WebSVN - FlightCtrl - Diff - Rev 2122 and 2129 - /branches/dongfang_FC_fixedwing/arduino


#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
  int8_t gyroCalibrationTweak[3];
} 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 gimbalServoManualControl[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 RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.
  uint8_t HWTrim;
  uint8_t variableOffset;
  uint8_t channels[MAX_CHANNELS];
} ChannelMap_t;
extern ChannelMap_t channelMap;
 
// With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated,
// and then save in a succeeding gyro calibration command.
typedef struct {
  int16_t trim[MAX_CHANNELS];
} RCTrim_t;
extern RCTrim_t rcTrim;
 
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 batteryWarningVoltage;
  uint8_t emergencyThrottle;
  uint8_t emergencyFlightDuration;
 
  // Airspeed
  uint8_t airspeedCorrection;
  uint8_t isFlyingThreshold;
 
  // Servos
  uint8_t controlServosReverse;
 
  uint8_t servoCount;
  uint8_t controlServoMinValue;
  uint8_t controlServoMaxValue;
 
  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
 

Rev 2122	Rev 2129
1	#ifndef _CONFIGURATION_H	1	#ifndef _CONFIGURATION_H
2	#define _CONFIGURATION_H	2	#define _CONFIGURATION_H
3		3
4	#include <inttypes.h>	4	#include <inttypes.h>
5	#include <avr/io.h>	5	#include <avr/io.h>
6		6
7	#define MAX_CHANNELS 10	7	#define MAX_CHANNELS 10
8	#define MAX_MOTORS 12	8	#define MAX_MOTORS 12
9		9
10	// bitmask for VersionInfo_t.HardwareError[0]	10	// bitmask for VersionInfo_t.HardwareError[0]
11	#define FC_ERROR0_GYRO_PITCH 0x01	11	#define FC_ERROR0_GYRO_PITCH 0x01
12	#define FC_ERROR0_GYRO_ROLL 0x02	12	#define FC_ERROR0_GYRO_ROLL 0x02
13	#define FC_ERROR0_GYRO_YAW 0x04	13	#define FC_ERROR0_GYRO_YAW 0x04
14	#define FC_ERROR0_ACC_X 0x08	14	#define FC_ERROR0_ACC_X 0x08
15	#define FC_ERROR0_ACC_Y 0x10	15	#define FC_ERROR0_ACC_Y 0x10
16	#define FC_ERROR0_ACC_Z 0x20	16	#define FC_ERROR0_ACC_Z 0x20
17	#define FC_ERROR0_PRESSURE 0x40	17	#define FC_ERROR0_PRESSURE 0x40
18	#define FC_ERROR1_RES0 0x80	18	#define FC_ERROR1_RES0 0x80
19	// bitmask for VersionInfo_t.HardwareError[1]	19	// bitmask for VersionInfo_t.HardwareError[1]
20	#define FC_ERROR1_I2C 0x01	20	#define FC_ERROR1_I2C 0x01
21	#define FC_ERROR1_BL_MISSING 0x02	21	#define FC_ERROR1_BL_MISSING 0x02
22	#define FC_ERROR1_SPI_RX 0x04	22	#define FC_ERROR1_SPI_RX 0x04
23	#define FC_ERROR1_PPM 0x08	23	#define FC_ERROR1_PPM 0x08
24	#define FC_ERROR1_MIXER 0x10	24	#define FC_ERROR1_MIXER 0x10
25	#define FC_ERROR1_RES1 0x20	25	#define FC_ERROR1_RES1 0x20
26	#define FC_ERROR1_RES2 0x40	26	#define FC_ERROR1_RES2 0x40
27	#define FC_ERROR1_RES3 0x80	27	#define FC_ERROR1_RES3 0x80
28		28
29	typedef struct {	29	typedef struct {
30	uint8_t gyroQuadrant;	30	uint8_t gyroQuadrant;
31	uint8_t accQuadrant;	31	uint8_t accQuadrant;
32	uint8_t imuReversedFlags;	32	uint8_t imuReversedFlags;
33		33
34	uint8_t gyroPIDFilterConstant;	34	uint8_t gyroPIDFilterConstant;
35	uint8_t gyroDWindowLength;	35	uint8_t gyroDWindowLength;
36	uint8_t gyroDFilterConstant;	36	uint8_t gyroDFilterConstant;
37	uint8_t accFilterConstant;	37	uint8_t accFilterConstant;
38		38
39	uint8_t zerothOrderCorrection;	39	uint8_t zerothOrderCorrection;
40	uint8_t rateTolerance;	40	uint8_t rateTolerance;
41		41
42	uint8_t gyroActivityDamping;	42	uint8_t gyroActivityDamping;
43	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	43	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
44	uint8_t driftCompLimit; // limit for gyrodrift compensation	44	uint8_t driftCompLimit; // limit for gyrodrift compensation
-		45	int8_t gyroCalibrationTweak[3];
45	} IMUConfig_t;	46	} IMUConfig_t;
46		47
47	extern IMUConfig_t IMUConfig;	48	extern IMUConfig_t IMUConfig;
48		49
49	typedef struct {	50	typedef struct {
50	uint8_t P;	51	uint8_t P;
51	uint8_t I;	52	uint8_t I;
52	uint8_t D;	53	uint8_t D;
53	} PID_t;	54	} PID_t;
54		55
55	typedef struct {	56	typedef struct {
56	uint8_t P;	57	uint8_t P;
57	uint8_t I;	58	uint8_t I;
58	uint8_t D;	59	uint8_t D;
59	uint8_t iMax;	60	uint8_t iMax;
60	} PIDIM_t;	61	} PIDIM_t;
61		62
62	typedef enum {	63	typedef enum {
63	FLIGHT_MODE_NONE,	64	FLIGHT_MODE_NONE,
64	FLIGHT_MODE_MANUAL,	65	FLIGHT_MODE_MANUAL,
65	FLIGHT_MODE_RATE,	66	FLIGHT_MODE_RATE,
66	FLIGHT_MODE_ANGLES	67	FLIGHT_MODE_ANGLES
67	} FlightMode_t;	68	} FlightMode_t;
68		69
69	#define CONTROL_SERVO_REVERSE_ELEVATOR 1	70	#define CONTROL_SERVO_REVERSE_ELEVATOR 1
70	#define CONTROL_SERVO_REVERSE_AILERONS 2	71	#define CONTROL_SERVO_REVERSE_AILERONS 2
71	#define CONTROL_SERVO_REVERSE_RUDDER 4	72	#define CONTROL_SERVO_REVERSE_RUDDER 4
72		73
73	typedef struct {	74	typedef struct {
74	uint8_t SWMajor;	75	uint8_t SWMajor;
75	uint8_t SWMinor;	76	uint8_t SWMinor;
76	uint8_t protoMajor;	77	uint8_t protoMajor;
77	uint8_t protoMinor;	78	uint8_t protoMinor;
78	uint8_t SWPatch;	79	uint8_t SWPatch;
79	uint8_t hardwareErrors[5];	80	uint8_t hardwareErrors[5];
80	}__attribute__((packed)) VersionInfo_t;	81	}__attribute__((packed)) VersionInfo_t;
81		82
82	extern VersionInfo_t versionInfo;	83	extern VersionInfo_t versionInfo;
83		84
84	typedef struct {	85	typedef struct {
85	// IMU stuff:	86	// IMU stuff:
86	PID_t gyroPID[3];	87	PID_t gyroPID[3];
87		88
88	// Control	89	// Control
89	/* P */uint8_t externalControl;	90	/* P */uint8_t externalControl;
90		91
91	// Output and servo	92	// Output and servo
92	/PMM/uint8_t output0Timing;	93	/PMM/uint8_t output0Timing;
93	/PMM/uint8_t output1Timing;	94	/PMM/uint8_t output1Timing;
94		95
95	uint8_t servoManualControl[2];	96	uint8_t gimbalServoManualControl[2];
96		97
97	/* P */uint8_t userParams[8];	98	/* P */uint8_t userParams[8];
98	} DynamicParams_t;	99	} DynamicParams_t;
99		100
100	extern volatile DynamicParams_t dynamicParams;	101	extern volatile DynamicParams_t dynamicParams;
101		102
102	typedef struct {	103	typedef struct {
103	uint8_t sourceIdx, targetIdx;	104	uint8_t sourceIdx, targetIdx;
104	uint8_t min, max;	105	uint8_t min, max;
105	} MMXLATION;	106	} MMXLATION;
106		107
107	/*	108	/*
108	typedef struct {	109	typedef struct {
109	uint8_t sourceIdx, targetIdx;	110	uint8_t sourceIdx, targetIdx;
110	} XLATION;	111	} XLATION;
111	*/	112	*/
112		113
113	typedef struct {	114	typedef struct {
-		115	uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.
114	uint8_t HWTrim;	116	uint8_t HWTrim;
115	uint8_t variableOffset;	117	uint8_t variableOffset;
116	uint8_t channels[MAX_CHANNELS];	118	uint8_t channels[MAX_CHANNELS];
117	} ChannelMap_t;	119	} ChannelMap_t;
118	extern ChannelMap_t channelMap;	120	extern ChannelMap_t channelMap;
-		121
-		122	// With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated,
-		123	// and then save in a succeeding gyro calibration command.
-		124	typedef struct {
-		125	int16_t trim[MAX_CHANNELS];
-		126	} RCTrim_t;
-		127	extern RCTrim_t rcTrim;
119		128
120	typedef struct {	129	typedef struct {
121	int16_t offsets[3];	130	int16_t offsets[3];
122	} sensorOffset_t;	131	} sensorOffset_t;
123		132
124	typedef struct {	133	typedef struct {
125	uint8_t manualControl;	134	uint8_t manualControl;
126	uint8_t stabilizationFactor;	135	uint8_t stabilizationFactor;
127	uint8_t minValue;	136	uint8_t minValue;
128	uint8_t maxValue;	137	uint8_t maxValue;
129	uint8_t flags;	138	uint8_t flags;
130	} Servo_t;	139	} Servo_t;
131		140
132	#define SERVO_STABILIZATION_REVERSE 1	141	#define SERVO_STABILIZATION_REVERSE 1
133		142
134	typedef struct {	143	typedef struct {
135	uint8_t bitmask;	144	uint8_t bitmask;
136	uint8_t timing;	145	uint8_t timing;
137	} output_flash_t;	146	} output_flash_t;
138		147
139	// values above 250 representing poti1 to poti4	148	// values above 250 representing poti1 to poti4
140	typedef struct {	149	typedef struct {
141	// Global bitflags	150	// Global bitflags
142	uint8_t bitConfig; // see upper defines for bitcoding	151	uint8_t bitConfig; // see upper defines for bitcoding
143		152
144	// Control	153	// Control
145	PIDIM_t gyroPID[3];	154	PIDIM_t gyroPID[3];
146		155
147	uint8_t stickIElevator;	156	uint8_t stickIElevator;
148	uint8_t stickIAilerons;	157	uint8_t stickIAilerons;
149	uint8_t stickIRudder;	158	uint8_t stickIRudder;
150		159
151	uint8_t externalControl; // for serial Control	160	uint8_t externalControl; // for serial Control
152		161
153	uint8_t IFactor;	162	uint8_t IFactor;
154		163
155	uint8_t batteryWarningVoltage;	164	uint8_t batteryWarningVoltage;
156	uint8_t emergencyThrottle;	165	uint8_t emergencyThrottle;
157	uint8_t emergencyFlightDuration;	166	uint8_t emergencyFlightDuration;
158		167
159	// Airspeed	168	// Airspeed
160	uint8_t airspeedCorrection;	169	uint8_t airspeedCorrection;
161	uint8_t isFlyingThreshold;	170	uint8_t isFlyingThreshold;
162		171
163	// Servos	172	// Servos
164	uint8_t controlServosReverse;	173	uint8_t controlServosReverse;
165		174
166	uint8_t servoCount;	175	uint8_t servoCount;
167	uint8_t controlServoMinValue;	176	uint8_t controlServoMinValue;
168	uint8_t controlServoMaxValue;	177	uint8_t controlServoMaxValue;
169		178
170	uint8_t servoManualMaxSpeed;	179	uint8_t servoManualMaxSpeed;
171	Servo_t servoConfigurations[2]; // [PITCH, ROLL]	180	Servo_t servoConfigurations[2]; // [PITCH, ROLL]
172		181
173	// Outputs	182	// Outputs
174	output_flash_t outputFlash[2];	183	output_flash_t outputFlash[2];
175	uint8_t outputDebugMask;	184	uint8_t outputDebugMask;
176	uint8_t outputFlags;	185	uint8_t outputFlags;
177		186
178	// User params	187	// User params
179	uint8_t userParams[8];	188	uint8_t userParams[8];
180		189
181	// Name	190	// Name
182	char name[12];	191	char name[12];
183	} ParamSet_t;	192	} ParamSet_t;
184		193
185	extern ParamSet_t staticParams;	194	extern ParamSet_t staticParams;
186		195
187	// bit mask for staticParams.bitConfig	196	// bit mask for staticParams.bitConfig
188	#define CFG_GYRO_SATURATION_PREVENTION (1<<0)	197	#define CFG_GYRO_SATURATION_PREVENTION (1<<0)
189	#define CFG_USE_AIRSPEED_PID (1<<1)	198	#define CFG_USE_AIRSPEED_PID (1<<1)
190		199
191	#define IMU_REVERSE_GYRO_PR (1<<0)	200	#define IMU_REVERSE_GYRO_PR (1<<0)
192	#define IMU_REVERSE_GYRO_YAW (1<<1)	201	#define IMU_REVERSE_GYRO_YAW (1<<1)
193	#define IMU_REVERSE_ACC_XY (1<<2)	202	#define IMU_REVERSE_ACC_XY (1<<2)
194	#define IMU_REVERSE_ACC_Z (1<<3)	203	#define IMU_REVERSE_ACC_Z (1<<3)
195		204
196	#define ATMEGA644 0	205	#define ATMEGA644 0
197	#define ATMEGA644P 1	206	#define ATMEGA644P 1
198	#define SYSCLK F_CPU	207	#define SYSCLK F_CPU
199		208
200	// Not really a part of configuration, but LEDs and HW s test are the same.	209	// Not really a part of configuration, but LEDs and HW s test are the same.
201	#define RED_OFF {PORTD &=~(1<<PORTD6);}	210	#define RED_OFF {PORTD &=~(1<<PORTD6);}
202	#define RED_ON {PORTD \|= (1<<PORTD6);}	211	#define RED_ON {PORTD \|= (1<<PORTD6);}
203	#define RED_FLASH PORTD ^= (1<<PORTD6)	212	#define RED_FLASH PORTD ^= (1<<PORTD6)
204	#define GRN_OFF {PORTD &=~(1<<PORTD7);}	213	#define GRN_OFF {PORTD &=~(1<<PORTD7);}
205	#define GRN_ON {PORTD \|= (1<<PORTD7);}	214	#define GRN_ON {PORTD \|= (1<<PORTD7);}
206	#define GRN_FLASH PORTD ^= (1<<PORTD7)	215	#define GRN_FLASH PORTD ^= (1<<PORTD7)
207		216
208	// Mixer table	217	// Mixer table
209	#define MIX_THROTTLE 0	218	#define MIX_THROTTLE 0
210	#define MIX_PITCH 1	219	#define MIX_PITCH 1
211	#define MIX_ROLL 2	220	#define MIX_ROLL 2
212	#define MIX_YAW 3	221	#define MIX_YAW 3
213		222
214	#define VARIABLE_COUNT 8	223	#define VARIABLE_COUNT 8
215		224
216	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	225	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
217	extern uint8_t CPUType;	226	extern uint8_t CPUType;
218		227
219	extern volatile uint16_t isFlying;	228	extern volatile uint16_t isFlying;
220	extern FlightMode_t currentFlightMode;	229	extern FlightMode_t currentFlightMode;
221		230
222	void IMUConfig_default(void);	231	void IMUConfig_default(void);
223	void channelMap_default(void);	232	void channelMap_default(void);
224	void paramSet_default(uint8_t setnumber);	233	void paramSet_default(uint8_t setnumber);
225		234
226	void configuration_setFlightParameters(uint8_t newFlightMode);	235	void configuration_setFlightParameters(uint8_t newFlightMode);
227	void configuration_applyVariablesToParams(void);	236	void configuration_applyVariablesToParams(void);
228		237
229	void setCPUType(void);	238	void setCPUType(void);
230		239
231	// Called after a change in configuration parameters, as a hook for modules to take over changes.	240	// Called after a change in configuration parameters, as a hook for modules to take over changes.
232	void configuration_paramSetDidChange(void);	241	void configuration_paramSetDidChange(void);
233	#endif // _CONFIGURATION_H	242	#endif // _CONFIGURATION_H
234		243

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(root)/branches/dongfang_FC_fixedwing/arduino_atmega328/configuration.h - Rev 2122 → 2129