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1612 | dongfang | 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 | |||
1960 | - | 7 | #define MAX_CHANNELS 10 |
8 | #define MAX_MOTORS 12 |
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9 | |||
2018 | - | 10 | // bitmask for VersionInfo_t.HardwareError[0] |
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 | |||
1612 | dongfang | 29 | typedef struct { |
2018 | - | 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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37 | |||
38 | extern VersionInfo_t versionInfo; |
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39 | |||
40 | typedef struct { |
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1960 | - | 41 | // IMU |
42 | /*PMM*/uint8_t gyroP; |
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43 | /* P */uint8_t gyroD; |
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44 | /* P */uint8_t gyroI; |
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1864 | - | 45 | /* P */uint8_t IFactor; |
1960 | - | 46 | uint8_t yawIFactor; |
47 | /* P */uint8_t compassYawEffect; |
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48 | |||
49 | // Control |
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50 | /* P */uint8_t externalControl; |
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51 | |||
52 | /* P */uint8_t axisCoupling1; |
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53 | /* P */uint8_t axisCoupling2; |
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54 | /* P */uint8_t axisCouplingYawCorrection; |
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55 | /* P */uint8_t dynamicStability; |
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1980 | - | 56 | uint8_t maxAccVector; |
1960 | - | 57 | |
58 | // Height control |
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59 | /*PMM*/uint8_t heightP; |
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60 | /*PMM*/uint8_t heightD; |
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61 | /* P */uint8_t heightSetting; |
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62 | /* P */uint8_t heightACCEffect; |
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63 | |||
64 | uint8_t attitudeControl; |
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65 | |||
66 | // The rest... |
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67 | /* P */uint8_t userParams[8]; |
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68 | /*PMM*/uint8_t output0Timing; |
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69 | /*PMM*/uint8_t output1Timing; |
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70 | |||
71 | uint8_t servoManualControl[2]; |
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72 | |||
73 | uint8_t motorSmoothing; |
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1988 | - | 74 | uint8_t levelCorrection[2]; |
1775 | - | 75 | } dynamicParam_t; |
1960 | - | 76 | |
1969 | - | 77 | extern volatile dynamicParam_t dynamicParams; |
1612 | dongfang | 78 | |
1775 | - | 79 | typedef struct { |
1864 | - | 80 | uint8_t sourceIdx, targetIdx; |
81 | uint8_t min, max; |
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1775 | - | 82 | } MMXLATION; |
1612 | dongfang | 83 | |
1775 | - | 84 | typedef struct { |
1864 | - | 85 | uint8_t sourceIdx, targetIdx; |
1775 | - | 86 | } XLATION; |
87 | |||
1960 | - | 88 | typedef struct { |
89 | uint8_t channels[MAX_CHANNELS]; |
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90 | } channelMap_t; |
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91 | extern channelMap_t channelMap; |
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92 | |||
93 | typedef struct { |
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2017 | - | 94 | char name[12]; |
1960 | - | 95 | int8_t motor[MAX_MOTORS][4]; |
96 | }__attribute__((packed)) mixerMatrix_t; |
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97 | extern mixerMatrix_t mixerMatrix; |
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98 | |||
99 | typedef struct { |
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1965 | - | 100 | int16_t offsets[3]; |
101 | } sensorOffset_t; |
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102 | |||
103 | typedef struct { |
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1960 | - | 104 | uint8_t manualControl; |
1980 | - | 105 | uint8_t stabilizationFactor; |
1960 | - | 106 | uint8_t minValue; |
107 | uint8_t maxValue; |
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108 | uint8_t flags; |
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109 | } servo_t; |
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110 | |||
1980 | - | 111 | #define SERVO_STABILIZATION_REVERSE 1 |
1977 | - | 112 | |
1960 | - | 113 | typedef struct { |
114 | uint8_t bitmask; |
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115 | uint8_t timing; |
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116 | } output_flash_t; |
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117 | |||
1612 | dongfang | 118 | // values above 250 representing poti1 to poti4 |
119 | typedef struct { |
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1960 | - | 120 | // Global bitflags |
121 | uint8_t bitConfig; // see upper defines for bitcoding |
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122 | |||
123 | // Height Control |
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2018 | - | 124 | uint8_t airpressureFilter; |
125 | uint8_t heightP; |
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126 | uint8_t heightD; |
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127 | uint8_t heightSetting; |
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128 | uint8_t heightControlMaxThrottleChange; |
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129 | uint8_t heightSlewRate; |
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1960 | - | 130 | |
131 | // Attitude Control |
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132 | uint8_t attitudeControl; |
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133 | |||
134 | // Control |
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2018 | - | 135 | uint8_t stickP; |
136 | uint8_t stickD; |
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137 | uint8_t stickYawP; |
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1960 | - | 138 | uint8_t stickThrottleD; |
2018 | - | 139 | uint8_t minThrottle; |
140 | uint8_t maxThrottle; |
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1960 | - | 141 | uint8_t externalControl; // for serial Control |
1980 | - | 142 | uint8_t maxAccVector; |
1986 | - | 143 | uint8_t maxControlActivity; |
1988 | - | 144 | uint8_t motorSmoothing; |
145 | |||
1960 | - | 146 | // IMU |
2015 | - | 147 | uint8_t gyroQuadrant; |
148 | uint8_t accQuadrant; |
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149 | uint8_t imuReversedFlags; |
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150 | |||
1960 | - | 151 | uint8_t gyroPIDFilterConstant; |
152 | uint8_t gyroATTFilterConstant; |
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153 | uint8_t gyroDFilterConstant; |
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154 | uint8_t accFilterConstant; |
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155 | |||
2018 | - | 156 | uint8_t gyroP; |
157 | uint8_t gyroI; |
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158 | uint8_t gyroD; |
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1960 | - | 159 | |
2018 | - | 160 | uint8_t zerothOrderCorrection; |
1960 | - | 161 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
162 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
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163 | |||
164 | uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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165 | uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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166 | uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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167 | |||
168 | uint8_t dynamicStability; // PID limit for Attitude controller |
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2018 | - | 169 | uint8_t IFactor; |
1960 | - | 170 | uint8_t yawIFactor; |
2018 | - | 171 | uint8_t compassYawEffect; |
1988 | - | 172 | uint8_t levelCorrection[2]; |
1612 | dongfang | 173 | |
1960 | - | 174 | // Servos |
1980 | - | 175 | uint8_t servoCount; |
176 | uint8_t servoManualMaxSpeed; |
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1960 | - | 177 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
1612 | dongfang | 178 | |
1960 | - | 179 | // Battery warning and emergency flight |
2018 | - | 180 | uint8_t batteryVoltageWarning; |
181 | uint8_t emergencyThrottle; |
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182 | uint8_t emergencyFlightDuration; |
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1612 | dongfang | 183 | |
1960 | - | 184 | // Outputs |
185 | output_flash_t outputFlash[2]; |
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186 | uint8_t outputDebugMask; |
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1986 | - | 187 | uint8_t outputFlags; |
1612 | dongfang | 188 | |
1960 | - | 189 | // User params |
2018 | - | 190 | uint8_t userParams[8]; |
1612 | dongfang | 191 | |
1960 | - | 192 | // Name |
2017 | - | 193 | char name[12]; |
1960 | - | 194 | } paramset_t; |
195 | extern paramset_t staticParams; |
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196 | |||
1612 | dongfang | 197 | // MKFlags |
198 | #define MKFLAG_MOTOR_RUN (1<<0) |
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199 | #define MKFLAG_FLY (1<<1) |
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200 | #define MKFLAG_CALIBRATE (1<<2) |
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201 | #define MKFLAG_START (1<<3) |
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1960 | - | 202 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
1612 | dongfang | 203 | #define MKFLAG_RESERVE1 (1<<5) |
204 | #define MKFLAG_RESERVE2 (1<<6) |
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205 | #define MKFLAG_RESERVE3 (1<<7) |
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206 | |||
1960 | - | 207 | // bit mask for staticParams.bitConfig |
1980 | - | 208 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
1961 | - | 209 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
1980 | - | 210 | #define CFG_HEADING_HOLD (1<<2) |
211 | #define CFG_COMPASS_ACTIVE (1<<3) |
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212 | #define CFG_COMPASS_FIX (1<<4) |
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213 | #define CFG_GPS_ACTIVE (1<<5) |
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1961 | - | 214 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
1960 | - | 215 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
1612 | dongfang | 216 | |
217 | #define ATMEGA644 0 |
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218 | #define ATMEGA644P 1 |
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219 | #define SYSCLK F_CPU |
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220 | |||
1887 | - | 221 | // Not really a part of configuration, but LEDs and HW version test are the same. |
1960 | - | 222 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
223 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
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1612 | dongfang | 224 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
1960 | - | 225 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
226 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
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1612 | dongfang | 227 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
228 | |||
229 | // Mixer table |
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230 | #define MIX_THROTTLE 0 |
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231 | #define MIX_PITCH 1 |
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232 | #define MIX_ROLL 2 |
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233 | #define MIX_YAW 3 |
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234 | |||
1961 | - | 235 | #define VARIABLE_COUNT 8 |
236 | |||
1612 | dongfang | 237 | extern volatile uint8_t MKFlags; |
1960 | - | 238 | extern uint8_t requiredMotors; |
1961 | - | 239 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
1960 | - | 240 | extern uint8_t boardRelease; |
1612 | dongfang | 241 | extern uint8_t CPUType; |
242 | |||
1963 | - | 243 | extern volatile uint8_t MKFlags; |
244 | extern uint16_t isFlying; |
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245 | |||
1960 | - | 246 | void channelMap_default(void); |
247 | void paramSet_default(uint8_t setnumber); |
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248 | void mixerMatrix_default(void); |
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249 | |||
1612 | dongfang | 250 | void configuration_applyVariablesToParams(void); |
251 | uint8_t getCPUType(void); |
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252 | uint8_t getBoardRelease(void); |
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253 | |||
254 | #endif // _CONFIGURATION_H |