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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 | |||
2099 | - | 7 | #define MAX_CHANNELS 10 |
8 | #define MAX_MOTORS 12 |
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9 | |||
10 | // bitmask for VersionInfo_t.HardwareError[0] |
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11 | #define FC_ERROR0_GYRO_PITCH 0x01 |
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12 | #define FC_ERROR0_GYRO_ROLL 0x02 |
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13 | #define FC_ERROR0_GYRO_YAW 0x04 |
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14 | #define FC_ERROR0_ACC_X 0x08 |
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15 | #define FC_ERROR0_ACC_Y 0x10 |
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16 | #define FC_ERROR0_ACC_Z 0x20 |
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17 | #define FC_ERROR0_PRESSURE 0x40 |
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18 | #define FC_ERROR1_RES0 0x80 |
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19 | // bitmask for VersionInfo_t.HardwareError[1] |
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20 | #define FC_ERROR1_I2C 0x01 |
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21 | #define FC_ERROR1_BL_MISSING 0x02 |
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22 | #define FC_ERROR1_SPI_RX 0x04 |
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23 | #define FC_ERROR1_PPM 0x08 |
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24 | #define FC_ERROR1_MIXER 0x10 |
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25 | #define FC_ERROR1_RES1 0x20 |
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26 | #define FC_ERROR1_RES2 0x40 |
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27 | #define FC_ERROR1_RES3 0x80 |
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28 | |||
1910 | - | 29 | typedef struct { |
2099 | - | 30 | uint8_t SWMajor; |
31 | uint8_t SWMinor; |
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32 | uint8_t protoMajor; |
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33 | uint8_t protoMinor; |
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34 | uint8_t SWPatch; |
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35 | uint8_t hardwareErrors[5]; |
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36 | }__attribute__((packed)) VersionInfo_t; |
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1910 | - | 37 | |
2099 | - | 38 | extern VersionInfo_t versionInfo; |
1910 | - | 39 | |
2099 | - | 40 | typedef struct { |
41 | /*PMM*/uint8_t gyroPitchD; |
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42 | /* P */uint8_t gyroRollD; |
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43 | /* P */uint8_t gyroYawD; |
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1910 | - | 44 | |
2099 | - | 45 | // Control |
46 | /* P */uint8_t externalControl; |
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1910 | - | 47 | |
2099 | - | 48 | // Height control |
49 | /*PMM*/uint8_t heightP; |
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50 | /* P */uint8_t heightI; |
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51 | /*PMM*/uint8_t heightD; |
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52 | /* P */uint8_t heightSetting; |
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1910 | - | 53 | |
2099 | - | 54 | // Output and servo |
55 | /*PMM*/uint8_t output0Timing; |
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56 | /*PMM*/uint8_t output1Timing; |
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57 | |||
58 | uint8_t servoManualControl[2]; |
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59 | |||
60 | /* P */uint8_t userParams[8]; |
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61 | } DynamicParams_t; |
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62 | |||
63 | extern volatile DynamicParams_t dynamicParams; |
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64 | |||
1910 | - | 65 | typedef struct { |
66 | uint8_t sourceIdx, targetIdx; |
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67 | uint8_t min, max; |
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68 | } MMXLATION; |
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69 | |||
2099 | - | 70 | /* |
1910 | - | 71 | typedef struct { |
72 | uint8_t sourceIdx, targetIdx; |
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73 | } XLATION; |
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2099 | - | 74 | */ |
1910 | - | 75 | |
76 | typedef struct { |
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2099 | - | 77 | uint8_t channels[MAX_CHANNELS]; |
78 | } channelMap_t; |
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79 | extern channelMap_t channelMap; |
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1910 | - | 80 | |
2099 | - | 81 | typedef struct { |
82 | char name[12]; |
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83 | int8_t motor[MAX_MOTORS][4]; |
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84 | }__attribute__((packed)) mixerMatrix_t; |
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85 | extern mixerMatrix_t mixerMatrix; |
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1910 | - | 86 | |
2099 | - | 87 | typedef struct { |
88 | int16_t offsets[3]; |
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89 | } sensorOffset_t; |
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90 | |||
91 | typedef struct { |
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92 | uint8_t manualControl; |
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93 | uint8_t stabilizationFactor; |
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94 | uint8_t minValue; |
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95 | uint8_t maxValue; |
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96 | uint8_t flags; |
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97 | } servo_t; |
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98 | |||
99 | #define SERVO_STABILIZATION_REVERSE 1 |
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100 | |||
101 | typedef struct { |
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102 | uint8_t bitmask; |
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103 | uint8_t timing; |
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104 | } output_flash_t; |
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105 | |||
106 | typedef struct { |
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107 | uint8_t gyroQuadrant; |
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108 | uint8_t accQuadrant; |
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109 | uint8_t imuReversedFlags; |
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2025 | - | 110 | |
2099 | - | 111 | uint8_t gyroPIDFilterConstant; |
112 | uint8_t gyroDWindowLength; |
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113 | uint8_t gyroDFilterConstant; |
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114 | uint8_t accFilterConstant; |
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1910 | - | 115 | |
2099 | - | 116 | uint8_t zerothOrderCorrection; |
117 | uint8_t rateTolerance; |
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1910 | - | 118 | |
2099 | - | 119 | uint8_t gyroActivityDamping; |
120 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
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121 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
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122 | } IMUConfig_t; |
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2025 | - | 123 | |
2099 | - | 124 | extern IMUConfig_t IMUConfig; |
1926 | - | 125 | |
2099 | - | 126 | // values above 250 representing poti1 to poti4 |
127 | typedef struct { |
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128 | // Global bitflags |
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129 | uint8_t bitConfig; // see upper defines for bitcoding |
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1910 | - | 130 | |
2099 | - | 131 | // uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
132 | // uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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133 | // uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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1910 | - | 134 | |
2099 | - | 135 | uint8_t levelCorrection[2]; |
1910 | - | 136 | |
2099 | - | 137 | // Control |
138 | uint8_t gyroPitchP; |
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139 | uint8_t gyroPitchI; |
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140 | uint8_t gyroPitchD; |
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1910 | - | 141 | |
2099 | - | 142 | uint8_t gyroRollP; |
143 | uint8_t gyroRollI; |
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144 | uint8_t gyroRollD; |
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2025 | - | 145 | |
2099 | - | 146 | uint8_t gyroYawP; |
147 | uint8_t gyroYawI; |
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148 | uint8_t gyroYawD; |
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1926 | - | 149 | |
2099 | - | 150 | uint8_t stickIElevator; |
151 | uint8_t stickIAilerons; |
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152 | uint8_t stickIRudder; |
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1910 | - | 153 | |
2099 | - | 154 | uint8_t externalControl; // for serial Control |
1910 | - | 155 | |
2099 | - | 156 | uint8_t IFactor; |
1910 | - | 157 | |
2099 | - | 158 | uint8_t batteryVoltageWarning; |
159 | uint8_t emergencyThrottle; |
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160 | uint8_t emergencyFlightDuration; |
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1910 | - | 161 | |
2099 | - | 162 | // Servos |
163 | uint8_t servoCount; |
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164 | uint8_t servoManualMaxSpeed; |
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165 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
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1910 | - | 166 | |
2099 | - | 167 | // Outputs |
168 | output_flash_t outputFlash[2]; |
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169 | uint8_t outputDebugMask; |
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170 | uint8_t outputFlags; |
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171 | |||
172 | // User params |
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173 | uint8_t userParams[8]; |
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174 | |||
175 | // Name |
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176 | char name[12]; |
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177 | } ParamSet_t; |
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178 | |||
179 | extern ParamSet_t staticParams; |
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180 | |||
1910 | - | 181 | // MKFlags |
2099 | - | 182 | #define MKFLAG_MOTOR_RUN (1<<0) |
183 | //#define MKFLAG_FLY (1<<1) |
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184 | #define MKFLAG_CALIBRATE (1<<2) |
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185 | #define MKFLAG_START (1<<3) |
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186 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
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187 | #define MKFLAG_LOWBAT (1<<5) |
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188 | #define MKFLAG_RESERVE2 (1<<6) |
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189 | #define MKFLAG_RESERVE3 (1<<7) |
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1910 | - | 190 | |
2099 | - | 191 | // bit mask for staticParams.bitConfig |
192 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
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193 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
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194 | #define CFG_HEADING_HOLD (1<<2) |
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195 | #define CFG_COMPASS_ENABLED (1<<3) |
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196 | #define CFG_UNUSED (1<<4) |
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197 | #define CFG_NAVI_ENABLED (1<<5) |
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198 | #define CFG_AXIS_COUPLING_ENABLED (1<<6) |
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199 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
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1910 | - | 200 | |
2099 | - | 201 | #define IMU_REVERSE_GYRO_PR (1<<0) |
202 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
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203 | #define IMU_REVERSE_ACC_XY (1<<2) |
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204 | #define IMU_REVERSE_ACC_Z (1<<3) |
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1910 | - | 205 | |
2099 | - | 206 | #define ATMEGA644 0 |
207 | #define ATMEGA644P 1 |
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1910 | - | 208 | #define SYSCLK F_CPU |
209 | |||
2099 | - | 210 | // Not really a part of configuration, but LEDs and HW s test are the same. |
211 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
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212 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
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1910 | - | 213 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
2099 | - | 214 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
215 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
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1910 | - | 216 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
217 | |||
218 | // Mixer table |
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2099 | - | 219 | #define MIX_THROTTLE 0 |
220 | #define MIX_PITCH 1 |
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221 | #define MIX_ROLL 2 |
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222 | #define MIX_YAW 3 |
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1910 | - | 223 | |
2099 | - | 224 | #define VARIABLE_COUNT 8 |
225 | |||
1910 | - | 226 | extern volatile uint8_t MKFlags; |
2099 | - | 227 | extern uint8_t requiredMotors; |
228 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
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229 | extern uint8_t boardRelease; |
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1910 | - | 230 | extern uint8_t CPUType; |
231 | |||
2099 | - | 232 | extern volatile uint8_t MKFlags; |
233 | extern uint16_t isFlying; |
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1910 | - | 234 | |
2099 | - | 235 | void IMUConfig_default(void); |
236 | void channelMap_default(void); |
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237 | void paramSet_default(uint8_t setnumber); |
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238 | void mixerMatrix_default(void); |
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239 | |||
240 | void configuration_setNormalFlightParameters(void); |
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241 | void configuration_setFailsafeFlightParameters(void); |
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242 | void configuration_applyVariablesToParams(void); |
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243 | |||
244 | void setCPUType(void); |
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245 | void setBoardRelease(void); |
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246 | |||
247 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
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248 | void configuration_paramSetDidChange(void); |
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1910 | - | 249 | #endif // _CONFIGURATION_H |