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Rev | Author | Line No. | Line |
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2108 | - | 1 | #ifndef _CONFIGURATION_H |
2 | #define _CONFIGURATION_H |
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3 | |||
4 | #include <inttypes.h> |
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5 | #include <avr/io.h> |
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6 | |||
2132 | - | 7 | #define MAX_CHANNELS 8 |
2108 | - | 8 | |
9 | // bitmask for VersionInfo_t.HardwareError[0] |
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10 | #define FC_ERROR0_GYRO_PITCH 0x01 |
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11 | #define FC_ERROR0_GYRO_ROLL 0x02 |
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12 | #define FC_ERROR0_GYRO_YAW 0x04 |
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13 | #define FC_ERROR0_ACC_X 0x08 |
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14 | #define FC_ERROR0_ACC_Y 0x10 |
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15 | #define FC_ERROR0_ACC_Z 0x20 |
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16 | #define FC_ERROR0_PRESSURE 0x40 |
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17 | #define FC_ERROR1_RES0 0x80 |
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18 | // bitmask for VersionInfo_t.HardwareError[1] |
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19 | #define FC_ERROR1_I2C 0x01 |
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20 | #define FC_ERROR1_BL_MISSING 0x02 |
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21 | #define FC_ERROR1_SPI_RX 0x04 |
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22 | #define FC_ERROR1_PPM 0x08 |
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23 | #define FC_ERROR1_MIXER 0x10 |
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24 | #define FC_ERROR1_RES1 0x20 |
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25 | #define FC_ERROR1_RES2 0x40 |
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26 | #define FC_ERROR1_RES3 0x80 |
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27 | |||
28 | typedef struct { |
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29 | uint8_t gyroQuadrant; |
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30 | uint8_t accQuadrant; |
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31 | uint8_t imuReversedFlags; |
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32 | |||
33 | uint8_t gyroPIDFilterConstant; |
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34 | uint8_t gyroDWindowLength; |
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35 | uint8_t gyroDFilterConstant; |
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36 | uint8_t accFilterConstant; |
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37 | |||
38 | uint8_t zerothOrderCorrection; |
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39 | uint8_t rateTolerance; |
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40 | |||
41 | uint8_t gyroActivityDamping; |
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42 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
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43 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
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2129 | - | 44 | int8_t gyroCalibrationTweak[3]; |
2108 | - | 45 | } IMUConfig_t; |
46 | |||
47 | extern IMUConfig_t IMUConfig; |
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48 | |||
49 | typedef struct { |
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50 | uint8_t P; |
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51 | uint8_t I; |
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52 | uint8_t D; |
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53 | } PID_t; |
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54 | |||
55 | typedef struct { |
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56 | uint8_t P; |
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57 | uint8_t I; |
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58 | uint8_t D; |
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59 | uint8_t iMax; |
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60 | } PIDIM_t; |
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61 | |||
62 | typedef enum { |
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63 | FLIGHT_MODE_NONE, |
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64 | FLIGHT_MODE_MANUAL, |
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65 | FLIGHT_MODE_RATE, |
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66 | FLIGHT_MODE_ANGLES |
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67 | } FlightMode_t; |
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68 | |||
69 | typedef struct { |
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70 | uint8_t SWMajor; |
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71 | uint8_t SWMinor; |
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72 | uint8_t protoMajor; |
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73 | uint8_t protoMinor; |
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74 | uint8_t SWPatch; |
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75 | uint8_t hardwareErrors[5]; |
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76 | }__attribute__((packed)) VersionInfo_t; |
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77 | |||
78 | extern VersionInfo_t versionInfo; |
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79 | |||
80 | typedef struct { |
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81 | // IMU stuff: |
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82 | PID_t gyroPID[3]; |
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83 | |||
84 | // Control |
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85 | /* P */uint8_t externalControl; |
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86 | |||
87 | // Output and servo |
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88 | /*PMM*/uint8_t output0Timing; |
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89 | /*PMM*/uint8_t output1Timing; |
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90 | |||
91 | /* P */uint8_t userParams[8]; |
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92 | } DynamicParams_t; |
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93 | |||
94 | extern volatile DynamicParams_t dynamicParams; |
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95 | |||
96 | typedef struct { |
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97 | uint8_t sourceIdx, targetIdx; |
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98 | uint8_t min, max; |
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99 | } MMXLATION; |
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100 | |||
101 | typedef struct { |
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2129 | - | 102 | uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky. |
103 | uint8_t HWTrim; |
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104 | uint8_t variableOffset; |
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2108 | - | 105 | uint8_t channels[MAX_CHANNELS]; |
2116 | - | 106 | } ChannelMap_t; |
107 | extern ChannelMap_t channelMap; |
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2108 | - | 108 | |
2129 | - | 109 | // With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated, |
110 | // and then save in a succeeding gyro calibration command. |
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2108 | - | 111 | typedef struct { |
2129 | - | 112 | int16_t trim[MAX_CHANNELS]; |
113 | } RCTrim_t; |
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114 | extern RCTrim_t rcTrim; |
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115 | |||
116 | typedef struct { |
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2108 | - | 117 | int16_t offsets[3]; |
118 | } sensorOffset_t; |
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119 | |||
120 | typedef struct { |
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2139 | - | 121 | uint8_t reverse; |
122 | int8_t minValue; |
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123 | int8_t maxValue; |
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2116 | - | 124 | } Servo_t; |
2108 | - | 125 | |
126 | #define SERVO_STABILIZATION_REVERSE 1 |
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127 | |||
128 | typedef struct { |
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129 | uint8_t bitmask; |
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130 | uint8_t timing; |
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131 | } output_flash_t; |
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132 | |||
133 | // values above 250 representing poti1 to poti4 |
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134 | typedef struct { |
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135 | // Global bitflags |
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136 | uint8_t bitConfig; // see upper defines for bitcoding |
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137 | |||
138 | // Control |
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139 | PIDIM_t gyroPID[3]; |
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140 | |||
141 | uint8_t stickIElevator; |
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142 | uint8_t stickIAilerons; |
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143 | uint8_t stickIRudder; |
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144 | |||
145 | uint8_t externalControl; // for serial Control |
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146 | |||
147 | uint8_t IFactor; |
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148 | |||
2119 | - | 149 | uint8_t batteryWarningVoltage; |
2108 | - | 150 | |
151 | // Airspeed |
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152 | uint8_t airspeedCorrection; |
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153 | uint8_t isFlyingThreshold; |
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154 | |||
155 | // Servos |
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2132 | - | 156 | uint8_t servoCount; |
2139 | - | 157 | Servo_t servos[3]; |
2108 | - | 158 | |
159 | // Outputs |
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160 | output_flash_t outputFlash[2]; |
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161 | uint8_t outputDebugMask; |
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162 | uint8_t outputFlags; |
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163 | |||
164 | // User params |
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165 | uint8_t userParams[8]; |
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166 | |||
167 | // Name |
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168 | char name[12]; |
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169 | } ParamSet_t; |
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170 | |||
171 | extern ParamSet_t staticParams; |
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172 | |||
173 | // bit mask for staticParams.bitConfig |
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174 | #define CFG_GYRO_SATURATION_PREVENTION (1<<0) |
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175 | #define CFG_USE_AIRSPEED_PID (1<<1) |
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176 | |||
177 | #define IMU_REVERSE_GYRO_PR (1<<0) |
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178 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
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179 | #define IMU_REVERSE_ACC_XY (1<<2) |
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180 | #define IMU_REVERSE_ACC_Z (1<<3) |
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181 | |||
182 | #define ATMEGA644 0 |
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183 | #define ATMEGA644P 1 |
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184 | #define SYSCLK F_CPU |
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185 | |||
186 | // Not really a part of configuration, but LEDs and HW s test are the same. |
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2135 | - | 187 | #define RED_OFF {PORTB &=~(1<<PORTB4);} |
188 | #define RED_ON {PORTB |= (1<<PORTB4);} |
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189 | #define RED_FLASH PORTB ^= (1<<PORTB4) |
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190 | #define GRN_OFF {PORTB &=~(1<<PORTB5);} |
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191 | #define GRN_ON {PORTB |= (1<<PORTB5);} |
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192 | #define GRN_FLASH PORTB ^= (1<<PORTB5) |
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2108 | - | 193 | |
194 | // Mixer table |
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195 | #define MIX_THROTTLE 0 |
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196 | #define MIX_PITCH 1 |
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197 | #define MIX_ROLL 2 |
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198 | #define MIX_YAW 3 |
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199 | |||
200 | #define VARIABLE_COUNT 8 |
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201 | |||
202 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
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203 | extern uint8_t CPUType; |
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204 | |||
205 | extern volatile uint16_t isFlying; |
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206 | extern FlightMode_t currentFlightMode; |
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207 | |||
208 | void IMUConfig_default(void); |
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209 | void channelMap_default(void); |
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2132 | - | 210 | void rcTrim_setZero(void); |
2108 | - | 211 | void paramSet_default(uint8_t setnumber); |
212 | |||
213 | void configuration_setFlightParameters(uint8_t newFlightMode); |
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214 | void configuration_applyVariablesToParams(void); |
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215 | |||
216 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
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217 | void configuration_paramSetDidChange(void); |
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218 | #endif // _CONFIGURATION_H |