4,153 → 4,246 |
#include <inttypes.h> |
#include <avr/io.h> |
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#define MAX_CHANNELS 10 |
#define MAX_MOTORS 12 |
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// 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 |
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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; |
uint8_t SWMajor; |
uint8_t SWMinor; |
uint8_t protoMajor; |
uint8_t protoMinor; |
uint8_t SWPatch; |
uint8_t hardwareErrors[5]; |
}__attribute__((packed)) VersionInfo_t; |
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/* P */uint8_t GyroPitchP; |
/* P */uint8_t GyroRollP; |
/* P */uint8_t GyroYawP; |
extern VersionInfo_t versionInfo; |
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/* P */uint8_t UserParams[8]; |
/* P */uint8_t ServoPitchControl; |
typedef struct { |
/*PMM*/uint8_t gyroPitchD; |
/* P */uint8_t gyroRollD; |
/* P */uint8_t gyroYawD; |
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/* P */uint8_t GyroPitchD; // LoopGasLimit in tool |
/* P */uint8_t GyroRollD; // AxisCoupling1 in tool |
/* P */uint8_t GyroYawD; // AxisCoupling2 in tool |
// Control |
/* P */uint8_t externalControl; |
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/* P */uint8_t ExternalControl; |
/*PMM*/uint8_t J16Timing; |
/*PMM*/uint8_t J17Timing; |
} dynamicParam_t; |
extern dynamicParam_t dynamicParams; |
// Height control |
/*PMM*/uint8_t heightP; |
/* P */uint8_t heightI; |
/*PMM*/uint8_t heightD; |
/* P */uint8_t heightSetting; |
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// Output and servo |
/*PMM*/uint8_t output0Timing; |
/*PMM*/uint8_t output1Timing; |
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uint8_t servoManualControl[2]; |
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/* P */uint8_t userParams[8]; |
} DynamicParams_t; |
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extern volatile DynamicParams_t dynamicParams; |
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typedef struct { |
uint8_t sourceIdx, targetIdx; |
uint8_t min, max; |
} MMXLATION; |
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/* |
typedef struct { |
uint8_t sourceIdx, targetIdx; |
} XLATION; |
*/ |
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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 channels[MAX_CHANNELS]; |
} channelMap_t; |
extern channelMap_t channelMap; |
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uint8_t StickElevatorP; |
uint8_t StickAileronsP; |
uint8_t StickRudderP; |
typedef struct { |
char name[12]; |
int8_t motor[MAX_MOTORS][4]; |
}__attribute__((packed)) mixerMatrix_t; |
extern mixerMatrix_t mixerMatrix; |
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uint8_t PIDGyroFilter;// Value: 1-8 |
typedef struct { |
int16_t offsets[3]; |
} sensorOffset_t; |
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typedef struct { |
uint8_t manualControl; |
uint8_t stabilizationFactor; |
uint8_t minValue; |
uint8_t maxValue; |
uint8_t flags; |
} servo_t; |
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#define SERVO_STABILIZATION_REVERSE 1 |
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typedef struct { |
uint8_t bitmask; |
uint8_t timing; |
} output_flash_t; |
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typedef struct { |
uint8_t gyroQuadrant; |
uint8_t accQuadrant; |
uint8_t imuReversedFlags; |
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uint8_t DGyroFilter; // Value: 1-8 |
uint8_t attitudeGyroFilter; // Value: 1-8 |
uint8_t gyroPIDFilterConstant; |
uint8_t gyroDWindowLength; |
uint8_t gyroDFilterConstant; |
uint8_t accFilterConstant; |
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uint8_t accFilter; |
uint8_t zerothOrderCorrection; |
uint8_t rateTolerance; |
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uint8_t GyroPitchP; |
uint8_t GyroRollP; |
uint8_t GyroYawP; |
uint8_t gyroActivityDamping; |
uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
uint8_t driftCompLimit; // limit for gyrodrift compensation |
} IMUConfig_t; |
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uint8_t UserParams[8]; // Value : 0-250 |
extern IMUConfig_t IMUConfig; |
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uint8_t LowVoltageWarning; // Value : 0-250 |
// values above 250 representing poti1 to poti4 |
typedef struct { |
// Global bitflags |
uint8_t bitConfig; // see upper defines for bitcoding |
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uint8_t servoDirections; |
uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
// 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 GyroPitchD; |
uint8_t GyroRollD; |
uint8_t GyroYawD; |
uint8_t levelCorrection[2]; |
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uint8_t zerothOrderGyroCorrectionZAccLimit; |
uint8_t zerothOrderGyroCorrectionFactorx1000; |
// Control |
uint8_t gyroPitchP; |
uint8_t gyroPitchI; |
uint8_t gyroPitchD; |
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uint8_t secondOrderGyroCorrectionDivisor; |
uint8_t secondOrderGyroCorrectionLimit; |
uint8_t CompassYawEffect; // Value : 0-32 |
uint8_t gyroRollP; |
uint8_t gyroRollI; |
uint8_t gyroRollD; |
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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 gyroYawP; |
uint8_t gyroYawI; |
uint8_t gyroYawD; |
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uint8_t ExternalControl; // for serial Control |
} paramset_t; |
uint8_t stickIElevator; |
uint8_t stickIAilerons; |
uint8_t stickIRudder; |
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#define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
uint8_t externalControl; // for serial Control |
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extern paramset_t staticParams; |
uint8_t IFactor; |
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typedef struct { |
uint8_t Revision; |
int8_t Name[12]; |
int8_t Motor[16][4]; |
}__attribute__((packed)) MixerTable_t; |
uint8_t batteryVoltageWarning; |
uint8_t emergencyThrottle; |
uint8_t emergencyFlightDuration; |
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extern MixerTable_t Mixer; |
// Servos |
uint8_t servoCount; |
uint8_t servoManualMaxSpeed; |
servo_t servoConfigurations[2]; // [PITCH, ROLL] |
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// Outputs |
output_flash_t outputFlash[2]; |
uint8_t outputDebugMask; |
uint8_t outputFlags; |
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// User params |
uint8_t userParams[8]; |
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// Name |
char name[12]; |
} ParamSet_t; |
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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_RESERVE1 (1<<5) |
#define MKFLAG_RESERVE2 (1<<6) |
#define MKFLAG_RESERVE3 (1<<7) |
#define MKFLAG_MOTOR_RUN (1<<0) |
//#define MKFLAG_FLY (1<<1) |
#define MKFLAG_CALIBRATE (1<<2) |
#define MKFLAG_START (1<<3) |
#define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
#define MKFLAG_LOWBAT (1<<5) |
#define MKFLAG_RESERVE2 (1<<6) |
#define MKFLAG_RESERVE3 (1<<7) |
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// 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_SIMPLE_HEIGHT_CONTROL (1<<0) |
#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
#define CFG_HEADING_HOLD (1<<2) |
#define CFG_COMPASS_ENABLED (1<<3) |
#define CFG_UNUSED (1<<4) |
#define CFG_NAVI_ENABLED (1<<5) |
#define CFG_AXIS_COUPLING_ENABLED (1<<6) |
#define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
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// bit mask for staticParams.ServoDirections |
#define SERVO_DIRECTION_ELEVATOR (1<<0) |
#define SERVO_DIRECTION_AILERONS (1<<1) |
#define SERVO_DIRECTION_RUDDER (1<<2) |
#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) |
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#define ATMEGA644 0 |
#define ATMEGA644P 1 |
#define ATMEGA644 0 |
#define ATMEGA644P 1 |
#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);} |
// 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_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 |
#define MIX_THROTTLE 0 |
#define MIX_PITCH 1 |
#define MIX_ROLL 2 |
#define MIX_YAW 3 |
#define MIX_THROTTLE 0 |
#define MIX_PITCH 1 |
#define MIX_ROLL 2 |
#define MIX_YAW 3 |
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#define VARIABLE_COUNT 8 |
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extern volatile uint8_t MKFlags; |
extern int16_t variables[8]; // The "Poti"s. |
extern uint8_t BoardRelease; |
extern uint8_t requiredMotors; |
extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
extern uint8_t boardRelease; |
extern uint8_t CPUType; |
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void configuration_staticToDynamic(void); |
uint8_t getCPUType(void); |
uint8_t getBoardRelease(void); |
extern volatile uint8_t MKFlags; |
extern uint16_t isFlying; |
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void IMUConfig_default(void); |
void channelMap_default(void); |
void paramSet_default(uint8_t setnumber); |
void mixerMatrix_default(void); |
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void configuration_setNormalFlightParameters(void); |
void configuration_setFailsafeFlightParameters(void); |
void configuration_applyVariablesToParams(void); |
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void setCPUType(void); |
void setBoardRelease(void); |
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// Called after a change in configuration parameters, as a hook for modules to take over changes. |
void configuration_paramSetDidChange(void); |
#endif // _CONFIGURATION_H |