| 0,0 → 1,228 |
|---|
| #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 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; |
| |
| typedef struct { |
| uint8_t P; |
| uint8_t I; |
| uint8_t D; |
| } PID_t; |
| |
| typedef struct { |
| uint8_t P; |
| uint8_t I; |
| uint8_t D; |
| uint8_t iMax; |
| } PIDIM_t; |
| |
| typedef enum { |
| FLIGHT_MODE_NONE, |
| FLIGHT_MODE_MANUAL, |
| FLIGHT_MODE_RATE, |
| FLIGHT_MODE_ANGLES |
| } FlightMode_t; |
| |
| #define CONTROL_SERVO_REVERSE_ELEVATOR 1 |
| #define CONTROL_SERVO_REVERSE_AILERONS 2 |
| #define CONTROL_SERVO_REVERSE_RUDDER 4 |
| |
| 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 stuff: |
| PID_t gyroPID[3]; |
| |
| // Control |
| /* P */uint8_t externalControl; |
| |
| // Output and servo |
| /*PMM*/uint8_t output0Timing; |
| /*PMM*/uint8_t output1Timing; |
| |
| uint8_t servoManualControl[2]; |
| |
| /* 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 { |
| 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; |
| |
| // values above 250 representing poti1 to poti4 |
| typedef struct { |
| // Global bitflags |
| uint8_t bitConfig; // see upper defines for bitcoding |
| |
| // Control |
| PIDIM_t gyroPID[3]; |
| |
| uint8_t stickIElevator; |
| uint8_t stickIAilerons; |
| uint8_t stickIRudder; |
| |
| uint8_t externalControl; // for serial Control |
| |
| uint8_t IFactor; |
| |
| uint8_t batteryVoltageWarning; |
| uint8_t emergencyThrottle; |
| uint8_t emergencyFlightDuration; |
| |
| // Airspeed |
| uint8_t airspeedCorrection; |
| uint8_t isFlyingThreshold; |
| |
| // Servos |
| uint8_t controlServosReverse; |
| |
| uint8_t servoCount; |
| uint8_t servoManualMaxSpeed; |
| servo_t servoConfigurations[2]; // [PITCH, ROLL] |
| |
| // Outputs |
| output_flash_t outputFlash[2]; |
| uint8_t outputDebugMask; |
| uint8_t outputFlags; |
| |
| // User params |
| uint8_t userParams[8]; |
| |
| // Name |
| char name[12]; |
| } ParamSet_t; |
| |
| extern ParamSet_t staticParams; |
| |
| // bit mask for staticParams.bitConfig |
| #define CFG_GYRO_SATURATION_PREVENTION (1<<0) |
| #define CFG_USE_AIRSPEED_PID (1<<1) |
| |
| #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 {PORTD &=~(1<<PORTD6);} |
| #define RED_ON {PORTD |= (1<<PORTD6);} |
| #define RED_FLASH PORTD ^= (1<<PORTD6) |
| #define GRN_OFF {PORTD &=~(1<<PORTD7);} |
| #define GRN_ON {PORTD |= (1<<PORTD7);} |
| #define GRN_FLASH PORTD ^= (1<<PORTD7) |
| |
| // Mixer table |
| #define MIX_THROTTLE 0 |
| #define MIX_PITCH 1 |
| #define MIX_ROLL 2 |
| #define MIX_YAW 3 |
| |
| #define VARIABLE_COUNT 8 |
| |
| extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
| extern uint8_t CPUType; |
| |
| extern volatile uint16_t isFlying; |
| extern FlightMode_t currentFlightMode; |
| |
| void IMUConfig_default(void); |
| void channelMap_default(void); |
| void paramSet_default(uint8_t setnumber); |
| |
| void configuration_setFlightParameters(uint8_t newFlightMode); |
| void configuration_applyVariablesToParams(void); |
| |
| void setCPUType(void); |
| |
| // Called after a change in configuration parameters, as a hook for modules to take over changes. |
| void configuration_paramSetDidChange(void); |
| #endif // _CONFIGURATION_H |