WebSVN - FlightCtrl - Diff - Rev 2129 and 2132 - /branches/dongfang_FC_fixedwing/arduino


#ifndef _CONFIGURATION_H
#define _CONFIGURATION_H
 
#include <inttypes.h>
#include <avr/io.h>
 
 
#define MAX_CHANNELS 8
 
// 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;
 
 
 
  // Airspeed
  uint8_t airspeedCorrection;
  uint8_t isFlyingThreshold;
 
  // Servos
 
 
  uint8_t servoCount;
  uint8_t servosReverse;
 
  uint8_t controlServoMinValue;
  uint8_t controlServoMaxValue;
 
  uint8_t gimbalServoMaxManualSpeed;
  Servo_t gimbalServoConfigurations[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 rcTrim_setZero(void);
void paramSet_default(uint8_t setnumber);
 
void configuration_setFlightParameters(uint8_t newFlightMode);
void configuration_applyVariablesToParams(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 2129	Rev 2132
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	-
8	#define MAX_MOTORS 12	7	#define MAX_CHANNELS 8
9		8
10	// bitmask for VersionInfo_t.HardwareError[0]	9	// bitmask for VersionInfo_t.HardwareError[0]
11	#define FC_ERROR0_GYRO_PITCH 0x01	10	#define FC_ERROR0_GYRO_PITCH 0x01
12	#define FC_ERROR0_GYRO_ROLL 0x02	11	#define FC_ERROR0_GYRO_ROLL 0x02
13	#define FC_ERROR0_GYRO_YAW 0x04	12	#define FC_ERROR0_GYRO_YAW 0x04
14	#define FC_ERROR0_ACC_X 0x08	13	#define FC_ERROR0_ACC_X 0x08
15	#define FC_ERROR0_ACC_Y 0x10	14	#define FC_ERROR0_ACC_Y 0x10
16	#define FC_ERROR0_ACC_Z 0x20	15	#define FC_ERROR0_ACC_Z 0x20
17	#define FC_ERROR0_PRESSURE 0x40	16	#define FC_ERROR0_PRESSURE 0x40
18	#define FC_ERROR1_RES0 0x80	17	#define FC_ERROR1_RES0 0x80
19	// bitmask for VersionInfo_t.HardwareError[1]	18	// bitmask for VersionInfo_t.HardwareError[1]
20	#define FC_ERROR1_I2C 0x01	19	#define FC_ERROR1_I2C 0x01
21	#define FC_ERROR1_BL_MISSING 0x02	20	#define FC_ERROR1_BL_MISSING 0x02
22	#define FC_ERROR1_SPI_RX 0x04	21	#define FC_ERROR1_SPI_RX 0x04
23	#define FC_ERROR1_PPM 0x08	22	#define FC_ERROR1_PPM 0x08
24	#define FC_ERROR1_MIXER 0x10	23	#define FC_ERROR1_MIXER 0x10
25	#define FC_ERROR1_RES1 0x20	24	#define FC_ERROR1_RES1 0x20
26	#define FC_ERROR1_RES2 0x40	25	#define FC_ERROR1_RES2 0x40
27	#define FC_ERROR1_RES3 0x80	26	#define FC_ERROR1_RES3 0x80
28		27
29	typedef struct {	28	typedef struct {
30	uint8_t gyroQuadrant;	29	uint8_t gyroQuadrant;
31	uint8_t accQuadrant;	30	uint8_t accQuadrant;
32	uint8_t imuReversedFlags;	31	uint8_t imuReversedFlags;
33		32
34	uint8_t gyroPIDFilterConstant;	33	uint8_t gyroPIDFilterConstant;
35	uint8_t gyroDWindowLength;	34	uint8_t gyroDWindowLength;
36	uint8_t gyroDFilterConstant;	35	uint8_t gyroDFilterConstant;
37	uint8_t accFilterConstant;	36	uint8_t accFilterConstant;
38		37
39	uint8_t zerothOrderCorrection;	38	uint8_t zerothOrderCorrection;
40	uint8_t rateTolerance;	39	uint8_t rateTolerance;
41		40
42	uint8_t gyroActivityDamping;	41	uint8_t gyroActivityDamping;
43	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	42	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
44	uint8_t driftCompLimit; // limit for gyrodrift compensation	43	uint8_t driftCompLimit; // limit for gyrodrift compensation
45	int8_t gyroCalibrationTweak[3];	44	int8_t gyroCalibrationTweak[3];
46	} IMUConfig_t;	45	} IMUConfig_t;
47		46
48	extern IMUConfig_t IMUConfig;	47	extern IMUConfig_t IMUConfig;
49		48
50	typedef struct {	49	typedef struct {
51	uint8_t P;	50	uint8_t P;
52	uint8_t I;	51	uint8_t I;
53	uint8_t D;	52	uint8_t D;
54	} PID_t;	53	} PID_t;
55		54
56	typedef struct {	55	typedef struct {
57	uint8_t P;	56	uint8_t P;
58	uint8_t I;	57	uint8_t I;
59	uint8_t D;	58	uint8_t D;
60	uint8_t iMax;	59	uint8_t iMax;
61	} PIDIM_t;	60	} PIDIM_t;
62		61
63	typedef enum {	62	typedef enum {
64	FLIGHT_MODE_NONE,	63	FLIGHT_MODE_NONE,
65	FLIGHT_MODE_MANUAL,	64	FLIGHT_MODE_MANUAL,
66	FLIGHT_MODE_RATE,	65	FLIGHT_MODE_RATE,
67	FLIGHT_MODE_ANGLES	66	FLIGHT_MODE_ANGLES
68	} FlightMode_t;	67	} FlightMode_t;
69		68
70	#define CONTROL_SERVO_REVERSE_ELEVATOR 1	69	#define CONTROL_SERVO_REVERSE_ELEVATOR 1
71	#define CONTROL_SERVO_REVERSE_AILERONS 2	70	#define CONTROL_SERVO_REVERSE_AILERONS 2
72	#define CONTROL_SERVO_REVERSE_RUDDER 4	71	#define CONTROL_SERVO_REVERSE_RUDDER 4
73		72
74	typedef struct {	73	typedef struct {
75	uint8_t SWMajor;	74	uint8_t SWMajor;
76	uint8_t SWMinor;	75	uint8_t SWMinor;
77	uint8_t protoMajor;	76	uint8_t protoMajor;
78	uint8_t protoMinor;	77	uint8_t protoMinor;
79	uint8_t SWPatch;	78	uint8_t SWPatch;
80	uint8_t hardwareErrors[5];	79	uint8_t hardwareErrors[5];
81	}__attribute__((packed)) VersionInfo_t;	80	}__attribute__((packed)) VersionInfo_t;
82		81
83	extern VersionInfo_t versionInfo;	82	extern VersionInfo_t versionInfo;
84		83
85	typedef struct {	84	typedef struct {
86	// IMU stuff:	85	// IMU stuff:
87	PID_t gyroPID[3];	86	PID_t gyroPID[3];
88		87
89	// Control	88	// Control
90	/* P */uint8_t externalControl;	89	/* P */uint8_t externalControl;
91		90
92	// Output and servo	91	// Output and servo
93	/PMM/uint8_t output0Timing;	92	/PMM/uint8_t output0Timing;
94	/PMM/uint8_t output1Timing;	93	/PMM/uint8_t output1Timing;
95		94
96	uint8_t gimbalServoManualControl[2];	95	uint8_t gimbalServoManualControl[2];
97		96
98	/* P */uint8_t userParams[8];	97	/* P */uint8_t userParams[8];
99	} DynamicParams_t;	98	} DynamicParams_t;
100		99
101	extern volatile DynamicParams_t dynamicParams;	100	extern volatile DynamicParams_t dynamicParams;
102		101
103	typedef struct {	102	typedef struct {
104	uint8_t sourceIdx, targetIdx;	103	uint8_t sourceIdx, targetIdx;
105	uint8_t min, max;	104	uint8_t min, max;
106	} MMXLATION;	105	} MMXLATION;
107		106
108	/*	107	/*
109	typedef struct {	108	typedef struct {
110	uint8_t sourceIdx, targetIdx;	109	uint8_t sourceIdx, targetIdx;
111	} XLATION;	110	} XLATION;
112	*/	111	*/
113		112
114	typedef struct {	113	typedef struct {
115	uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.	114	uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.
116	uint8_t HWTrim;	115	uint8_t HWTrim;
117	uint8_t variableOffset;	116	uint8_t variableOffset;
118	uint8_t channels[MAX_CHANNELS];	117	uint8_t channels[MAX_CHANNELS];
119	} ChannelMap_t;	118	} ChannelMap_t;
120	extern ChannelMap_t channelMap;	119	extern ChannelMap_t channelMap;
121		120
122	// With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated,	121	// 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.	122	// and then save in a succeeding gyro calibration command.
124	typedef struct {	123	typedef struct {
125	int16_t trim[MAX_CHANNELS];	124	int16_t trim[MAX_CHANNELS];
126	} RCTrim_t;	125	} RCTrim_t;
127	extern RCTrim_t rcTrim;	126	extern RCTrim_t rcTrim;
128		127
129	typedef struct {	128	typedef struct {
130	int16_t offsets[3];	129	int16_t offsets[3];
131	} sensorOffset_t;	130	} sensorOffset_t;
132		131
133	typedef struct {	132	typedef struct {
134	uint8_t manualControl;	133	uint8_t manualControl;
135	uint8_t stabilizationFactor;	134	uint8_t stabilizationFactor;
136	uint8_t minValue;	135	uint8_t minValue;
137	uint8_t maxValue;	136	uint8_t maxValue;
138	uint8_t flags;	137	uint8_t flags;
139	} Servo_t;	138	} Servo_t;
140		139
141	#define SERVO_STABILIZATION_REVERSE 1	140	#define SERVO_STABILIZATION_REVERSE 1
142		141
143	typedef struct {	142	typedef struct {
144	uint8_t bitmask;	143	uint8_t bitmask;
145	uint8_t timing;	144	uint8_t timing;
146	} output_flash_t;	145	} output_flash_t;
147		146
148	// values above 250 representing poti1 to poti4	147	// values above 250 representing poti1 to poti4
149	typedef struct {	148	typedef struct {
150	// Global bitflags	149	// Global bitflags
151	uint8_t bitConfig; // see upper defines for bitcoding	150	uint8_t bitConfig; // see upper defines for bitcoding
152		151
153	// Control	152	// Control
154	PIDIM_t gyroPID[3];	153	PIDIM_t gyroPID[3];
155		154
156	uint8_t stickIElevator;	155	uint8_t stickIElevator;
157	uint8_t stickIAilerons;	156	uint8_t stickIAilerons;
158	uint8_t stickIRudder;	157	uint8_t stickIRudder;
159		158
160	uint8_t externalControl; // for serial Control	159	uint8_t externalControl; // for serial Control
161		160
162	uint8_t IFactor;	161	uint8_t IFactor;
163		162
164	uint8_t batteryWarningVoltage;	163	uint8_t batteryWarningVoltage;
165	uint8_t emergencyThrottle;	-
166	uint8_t emergencyFlightDuration;	-
167		164
168	// Airspeed	165	// Airspeed
169	uint8_t airspeedCorrection;	166	uint8_t airspeedCorrection;
170	uint8_t isFlyingThreshold;	167	uint8_t isFlyingThreshold;
171		168
172	// Servos	169	// Servos
173	uint8_t controlServosReverse;	-
174		-
175	uint8_t servoCount;	170	uint8_t servoCount;
-		171	uint8_t servosReverse;
-		172
176	uint8_t controlServoMinValue;	173	uint8_t controlServoMinValue;
177	uint8_t controlServoMaxValue;	174	uint8_t controlServoMaxValue;
178		175
179	uint8_t servoManualMaxSpeed;	176	uint8_t gimbalServoMaxManualSpeed;
180	Servo_t servoConfigurations[2]; // [PITCH, ROLL]	177	Servo_t gimbalServoConfigurations[2]; // [PITCH, ROLL]
181		178
182	// Outputs	179	// Outputs
183	output_flash_t outputFlash[2];	180	output_flash_t outputFlash[2];
184	uint8_t outputDebugMask;	181	uint8_t outputDebugMask;
185	uint8_t outputFlags;	182	uint8_t outputFlags;
186		183
187	// User params	184	// User params
188	uint8_t userParams[8];	185	uint8_t userParams[8];
189		186
190	// Name	187	// Name
191	char name[12];	188	char name[12];
192	} ParamSet_t;	189	} ParamSet_t;
193		190
194	extern ParamSet_t staticParams;	191	extern ParamSet_t staticParams;
195		192
196	// bit mask for staticParams.bitConfig	193	// bit mask for staticParams.bitConfig
197	#define CFG_GYRO_SATURATION_PREVENTION (1<<0)	194	#define CFG_GYRO_SATURATION_PREVENTION (1<<0)
198	#define CFG_USE_AIRSPEED_PID (1<<1)	195	#define CFG_USE_AIRSPEED_PID (1<<1)
199		196
200	#define IMU_REVERSE_GYRO_PR (1<<0)	197	#define IMU_REVERSE_GYRO_PR (1<<0)
201	#define IMU_REVERSE_GYRO_YAW (1<<1)	198	#define IMU_REVERSE_GYRO_YAW (1<<1)
202	#define IMU_REVERSE_ACC_XY (1<<2)	199	#define IMU_REVERSE_ACC_XY (1<<2)
203	#define IMU_REVERSE_ACC_Z (1<<3)	200	#define IMU_REVERSE_ACC_Z (1<<3)
204		201
205	#define ATMEGA644 0	202	#define ATMEGA644 0
206	#define ATMEGA644P 1	203	#define ATMEGA644P 1
207	#define SYSCLK F_CPU	204	#define SYSCLK F_CPU
208		205
209	// Not really a part of configuration, but LEDs and HW s test are the same.	206	// Not really a part of configuration, but LEDs and HW s test are the same.
210	#define RED_OFF {PORTD &=~(1<<PORTD6);}	207	#define RED_OFF {PORTD &=~(1<<PORTD6);}
211	#define RED_ON {PORTD \|= (1<<PORTD6);}	208	#define RED_ON {PORTD \|= (1<<PORTD6);}
212	#define RED_FLASH PORTD ^= (1<<PORTD6)	209	#define RED_FLASH PORTD ^= (1<<PORTD6)
213	#define GRN_OFF {PORTD &=~(1<<PORTD7);}	210	#define GRN_OFF {PORTD &=~(1<<PORTD7);}
214	#define GRN_ON {PORTD \|= (1<<PORTD7);}	211	#define GRN_ON {PORTD \|= (1<<PORTD7);}
215	#define GRN_FLASH PORTD ^= (1<<PORTD7)	212	#define GRN_FLASH PORTD ^= (1<<PORTD7)
216		213
217	// Mixer table	214	// Mixer table
218	#define MIX_THROTTLE 0	215	#define MIX_THROTTLE 0
219	#define MIX_PITCH 1	216	#define MIX_PITCH 1
220	#define MIX_ROLL 2	217	#define MIX_ROLL 2
221	#define MIX_YAW 3	218	#define MIX_YAW 3
222		219
223	#define VARIABLE_COUNT 8	220	#define VARIABLE_COUNT 8
224		221
225	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	222	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
226	extern uint8_t CPUType;	223	extern uint8_t CPUType;
227		224
228	extern volatile uint16_t isFlying;	225	extern volatile uint16_t isFlying;
229	extern FlightMode_t currentFlightMode;	226	extern FlightMode_t currentFlightMode;
230		227
231	void IMUConfig_default(void);	228	void IMUConfig_default(void);
232	void channelMap_default(void);	229	void channelMap_default(void);
-		230	void rcTrim_setZero(void);
233	void paramSet_default(uint8_t setnumber);	231	void paramSet_default(uint8_t setnumber);
234		232
235	void configuration_setFlightParameters(uint8_t newFlightMode);	233	void configuration_setFlightParameters(uint8_t newFlightMode);
236	void configuration_applyVariablesToParams(void);	234	void configuration_applyVariablesToParams(void);
237		-
238	void setCPUType(void);	-
239		235
240	// Called after a change in configuration parameters, as a hook for modules to take over changes.	236	// Called after a change in configuration parameters, as a hook for modules to take over changes.
241	void configuration_paramSetDidChange(void);	237	void configuration_paramSetDidChange(void);
242	#endif // _CONFIGURATION_H	238	#endif // _CONFIGURATION_H
243		239

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/arduino_atmega328/configuration.h @ 2129 - Rev 2129 → 2132