WebSVN - FlightCtrl - Diff - Rev 2035 and 2039 - /branches/dongfang_FC


#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 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
  /*PMM*/uint8_t gyroP;
  /* P */uint8_t gyroI;
  /* P */uint8_t gyroD;
  /* P */uint8_t compassYawEffect;
 
  // Control
  /* P */uint8_t externalControl;
  /* P */uint8_t dynamicStability;
  uint8_t maxAccVector;
 
  // Height control
  /*PMM*/uint8_t heightP;
  /* P */uint8_t heightI;
  /*PMM*/uint8_t heightD;
  /* P */uint8_t heightSetting;
 
  uint8_t attitudeControl;
 
  // Output and servo
  /*PMM*/uint8_t output0Timing;
  /*PMM*/uint8_t output1Timing;
 
  uint8_t servoManualControl[2];
 
  // Correction
  uint8_t levelCorrection[2];
 
  // Simple direct navigation
  uint8_t directGPSMode;
 
  /* P */uint8_t userParams[8];
} dynamicParam_t;
 
extern volatile dynamicParam_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 {
  char name[12];
  int8_t motor[MAX_MOTORS][4];
}__attribute__((packed)) mixerMatrix_t;
extern mixerMatrix_t mixerMatrix;
 
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
 
  // IMU
  uint8_t gyroQuadrant;
  uint8_t accQuadrant;
  uint8_t imuReversedFlags;
 
  uint8_t gyroPIDFilterConstant;
  uint8_t gyroATTFilterConstant;
  uint8_t gyroDFilterConstant;
  uint8_t accFilterConstant;
 
  uint8_t maxAccVector;
  uint8_t maxControlActivity;
  uint8_t zerothOrderCorrection;
  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
  uint8_t driftCompLimit;   // limit for gyrodrift compensation
 
  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 levelCorrection[2];
 
  // Control
  uint8_t gyroP;
  uint8_t gyroI;
  uint8_t gyroD;
 
  uint8_t attitudeControl;
  uint8_t stickP;
  uint8_t stickD;
  uint8_t stickYawP;
  uint8_t stickThrottleD;
  uint8_t minThrottle;
  uint8_t maxThrottle;
  uint8_t externalControl; // for serial Control
  uint8_t motorSmoothing;
  uint8_t dynamicStability; // PID limit for Attitude controller
  uint8_t IFactor;
  uint8_t yawIFactor;
  uint8_t compassYawEffect;
  uint8_t batteryVoltageWarning;
  uint8_t emergencyThrottle;
  uint8_t emergencyFlightDuration;
 
  // Height Control
  uint8_t airpressureFilterConstant;
  uint8_t airpressureWindowLength; // 0 means: Use filter.
  uint8_t airpressureAccZCorrection;
  uint8_t heightP;
  uint8_t heightI;
  uint8_t heightD;
  uint8_t heightSetting;
  uint8_t heightControlMaxIntegral;
  uint8_t heightControlMaxThrottleChange;
  uint8_t heightSlewRate;
 
  // Servos
  uint8_t servoCount;
  uint8_t servoManualMaxSpeed;
  servo_t servoConfigurations[2]; // [PITCH, ROLL]
 
  // Outputs
  output_flash_t outputFlash[2];
  uint8_t outputDebugMask;
  uint8_t outputFlags;
 
  // Simple direct navigation
  uint8_t directNaviMode;
 
  // NaviCtrl navigation
 
 
 // Shared for both modes of navigation
  uint8_t naviStickThreshold;
  uint8_t GPSMininumSatellites;
  uint8_t naviP;
  uint8_t naviI;
  uint8_t naviD;
 
  // User params
  uint8_t userParams[8];
 
  // Name
  char name[12];
} ParamSet_t;
 
extern ParamSet_t staticParams;
 
// 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_FLIGHT (1<<4)
#define MKFLAG_LOWBAT           (1<<5)
#define MKFLAG_RESERVE2         (1<<6)
#define MKFLAG_RESERVE3         (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_ACTIVE                          (1<<3)
#define CFG_COMPASS_FIX                                 (1<<4)
#define CFG_GPS_ACTIVE                          (1<<5)
#define CFG_AXIS_COUPLING_ACTIVE        (1<<6)
#define CFG_GYRO_SATURATION_PREVENTION  (1<<7)
 
#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   {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
 
#define VARIABLE_COUNT 8
 
extern volatile uint8_t MKFlags;
extern uint8_t requiredMotors;
extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
extern uint8_t boardRelease;
extern uint8_t CPUType;
 
extern volatile uint8_t MKFlags;
extern uint16_t isFlying;
 
void channelMap_default(void);
void paramSet_default(uint8_t setnumber);
void mixerMatrix_default(void);
 
void configuration_applyVariablesToParams(void);
uint8_t getCPUType(void);
uint8_t getBoardRelease(void);
 
#endif // _CONFIGURATION_H
 

Rev 2035	Rev 2039
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 SWMajor;	30	uint8_t SWMajor;
31	uint8_t SWMinor;	31	uint8_t SWMinor;
32	uint8_t protoMajor;	32	uint8_t protoMajor;
33	uint8_t protoMinor;	33	uint8_t protoMinor;
34	uint8_t SWPatch;	34	uint8_t SWPatch;
35	uint8_t hardwareErrors[5];	35	uint8_t hardwareErrors[5];
36	}__attribute__((packed)) VersionInfo_t;	36	}__attribute__((packed)) VersionInfo_t;
37		37
38	extern VersionInfo_t versionInfo;	38	extern VersionInfo_t versionInfo;
39		39
40	typedef struct {	40	typedef struct {
41	// IMU	41	// IMU
42	/PMM/uint8_t gyroP;	42	/PMM/uint8_t gyroP;
43	/* P */uint8_t gyroI;	43	/* P */uint8_t gyroI;
44	/* P */uint8_t gyroD;	44	/* P */uint8_t gyroD;
45	/* P */uint8_t compassYawEffect;	45	/* P */uint8_t compassYawEffect;
46		46
47	// Control	47	// Control
48	/* P */uint8_t externalControl;	48	/* P */uint8_t externalControl;
49	/* P */uint8_t dynamicStability;	49	/* P */uint8_t dynamicStability;
50	uint8_t maxAccVector;	50	uint8_t maxAccVector;
51		51
52	// Height control	52	// Height control
53	/PMM/uint8_t heightP;	53	/PMM/uint8_t heightP;
54	/* P */uint8_t heightI;	54	/* P */uint8_t heightI;
55	/PMM/uint8_t heightD;	55	/PMM/uint8_t heightD;
56	/* P */uint8_t heightSetting;	56	/* P */uint8_t heightSetting;
57		57
58	uint8_t attitudeControl;	58	uint8_t attitudeControl;
59		59
60	// The rest...	60	// Output and servo
61	/PMM/uint8_t output0Timing;	61	/PMM/uint8_t output0Timing;
62	/PMM/uint8_t output1Timing;	62	/PMM/uint8_t output1Timing;
63		63
64	uint8_t servoManualControl[2];	64	uint8_t servoManualControl[2];
-		65
-		66	// Correction
65	uint8_t levelCorrection[2];	67	uint8_t levelCorrection[2];
-		68
-		69	// Simple direct navigation
-		70	uint8_t directGPSMode;
66		71
67	/* P */uint8_t userParams[8];	72	/* P */uint8_t userParams[8];
68	} dynamicParam_t;	73	} dynamicParam_t;
69		74
70	extern volatile dynamicParam_t dynamicParams;	75	extern volatile dynamicParam_t dynamicParams;
71		76
72	typedef struct {	77	typedef struct {
73	uint8_t sourceIdx, targetIdx;	78	uint8_t sourceIdx, targetIdx;
74	uint8_t min, max;	79	uint8_t min, max;
75	} MMXLATION;	80	} MMXLATION;
76		81
77	typedef struct {	82	typedef struct {
78	uint8_t sourceIdx, targetIdx;	83	uint8_t sourceIdx, targetIdx;
79	} XLATION;	84	} XLATION;
80		85
81	typedef struct {	86	typedef struct {
82	uint8_t channels[MAX_CHANNELS];	87	uint8_t channels[MAX_CHANNELS];
83	} channelMap_t;	88	} channelMap_t;
84	extern channelMap_t channelMap;	89	extern channelMap_t channelMap;
85		90
86	typedef struct {	91	typedef struct {
87	char name[12];	92	char name[12];
88	int8_t motor[MAX_MOTORS][4];	93	int8_t motor[MAX_MOTORS][4];
89	}__attribute__((packed)) mixerMatrix_t;	94	}__attribute__((packed)) mixerMatrix_t;
90	extern mixerMatrix_t mixerMatrix;	95	extern mixerMatrix_t mixerMatrix;
91		96
92	typedef struct {	97	typedef struct {
93	int16_t offsets[3];	98	int16_t offsets[3];
94	} sensorOffset_t;	99	} sensorOffset_t;
95		100
96	typedef struct {	101	typedef struct {
97	uint8_t manualControl;	102	uint8_t manualControl;
98	uint8_t stabilizationFactor;	103	uint8_t stabilizationFactor;
99	uint8_t minValue;	104	uint8_t minValue;
100	uint8_t maxValue;	105	uint8_t maxValue;
101	uint8_t flags;	106	uint8_t flags;
102	} servo_t;	107	} servo_t;
103		108
104	#define SERVO_STABILIZATION_REVERSE 1	109	#define SERVO_STABILIZATION_REVERSE 1
105		110
106	typedef struct {	111	typedef struct {
107	uint8_t bitmask;	112	uint8_t bitmask;
108	uint8_t timing;	113	uint8_t timing;
109	} output_flash_t;	114	} output_flash_t;
110		115
111	// values above 250 representing poti1 to poti4	116	// values above 250 representing poti1 to poti4
112	typedef struct {	117	typedef struct {
113	// Global bitflags	118	// Global bitflags
114	uint8_t bitConfig; // see upper defines for bitcoding	119	uint8_t bitConfig; // see upper defines for bitcoding
115		120
116	// IMU	121	// IMU
117	uint8_t gyroQuadrant;	122	uint8_t gyroQuadrant;
118	uint8_t accQuadrant;	123	uint8_t accQuadrant;
119	uint8_t imuReversedFlags;	124	uint8_t imuReversedFlags;
120		125
121	uint8_t gyroPIDFilterConstant;	126	uint8_t gyroPIDFilterConstant;
122	uint8_t gyroATTFilterConstant;	127	uint8_t gyroATTFilterConstant;
123	uint8_t gyroDFilterConstant;	128	uint8_t gyroDFilterConstant;
124	uint8_t accFilterConstant;	129	uint8_t accFilterConstant;
125		130
126	uint8_t maxAccVector;	131	uint8_t maxAccVector;
127	uint8_t maxControlActivity;	132	uint8_t maxControlActivity;
128	uint8_t zerothOrderCorrection;	133	uint8_t zerothOrderCorrection;
129	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	134	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
130	uint8_t driftCompLimit; // limit for gyrodrift compensation	135	uint8_t driftCompLimit; // limit for gyrodrift compensation
131		136
132	uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)	137	uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
133	uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	138	uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
134	uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	139	uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
135		140
136	uint8_t levelCorrection[2];	141	uint8_t levelCorrection[2];
137		142
138	// Control	143	// Control
139	uint8_t gyroP;	144	uint8_t gyroP;
140	uint8_t gyroI;	145	uint8_t gyroI;
141	uint8_t gyroD;	146	uint8_t gyroD;
142		147
143	uint8_t attitudeControl;	148	uint8_t attitudeControl;
144	uint8_t stickP;	149	uint8_t stickP;
145	uint8_t stickD;	150	uint8_t stickD;
146	uint8_t stickYawP;	151	uint8_t stickYawP;
147	uint8_t stickThrottleD;	152	uint8_t stickThrottleD;
148	uint8_t minThrottle;	153	uint8_t minThrottle;
149	uint8_t maxThrottle;	154	uint8_t maxThrottle;
150	uint8_t externalControl; // for serial Control	155	uint8_t externalControl; // for serial Control
151	uint8_t motorSmoothing;	156	uint8_t motorSmoothing;
152	uint8_t dynamicStability; // PID limit for Attitude controller	157	uint8_t dynamicStability; // PID limit for Attitude controller
153	uint8_t IFactor;	158	uint8_t IFactor;
154	uint8_t yawIFactor;	159	uint8_t yawIFactor;
155	uint8_t compassYawEffect;	160	uint8_t compassYawEffect;
156	uint8_t batteryVoltageWarning;	161	uint8_t batteryVoltageWarning;
157	uint8_t emergencyThrottle;	162	uint8_t emergencyThrottle;
158	uint8_t emergencyFlightDuration;	163	uint8_t emergencyFlightDuration;
159		164
160	// Height Control	165	// Height Control
161	uint8_t airpressureFilterConstant;	166	uint8_t airpressureFilterConstant;
162	uint8_t airpressureWindowLength; // 0 means: Use filter.	167	uint8_t airpressureWindowLength; // 0 means: Use filter.
163	uint8_t airpressureAccZCorrection;	168	uint8_t airpressureAccZCorrection;
164	uint8_t heightP;	169	uint8_t heightP;
165	uint8_t heightI;	170	uint8_t heightI;
166	uint8_t heightD;	171	uint8_t heightD;
167	uint8_t heightSetting;	172	uint8_t heightSetting;
168	uint8_t heightControlMaxIntegral;	173	uint8_t heightControlMaxIntegral;
169	uint8_t heightControlMaxThrottleChange;	174	uint8_t heightControlMaxThrottleChange;
170	uint8_t heightSlewRate;	175	uint8_t heightSlewRate;
171		176
172	// Servos	177	// Servos
173	uint8_t servoCount;	178	uint8_t servoCount;
174	uint8_t servoManualMaxSpeed;	179	uint8_t servoManualMaxSpeed;
175	servo_t servoConfigurations[2]; // [PITCH, ROLL]	180	servo_t servoConfigurations[2]; // [PITCH, ROLL]
176		181
177	// Outputs	182	// Outputs
178	output_flash_t outputFlash[2];	183	output_flash_t outputFlash[2];
179	uint8_t outputDebugMask;	184	uint8_t outputDebugMask;
180	uint8_t outputFlags;	185	uint8_t outputFlags;
-		186
-		187	// Simple direct navigation
-		188	uint8_t directNaviMode;
-		189
-		190	// NaviCtrl navigation
-		191
-		192
-		193	// Shared for both modes of navigation
-		194	uint8_t naviStickThreshold;
-		195	uint8_t GPSMininumSatellites;
-		196	uint8_t naviP;
-		197	uint8_t naviI;
-		198	uint8_t naviD;
181		199
182	// User params	200	// User params
183	uint8_t userParams[8];	201	uint8_t userParams[8];
184		202
185	// Name	203	// Name
186	char name[12];	204	char name[12];
187	} paramset_t;	205	} ParamSet_t;
-		206
188	extern paramset_t staticParams;	207	extern ParamSet_t staticParams;
189		208
190	// MKFlags	209	// MKFlags
191	#define MKFLAG_MOTOR_RUN (1<<0)	210	#define MKFLAG_MOTOR_RUN (1<<0)
192	#define MKFLAG_FLY (1<<1)	211	#define MKFLAG_FLY (1<<1)
193	#define MKFLAG_CALIBRATE (1<<2)	212	#define MKFLAG_CALIBRATE (1<<2)
194	#define MKFLAG_START (1<<3)	213	#define MKFLAG_START (1<<3)
195	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)	214	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
196	#define MKFLAG_LOWBAT (1<<5)	215	#define MKFLAG_LOWBAT (1<<5)
197	#define MKFLAG_RESERVE2 (1<<6)	216	#define MKFLAG_RESERVE2 (1<<6)
198	#define MKFLAG_RESERVE3 (1<<7)	217	#define MKFLAG_RESERVE3 (1<<7)
199		218
200	// bit mask for staticParams.bitConfig	219	// bit mask for staticParams.bitConfig
201	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)	220	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)
202	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)	221	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)
203	#define CFG_HEADING_HOLD (1<<2)	222	#define CFG_HEADING_HOLD (1<<2)
204	#define CFG_COMPASS_ACTIVE (1<<3)	223	#define CFG_COMPASS_ACTIVE (1<<3)
205	#define CFG_COMPASS_FIX (1<<4)	224	#define CFG_COMPASS_FIX (1<<4)
206	#define CFG_GPS_ACTIVE (1<<5)	225	#define CFG_GPS_ACTIVE (1<<5)
207	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)	226	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
208	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)	227	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)
209		228
210	#define IMU_REVERSE_GYRO_PR (1<<0)	229	#define IMU_REVERSE_GYRO_PR (1<<0)
211	#define IMU_REVERSE_GYRO_YAW (1<<1)	230	#define IMU_REVERSE_GYRO_YAW (1<<1)
212	#define IMU_REVERSE_ACC_XY (1<<2)	231	#define IMU_REVERSE_ACC_XY (1<<2)
213	#define IMU_REVERSE_ACC_Z (1<<3)	232	#define IMU_REVERSE_ACC_Z (1<<3)
214		233
215	#define ATMEGA644 0	234	#define ATMEGA644 0
216	#define ATMEGA644P 1	235	#define ATMEGA644P 1
217	#define SYSCLK F_CPU	236	#define SYSCLK F_CPU
218		237
219	// Not really a part of configuration, but LEDs and HW s test are the same.	238	// Not really a part of configuration, but LEDs and HW s test are the same.
220	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	239	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
221	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	240	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
222	#define RED_FLASH PORTB ^= (1<<PORTB0)	241	#define RED_FLASH PORTB ^= (1<<PORTB0)
223	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	242	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
224	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	243	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
225	#define GRN_FLASH PORTB ^= (1<<PORTB1)	244	#define GRN_FLASH PORTB ^= (1<<PORTB1)
226		245
227	// Mixer table	246	// Mixer table
228	#define MIX_THROTTLE 0	247	#define MIX_THROTTLE 0
229	#define MIX_PITCH 1	248	#define MIX_PITCH 1
230	#define MIX_ROLL 2	249	#define MIX_ROLL 2
231	#define MIX_YAW 3	250	#define MIX_YAW 3
232		251
233	#define VARIABLE_COUNT 8	252	#define VARIABLE_COUNT 8
234		253
235	extern volatile uint8_t MKFlags;	254	extern volatile uint8_t MKFlags;
236	extern uint8_t requiredMotors;	255	extern uint8_t requiredMotors;
237	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	256	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
238	extern uint8_t boardRelease;	257	extern uint8_t boardRelease;
239	extern uint8_t CPUType;	258	extern uint8_t CPUType;
240		259
241	extern volatile uint8_t MKFlags;	260	extern volatile uint8_t MKFlags;
242	extern uint16_t isFlying;	261	extern uint16_t isFlying;
243		262
244	void channelMap_default(void);	263	void channelMap_default(void);
245	void paramSet_default(uint8_t setnumber);	264	void paramSet_default(uint8_t setnumber);
246	void mixerMatrix_default(void);	265	void mixerMatrix_default(void);
247		266
248	void configuration_applyVariablesToParams(void);	267	void configuration_applyVariablesToParams(void);
249	uint8_t getCPUType(void);	268	uint8_t getCPUType(void);
250	uint8_t getBoardRelease(void);	269	uint8_t getBoardRelease(void);
251		270
252	#endif // _CONFIGURATION_H	271	#endif // _CONFIGURATION_H
253		272

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.h @ 1977 - Rev 2035 → 2039