uint8_t CPUType;
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extern volatile uint16_t isFlying;
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extern FlightMode_t currentFlightMode;
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void IMUConfig_default(void);
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void channelMap_default(void);
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void paramSet_default(uint8_t setnumber);
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void configuration_setFlightParameters(uint8_t newFlightMode);
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void configuration_applyVariablesToParams(void);
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void setCPUType(void);
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// Called after a change in configuration parameters, as a hook for modules to take over changes.
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void configuration_paramSetDidChange(void);
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#endif // _CONFIGURATION_H