| 0,0 → 1,186 |
|---|
| #ifndef _CONFIGURATION_H |
| #define _CONFIGURATION_H |
| |
| #include <inttypes.h> |
| #include <avr/io.h> |
| |
| typedef struct { |
| /*PMM*/uint8_t HeightD; |
| /* P */uint8_t MaxHeight; |
| /*PMM*/uint8_t HeightP; |
| /* P */uint8_t Height_ACC_Effect; |
| /* P */uint8_t CompassYawEffect; |
| /* P */uint8_t unnused; |
| |
| /* P */uint8_t GyroPitchP; |
| /* P */uint8_t GyroRollP; |
| /* P */uint8_t GyroYawP; |
| |
| /* P */uint8_t IFactor; |
| /* P */uint8_t UserParams[8]; |
| /* P */uint8_t ServoPitchControl; |
| |
| /* P */uint8_t GyroPitchD; // LoopGasLimit in tool |
| /* P */uint8_t GyroRollD; // AxisCoupling1 in tool |
| /* P */uint8_t GyroYawD; // AxisCoupling2 in tool |
| |
| /* P */uint8_t AxisCouplingYawCorrection; |
| /* P */uint8_t DynamicStability; |
| /* P */uint8_t ExternalControl; |
| /*PMM*/uint8_t J16Timing; |
| /*PMM*/uint8_t J17Timing; |
| /* P */uint8_t NaviGpsModeControl; |
| /* P */uint8_t NaviGpsGain; |
| /* P */uint8_t NaviGpsP; |
| /* P */uint8_t NaviGpsI; |
| /* P */uint8_t NaviGpsD; |
| /* P */uint8_t NaviGpsACC; |
| /*PMM*/uint8_t NaviOperatingRadius; |
| /* P */uint8_t NaviWindCorrection; |
| /* P */uint8_t NaviSpeedCompensation; |
| int8_t KalmanK; |
| int8_t KalmanMaxDrift; |
| int8_t KalmanMaxFusion; |
| } dynamicParam_t; |
| extern dynamicParam_t dynamicParams; |
| |
| typedef struct { |
| uint8_t sourceIdx, targetIdx; |
| uint8_t min, max; |
| } MMXLATION; |
| |
| typedef struct { |
| uint8_t sourceIdx, targetIdx; |
| } XLATION; |
| |
| // values above 250 representing poti1 to poti4 |
| typedef struct { |
| uint8_t ChannelAssignment[8]; // see upper defines for details |
| uint8_t GlobalConfig; // see upper defines for bitcoding |
| uint8_t HeightMinGas; // Value : 0-100 |
| uint8_t HeightD; // Value : 0-250 |
| uint8_t MaxHeight; // Value : 0-32 |
| uint8_t HeightP; // Value : 0-32 |
| uint8_t Height_Gain; // Value : 0-50 |
| uint8_t Height_ACC_Effect; // Value : 0-250 |
| |
| uint8_t StickElevatorP; // StickP in tool. |
| uint8_t StickAileronsP; // StickD in tool. |
| uint8_t StickRudderP; // StickYawP in tool. |
| |
| uint8_t Unused3; |
| uint8_t Unused4; |
| uint8_t GyroAccFactor; // Value : 1-64 |
| uint8_t CompassYawEffect; // Value : 0-32 |
| |
| uint8_t GyroPitchP; // GyroP in tool |
| uint8_t GyroRollP; // GyroI in tool |
| uint8_t GyroYawP; // GyroD in tool |
| |
| uint8_t LowVoltageWarning; // Value : 0-250 |
| uint8_t Unused5; // Value : 0-250 //Gaswert bei Empüngsverlust |
| uint8_t Unused6; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
| uint8_t Unused7; // |
| uint8_t IFactor; // Value : 0-250 |
| uint8_t UserParams1[4]; // Value : 0-250 |
| |
| uint8_t ControlSigns; |
| uint8_t Unused9; |
| uint8_t Unused10; |
| |
| uint8_t Unused11; // Value : 0-250 // Anschlag |
| uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
| |
| uint8_t Unused16; |
| uint8_t Unused17; |
| uint8_t Unused18; |
| |
| uint8_t GyroPitchD; // LoopGasLimit in tool |
| uint8_t GyroRollD; // loopThreshold in tool |
| uint8_t GyroYawD; // loopHysteresis in tool |
| |
| uint8_t Unused19; |
| uint8_t Unused20; |
| uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
| uint8_t DriftComp; // limit for gyrodrift compensation |
| uint8_t Unused21; // PID limit for Attitude controller |
| uint8_t UserParams2[4]; // Value : 0-250 |
| |
| uint8_t J16Bitmask; // for the J16 Output |
| uint8_t J16Timing; // for the J16 Output |
| uint8_t J17Bitmask; // for the J17 Output |
| uint8_t J17Timing; // for the J17 Output |
| uint8_t ExternalControl; // for serial Control |
| uint8_t BitConfig; // see upper defines for bitcoding |
| uint8_t ServoPitchCompInvert; // Value : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| uint8_t Reserved[4]; |
| int8_t Name[12]; |
| } paramset_t; |
| |
| #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
| |
| extern paramset_t staticParams; |
| |
| typedef struct { |
| uint8_t Revision; |
| int8_t Name[12]; |
| int8_t Motor[16][4]; |
| }__attribute__((packed)) MixerTable_t; |
| |
| extern MixerTable_t Mixer; |
| |
| // 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_LANDING (1<<4) |
| #define MKFLAG_RESERVE1 (1<<5) |
| #define MKFLAG_RESERVE2 (1<<6) |
| #define MKFLAG_RESERVE3 (1<<7) |
| |
| // bit mask for staticParams.GlobalConfig |
| #define CFG_HEIGHT_CONTROL (1<<0) |
| #define CFG_HEIGHT_SWITCH (1<<1) |
| #define CFG_HEADING_HOLD (1<<2) |
| #define CFG_COMPASS_ACTIVE (1<<3) |
| #define CFG_COMPASS_FIX (1<<4) |
| #define CFG_GPS_ACTIVE (1<<5) |
| #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
| #define CFG_ROTARY_RATE_LIMITER (1<<7) |
| |
| // bit mask for staticParams.BitConfig |
| #define CFG_LOOP_UP (1<<0) |
| #define CFG_LOOP_DOWN (1<<1) |
| #define CFG_LOOP_LEFT (1<<2) |
| #define CFG_LOOP_RIGHT (1<<3) |
| #define CFG_HEIGHT_3SWITCH (1<<4) |
| |
| #define ATMEGA644 0 |
| #define ATMEGA644P 1 |
| #define SYSCLK F_CPU |
| |
| // Not really a part of configuration, but LEDs and HW version 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 |
| |
| extern volatile uint8_t MKFlags; |
| extern int16_t variables[8]; // The "Poti"s. |
| extern uint8_t BoardRelease; |
| extern uint8_t CPUType; |
| |
| void configuration_staticToDynamic(void); |
| uint8_t getCPUType(void); |
| uint8_t getBoardRelease(void); |
| |
| #endif // _CONFIGURATION_H |