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| Rev | Author | Line No. | Line |
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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 IFactor; |
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| 20 | /* P */uint8_t UserParams[8]; |
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| 21 | /* P */uint8_t ServoPitchControl; |
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| 22 | |||
| 23 | /* P */uint8_t GyroPitchD; // LoopGasLimit in tool |
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| 24 | /* P */uint8_t GyroRollD; // AxisCoupling1 in tool |
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| 25 | /* P */uint8_t GyroYawD; // AxisCoupling2 in tool |
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| 26 | |||
| 27 | /* P */uint8_t AxisCouplingYawCorrection; |
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| 28 | /* P */uint8_t DynamicStability; |
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| 29 | /* P */uint8_t ExternalControl; |
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| 30 | /*PMM*/uint8_t J16Timing; |
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| 31 | /*PMM*/uint8_t J17Timing; |
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| 32 | /* P */uint8_t NaviGpsModeControl; |
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| 33 | /* P */uint8_t NaviGpsGain; |
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| 34 | /* P */uint8_t NaviGpsP; |
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| 35 | /* P */uint8_t NaviGpsI; |
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| 36 | /* P */uint8_t NaviGpsD; |
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| 37 | /* P */uint8_t NaviGpsACC; |
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| 38 | /*PMM*/uint8_t NaviOperatingRadius; |
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| 39 | /* P */uint8_t NaviWindCorrection; |
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| 40 | /* P */uint8_t NaviSpeedCompensation; |
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| 41 | int8_t KalmanK; |
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| 42 | int8_t KalmanMaxDrift; |
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| 43 | int8_t KalmanMaxFusion; |
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| 44 | } dynamicParam_t; |
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| 45 | extern dynamicParam_t dynamicParams; |
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| 46 | |||
| 47 | typedef struct { |
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| 48 | uint8_t sourceIdx, targetIdx; |
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| 49 | uint8_t min, max; |
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| 50 | } MMXLATION; |
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| 51 | |||
| 52 | typedef struct { |
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| 53 | uint8_t sourceIdx, targetIdx; |
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| 54 | } XLATION; |
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| 55 | |||
| 56 | // values above 250 representing poti1 to poti4 |
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| 57 | typedef struct { |
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| 58 | uint8_t ChannelAssignment[8]; // see upper defines for details |
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| 59 | uint8_t GlobalConfig; // see upper defines for bitcoding |
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| 60 | uint8_t HeightMinGas; // Value : 0-100 |
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| 61 | uint8_t HeightD; // Value : 0-250 |
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| 62 | uint8_t MaxHeight; // Value : 0-32 |
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| 63 | uint8_t HeightP; // Value : 0-32 |
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| 64 | uint8_t Height_Gain; // Value : 0-50 |
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| 65 | uint8_t Height_ACC_Effect; // Value : 0-250 |
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| 66 | |||
| 67 | uint8_t StickElevatorP; // StickP in tool. |
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| 68 | uint8_t StickAileronsP; // StickD in tool. |
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| 69 | uint8_t StickRudderP; // StickYawP in tool. |
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| 70 | |||
| 71 | uint8_t Unused3; |
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| 72 | uint8_t Unused4; |
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| 73 | uint8_t GyroAccFactor; // Value : 1-64 |
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| 74 | uint8_t CompassYawEffect; // Value : 0-32 |
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| 75 | |||
| 76 | uint8_t GyroPitchP; // GyroP in tool |
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| 77 | uint8_t GyroRollP; // GyroI in tool |
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| 78 | uint8_t GyroYawP; // GyroD in tool |
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| 79 | |||
| 80 | uint8_t LowVoltageWarning; // Value : 0-250 |
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| 81 | uint8_t Unused5; // Value : 0-250 //Gaswert bei Empüngsverlust |
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| 82 | uint8_t Unused6; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
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| 83 | uint8_t Unused7; // |
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| 84 | uint8_t IFactor; // Value : 0-250 |
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| 85 | uint8_t UserParams1[4]; // Value : 0-250 |
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| 86 | |||
| 87 | uint8_t ControlSigns; |
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| 88 | uint8_t Unused9; |
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| 89 | uint8_t Unused10; |
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| 90 | |||
| 91 | uint8_t Unused11; // Value : 0-250 // Anschlag |
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| 92 | uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
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| 93 | |||
| 94 | uint8_t Unused16; |
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| 95 | uint8_t Unused17; |
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| 96 | uint8_t Unused18; |
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| 97 | |||
| 98 | uint8_t GyroPitchD; // LoopGasLimit in tool |
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| 99 | uint8_t GyroRollD; // loopThreshold in tool |
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| 100 | uint8_t GyroYawD; // loopHysteresis in tool |
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| 101 | |||
| 102 | uint8_t Unused19; |
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| 103 | uint8_t Unused20; |
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| 104 | uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
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| 105 | uint8_t DriftComp; // limit for gyrodrift compensation |
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| 106 | uint8_t Unused21; // PID limit for Attitude controller |
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| 107 | uint8_t UserParams2[4]; // Value : 0-250 |
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| 108 | |||
| 109 | uint8_t J16Bitmask; // for the J16 Output |
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| 110 | uint8_t J16Timing; // for the J16 Output |
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| 111 | uint8_t J17Bitmask; // for the J17 Output |
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| 112 | uint8_t J17Timing; // for the J17 Output |
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| 113 | uint8_t ExternalControl; // for serial Control |
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| 114 | uint8_t BitConfig; // see upper defines for bitcoding |
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| 115 | uint8_t ServoPitchCompInvert; // Value : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
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| 116 | uint8_t Reserved[4]; |
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| 117 | int8_t Name[12]; |
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| 118 | } paramset_t; |
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| 119 | |||
| 120 | #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
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| 121 | |||
| 122 | extern paramset_t staticParams; |
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| 123 | |||
| 124 | typedef struct { |
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| 125 | uint8_t Revision; |
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| 126 | int8_t Name[12]; |
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| 127 | int8_t Motor[16][4]; |
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| 128 | }__attribute__((packed)) MixerTable_t; |
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| 129 | |||
| 130 | extern MixerTable_t Mixer; |
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| 131 | |||
| 132 | // MKFlags |
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| 133 | #define MKFLAG_MOTOR_RUN (1<<0) |
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| 134 | #define MKFLAG_FLY (1<<1) |
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| 135 | #define MKFLAG_CALIBRATE (1<<2) |
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| 136 | #define MKFLAG_START (1<<3) |
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| 137 | #define MKFLAG_EMERGENCY_LANDING (1<<4) |
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| 138 | #define MKFLAG_RESERVE1 (1<<5) |
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| 139 | #define MKFLAG_RESERVE2 (1<<6) |
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| 140 | #define MKFLAG_RESERVE3 (1<<7) |
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| 141 | |||
| 142 | // bit mask for staticParams.GlobalConfig |
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| 143 | #define CFG_HEIGHT_CONTROL (1<<0) |
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| 144 | #define CFG_HEIGHT_SWITCH (1<<1) |
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| 145 | #define CFG_HEADING_HOLD (1<<2) |
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| 146 | #define CFG_COMPASS_ACTIVE (1<<3) |
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| 147 | #define CFG_COMPASS_FIX (1<<4) |
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| 148 | #define CFG_GPS_ACTIVE (1<<5) |
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| 149 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
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| 150 | #define CFG_ROTARY_RATE_LIMITER (1<<7) |
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| 151 | |||
| 152 | // bit mask for staticParams.BitConfig |
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| 153 | #define CFG_LOOP_UP (1<<0) |
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| 154 | #define CFG_LOOP_DOWN (1<<1) |
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| 155 | #define CFG_LOOP_LEFT (1<<2) |
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| 156 | #define CFG_LOOP_RIGHT (1<<3) |
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| 157 | #define CFG_HEIGHT_3SWITCH (1<<4) |
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| 158 | |||
| 159 | #define ATMEGA644 0 |
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| 160 | #define ATMEGA644P 1 |
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| 161 | #define SYSCLK F_CPU |
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| 162 | |||
| 163 | // Not really a part of configuration, but LEDs and HW version test are the same. |
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| 164 | #define RED_OFF {if((BoardRelease == 10) || (BoardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
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| 165 | #define RED_ON {if((BoardRelease == 10) || (BoardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
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| 166 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
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| 167 | #define GRN_OFF {if(BoardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
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| 168 | #define GRN_ON {if(BoardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
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| 169 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
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| 170 | |||
| 171 | // Mixer table |
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| 172 | #define MIX_THROTTLE 0 |
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| 173 | #define MIX_PITCH 1 |
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| 174 | #define MIX_ROLL 2 |
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| 175 | #define MIX_YAW 3 |
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| 176 | |||
| 177 | extern volatile uint8_t MKFlags; |
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| 178 | extern int16_t variables[8]; // The "Poti"s. |
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| 179 | extern uint8_t BoardRelease; |
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| 180 | extern uint8_t CPUType; |
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| 181 | |||
| 182 | void configuration_staticToDynamic(void); |
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| 183 | uint8_t getCPUType(void); |
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| 184 | uint8_t getBoardRelease(void); |
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| 185 | |||
| 186 | #endif // _CONFIGURATION_H |