Subversion Repositories FlightCtrl

#ifndef _CONFIGURATION_H

#define _CONFIGURATION_H

#include <inttypes.h>

#include <avr/io.h>

#define MAX_CHANNELS 10

#define MAX_MOTORS 12

// bitmask for VersionInfo_t.HardwareError[0]

#define FC_ERROR0_GYRO_PITCH    0x01

#define FC_ERROR0_GYRO_ROLL     0x02

#define FC_ERROR0_GYRO_YAW              0x04

#define FC_ERROR0_ACC_X                 0x08

#define FC_ERROR0_ACC_Y                 0x10

#define FC_ERROR0_ACC_Z                 0x20

#define FC_ERROR0_PRESSURE              0x40

#define FC_ERROR1_RES0                  0x80

// bitmask for VersionInfo_t.HardwareError[1]

#define FC_ERROR1_I2C                   0x01

#define FC_ERROR1_BL_MISSING    0x02

#define FC_ERROR1_SPI_RX                0x04

#define FC_ERROR1_PPM                   0x08

#define FC_ERROR1_MIXER                 0x10

#define FC_ERROR1_RES1                  0x20

#define FC_ERROR1_RES2                  0x40

#define FC_ERROR1_RES3                  0x80

typedef struct {

        uint8_t SWMajor;

        uint8_t SWMinor;

        uint8_t protoMajor;

        uint8_t protoMinor;

        uint8_t SWPatch;

        uint8_t hardwareErrors[5];

}__attribute__((packed)) VersionInfo_t;

extern VersionInfo_t versionInfo;

typedef struct {

  // IMU

  /*PMM*/uint8_t gyroP;

  /* P */uint8_t gyroI;

  /* P */uint8_t gyroD;

  /* P */uint8_t compassControlHeading;

  // Control

  /* P */uint8_t externalControl;

  /* P */uint8_t dynamicStability;

  // Height control

  /*PMM*/uint8_t heightP;

  /* P */uint8_t heightI;

  /*PMM*/uint8_t heightD;

  /* P */uint8_t heightSetting;

  uint8_t attitudeControl;

  // Output and servo

  /*PMM*/uint8_t output0Timing;

  /*PMM*/uint8_t output1Timing;

  uint8_t servoManualControl[2];

  // Correction

  uint8_t levelCorrection[2];

  // Simple direct navigation

  uint8_t naviMode;

  /* P */uint8_t userParams[8];

} DynamicParams_t;

extern volatile DynamicParams_t dynamicParams;

typedef struct {

  uint8_t sourceIdx, targetIdx;

  uint8_t min, max;

} MMXLATION;

/*

typedef struct {

  uint8_t sourceIdx, targetIdx;

} XLATION;

*/

typedef struct {

  uint8_t channels[MAX_CHANNELS];

} channelMap_t;

extern channelMap_t channelMap;

typedef struct {

  char name[12];

  int8_t motor[MAX_MOTORS][4];

}__attribute__((packed)) mixerMatrix_t;

extern mixerMatrix_t mixerMatrix;

typedef struct {

  int16_t offsets[3];

} sensorOffset_t;

typedef struct {

  uint8_t manualControl;

  uint8_t stabilizationFactor;

  uint8_t minValue;

  uint8_t maxValue;

  uint8_t flags;

} servo_t;

#define SERVO_STABILIZATION_REVERSE 1

typedef struct {

  uint8_t bitmask;

  uint8_t timing;

} output_flash_t;

typedef struct {

  uint8_t gyroQuadrant;

  uint8_t accQuadrant;

  uint8_t imuReversedFlags;

  uint8_t gyroPIDFilterConstant;

  uint8_t gyroDWindowLength;

  uint8_t gyroDFilterConstant;

  uint8_t accFilterConstant;

  uint8_t zerothOrderCorrection;

  uint8_t rateTolerance;

  uint8_t gyroActivityDamping;

  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)

  uint8_t driftCompLimit;   // limit for gyrodrift compensation

} IMUConfig_t;

extern IMUConfig_t IMUConfig;

// values above 250 representing poti1 to poti4

typedef struct {

  // Global bitflags

  uint8_t bitConfig;  // see upper defines for bitcoding

  // uint8_t axisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)

  // uint8_t axisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

  // uint8_t axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

  uint8_t levelCorrection[2];

  // Control

  uint8_t gyroP;

  uint8_t gyroI;

  uint8_t gyroD;

  uint8_t attitudeControl;

  uint8_t stickP;

  uint8_t stickD;

  uint8_t stickYawP;

  uint8_t stickThrottleD;

  uint8_t minThrottle;

  uint8_t maxThrottle;

  uint8_t externalControl; // for serial Control

  uint8_t motorSmoothing;

  uint8_t dynamicStability; // PID limit for Attitude controller

  uint8_t IFactor;

  uint8_t yawIFactor;

  uint8_t compassMode;      // bitflag thing.

  uint8_t compassYawCorrection;

  uint8_t compassBendingReturnSpeed;

  uint8_t compassP;

  uint8_t batteryVoltageWarning;

  uint8_t emergencyThrottle;

  uint8_t emergencyFlightDuration;

  // Height Control

  uint8_t airpressureFilterConstant;

  uint8_t airpressureWindowLength; // 0 means: Use filter.

  uint8_t airpressureDWindowLength; // values 1..5 are legal.

  uint8_t airpressureAccZCorrection;

  uint8_t heightP;

  uint8_t heightI;

  uint8_t heightD;

  uint8_t heightSetting;

  uint8_t heightControlMaxIntegralIn;

  uint8_t heightControlMaxIntegralOut;

  uint8_t heightControlMaxThrottleChange;

  uint8_t heightControlTestOscPeriod;

  uint8_t heightControlTestOscAmplitude;

  // Servos

  uint8_t servoCount;

  uint8_t servoManualMaxSpeed;

  servo_t servoConfigurations[2]; // [PITCH, ROLL]

  // Outputs

  output_flash_t outputFlash[2];

  uint8_t outputDebugMask;

  uint8_t outputFlags;

 // Shared for both modes of navigation

  uint8_t naviMode;

  uint8_t naviStickThreshold;

  uint8_t naviStickLimit;

  uint8_t GPSMininumSatellites;

  uint8_t naviP;

  uint8_t naviI;

  uint8_t naviD;

  uint8_t naviTestOscPeriod;

  uint8_t naviTestOscAmplitude;

  // User params

  uint8_t userParams[8];

  // Name

  char name[12];

} ParamSet_t;

extern ParamSet_t staticParams;

// MKFlags

#define MKFLAG_MOTOR_RUN        (1<<0)

//#define MKFLAG_FLY            (1<<1)

#define MKFLAG_CALIBRATE        (1<<2)

#define MKFLAG_START            (1<<3)

#define MKFLAG_EMERGENCY_FLIGHT (1<<4)

#define MKFLAG_LOWBAT           (1<<5)

#define MKFLAG_RESERVE2         (1<<6)

#define MKFLAG_RESERVE3         (1<<7)

// bit mask for staticParams.bitConfig

#define CFG_SIMPLE_HEIGHT_CONTROL               (1<<0)

#define CFG_SIMPLE_HC_HOLD_SWITCH       (1<<1)

#define CFG_HEADING_HOLD                        (1<<2)

#define CFG_COMPASS_ENABLED             (1<<3)

#define CFG_UNUSED                              (1<<4)

#define CFG_NAVI_ENABLED                        (1<<5)

#define CFG_AXIS_COUPLING_ENABLED       (1<<6)

#define CFG_GYRO_SATURATION_PREVENTION  (1<<7)

#define IMU_REVERSE_GYRO_PR                             (1<<0)

#define IMU_REVERSE_GYRO_YAW                    (1<<1)

#define IMU_REVERSE_ACC_XY                              (1<<2)

#define IMU_REVERSE_ACC_Z                               (1<<3)

#define ATMEGA644       0

#define ATMEGA644P      1

#define SYSCLK F_CPU

// Not really a part of configuration, but LEDs and HW s test are the same.

#define RED_OFF   {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else  PORTB |= (1<<PORTB0);}

#define RED_ON    {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else  PORTB &=~(1<<PORTB0);}

#define RED_FLASH PORTB ^= (1<<PORTB0)

#define GRN_OFF   {if(boardRelease  < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);}

#define GRN_ON    {if(boardRelease  < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}

#define GRN_FLASH PORTB ^= (1<<PORTB1)

// Mixer table

#define MIX_THROTTLE    0

#define MIX_PITCH       1

#define MIX_ROLL        2

#define MIX_YAW         3

#define VARIABLE_COUNT 8

extern volatile uint8_t MKFlags;

extern uint8_t requiredMotors;

extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.

extern uint8_t boardRelease;

extern uint8_t CPUType;

extern volatile uint8_t MKFlags;

extern uint16_t isFlying;

void IMUConfig_default(void);

void channelMap_default(void);

void paramSet_default(uint8_t setnumber);

void mixerMatrix_default(void);

void configuration_setNormalFlightParameters(void);

void configuration_setFailsafeFlightParameters(void);

void configuration_applyVariablesToParams(void);

void setCPUType(void);

void setBoardRelease(void);

// Called after a change in configuration parameters, as a hook for modules to take over changes.

void configuration_paramSetDidChange(void);

#endif // _CONFIGURATION_H