WebSVN - FlightCtrl - Diff - Rev 1910 and 1926 - /branches/dongfang_FC


#ifndef _CONFIGURATION_H
#define _CONFIGURATION_H
 
#include <inttypes.h>
#include <avr/io.h>
 
typedef struct {
  /*PMM*/uint8_t HeightD;
  /* P */uint8_t MaxHeight;
  /*PMM*/uint8_t HeightP;
  /* P */uint8_t Height_ACC_Effect;
  /* P */uint8_t CompassYawEffect;
  /* P */uint8_t unnused;
 
  /* P */uint8_t GyroPitchP;
  /* P */uint8_t GyroRollP;
  /* P */uint8_t GyroYawP;
 
 
  /* P */uint8_t UserParams[8];
  /* P */uint8_t ServoPitchControl;
 
  /* P */uint8_t GyroPitchD;  // LoopGasLimit in tool
  /* P */uint8_t GyroRollD;   // AxisCoupling1 in tool
  /* P */uint8_t GyroYawD;    // AxisCoupling2 in tool
 
  /* P */uint8_t AxisCouplingYawCorrection;
  /* P */uint8_t DynamicStability;
  /* P */uint8_t ExternalControl;
  /*PMM*/uint8_t J16Timing;
  /*PMM*/uint8_t J17Timing;
  /* P */uint8_t NaviGpsModeControl;
  /* P */uint8_t NaviGpsGain;
  /* P */uint8_t NaviGpsP;
  /* P */uint8_t NaviGpsI;
  /* P */uint8_t NaviGpsD;
  /* P */uint8_t NaviGpsACC;
  /*PMM*/uint8_t NaviOperatingRadius;
  /* P */uint8_t NaviWindCorrection;
  /* P */uint8_t NaviSpeedCompensation;
  int8_t KalmanK;
  int8_t KalmanMaxDrift;
  int8_t KalmanMaxFusion;
} dynamicParam_t;
extern dynamicParam_t dynamicParams;
 
typedef struct {
  uint8_t sourceIdx, targetIdx;
  uint8_t min, max;
} MMXLATION;
 
typedef struct {
  uint8_t sourceIdx, targetIdx;
} XLATION;
 
// values above 250 representing poti1 to poti4
typedef struct {
  uint8_t ChannelAssignment[8]; // see upper defines for details
  uint8_t GlobalConfig; // see upper defines for bitcoding
  uint8_t HeightMinGas; // Value : 0-100
  uint8_t HeightD; // Value : 0-250
  uint8_t MaxHeight; // Value : 0-32
  uint8_t HeightP; // Value : 0-32
  uint8_t Height_Gain; // Value : 0-50
  uint8_t Height_ACC_Effect; // Value : 0-250
 
  uint8_t StickElevatorP; // StickP in tool.
  uint8_t StickAileronsP;  // StickD in tool.
  uint8_t StickRudderP;   // StickYawP in tool.
 
 
 
  uint8_t GyroAccFactor; // Value : 1-64
  uint8_t CompassYawEffect; // Value : 0-32
 
  uint8_t GyroPitchP;  // GyroP in tool
  uint8_t GyroRollP;   // GyroI in tool
  uint8_t GyroYawP;    // GyroD in tool
 
  uint8_t UserParams[8]; // Value : 0-250
 
 
 
 
 
 
  uint8_t LowVoltageWarning; // Value : 0-250
 
 
 
 
 
 
 
 
 
  uint8_t ControlSigns;
  uint8_t ServoRefresh; // Value: 0-250      // Refreshrate of servo pwm output
 
  uint8_t GyroPitchD; // LoopGasLimit in tool
  uint8_t GyroRollD;  // loopThreshold in tool
  uint8_t GyroYawD;   // loopHysteresis in tool
 
 
 
  uint8_t GyroAccTrim; // 1/k  (Koppel_ACC_Wirkung)
 
 
  uint8_t DriftComp; // limit for gyrodrift compensation
 
  uint8_t J16Bitmask; // for the J16 Output
  uint8_t J16Timing; // for the J16 Output
  uint8_t J17Bitmask; // for the J17 Output
  uint8_t J17Timing; // for the J17 Output
 
  uint8_t ExternalControl; // for serial Control
  uint8_t BitConfig; // see upper defines for bitcoding
 
   
  uint8_t Reserved[4];
 
} paramset_t;
 
#define  PARAMSET_STRUCT_LEN  sizeof(paramset_t)
 
extern paramset_t staticParams;
 
typedef struct {
  uint8_t Revision;
  int8_t Name[12];
  int8_t Motor[16][4];
}__attribute__((packed)) MixerTable_t;
 
extern MixerTable_t Mixer;
 
// 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_LANDING (1<<4)
#define MKFLAG_RESERVE1         (1<<5)
#define MKFLAG_RESERVE2         (1<<6)
#define MKFLAG_RESERVE3         (1<<7)
 
// bit mask for staticParams.GlobalConfig
#define CFG_HEIGHT_CONTROL      (1<<0)
#define CFG_HEIGHT_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_ROTARY_RATE_LIMITER (1<<7)
 
// bit mask for staticParams.BitConfig
#define CFG_LOOP_UP                 (1<<0)
#define CFG_LOOP_DOWN           (1<<1)
#define CFG_LOOP_LEFT           (1<<2)
#define CFG_LOOP_RIGHT          (1<<3)
#define CFG_HEIGHT_3SWITCH      (1<<4)
 
#define ATMEGA644       0
#define ATMEGA644P      1
#define SYSCLK F_CPU
 
// Not really a part of configuration, but LEDs and HW version 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
 
extern volatile uint8_t MKFlags;
extern int16_t variables[8]; // The "Poti"s.
extern uint8_t BoardRelease;
extern uint8_t CPUType;
 
void configuration_staticToDynamic(void);
uint8_t getCPUType(void);
uint8_t getBoardRelease(void);
 
#endif // _CONFIGURATION_H
 

Rev 1910	Rev 1926
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	typedef struct {	7	typedef struct {
8	/PMM/uint8_t HeightD;	8	/PMM/uint8_t HeightD;
9	/* P */uint8_t MaxHeight;	9	/* P */uint8_t MaxHeight;
10	/PMM/uint8_t HeightP;	10	/PMM/uint8_t HeightP;
11	/* P */uint8_t Height_ACC_Effect;	11	/* P */uint8_t Height_ACC_Effect;
12	/* P */uint8_t CompassYawEffect;	12	/* P */uint8_t CompassYawEffect;
13	/* P */uint8_t unnused;	13	/* P */uint8_t unnused;
14		14
15	/* P */uint8_t GyroPitchP;	15	/* P */uint8_t GyroPitchP;
16	/* P */uint8_t GyroRollP;	16	/* P */uint8_t GyroRollP;
17	/* P */uint8_t GyroYawP;	17	/* P */uint8_t GyroYawP;
18		-
19	/* P */uint8_t IFactor;	18
20	/* P */uint8_t UserParams[8];	19	/* P */uint8_t UserParams[8];
21	/* P */uint8_t ServoPitchControl;	20	/* P */uint8_t ServoPitchControl;
22		21
23	/* P */uint8_t GyroPitchD; // LoopGasLimit in tool	22	/* P */uint8_t GyroPitchD; // LoopGasLimit in tool
24	/* P */uint8_t GyroRollD; // AxisCoupling1 in tool	23	/* P */uint8_t GyroRollD; // AxisCoupling1 in tool
25	/* P */uint8_t GyroYawD; // AxisCoupling2 in tool	24	/* P */uint8_t GyroYawD; // AxisCoupling2 in tool
26		25
27	/* P */uint8_t AxisCouplingYawCorrection;	26	/* P */uint8_t AxisCouplingYawCorrection;
28	/* P */uint8_t DynamicStability;	27	/* P */uint8_t DynamicStability;
29	/* P */uint8_t ExternalControl;	28	/* P */uint8_t ExternalControl;
30	/PMM/uint8_t J16Timing;	29	/PMM/uint8_t J16Timing;
31	/PMM/uint8_t J17Timing;	30	/PMM/uint8_t J17Timing;
32	/* P */uint8_t NaviGpsModeControl;	31	/* P */uint8_t NaviGpsModeControl;
33	/* P */uint8_t NaviGpsGain;	32	/* P */uint8_t NaviGpsGain;
34	/* P */uint8_t NaviGpsP;	33	/* P */uint8_t NaviGpsP;
35	/* P */uint8_t NaviGpsI;	34	/* P */uint8_t NaviGpsI;
36	/* P */uint8_t NaviGpsD;	35	/* P */uint8_t NaviGpsD;
37	/* P */uint8_t NaviGpsACC;	36	/* P */uint8_t NaviGpsACC;
38	/PMM/uint8_t NaviOperatingRadius;	37	/PMM/uint8_t NaviOperatingRadius;
39	/* P */uint8_t NaviWindCorrection;	38	/* P */uint8_t NaviWindCorrection;
40	/* P */uint8_t NaviSpeedCompensation;	39	/* P */uint8_t NaviSpeedCompensation;
41	int8_t KalmanK;	40	int8_t KalmanK;
42	int8_t KalmanMaxDrift;	41	int8_t KalmanMaxDrift;
43	int8_t KalmanMaxFusion;	42	int8_t KalmanMaxFusion;
44	} dynamicParam_t;	43	} dynamicParam_t;
45	extern dynamicParam_t dynamicParams;	44	extern dynamicParam_t dynamicParams;
46		45
47	typedef struct {	46	typedef struct {
48	uint8_t sourceIdx, targetIdx;	47	uint8_t sourceIdx, targetIdx;
49	uint8_t min, max;	48	uint8_t min, max;
50	} MMXLATION;	49	} MMXLATION;
51		50
52	typedef struct {	51	typedef struct {
53	uint8_t sourceIdx, targetIdx;	52	uint8_t sourceIdx, targetIdx;
54	} XLATION;	53	} XLATION;
55		54
56	// values above 250 representing poti1 to poti4	55	// values above 250 representing poti1 to poti4
57	typedef struct {	56	typedef struct {
58	uint8_t ChannelAssignment[8]; // see upper defines for details	57	uint8_t ChannelAssignment[8]; // see upper defines for details
59	uint8_t GlobalConfig; // see upper defines for bitcoding	58	uint8_t GlobalConfig; // see upper defines for bitcoding
60	uint8_t HeightMinGas; // Value : 0-100	59	uint8_t HeightMinGas; // Value : 0-100
61	uint8_t HeightD; // Value : 0-250	60	uint8_t HeightD; // Value : 0-250
62	uint8_t MaxHeight; // Value : 0-32	61	uint8_t MaxHeight; // Value : 0-32
63	uint8_t HeightP; // Value : 0-32	62	uint8_t HeightP; // Value : 0-32
64	uint8_t Height_Gain; // Value : 0-50	63	uint8_t Height_Gain; // Value : 0-50
65	uint8_t Height_ACC_Effect; // Value : 0-250	64	uint8_t Height_ACC_Effect; // Value : 0-250
66		65
67	uint8_t StickElevatorP; // StickP in tool.	66	uint8_t StickElevatorP; // StickP in tool.
68	uint8_t StickAileronsP; // StickD in tool.	67	uint8_t StickAileronsP; // StickD in tool.
69	uint8_t StickRudderP; // StickYawP in tool.	68	uint8_t StickRudderP; // StickYawP in tool.
70		-
71	uint8_t Unused3;	-
72	uint8_t Unused4;	69
73	uint8_t GyroAccFactor; // Value : 1-64	70	uint8_t GyroAccFactor; // Value : 1-64
74	uint8_t CompassYawEffect; // Value : 0-32	71	uint8_t CompassYawEffect; // Value : 0-32
75		72
76	uint8_t GyroPitchP; // GyroP in tool	73	uint8_t GyroPitchP; // GyroP in tool
77	uint8_t GyroRollP; // GyroI in tool	74	uint8_t GyroRollP; // GyroI in tool
78	uint8_t GyroYawP; // GyroD in tool	75	uint8_t GyroYawP; // GyroD in tool
-		76
-		77	uint8_t UserParams[8]; // Value : 0-250
79		78
80	uint8_t LowVoltageWarning; // Value : 0-250	-
81	uint8_t Unused5; // Value : 0-250 //Gaswert bei Empüngsverlust	-
82	uint8_t Unused6; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen	-
83	uint8_t Unused7; //	-
84	uint8_t IFactor; // Value : 0-250	-
85	uint8_t UserParams1[4]; // Value : 0-250	79	uint8_t LowVoltageWarning; // Value : 0-250
86		-
87	uint8_t ControlSigns;	-
88	uint8_t Unused9;	-
89	uint8_t Unused10;	-
90		80
91	uint8_t Unused11; // Value : 0-250 // Anschlag	-
92	uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output	-
93		-
94	uint8_t Unused16;	-
95	uint8_t Unused17;	81	uint8_t ControlSigns;
96	uint8_t Unused18;	82	uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output
97		83
98	uint8_t GyroPitchD; // LoopGasLimit in tool	84	uint8_t GyroPitchD; // LoopGasLimit in tool
99	uint8_t GyroRollD; // loopThreshold in tool	85	uint8_t GyroRollD; // loopThreshold in tool
100	uint8_t GyroYawD; // loopHysteresis in tool	86	uint8_t GyroYawD; // loopHysteresis in tool
101		-
102	uint8_t Unused19;	-
103	uint8_t Unused20;	87
104	uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung)	88	uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung)
105	uint8_t DriftComp; // limit for gyrodrift compensation	-
106	uint8_t Unused21; // PID limit for Attitude controller	-
107	uint8_t UserParams2[4]; // Value : 0-250	89	uint8_t DriftComp; // limit for gyrodrift compensation
108		90
109	uint8_t J16Bitmask; // for the J16 Output	91	uint8_t J16Bitmask; // for the J16 Output
110	uint8_t J16Timing; // for the J16 Output	92	uint8_t J16Timing; // for the J16 Output
111	uint8_t J17Bitmask; // for the J17 Output	93	uint8_t J17Bitmask; // for the J17 Output
112	uint8_t J17Timing; // for the J17 Output	94	uint8_t J17Timing; // for the J17 Output
-		95
113	uint8_t ExternalControl; // for serial Control	96	uint8_t ExternalControl; // for serial Control
114	uint8_t BitConfig; // see upper defines for bitcoding	97	uint8_t BitConfig; // see upper defines for bitcoding
115	uint8_t ServoPitchCompInvert; // Value : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen	-
-		98
116	uint8_t Reserved[4];	99	uint8_t Reserved[4];
117	int8_t Name[12];	-
118	} paramset_t;	100	} paramset_t;
119		101
120	#define PARAMSET_STRUCT_LEN sizeof(paramset_t)	102	#define PARAMSET_STRUCT_LEN sizeof(paramset_t)
121		103
122	extern paramset_t staticParams;	104	extern paramset_t staticParams;
123		105
124	typedef struct {	106	typedef struct {
125	uint8_t Revision;	107	uint8_t Revision;
126	int8_t Name[12];	108	int8_t Name[12];
127	int8_t Motor[16][4];	109	int8_t Motor[16][4];
128	}__attribute__((packed)) MixerTable_t;	110	}__attribute__((packed)) MixerTable_t;
129		111
130	extern MixerTable_t Mixer;	112	extern MixerTable_t Mixer;
131		113
132	// MKFlags	114	// MKFlags
133	#define MKFLAG_MOTOR_RUN (1<<0)	115	#define MKFLAG_MOTOR_RUN (1<<0)
134	#define MKFLAG_FLY (1<<1)	116	#define MKFLAG_FLY (1<<1)
135	#define MKFLAG_CALIBRATE (1<<2)	117	#define MKFLAG_CALIBRATE (1<<2)
136	#define MKFLAG_START (1<<3)	118	#define MKFLAG_START (1<<3)
137	#define MKFLAG_EMERGENCY_LANDING (1<<4)	119	#define MKFLAG_EMERGENCY_LANDING (1<<4)
138	#define MKFLAG_RESERVE1 (1<<5)	120	#define MKFLAG_RESERVE1 (1<<5)
139	#define MKFLAG_RESERVE2 (1<<6)	121	#define MKFLAG_RESERVE2 (1<<6)
140	#define MKFLAG_RESERVE3 (1<<7)	122	#define MKFLAG_RESERVE3 (1<<7)
141		123
142	// bit mask for staticParams.GlobalConfig	124	// bit mask for staticParams.GlobalConfig
143	#define CFG_HEIGHT_CONTROL (1<<0)	125	#define CFG_HEIGHT_CONTROL (1<<0)
144	#define CFG_HEIGHT_SWITCH (1<<1)	126	#define CFG_HEIGHT_SWITCH (1<<1)
145	#define CFG_HEADING_HOLD (1<<2)	127	#define CFG_HEADING_HOLD (1<<2)
146	#define CFG_COMPASS_ACTIVE (1<<3)	128	#define CFG_COMPASS_ACTIVE (1<<3)
147	#define CFG_COMPASS_FIX (1<<4)	129	#define CFG_COMPASS_FIX (1<<4)
148	#define CFG_GPS_ACTIVE (1<<5)	130	#define CFG_GPS_ACTIVE (1<<5)
149	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)	131	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
150	#define CFG_ROTARY_RATE_LIMITER (1<<7)	132	#define CFG_ROTARY_RATE_LIMITER (1<<7)
151		133
152	// bit mask for staticParams.BitConfig	134	// bit mask for staticParams.BitConfig
153	#define CFG_LOOP_UP (1<<0)	135	#define CFG_LOOP_UP (1<<0)
154	#define CFG_LOOP_DOWN (1<<1)	136	#define CFG_LOOP_DOWN (1<<1)
155	#define CFG_LOOP_LEFT (1<<2)	137	#define CFG_LOOP_LEFT (1<<2)
156	#define CFG_LOOP_RIGHT (1<<3)	138	#define CFG_LOOP_RIGHT (1<<3)
157	#define CFG_HEIGHT_3SWITCH (1<<4)	139	#define CFG_HEIGHT_3SWITCH (1<<4)
158		140
159	#define ATMEGA644 0	141	#define ATMEGA644 0
160	#define ATMEGA644P 1	142	#define ATMEGA644P 1
161	#define SYSCLK F_CPU	143	#define SYSCLK F_CPU
162		144
163	// Not really a part of configuration, but LEDs and HW version test are the same.	145	// Not really a part of configuration, but LEDs and HW version test are the same.
164	#define RED_OFF {if((BoardRelease == 10) \|\| (BoardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	146	#define RED_OFF {if((BoardRelease == 10) \|\| (BoardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
165	#define RED_ON {if((BoardRelease == 10) \|\| (BoardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	147	#define RED_ON {if((BoardRelease == 10) \|\| (BoardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
166	#define RED_FLASH PORTB ^= (1<<PORTB0)	148	#define RED_FLASH PORTB ^= (1<<PORTB0)
167	#define GRN_OFF {if(BoardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	149	#define GRN_OFF {if(BoardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
168	#define GRN_ON {if(BoardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	150	#define GRN_ON {if(BoardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
169	#define GRN_FLASH PORTB ^= (1<<PORTB1)	151	#define GRN_FLASH PORTB ^= (1<<PORTB1)
170		152
171	// Mixer table	153	// Mixer table
172	#define MIX_THROTTLE 0	154	#define MIX_THROTTLE 0
173	#define MIX_PITCH 1	155	#define MIX_PITCH 1
174	#define MIX_ROLL 2	156	#define MIX_ROLL 2
175	#define MIX_YAW 3	157	#define MIX_YAW 3
176		158
177	extern volatile uint8_t MKFlags;	159	extern volatile uint8_t MKFlags;
178	extern int16_t variables[8]; // The "Poti"s.	160	extern int16_t variables[8]; // The "Poti"s.
179	extern uint8_t BoardRelease;	161	extern uint8_t BoardRelease;
180	extern uint8_t CPUType;	162	extern uint8_t CPUType;
181		163
182	void configuration_staticToDynamic(void);	164	void configuration_staticToDynamic(void);
183	uint8_t getCPUType(void);	165	uint8_t getCPUType(void);
184	uint8_t getBoardRelease(void);	166	uint8_t getBoardRelease(void);
185		167
186	#endif // _CONFIGURATION_H	168	#endif // _CONFIGURATION_H
187		169

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(root)/branches/dongfang_FC_fixedwing/configuration.h @ 2022 - Rev 1910 → 1926