Subversion Repositories FlightCtrl

#ifndef _CONFIGURATION_H

#define _CONFIGURATION_H

#include <inttypes.h>

#include <avr/io.h>

#define MAX_CONTROLCHANNELS 8

#define MAX_I2CCHANNELS 8

#define MAX_PWMCHANNELS 8

// bitmask for VersionInfo_t.HardwareError[0]

#define FC_ERROR0_GYRO_X                0x01

#define FC_ERROR0_GYRO_Y                0x02

#define FC_ERROR0_GYRO_Z                0x04

#define FC_ERROR0_ACCEL_X               0x08

#define FC_ERROR0_ACCEL_Y               0x10

#define FC_ERROR0_ACCEL_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

#define PID_NORMAL_VALUE 100

typedef struct {

        uint8_t SWMajor;

        uint8_t SWMinor;

        uint8_t SWPatch;

        uint8_t protoMajor;

        uint8_t protoMinor;

        uint8_t hardwareErrors[5];

}__attribute__((packed)) VersionInfo_t;

extern VersionInfo_t versionInfo;

typedef struct {

  uint8_t flightMode;

  uint8_t attGyroP;     // Attitude mode Proportional (attitude error to control)

  uint8_t attGyroI;     // Attitude mode Integral (attitude error integral to control. Serves to eliminate permanent attitude errors)

  uint8_t attGyroD;     // Attitude mode rate

  uint8_t rateGyroP;    // Rate mode Proportional

  uint8_t rateGyroI;    // Rate mode Integral (serves to eliminate slow rotation errors in rate mode)

  uint8_t rateGyroD;    // Rate mode Differential (GyroD)

  uint8_t yawGyroP;

  uint8_t yawGyroI;

  uint8_t yawGyroD;

  // Control

  uint8_t externalControl;

  uint8_t attitudeControl;

  // Height control

  uint8_t heightP;

  uint8_t heightI;

  uint8_t heightD;

  uint8_t heightSetting;

  // Output and servo

  uint8_t output0Timing;

  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 RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.

        uint8_t HWTrim;

        uint8_t variableOffset;

    uint8_t channels[MAX_CONTROLCHANNELS];

} ChannelMap_t;

extern ChannelMap_t channelMap;

#define LOG_MOTOR_MIXER_UNIT 6

#define LOG_DYNAMIC_STABILITY_SCALER 6

typedef enum {

  MIXER_SOURCE_ROLL = 0,

  MIXER_SOURCE_PITCH = 1,

  MIXER_SOURCE_THROTTLE = 2,

  MIXER_SOURCE_YAW = 3

} MixerSource_Control;

typedef enum {

  MIXER_SOURCE_AUX_GIMBAL_ROLL = 0,

  MIXER_SOURCE_AUX_GIMBAL_PITCH = 1,

  MIXER_SOURCE_AUX_RCCHANNEL = 2,

  MIXER_SOURCE_AUX_END = 2 + MAX_CONTROLCHANNELS

} MixerSourceAux;

typedef enum {

  I2C0 = 0,

  I2C1 = 1,

  I2C2 = 2,

  I2C3 = 3,

  I2C4 = 4,

  I2C5 = 5,

  I2C6 = 6,

  I2C7 = 7,

  SERVO0 = MAX_I2CCHANNELS,

  NUM_OUTPUTS = 8 + MAX_PWMCHANNELS

} MixerDestination;

typedef struct {

  uint8_t outputType;

  uint8_t minValue;

  uint8_t maxValue;

  int8_t  flightControls[4];

  uint8_t auxSource;     // for selecting a gimbal axis or an RC channel.

  uint8_t oppositeMotor; // only relevant where used to control a multicopter motor.

}__attribute__((packed)) MixerMatrixRow_t;

typedef MixerMatrixRow_t OutputMixer_t[NUM_OUTPUTS];

extern OutputMixer_t outputMixer;

typedef enum {

  OUTPUT_TYPE_UNDEFINED,

  OUTPUT_TYPE_MOTOR,

  OUTPUT_TYPE_SERVO

} outputTypes;

typedef struct {

  int16_t offsets[3];

} sensorOffset_t;

typedef struct {

  uint8_t manualControl;

  uint8_t stabilizationFactor;

  uint8_t flags;

} Servo_t;

#define SERVO_STABILIZATION_REVERSE 1

typedef struct {

  uint8_t bitmask;

  uint8_t timing;

} output_flash_t;

typedef struct {

  /* Set up so that

   * Nose-up is positive on pitch

   * Roll-right is positive on roll

   * Turn-ccw is positive on yaw

   */

  uint8_t gyroQuadrant;

  /*

   * Set up so that:

   * Acc. Z is +1g in normal attitude

   * Acc. X gets positive in a left roll

   * Acc. Y gets positive in a nose-up attitude.

   */

  uint8_t accQuadrant;

  uint8_t imuReversedFlags;

  uint8_t gyroPIDFilterConstant;

  uint8_t gyroDWindowLength;

  uint8_t accFilterConstant;

} 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 flightMode;

  // 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 attGyroP;     // Attitude mode Proportional (attitude error to control)

  uint8_t attGyroI;     // Attitude mode Integral (attitude error integral to control. Serves to eliminate permanent attitude errors)

  uint8_t attGyroIMax;  // Attitude mode Integral max. limit

  uint8_t attGyroD;     // Attitude mode rate

  uint8_t rateGyroP;    // Rate mode Proportional

  uint8_t rateGyroI;    // Rate mode Integral (serves to eliminate slow rotation errors in rate mode)

  uint8_t rateGyroIMax; // Rate mode Integral max. limit

  uint8_t rateGyroD;    // Rate mode Differential (GyroD)

  uint8_t yawGyroP;

  uint8_t yawGyroI;

  uint8_t yawGyroD;

  uint8_t externalControl; // for serial Control

  uint8_t attitudeControl;

  uint8_t dynamicStability;

  uint8_t stickP;

  uint8_t stickD;

  uint8_t stickYawP;

  uint8_t stickThrottleD;

  // Idle throttle. Affects the throttle stick only.

  uint8_t minThrottle;

  // Value of max. throttle stick.

  uint8_t maxThrottle;

  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_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_UNUSED                              (1<<2)

#define CFG_COMPASS_ENABLED             (1<<3)

#define CFG_UNUSED2                             (1<<4)

#define CFG_NAVI_ENABLED                        (1<<5)

#define CFG_UNUSED3                     (1<<6)

#define CFG_GYRO_SATURATION_PREVENTION  (1<<7)

#define IMU_REVERSE_GYRO_XY                             (1<<0)

#define IMU_REVERSE_GYRO_Z                              (1<<1)

#define IMU_REVERSE_ACCEL_XY                    (1<<2)

#define IMU_REVERSE_ACCEL_Z                             (1<<3)

#define ATMEGA644       0

#define ATMEGA644P      1

// 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 VARIABLE_COUNT  8

extern volatile uint8_t MKFlags;

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 outputMixer_default(void);

void configuration_setNormalFlightMode(void);

void configuration_setFailsafeFlightMode(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