4,40 → 4,46 |
#include <inttypes.h> |
#include <avr/io.h> |
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#define MAX_CHANNELS 10 |
#define MAX_MOTORS 12 |
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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 GyroD; |
/*PMM*/uint8_t GyroP; |
/* P */uint8_t GyroI; |
/* Never used */uint8_t StickYawP; |
// IMU |
/*PMM*/uint8_t gyroP; |
/* P */uint8_t gyroD; |
/* P */uint8_t gyroI; |
/* P */uint8_t IFactor; |
/* P */uint8_t UserParams[8]; |
/* P */uint8_t ServoPitchControl; |
/* P */uint8_t LoopGasLimit; |
/* P */uint8_t AxisCoupling1; |
/* P */uint8_t AxisCoupling2; |
/* 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; |
uint8_t yawIFactor; |
/* P */uint8_t compassYawEffect; |
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// Control |
/* P */uint8_t externalControl; |
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/* P */uint8_t axisCoupling1; |
/* P */uint8_t axisCoupling2; |
/* P */uint8_t axisCouplingYawCorrection; |
/* P */uint8_t dynamicStability; |
uint8_t maxControlActivityForAcc; |
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// Height control |
/*PMM*/uint8_t heightP; |
/*PMM*/uint8_t heightD; |
/* P */uint8_t heightSetting; |
/* P */uint8_t heightACCEffect; |
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uint8_t attitudeControl; |
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// The rest... |
/* P */uint8_t userParams[8]; |
/*PMM*/uint8_t output0Timing; |
/*PMM*/uint8_t output1Timing; |
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uint8_t servoManualControl[2]; |
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uint8_t motorSmoothing; |
} dynamicParam_t; |
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extern dynamicParam_t dynamicParams; |
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typedef struct { |
49,109 → 55,120 |
uint8_t sourceIdx, targetIdx; |
} XLATION; |
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typedef struct { |
uint8_t checksum; |
uint8_t revisionNumber; |
uint8_t channels[MAX_CHANNELS]; |
} channelMap_t; |
extern channelMap_t channelMap; |
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typedef struct { |
uint8_t checksum; |
uint8_t revision; |
int8_t name[12]; |
int8_t motor[MAX_MOTORS][4]; |
}__attribute__((packed)) mixerMatrix_t; |
extern mixerMatrix_t mixerMatrix; |
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typedef struct { |
uint8_t manualControl; |
uint8_t compensationFactor; |
uint8_t minValue; |
uint8_t maxValue; |
uint8_t flags; |
} servo_t; |
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typedef struct { |
uint8_t bitmask; |
uint8_t timing; |
} output_flash_t; |
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// 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 StickP; // Value : 1-6 |
uint8_t StickD; // Value : 0-64 |
uint8_t StickYawP; // Value : 1-20 |
uint8_t MinThrottle; // Value : 0-32 |
uint8_t MaxThrottle; // Value : 33-250 |
uint8_t GyroAccFactor; // Value : 1-64 |
uint8_t CompassYawEffect; // Value : 0-32 |
uint8_t GyroP; // Value : 10-250 |
uint8_t GyroI; // Value : 0-250 |
uint8_t GyroD; // Value : 0-250 |
uint8_t LowVoltageWarning; // Value : 0-250 |
uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Empüngsverlust |
uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
uint8_t Unused0; // |
// Global bitflags |
uint8_t bitConfig; // see upper defines for bitcoding |
uint8_t bitConfig2; // see upper defines for bitcoding |
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// Height Control |
uint8_t heightP; // Value : 0-32 |
uint8_t heightD; // Value : 0-250 |
uint8_t heightSetting; // Value : 0-32 |
uint8_t heightMaxThrottleChange; // Value : 0-100 |
uint8_t heightSlewRate; // Value : 0-50 |
uint8_t heightACCEffect; // Value : 0-250 |
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// Attitude Control |
uint8_t attitudeControl; |
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// Control |
uint8_t stickP; // Value : 1-6 |
uint8_t stickD; // Value : 0-64 |
uint8_t stickYawP; // Value : 1-20 |
uint8_t stickThrottleD; |
uint8_t minThrottle; // Value : 0-32 |
uint8_t maxThrottle; // Value : 33-250 |
uint8_t externalControl; // for serial Control |
uint8_t maxControlActivityForAcc; |
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// IMU |
uint8_t gyroPIDFilterConstant; |
uint8_t gyroATTFilterConstant; |
uint8_t gyroDFilterConstant; |
uint8_t accFilterConstant; |
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uint8_t gyroP; // Value : 10-250 |
uint8_t gyroI; // Value : 0-250 |
uint8_t gyroD; // Value : 0-250 |
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uint8_t zerothOrderCorrection; // Value : 1-64 |
uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
uint8_t driftCompLimit; // limit for gyrodrift compensation |
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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 |
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uint8_t dynamicStability; // PID limit for Attitude controller |
uint8_t IFactor; // Value : 0-250 |
uint8_t UserParams1[4]; // Value : 0-250 |
/* |
uint8_t UserParam2; // Value : 0-250 |
uint8_t UserParam3; // Value : 0-250 |
uint8_t UserParam4; // Value : 0-250 |
*/ |
uint8_t ServoPitchControl; |
uint8_t ServoPitchComp; |
uint8_t ServoPitchMin; |
uint8_t ServoPitchMax; // Value : 0-250 // Anschlag |
uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
uint8_t LoopGasLimit; // Value: 0-250 max. Gas wührend Looping |
uint8_t LoopThreshold; // Value: 0-250 Schwelle für Stickausschlag |
uint8_t LoopHysteresis; // Value: 0-250 Hysterese für Stickausschlag |
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 unused0; |
uint8_t unused1; |
uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
uint8_t DriftComp; // limit for gyrodrift compensation |
uint8_t DynamicStability; // PID limit for Attitude controller |
uint8_t UserParams2[4]; // Value : 0-250 |
/* |
uint8_t UserParam6; // Value : 0-250 |
uint8_t UserParam7; // Value : 0-250 |
uint8_t UserParam8; // 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 NaviGpsModeControl; // Parameters for the Naviboard |
uint8_t NaviGpsGain; // overall gain for GPS-PID controller |
uint8_t NaviGpsP; // P gain for GPS-PID controller |
uint8_t NaviGpsI; // I gain for GPS-PID controller |
uint8_t NaviGpsD; // D gain for GPS-PID controller |
uint8_t NaviGpsPLimit; // P limit for GPS-PID controller |
uint8_t NaviGpsILimit; // I limit for GPS-PID controller |
uint8_t NaviGpsDLimit; // D limit for GPS-PID controller |
uint8_t NaviGpsACC; // ACC gain for GPS-PID controller |
uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions |
uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements |
uint8_t NaviWindCorrection; // streng of wind course correction |
uint8_t NaviSpeedCompensation; // D gain fefore position hold login |
uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights |
uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
uint8_t NaviPHLoginTime; // position hold logintimeout |
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; |
uint8_t yawIFactor; |
uint8_t compassYawEffect; // Value : 0-32 |
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#define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
// Servos |
servo_t servoConfigurations[2]; // [PITCH, ROLL] |
uint8_t servoCount; |
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extern paramset_t staticParams; |
// Battery warning and emergency flight |
uint8_t batteryVoltageWarning; // Value : 0-250 |
uint8_t emergencyThrottle; // Value : 0-250 //Gaswert bei Empüngsverlust /* |
uint8_t emergencyFlightDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
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typedef struct { |
uint8_t Revision; |
int8_t Name[12]; |
int8_t Motor[16][4]; |
}__attribute__((packed)) MixerTable_t; |
// Outputs |
output_flash_t outputFlash[2]; |
uint8_t outputDebugMask; |
// bit0: Test all OFF |
// bit1: Test all ON |
// bit2: flash when beeping |
uint8_t outputFlags; |
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extern MixerTable_t Mixer; |
// User params |
uint8_t userParams[8]; // Value : 0-250 |
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// Name |
uint8_t name[12]; |
} paramset_t; |
extern paramset_t staticParams; |
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// 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_EMERGENCY_FLIGHT (1<<4) |
#define MKFLAG_RESERVE1 (1<<5) |
#define MKFLAG_RESERVE2 (1<<6) |
#define MKFLAG_RESERVE3 (1<<7) |
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// bit mask for staticParams.GlobalConfig |
// bit mask for staticParams.bitConfig |
#define CFG_HEIGHT_CONTROL (1<<0) |
#define CFG_HEIGHT_SWITCH (1<<1) |
#define CFG_HEADING_HOLD (1<<2) |
159,9 → 176,9 |
#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) |
#define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
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// bit mask for staticParams.BitConfig |
// bit mask for staticParams.bitConfig2 |
#define CFG_LOOP_UP (1<<0) |
#define CFG_LOOP_DOWN (1<<1) |
#define CFG_LOOP_LEFT (1<<2) |
173,11 → 190,11 |
#define SYSCLK F_CPU |
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// 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_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_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) |
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// Mixer table |
187,10 → 204,15 |
#define MIX_YAW 3 |
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extern volatile uint8_t MKFlags; |
extern uint8_t requiredMotors; |
extern int16_t variables[8]; // The "Poti"s. |
extern uint8_t BoardRelease; |
extern uint8_t boardRelease; |
extern uint8_t CPUType; |
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void channelMap_default(void); |
void paramSet_default(uint8_t setnumber); |
void mixerMatrix_default(void); |
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void configuration_applyVariablesToParams(void); |
uint8_t getCPUType(void); |
uint8_t getBoardRelease(void); |