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1910 | - | 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 | |||
7 | typedef struct { |
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8 | /*PMM*/uint8_t HeightD; |
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9 | /* P */uint8_t MaxHeight; |
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10 | /*PMM*/uint8_t HeightP; |
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11 | /* P */uint8_t Height_ACC_Effect; |
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12 | /* P */uint8_t CompassYawEffect; |
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13 | /* P */uint8_t unnused; |
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14 | |||
15 | /* P */uint8_t GyroPitchP; |
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16 | /* P */uint8_t GyroRollP; |
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17 | /* P */uint8_t GyroYawP; |
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18 | |||
19 | /* P */uint8_t UserParams[8]; |
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20 | /* P */uint8_t ServoPitchControl; |
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21 | |||
22 | /* P */uint8_t GyroPitchD; // LoopGasLimit in tool |
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23 | /* P */uint8_t GyroRollD; // AxisCoupling1 in tool |
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24 | /* P */uint8_t GyroYawD; // AxisCoupling2 in tool |
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25 | |||
26 | /* P */uint8_t AxisCouplingYawCorrection; |
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27 | /* P */uint8_t DynamicStability; |
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28 | /* P */uint8_t ExternalControl; |
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29 | /*PMM*/uint8_t J16Timing; |
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30 | /*PMM*/uint8_t J17Timing; |
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31 | /* P */uint8_t NaviGpsModeControl; |
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32 | /* P */uint8_t NaviGpsGain; |
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33 | /* P */uint8_t NaviGpsP; |
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34 | /* P */uint8_t NaviGpsI; |
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35 | /* P */uint8_t NaviGpsD; |
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36 | /* P */uint8_t NaviGpsACC; |
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37 | /*PMM*/uint8_t NaviOperatingRadius; |
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38 | /* P */uint8_t NaviWindCorrection; |
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39 | /* P */uint8_t NaviSpeedCompensation; |
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40 | int8_t KalmanK; |
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41 | int8_t KalmanMaxDrift; |
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42 | int8_t KalmanMaxFusion; |
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43 | } dynamicParam_t; |
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44 | extern dynamicParam_t dynamicParams; |
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45 | |||
46 | typedef struct { |
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47 | uint8_t sourceIdx, targetIdx; |
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48 | uint8_t min, max; |
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49 | } MMXLATION; |
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50 | |||
51 | typedef struct { |
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52 | uint8_t sourceIdx, targetIdx; |
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53 | } XLATION; |
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54 | |||
55 | // values above 250 representing poti1 to poti4 |
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56 | typedef struct { |
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57 | uint8_t ChannelAssignment[8]; // see upper defines for details |
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58 | uint8_t GlobalConfig; // see upper defines for bitcoding |
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59 | uint8_t HeightMinGas; // Value : 0-100 |
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60 | uint8_t HeightD; // Value : 0-250 |
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61 | uint8_t MaxHeight; // Value : 0-32 |
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62 | uint8_t HeightP; // Value : 0-32 |
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63 | uint8_t Height_Gain; // Value : 0-50 |
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64 | uint8_t Height_ACC_Effect; // Value : 0-250 |
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65 | |||
66 | uint8_t StickElevatorP; // StickP in tool. |
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67 | uint8_t StickAileronsP; // StickD in tool. |
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68 | uint8_t StickRudderP; // StickYawP in tool. |
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69 | |||
70 | uint8_t GyroAccFactor; // Value : 1-64 |
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71 | uint8_t CompassYawEffect; // Value : 0-32 |
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72 | |||
73 | uint8_t GyroPitchP; // GyroP in tool |
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74 | uint8_t GyroRollP; // GyroI in tool |
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75 | uint8_t GyroYawP; // GyroD in tool |
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76 | |||
1926 | - | 77 | uint8_t UserParams[8]; // Value : 0-250 |
78 | |||
1910 | - | 79 | uint8_t LowVoltageWarning; // Value : 0-250 |
80 | |||
81 | uint8_t ControlSigns; |
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82 | uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
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83 | |||
84 | uint8_t GyroPitchD; // LoopGasLimit in tool |
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85 | uint8_t GyroRollD; // loopThreshold in tool |
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86 | uint8_t GyroYawD; // loopHysteresis in tool |
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87 | |||
88 | uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
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89 | uint8_t DriftComp; // limit for gyrodrift compensation |
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90 | |||
91 | uint8_t J16Bitmask; // for the J16 Output |
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92 | uint8_t J16Timing; // for the J16 Output |
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93 | uint8_t J17Bitmask; // for the J17 Output |
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94 | uint8_t J17Timing; // for the J17 Output |
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1926 | - | 95 | |
1910 | - | 96 | uint8_t ExternalControl; // for serial Control |
97 | uint8_t BitConfig; // see upper defines for bitcoding |
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1926 | - | 98 | |
1910 | - | 99 | uint8_t Reserved[4]; |
100 | } paramset_t; |
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101 | |||
102 | #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
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103 | |||
104 | extern paramset_t staticParams; |
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105 | |||
106 | typedef struct { |
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107 | uint8_t Revision; |
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108 | int8_t Name[12]; |
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109 | int8_t Motor[16][4]; |
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110 | }__attribute__((packed)) MixerTable_t; |
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111 | |||
112 | extern MixerTable_t Mixer; |
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113 | |||
114 | // MKFlags |
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115 | #define MKFLAG_MOTOR_RUN (1<<0) |
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116 | #define MKFLAG_FLY (1<<1) |
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117 | #define MKFLAG_CALIBRATE (1<<2) |
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118 | #define MKFLAG_START (1<<3) |
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119 | #define MKFLAG_EMERGENCY_LANDING (1<<4) |
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120 | #define MKFLAG_RESERVE1 (1<<5) |
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121 | #define MKFLAG_RESERVE2 (1<<6) |
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122 | #define MKFLAG_RESERVE3 (1<<7) |
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123 | |||
124 | // bit mask for staticParams.GlobalConfig |
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125 | #define CFG_HEIGHT_CONTROL (1<<0) |
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126 | #define CFG_HEIGHT_SWITCH (1<<1) |
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127 | #define CFG_HEADING_HOLD (1<<2) |
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128 | #define CFG_COMPASS_ACTIVE (1<<3) |
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129 | #define CFG_COMPASS_FIX (1<<4) |
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130 | #define CFG_GPS_ACTIVE (1<<5) |
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131 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
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132 | #define CFG_ROTARY_RATE_LIMITER (1<<7) |
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133 | |||
134 | // bit mask for staticParams.BitConfig |
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135 | #define CFG_LOOP_UP (1<<0) |
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136 | #define CFG_LOOP_DOWN (1<<1) |
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137 | #define CFG_LOOP_LEFT (1<<2) |
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138 | #define CFG_LOOP_RIGHT (1<<3) |
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139 | #define CFG_HEIGHT_3SWITCH (1<<4) |
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140 | |||
141 | #define ATMEGA644 0 |
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142 | #define ATMEGA644P 1 |
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143 | #define SYSCLK F_CPU |
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144 | |||
145 | // Not really a part of configuration, but LEDs and HW version test are the same. |
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146 | #define RED_OFF {if((BoardRelease == 10) || (BoardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
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147 | #define RED_ON {if((BoardRelease == 10) || (BoardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
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148 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
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149 | #define GRN_OFF {if(BoardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
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150 | #define GRN_ON {if(BoardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
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151 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
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152 | |||
153 | // Mixer table |
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154 | #define MIX_THROTTLE 0 |
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155 | #define MIX_PITCH 1 |
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156 | #define MIX_ROLL 2 |
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157 | #define MIX_YAW 3 |
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158 | |||
159 | extern volatile uint8_t MKFlags; |
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160 | extern int16_t variables[8]; // The "Poti"s. |
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161 | extern uint8_t BoardRelease; |
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162 | extern uint8_t CPUType; |
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163 | |||
164 | void configuration_staticToDynamic(void); |
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165 | uint8_t getCPUType(void); |
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166 | uint8_t getBoardRelease(void); |
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167 | |||
168 | #endif // _CONFIGURATION_H |