WebSVN - FlightCtrl - Diff - Rev 2058 and 2059 - /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 compassControlHeading;
 
  // Control
  /* P */uint8_t externalControl;
  /* P */uint8_t dynamicStability;
 
 
  // 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 naviMode;
 
  /* 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 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 zerothOrderCorrection;
  uint8_t zerothOrderCorrectionAccTolerance;
  uint8_t zerothOrderCorrectionControlTolerance;
  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 compassMode;      // bitflag thing.
  uint8_t compassYawCorrection;
  uint8_t compassBendingReturnSpeed;
  uint8_t compassP;
 
  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;
 
 // Shared for both modes of navigation
  uint8_t naviMode;
  uint8_t naviStickThreshold;
  uint8_t naviStickLimit;
  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_ENABLED             (1<<3)
#define CFG_UNUSED                              (1<<4)
#define CFG_GPS_ENABLED                         (1<<5)
#define CFG_AXIS_COUPLING_ENABLED       (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_setNormalFlightParameters(void);
void configuration_setFailsafeFlightParameters(void);
void configuration_applyVariablesToParams(void);
 
uint8_t getCPUType(void);
uint8_t getBoardRelease(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 2058	Rev 2059
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 compassControlHeading;	45	/* P */uint8_t compassControlHeading;
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;	-
51		50
52	// Height control	51	// Height control
53	/PMM/uint8_t heightP;	52	/PMM/uint8_t heightP;
54	/* P */uint8_t heightI;	53	/* P */uint8_t heightI;
55	/PMM/uint8_t heightD;	54	/PMM/uint8_t heightD;
56	/* P */uint8_t heightSetting;	55	/* P */uint8_t heightSetting;
57		56
58	uint8_t attitudeControl;	57	uint8_t attitudeControl;
59		58
60	// Output and servo	59	// Output and servo
61	/PMM/uint8_t output0Timing;	60	/PMM/uint8_t output0Timing;
62	/PMM/uint8_t output1Timing;	61	/PMM/uint8_t output1Timing;
63		62
64	uint8_t servoManualControl[2];	63	uint8_t servoManualControl[2];
65		64
66	// Correction	65	// Correction
67	uint8_t levelCorrection[2];	66	uint8_t levelCorrection[2];
68		67
69	// Simple direct navigation	68	// Simple direct navigation
70	uint8_t naviMode;	69	uint8_t naviMode;
71		70
72	/* P */uint8_t userParams[8];	71	/* P */uint8_t userParams[8];
73	} dynamicParam_t;	72	} DynamicParams_t;
74		73
75	extern volatile dynamicParam_t dynamicParams;	74	extern volatile DynamicParams_t dynamicParams;
76		75
77	typedef struct {	76	typedef struct {
78	uint8_t sourceIdx, targetIdx;	77	uint8_t sourceIdx, targetIdx;
79	uint8_t min, max;	78	uint8_t min, max;
80	} MMXLATION;	79	} MMXLATION;
-		80
81		81	/*
82	typedef struct {	82	typedef struct {
83	uint8_t sourceIdx, targetIdx;	83	uint8_t sourceIdx, targetIdx;
84	} XLATION;	84	} XLATION;
-		85	*/
85		86
86	typedef struct {	87	typedef struct {
87	uint8_t channels[MAX_CHANNELS];	88	uint8_t channels[MAX_CHANNELS];
88	} channelMap_t;	89	} channelMap_t;
89	extern channelMap_t channelMap;	90	extern channelMap_t channelMap;
90		91
91	typedef struct {	92	typedef struct {
92	char name[12];	93	char name[12];
93	int8_t motor[MAX_MOTORS][4];	94	int8_t motor[MAX_MOTORS][4];
94	}__attribute__((packed)) mixerMatrix_t;	95	}__attribute__((packed)) mixerMatrix_t;
95	extern mixerMatrix_t mixerMatrix;	96	extern mixerMatrix_t mixerMatrix;
96		97
97	typedef struct {	98	typedef struct {
98	int16_t offsets[3];	99	int16_t offsets[3];
99	} sensorOffset_t;	100	} sensorOffset_t;
100		101
101	typedef struct {	102	typedef struct {
102	uint8_t manualControl;	103	uint8_t manualControl;
103	uint8_t stabilizationFactor;	104	uint8_t stabilizationFactor;
104	uint8_t minValue;	105	uint8_t minValue;
105	uint8_t maxValue;	106	uint8_t maxValue;
106	uint8_t flags;	107	uint8_t flags;
107	} servo_t;	108	} servo_t;
108		109
109	#define SERVO_STABILIZATION_REVERSE 1	110	#define SERVO_STABILIZATION_REVERSE 1
110		111
111	typedef struct {	112	typedef struct {
112	uint8_t bitmask;	113	uint8_t bitmask;
113	uint8_t timing;	114	uint8_t timing;
114	} output_flash_t;	115	} output_flash_t;
115		116
116	// values above 250 representing poti1 to poti4	117	// values above 250 representing poti1 to poti4
117	typedef struct {	118	typedef struct {
118	// Global bitflags	119	// Global bitflags
119	uint8_t bitConfig; // see upper defines for bitcoding	120	uint8_t bitConfig; // see upper defines for bitcoding
120		121
121	// IMU	122	// IMU
122	uint8_t gyroQuadrant;	123	uint8_t gyroQuadrant;
123	uint8_t accQuadrant;	124	uint8_t accQuadrant;
124	uint8_t imuReversedFlags;	125	uint8_t imuReversedFlags;
125		126
126	uint8_t gyroPIDFilterConstant;	127	uint8_t gyroPIDFilterConstant;
127	uint8_t gyroATTFilterConstant;	128	uint8_t gyroATTFilterConstant;
128	uint8_t gyroDFilterConstant;	129	uint8_t gyroDFilterConstant;
129	uint8_t accFilterConstant;	130	uint8_t accFilterConstant;
130		-
131	uint8_t maxAccVector;	-
132	uint8_t maxControlActivity;	131
-		132	uint8_t zerothOrderCorrection;
-		133	uint8_t zerothOrderCorrectionAccTolerance;
133	uint8_t zerothOrderCorrection;	134	uint8_t zerothOrderCorrectionControlTolerance;
134	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	135	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
135	uint8_t driftCompLimit; // limit for gyrodrift compensation	136	uint8_t driftCompLimit; // limit for gyrodrift compensation
136		137
137	// uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)	138	// uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
138	// uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	139	// uint8_t axisCoupling2; // 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	140	// uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
140		141
141	uint8_t levelCorrection[2];	142	uint8_t levelCorrection[2];
142		143
143	// Control	144	// Control
144	uint8_t gyroP;	145	uint8_t gyroP;
145	uint8_t gyroI;	146	uint8_t gyroI;
146	uint8_t gyroD;	147	uint8_t gyroD;
147		148
148	uint8_t attitudeControl;	149	uint8_t attitudeControl;
149		150
150	uint8_t stickP;	151	uint8_t stickP;
151	uint8_t stickD;	152	uint8_t stickD;
152	uint8_t stickYawP;	153	uint8_t stickYawP;
153	uint8_t stickThrottleD;	154	uint8_t stickThrottleD;
154		155
155	uint8_t minThrottle;	156	uint8_t minThrottle;
156	uint8_t maxThrottle;	157	uint8_t maxThrottle;
157		158
158	uint8_t externalControl; // for serial Control	159	uint8_t externalControl; // for serial Control
159	uint8_t motorSmoothing;	160	uint8_t motorSmoothing;
160	uint8_t dynamicStability; // PID limit for Attitude controller	161	uint8_t dynamicStability; // PID limit for Attitude controller
161		162
162	uint8_t IFactor;	163	uint8_t IFactor;
163	uint8_t yawIFactor;	164	uint8_t yawIFactor;
164		165
165	uint8_t compassMode; // bitflag thing.	166	uint8_t compassMode; // bitflag thing.
166	uint8_t compassYawCorrection;	167	uint8_t compassYawCorrection;
167	uint8_t compassBendingReturnSpeed;	168	uint8_t compassBendingReturnSpeed;
168	uint8_t compassP;	169	uint8_t compassP;
169		170
170	uint8_t batteryVoltageWarning;	171	uint8_t batteryVoltageWarning;
171	uint8_t emergencyThrottle;	172	uint8_t emergencyThrottle;
172	uint8_t emergencyFlightDuration;	173	uint8_t emergencyFlightDuration;
173		174
174	// Height Control	175	// Height Control
175	uint8_t airpressureFilterConstant;	176	uint8_t airpressureFilterConstant;
176	uint8_t airpressureWindowLength; // 0 means: Use filter.	177	uint8_t airpressureWindowLength; // 0 means: Use filter.
177	uint8_t airpressureAccZCorrection;	178	uint8_t airpressureAccZCorrection;
178	uint8_t heightP;	179	uint8_t heightP;
179	uint8_t heightI;	180	uint8_t heightI;
180	uint8_t heightD;	181	uint8_t heightD;
181	uint8_t heightSetting;	182	uint8_t heightSetting;
182	uint8_t heightControlMaxIntegral;	183	uint8_t heightControlMaxIntegral;
183	uint8_t heightControlMaxThrottleChange;	184	uint8_t heightControlMaxThrottleChange;
184	uint8_t heightSlewRate;	185	uint8_t heightSlewRate;
185		186
186	// Servos	187	// Servos
187	uint8_t servoCount;	188	uint8_t servoCount;
188	uint8_t servoManualMaxSpeed;	189	uint8_t servoManualMaxSpeed;
189	servo_t servoConfigurations[2]; // [PITCH, ROLL]	190	servo_t servoConfigurations[2]; // [PITCH, ROLL]
190		191
191	// Outputs	192	// Outputs
192	output_flash_t outputFlash[2];	193	output_flash_t outputFlash[2];
193	uint8_t outputDebugMask;	194	uint8_t outputDebugMask;
194	uint8_t outputFlags;	195	uint8_t outputFlags;
195		196
196	// Shared for both modes of navigation	197	// Shared for both modes of navigation
197	uint8_t naviMode;	198	uint8_t naviMode;
198	uint8_t naviStickThreshold;	199	uint8_t naviStickThreshold;
199	uint8_t naviStickLimit;	200	uint8_t naviStickLimit;
200	uint8_t GPSMininumSatellites;	201	uint8_t GPSMininumSatellites;
201	uint8_t naviP;	202	uint8_t naviP;
202	uint8_t naviI;	203	uint8_t naviI;
203	uint8_t naviD;	204	uint8_t naviD;
204		205
205	// User params	206	// User params
206	uint8_t userParams[8];	207	uint8_t userParams[8];
207		208
208	// Name	209	// Name
209	char name[12];	210	char name[12];
210	} ParamSet_t;	211	} ParamSet_t;
211		212
212	extern ParamSet_t staticParams;	213	extern ParamSet_t staticParams;
213		214
214	// MKFlags	215	// MKFlags
215	#define MKFLAG_MOTOR_RUN (1<<0)	216	#define MKFLAG_MOTOR_RUN (1<<0)
216	//#define MKFLAG_FLY (1<<1)	217	//#define MKFLAG_FLY (1<<1)
217	#define MKFLAG_CALIBRATE (1<<2)	218	#define MKFLAG_CALIBRATE (1<<2)
218	#define MKFLAG_START (1<<3)	219	#define MKFLAG_START (1<<3)
219	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)	220	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
220	#define MKFLAG_LOWBAT (1<<5)	221	#define MKFLAG_LOWBAT (1<<5)
221	#define MKFLAG_RESERVE2 (1<<6)	222	#define MKFLAG_RESERVE2 (1<<6)
222	#define MKFLAG_RESERVE3 (1<<7)	223	#define MKFLAG_RESERVE3 (1<<7)
223		224
224	// bit mask for staticParams.bitConfig	225	// bit mask for staticParams.bitConfig
225	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)	226	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)
226	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)	227	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)
227	#define CFG_HEADING_HOLD (1<<2)	228	#define CFG_HEADING_HOLD (1<<2)
228	#define CFG_COMPASS_ENABLED (1<<3)	229	#define CFG_COMPASS_ENABLED (1<<3)
229	#define CFG_UNUSED (1<<4)	230	#define CFG_UNUSED (1<<4)
230	#define CFG_GPS_ENABLED (1<<5)	231	#define CFG_GPS_ENABLED (1<<5)
231	#define CFG_AXIS_COUPLING_ENABLED (1<<6)	232	#define CFG_AXIS_COUPLING_ENABLED (1<<6)
232	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)	233	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)
233		234
234	#define IMU_REVERSE_GYRO_PR (1<<0)	235	#define IMU_REVERSE_GYRO_PR (1<<0)
235	#define IMU_REVERSE_GYRO_YAW (1<<1)	236	#define IMU_REVERSE_GYRO_YAW (1<<1)
236	#define IMU_REVERSE_ACC_XY (1<<2)	237	#define IMU_REVERSE_ACC_XY (1<<2)
237	#define IMU_REVERSE_ACC_Z (1<<3)	238	#define IMU_REVERSE_ACC_Z (1<<3)
238		239
239	#define ATMEGA644 0	240	#define ATMEGA644 0
240	#define ATMEGA644P 1	241	#define ATMEGA644P 1
241	#define SYSCLK F_CPU	242	#define SYSCLK F_CPU
242		243
243	// Not really a part of configuration, but LEDs and HW s test are the same.	244	// Not really a part of configuration, but LEDs and HW s test are the same.
244	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	245	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
245	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	246	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
246	#define RED_FLASH PORTB ^= (1<<PORTB0)	247	#define RED_FLASH PORTB ^= (1<<PORTB0)
247	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	248	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
248	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	249	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
249	#define GRN_FLASH PORTB ^= (1<<PORTB1)	250	#define GRN_FLASH PORTB ^= (1<<PORTB1)
250		251
251	// Mixer table	252	// Mixer table
252	#define MIX_THROTTLE 0	253	#define MIX_THROTTLE 0
253	#define MIX_PITCH 1	254	#define MIX_PITCH 1
254	#define MIX_ROLL 2	255	#define MIX_ROLL 2
255	#define MIX_YAW 3	256	#define MIX_YAW 3
256		257
257	#define VARIABLE_COUNT 8	258	#define VARIABLE_COUNT 8
258		259
259	extern volatile uint8_t MKFlags;	260	extern volatile uint8_t MKFlags;
260	extern uint8_t requiredMotors;	261	extern uint8_t requiredMotors;
261	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	262	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
262	extern uint8_t boardRelease;	263	extern uint8_t boardRelease;
263	extern uint8_t CPUType;	264	extern uint8_t CPUType;
264		265
265	extern volatile uint8_t MKFlags;	266	extern volatile uint8_t MKFlags;
266	extern uint16_t isFlying;	267	extern uint16_t isFlying;
267		268
268	void channelMap_default(void);	269	void channelMap_default(void);
269	void paramSet_default(uint8_t setnumber);	270	void paramSet_default(uint8_t setnumber);
270	void mixerMatrix_default(void);	271	void mixerMatrix_default(void);
-		272
-		273	void configuration_setNormalFlightParameters(void);
271		274	void configuration_setFailsafeFlightParameters(void);
-		275	void configuration_applyVariablesToParams(void);
272	void configuration_applyVariablesToParams(void);	276
273	uint8_t getCPUType(void);	277	uint8_t getCPUType(void);
274	uint8_t getBoardRelease(void);	278	uint8_t getBoardRelease(void);
-		279
-		280	// Called after a change in configuration parameters, as a hook for modules to take over changes.
275		281	void configuration_paramSetDidChange(void);
276	#endif // _CONFIGURATION_H	282	#endif // _CONFIGURATION_H
277		283

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.h @ 1999 - Rev 2058 → 2059