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#ifndef _CONFIGURATION_H
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#define _CONFIGURATION_H
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#include <inttypes.h>
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#include <avr/io.h>
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typedef struct {
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  /*PMM*/ uint8_t HeightD;
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  /* P */ uint8_t MaxHeight;
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  /*PMM*/ uint8_t HeightP;
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  /* P */ uint8_t Height_ACC_Effect;
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  /* P */ uint8_t CompassYawEffect;
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  /* P */ uint8_t GyroD;
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  /*PMM*/ uint8_t GyroP;
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  /* P */ uint8_t GyroI;
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  /* Never used */ uint8_t StickYawP;
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  /* P */ uint8_t IFactor;
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  /* P */ uint8_t UserParams[8];
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  /* P */ uint8_t ServoPitchControl;
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  /* P */ uint8_t LoopGasLimit;
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  /* P */ uint8_t AxisCoupling1;
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  /* P */ uint8_t AxisCoupling2;
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  /* P */ uint8_t AxisCouplingYawCorrection;
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  /* P */ uint8_t DynamicStability;
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  /* P */ uint8_t ExternalControl;
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  /*PMM*/ uint8_t J16Timing;
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  /*PMM*/ uint8_t J17Timing;
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  /* P */ uint8_t NaviGpsModeControl;
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  /* P */ uint8_t NaviGpsGain;
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  /* P */ uint8_t NaviGpsP;
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  /* P */ uint8_t NaviGpsI;
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  /* P */ uint8_t NaviGpsD;
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  /* P */ uint8_t NaviGpsACC;
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  /*PMM*/ uint8_t NaviOperatingRadius;
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  /* P */ uint8_t NaviWindCorrection;
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  /* P */ uint8_t NaviSpeedCompensation;
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  int8_t KalmanK;
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  int8_t KalmanMaxDrift;
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  int8_t KalmanMaxFusion;
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} dynamicParam_t;
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extern dynamicParam_t dynamicParams;
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typedef struct {
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  uint8_t sourceIdx, targetIdx;
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  uint8_t min, max;
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} MMXLATION;
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typedef struct {
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  uint8_t sourceIdx, targetIdx;
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} XLATION;
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// values above 250 representing poti1 to poti4
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typedef struct {
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        uint8_t ChannelAssignment[8];   // see upper defines for details
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        uint8_t GlobalConfig;           // see upper defines for bitcoding
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        uint8_t HeightMinGas;           // Value : 0-100
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        uint8_t HeightD;                // Value : 0-250
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        uint8_t MaxHeight;              // Value : 0-32
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        uint8_t HeightP;                // Value : 0-32
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        uint8_t Height_Gain;            // Value : 0-50
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        uint8_t Height_ACC_Effect;      // Value : 0-250
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        uint8_t StickP;                 // Value : 1-6
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        uint8_t StickD;                 // Value : 0-64
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        uint8_t StickYawP;              // Value : 1-20
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        uint8_t MinThrottle;            // Value : 0-32
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        uint8_t MaxThrottle;            // Value : 33-250
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        uint8_t GyroAccFactor;          // Value : 1-64
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        uint8_t CompassYawEffect;       // Value : 0-32
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        uint8_t GyroP;                  // Value : 10-250
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        uint8_t GyroI;                  // Value : 0-250
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        uint8_t GyroD;                             // Value : 0-250
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        uint8_t LowVoltageWarning;      // Value : 0-250
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        uint8_t EmergencyGas;           // Value : 0-250     //Gaswert bei Emp�ngsverlust
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        uint8_t EmergencyGasDuration;   // Value : 0-250     // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen
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        uint8_t Unused0;                // 
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        uint8_t IFactor;                // Value : 0-250
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        uint8_t UserParams1[4];         // Value : 0-250
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  /*
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        uint8_t UserParam2;             // Value : 0-250
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        uint8_t UserParam3;             // Value : 0-250
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        uint8_t UserParam4;             // Value : 0-250
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  */
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        uint8_t ServoPitchControl;      // Value : 0-250     // Stellung des Servos
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        uint8_t ServoPitchComp;         // Value : 0-250     // Einfluss Gyro/Servo
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        uint8_t ServoPitchMin;          // Value : 0-250     // Anschlag
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        uint8_t ServoPitchMax;          // Value : 0-250     // Anschlag
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        uint8_t ServoRefresh;           // Value: 0-250      // Refreshrate of servo pwm output
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        uint8_t LoopGasLimit;           // Value: 0-250  max. Gas w�hrend Looping
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        uint8_t LoopThreshold;          // Value: 0-250  Schwelle f�r Stickausschlag
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        uint8_t LoopHysteresis;         // Value: 0-250  Hysterese f�r Stickausschlag
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        uint8_t AxisCoupling1;             // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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        uint8_t AxisCoupling2;          // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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        uint8_t AxisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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        uint8_t AngleTurnOverPitch;     // Value: 0-250  180�-Punkt
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        uint8_t AngleTurnOverRoll;      // Value: 0-250  180�-Punkt
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        uint8_t GyroAccTrim;            // 1/k  (Koppel_ACC_Wirkung)
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        uint8_t DriftComp;              // limit for gyrodrift compensation
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        uint8_t DynamicStability;       // PID limit for Attitude controller
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        uint8_t UserParams2[4];         // Value : 0-250
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  /*
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        uint8_t UserParam6;             // Value : 0-250
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        uint8_t UserParam7;             // Value : 0-250
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        uint8_t UserParam8;             // Value : 0-250
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  */
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        uint8_t J16Bitmask;             // for the J16 Output
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        uint8_t J16Timing;              // for the J16 Output
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        uint8_t J17Bitmask;             // for the J17 Output
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        uint8_t J17Timing;              // for the J17 Output
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        uint8_t NaviGpsModeControl;     // Parameters for the Naviboard
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        uint8_t NaviGpsGain;            // overall gain for GPS-PID controller
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        uint8_t NaviGpsP;               // P gain for GPS-PID controller
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        uint8_t NaviGpsI;               // I gain for GPS-PID controller
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        uint8_t NaviGpsD;               // D gain for GPS-PID controller
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        uint8_t NaviGpsPLimit;          // P limit for GPS-PID controller
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        uint8_t NaviGpsILimit;          // I limit for GPS-PID controller
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        uint8_t NaviGpsDLimit;          // D limit for GPS-PID controller
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        uint8_t NaviGpsACC;             // ACC gain for GPS-PID controller
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        uint8_t NaviGpsMinSat;          // number of sattelites neccesary for GPS functions
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        uint8_t NaviStickThreshold;     // activation threshild for detection of manual stick movements
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        uint8_t NaviWindCorrection;     // streng of wind course correction
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        uint8_t NaviSpeedCompensation;  // D gain fefore position hold login
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        uint8_t NaviOperatingRadius;    // Radius limit in m around start position for GPS flights
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        uint8_t NaviAngleLimitation;    // limitation of attitude angle controlled by the gps algorithm
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        uint8_t NaviPHLoginTime;        // position hold logintimeout
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        uint8_t ExternalControl;        // for serial Control
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        uint8_t BitConfig;              // see upper defines for bitcoding
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        uint8_t ServoPitchCompInvert;   // Value : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
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        uint8_t Reserved[4];
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        int8_t Name[12];
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 } paramset_t;
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#define  PARAMSET_STRUCT_LEN  sizeof(paramset_t)
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extern paramset_t staticParams;
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typedef struct {
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  uint8_t Revision;
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  int8_t Name[12];
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  int8_t Motor[16][4];
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} __attribute__((packed)) MixerTable_t;
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extern MixerTable_t Mixer;
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// MKFlags
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#define MKFLAG_MOTOR_RUN        (1<<0)
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#define MKFLAG_FLY              (1<<1)
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#define MKFLAG_CALIBRATE        (1<<2)
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#define MKFLAG_START            (1<<3)
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#define MKFLAG_EMERGENCY_LANDING (1<<4)
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#define MKFLAG_RESERVE1         (1<<5)
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#define MKFLAG_RESERVE2         (1<<6)
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#define MKFLAG_RESERVE3         (1<<7)
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// bit mask for staticParams.GlobalConfig
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#define CFG_HEIGHT_CONTROL      (1<<0)
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#define CFG_HEIGHT_SWITCH       (1<<1)
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#define CFG_HEADING_HOLD        (1<<2)
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#define CFG_COMPASS_ACTIVE      (1<<3)
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#define CFG_COMPASS_FIX         (1<<4)
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#define CFG_GPS_ACTIVE          (1<<5)
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#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
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#define CFG_ROTARY_RATE_LIMITER (1<<7)
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// bit mask for staticParams.BitConfig
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#define CFG_LOOP_UP             (1<<0)
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#define CFG_LOOP_DOWN           (1<<1)
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#define CFG_LOOP_LEFT           (1<<2)
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#define CFG_LOOP_RIGHT          (1<<3)
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#define CFG_HEIGHT_3SWITCH      (1<<4)
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#define ATMEGA644       0
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#define ATMEGA644P      1
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#define SYSCLK F_CPU
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// Not really a part of configuration, but heck, LEDs and beepers now have a home.
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#define RED_OFF   {if((BoardRelease == 10) || (BoardRelease == 20)) PORTB &=~(1<<PORTB0); else  PORTB |= (1<<PORTB0);}
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#define RED_ON    {if((BoardRelease == 10) || (BoardRelease == 20)) PORTB |= (1<<PORTB0); else  PORTB &=~(1<<PORTB0);}
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#define RED_FLASH PORTB ^= (1<<PORTB0)
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#define GRN_OFF   {if(BoardRelease  < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);}
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#define GRN_ON    {if(BoardRelease  < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
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#define GRN_FLASH PORTB ^= (1<<PORTB1)
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// Mixer table
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#define MIX_THROTTLE    0
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#define MIX_PITCH       1
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#define MIX_ROLL        2
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#define MIX_YAW         3
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extern volatile uint8_t MKFlags;
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extern int16_t variables[8];
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extern uint8_t BoardRelease;
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extern uint8_t CPUType;
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void configuration_applyVariablesToParams(void);
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uint8_t getCPUType(void);
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uint8_t getBoardRelease(void);
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// Not really a part of configuration, but heck, LEDs and beepers now have a home.
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void beep(uint16_t millis);
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void beepNumber(uint8_t numbeeps);
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void beepRCAlarm(void);
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void beepI2CAlarm(void);
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void beepBatteryAlarm(void);
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#endif // _CONFIGURATION_H