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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 | } IMUConfig_t; |
45 | } IMUConfig_t; |
46 | 46 | ||
47 | extern IMUConfig_t IMUConfig; |
47 | extern IMUConfig_t IMUConfig; |
48 | 48 | ||
49 | typedef struct { |
49 | typedef struct { |
50 | uint8_t P; |
50 | uint8_t P; |
51 | uint8_t I; |
51 | uint8_t I; |
52 | uint8_t D; |
52 | uint8_t D; |
53 | } PID_t; |
53 | } PID_t; |
54 | 54 | ||
55 | typedef struct { |
55 | typedef struct { |
56 | uint8_t P; |
56 | uint8_t P; |
57 | uint8_t I; |
57 | uint8_t I; |
58 | uint8_t D; |
58 | uint8_t D; |
59 | uint8_t iMax; |
59 | uint8_t iMax; |
60 | } PIDIM_t; |
60 | } PIDIM_t; |
61 | 61 | ||
62 | typedef enum { |
62 | typedef enum { |
63 | FLIGHT_MODE_NONE, |
63 | FLIGHT_MODE_NONE, |
64 | FLIGHT_MODE_MANUAL, |
64 | FLIGHT_MODE_MANUAL, |
65 | FLIGHT_MODE_RATE, |
65 | FLIGHT_MODE_RATE, |
66 | FLIGHT_MODE_ANGLES |
66 | FLIGHT_MODE_ANGLES |
67 | } FlightMode_t; |
67 | } FlightMode_t; |
68 | 68 | ||
69 | #define CONTROL_SERVO_REVERSE_ELEVATOR 1 |
69 | #define CONTROL_SERVO_REVERSE_ELEVATOR 1 |
70 | #define CONTROL_SERVO_REVERSE_AILERONS 2 |
70 | #define CONTROL_SERVO_REVERSE_AILERONS 2 |
71 | #define CONTROL_SERVO_REVERSE_RUDDER 4 |
71 | #define CONTROL_SERVO_REVERSE_RUDDER 4 |
72 | 72 | ||
73 | typedef struct { |
73 | typedef struct { |
74 | uint8_t SWMajor; |
74 | uint8_t SWMajor; |
75 | uint8_t SWMinor; |
75 | uint8_t SWMinor; |
76 | uint8_t protoMajor; |
76 | uint8_t protoMajor; |
77 | uint8_t protoMinor; |
77 | uint8_t protoMinor; |
78 | uint8_t SWPatch; |
78 | uint8_t SWPatch; |
79 | uint8_t hardwareErrors[5]; |
79 | uint8_t hardwareErrors[5]; |
80 | }__attribute__((packed)) VersionInfo_t; |
80 | }__attribute__((packed)) VersionInfo_t; |
81 | 81 | ||
82 | extern VersionInfo_t versionInfo; |
82 | extern VersionInfo_t versionInfo; |
83 | 83 | ||
84 | typedef struct { |
84 | typedef struct { |
85 | // IMU stuff: |
85 | // IMU stuff: |
86 | PID_t gyroPID[3]; |
86 | PID_t gyroPID[3]; |
87 | 87 | ||
88 | // Control |
88 | // Control |
89 | /* P */uint8_t externalControl; |
89 | /* P */uint8_t externalControl; |
90 | 90 | ||
91 | // Output and servo |
91 | // Output and servo |
92 | /*PMM*/uint8_t output0Timing; |
92 | /*PMM*/uint8_t output0Timing; |
93 | /*PMM*/uint8_t output1Timing; |
93 | /*PMM*/uint8_t output1Timing; |
94 | 94 | ||
95 | uint8_t servoManualControl[2]; |
95 | uint8_t servoManualControl[2]; |
96 | 96 | ||
97 | /* P */uint8_t userParams[8]; |
97 | /* P */uint8_t userParams[8]; |
98 | } DynamicParams_t; |
98 | } DynamicParams_t; |
99 | 99 | ||
100 | extern volatile DynamicParams_t dynamicParams; |
100 | extern volatile DynamicParams_t dynamicParams; |
101 | 101 | ||
102 | typedef struct { |
102 | typedef struct { |
103 | uint8_t sourceIdx, targetIdx; |
103 | uint8_t sourceIdx, targetIdx; |
104 | uint8_t min, max; |
104 | uint8_t min, max; |
105 | } MMXLATION; |
105 | } MMXLATION; |
106 | 106 | ||
107 | /* |
107 | /* |
108 | typedef struct { |
108 | typedef struct { |
109 | uint8_t sourceIdx, targetIdx; |
109 | uint8_t sourceIdx, targetIdx; |
110 | } XLATION; |
110 | } XLATION; |
111 | */ |
111 | */ |
112 | 112 | ||
113 | typedef struct { |
113 | typedef struct { |
114 | uint8_t channels[MAX_CHANNELS]; |
114 | uint8_t channels[MAX_CHANNELS]; |
115 | } channelMap_t; |
115 | } channelMap_t; |
116 | extern channelMap_t channelMap; |
116 | extern channelMap_t channelMap; |
117 | 117 | ||
118 | typedef struct { |
118 | typedef struct { |
119 | char name[12]; |
- | |
120 | int8_t motor[MAX_MOTORS][4]; |
- | |
121 | }__attribute__((packed)) mixerMatrix_t; |
- | |
122 | extern mixerMatrix_t mixerMatrix; |
- | |
123 | - | ||
124 | typedef struct { |
- | |
125 | int16_t offsets[3]; |
119 | int16_t offsets[3]; |
126 | } sensorOffset_t; |
120 | } sensorOffset_t; |
127 | 121 | ||
128 | typedef struct { |
122 | typedef struct { |
129 | uint8_t manualControl; |
123 | uint8_t manualControl; |
130 | uint8_t stabilizationFactor; |
124 | uint8_t stabilizationFactor; |
131 | uint8_t minValue; |
125 | uint8_t minValue; |
132 | uint8_t maxValue; |
126 | uint8_t maxValue; |
133 | uint8_t flags; |
127 | uint8_t flags; |
134 | } servo_t; |
128 | } servo_t; |
135 | 129 | ||
136 | #define SERVO_STABILIZATION_REVERSE 1 |
130 | #define SERVO_STABILIZATION_REVERSE 1 |
137 | 131 | ||
138 | typedef struct { |
132 | typedef struct { |
139 | uint8_t bitmask; |
133 | uint8_t bitmask; |
140 | uint8_t timing; |
134 | uint8_t timing; |
141 | } output_flash_t; |
135 | } output_flash_t; |
142 | 136 | ||
143 | // values above 250 representing poti1 to poti4 |
137 | // values above 250 representing poti1 to poti4 |
144 | typedef struct { |
138 | typedef struct { |
145 | // Global bitflags |
139 | // Global bitflags |
146 | uint8_t bitConfig; // see upper defines for bitcoding |
140 | uint8_t bitConfig; // see upper defines for bitcoding |
147 | 141 | ||
148 | // Control |
142 | // Control |
149 | PIDIM_t gyroPID[3]; |
143 | PIDIM_t gyroPID[3]; |
150 | 144 | ||
151 | uint8_t stickIElevator; |
145 | uint8_t stickIElevator; |
152 | uint8_t stickIAilerons; |
146 | uint8_t stickIAilerons; |
153 | uint8_t stickIRudder; |
147 | uint8_t stickIRudder; |
154 | 148 | ||
155 | uint8_t externalControl; // for serial Control |
149 | uint8_t externalControl; // for serial Control |
156 | 150 | ||
157 | uint8_t IFactor; |
151 | uint8_t IFactor; |
158 | 152 | ||
159 | uint8_t batteryVoltageWarning; |
153 | uint8_t batteryVoltageWarning; |
160 | uint8_t emergencyThrottle; |
154 | uint8_t emergencyThrottle; |
161 | uint8_t emergencyFlightDuration; |
155 | uint8_t emergencyFlightDuration; |
162 | 156 | ||
163 | // Airspeed |
157 | // Airspeed |
164 | uint8_t airspeedCorrection; |
158 | uint8_t airspeedCorrection; |
- | 159 | uint8_t isFlyingThreshold; |
|
165 | 160 | ||
166 | // Servos |
161 | // Servos |
167 | uint8_t controlServosReverse; |
162 | uint8_t controlServosReverse; |
168 | 163 | ||
169 | uint8_t servoCount; |
164 | uint8_t servoCount; |
170 | uint8_t servoManualMaxSpeed; |
165 | uint8_t servoManualMaxSpeed; |
171 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
166 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
172 | 167 | ||
173 | // Outputs |
168 | // Outputs |
174 | output_flash_t outputFlash[2]; |
169 | output_flash_t outputFlash[2]; |
175 | uint8_t outputDebugMask; |
170 | uint8_t outputDebugMask; |
176 | uint8_t outputFlags; |
171 | uint8_t outputFlags; |
177 | 172 | ||
178 | // User params |
173 | // User params |
179 | uint8_t userParams[8]; |
174 | uint8_t userParams[8]; |
180 | 175 | ||
181 | // Name |
176 | // Name |
182 | char name[12]; |
177 | char name[12]; |
183 | } ParamSet_t; |
178 | } ParamSet_t; |
184 | 179 | ||
185 | extern ParamSet_t staticParams; |
180 | extern ParamSet_t staticParams; |
186 | 181 | ||
187 | // bit mask for staticParams.bitConfig |
182 | // bit mask for staticParams.bitConfig |
188 | #define CFG_GYRO_SATURATION_PREVENTION (1<<0) |
183 | #define CFG_GYRO_SATURATION_PREVENTION (1<<0) |
189 | #define CFG_USE_AIRSPEED_PID (1<<1) |
184 | #define CFG_USE_AIRSPEED_PID (1<<1) |
190 | 185 | ||
191 | #define IMU_REVERSE_GYRO_PR (1<<0) |
186 | #define IMU_REVERSE_GYRO_PR (1<<0) |
192 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
187 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
193 | #define IMU_REVERSE_ACC_XY (1<<2) |
188 | #define IMU_REVERSE_ACC_XY (1<<2) |
194 | #define IMU_REVERSE_ACC_Z (1<<3) |
189 | #define IMU_REVERSE_ACC_Z (1<<3) |
195 | 190 | ||
196 | #define ATMEGA644 0 |
191 | #define ATMEGA644 0 |
197 | #define ATMEGA644P 1 |
192 | #define ATMEGA644P 1 |
198 | #define SYSCLK F_CPU |
193 | #define SYSCLK F_CPU |
199 | 194 | ||
200 | // Not really a part of configuration, but LEDs and HW s test are the same. |
195 | // Not really a part of configuration, but LEDs and HW s test are the same. |
201 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
196 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
202 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
197 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
203 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
198 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
204 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
199 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
205 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
200 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
206 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
201 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
207 | 202 | ||
208 | // Mixer table |
203 | // Mixer table |
209 | #define MIX_THROTTLE 0 |
204 | #define MIX_THROTTLE 0 |
210 | #define MIX_PITCH 1 |
205 | #define MIX_PITCH 1 |
211 | #define MIX_ROLL 2 |
206 | #define MIX_ROLL 2 |
212 | #define MIX_YAW 3 |
207 | #define MIX_YAW 3 |
213 | 208 | ||
214 | #define VARIABLE_COUNT 8 |
209 | #define VARIABLE_COUNT 8 |
215 | 210 | ||
216 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
211 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
217 | extern uint8_t boardRelease; |
212 | extern uint8_t boardRelease; |
218 | extern uint8_t CPUType; |
213 | extern uint8_t CPUType; |
219 | 214 | ||
220 | extern volatile uint16_t isFlying; |
215 | extern volatile uint16_t isFlying; |
221 | extern FlightMode_t currentFlightMode; |
216 | extern FlightMode_t currentFlightMode; |
222 | 217 | ||
223 | void IMUConfig_default(void); |
218 | void IMUConfig_default(void); |
224 | void channelMap_default(void); |
219 | void channelMap_default(void); |
225 | void paramSet_default(uint8_t setnumber); |
220 | void paramSet_default(uint8_t setnumber); |
226 | 221 | ||
227 | void configuration_setFlightParameters(uint8_t newFlightMode); |
222 | void configuration_setFlightParameters(uint8_t newFlightMode); |
228 | void configuration_applyVariablesToParams(void); |
223 | void configuration_applyVariablesToParams(void); |
229 | 224 | ||
230 | void setCPUType(void); |
225 | void setCPUType(void); |
231 | void setBoardRelease(void); |
226 | void setBoardRelease(void); |
232 | 227 | ||
233 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
228 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
234 | void configuration_paramSetDidChange(void); |
229 | void configuration_paramSetDidChange(void); |
235 | #endif // _CONFIGURATION_H |
230 | #endif // _CONFIGURATION_H |
236 | 231 |