WebSVN - FlightCtrl - Diff - Rev 1926 and 1927 - /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 accCorrectionZAccLimit;
    uint8_t sensorFilterSettings;
   
  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 1926	Rev 1927
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		18
19	/* P */uint8_t UserParams[8];	19	/* P */uint8_t UserParams[8];
20	/* P */uint8_t ServoPitchControl;	20	/* P */uint8_t ServoPitchControl;
21		21
22	/* P */uint8_t GyroPitchD; // LoopGasLimit in tool	22	/* P */uint8_t GyroPitchD; // LoopGasLimit in tool
23	/* P */uint8_t GyroRollD; // AxisCoupling1 in tool	23	/* P */uint8_t GyroRollD; // AxisCoupling1 in tool
24	/* P */uint8_t GyroYawD; // AxisCoupling2 in tool	24	/* P */uint8_t GyroYawD; // AxisCoupling2 in tool
25		25
26	/* P */uint8_t AxisCouplingYawCorrection;	26	/* P */uint8_t AxisCouplingYawCorrection;
27	/* P */uint8_t DynamicStability;	27	/* P */uint8_t DynamicStability;
28	/* P */uint8_t ExternalControl;	28	/* P */uint8_t ExternalControl;
29	/PMM/uint8_t J16Timing;	29	/PMM/uint8_t J16Timing;
30	/PMM/uint8_t J17Timing;	30	/PMM/uint8_t J17Timing;
31	/* P */uint8_t NaviGpsModeControl;	31	/* P */uint8_t NaviGpsModeControl;
32	/* P */uint8_t NaviGpsGain;	32	/* P */uint8_t NaviGpsGain;
33	/* P */uint8_t NaviGpsP;	33	/* P */uint8_t NaviGpsP;
34	/* P */uint8_t NaviGpsI;	34	/* P */uint8_t NaviGpsI;
35	/* P */uint8_t NaviGpsD;	35	/* P */uint8_t NaviGpsD;
36	/* P */uint8_t NaviGpsACC;	36	/* P */uint8_t NaviGpsACC;
37	/PMM/uint8_t NaviOperatingRadius;	37	/PMM/uint8_t NaviOperatingRadius;
38	/* P */uint8_t NaviWindCorrection;	38	/* P */uint8_t NaviWindCorrection;
39	/* P */uint8_t NaviSpeedCompensation;	39	/* P */uint8_t NaviSpeedCompensation;
40	int8_t KalmanK;	40	int8_t KalmanK;
41	int8_t KalmanMaxDrift;	41	int8_t KalmanMaxDrift;
42	int8_t KalmanMaxFusion;	42	int8_t KalmanMaxFusion;
43	} dynamicParam_t;	43	} dynamicParam_t;
44	extern dynamicParam_t dynamicParams;	44	extern dynamicParam_t dynamicParams;
45		45
46	typedef struct {	46	typedef struct {
47	uint8_t sourceIdx, targetIdx;	47	uint8_t sourceIdx, targetIdx;
48	uint8_t min, max;	48	uint8_t min, max;
49	} MMXLATION;	49	} MMXLATION;
50		50
51	typedef struct {	51	typedef struct {
52	uint8_t sourceIdx, targetIdx;	52	uint8_t sourceIdx, targetIdx;
53	} XLATION;	53	} XLATION;
54		54
55	// values above 250 representing poti1 to poti4	55	// values above 250 representing poti1 to poti4
56	typedef struct {	56	typedef struct {
57	uint8_t ChannelAssignment[8]; // see upper defines for details	57	uint8_t ChannelAssignment[8]; // see upper defines for details
58	uint8_t GlobalConfig; // see upper defines for bitcoding	58	uint8_t GlobalConfig; // see upper defines for bitcoding
59	uint8_t HeightMinGas; // Value : 0-100	59	uint8_t HeightMinGas; // Value : 0-100
60	uint8_t HeightD; // Value : 0-250	60	uint8_t HeightD; // Value : 0-250
61	uint8_t MaxHeight; // Value : 0-32	61	uint8_t MaxHeight; // Value : 0-32
62	uint8_t HeightP; // Value : 0-32	62	uint8_t HeightP; // Value : 0-32
63	uint8_t Height_Gain; // Value : 0-50	63	uint8_t Height_Gain; // Value : 0-50
64	uint8_t Height_ACC_Effect; // Value : 0-250	64	uint8_t Height_ACC_Effect; // Value : 0-250
65		65
66	uint8_t StickElevatorP; // StickP in tool.	66	uint8_t StickElevatorP; // StickP in tool.
67	uint8_t StickAileronsP; // StickD in tool.	67	uint8_t StickAileronsP; // StickD in tool.
68	uint8_t StickRudderP; // StickYawP in tool.	68	uint8_t StickRudderP; // StickYawP in tool.
69		69
70	uint8_t GyroAccFactor; // Value : 1-64	70	uint8_t GyroAccFactor; // Value : 1-64
71	uint8_t CompassYawEffect; // Value : 0-32	71	uint8_t CompassYawEffect; // Value : 0-32
72		72
73	uint8_t GyroPitchP; // GyroP in tool	73	uint8_t GyroPitchP; // GyroP in tool
74	uint8_t GyroRollP; // GyroI in tool	74	uint8_t GyroRollP; // GyroI in tool
75	uint8_t GyroYawP; // GyroD in tool	75	uint8_t GyroYawP; // GyroD in tool
76		76
77	uint8_t UserParams[8]; // Value : 0-250	77	uint8_t UserParams[8]; // Value : 0-250
78		78
79	uint8_t LowVoltageWarning; // Value : 0-250	79	uint8_t LowVoltageWarning; // Value : 0-250
80		80
81	uint8_t ControlSigns;	81	uint8_t ControlSigns;
82	uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output	82	uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output
83		83
84	uint8_t GyroPitchD; // LoopGasLimit in tool	84	uint8_t GyroPitchD; // LoopGasLimit in tool
85	uint8_t GyroRollD; // loopThreshold in tool	85	uint8_t GyroRollD; // loopThreshold in tool
86	uint8_t GyroYawD; // loopHysteresis in tool	86	uint8_t GyroYawD; // loopHysteresis in tool
87		87
88	uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung)	88	uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung)
89	uint8_t DriftComp; // limit for gyrodrift compensation	89	uint8_t DriftComp; // limit for gyrodrift compensation
90		90
91	uint8_t J16Bitmask; // for the J16 Output	91	uint8_t J16Bitmask; // for the J16 Output
92	uint8_t J16Timing; // for the J16 Output	92	uint8_t J16Timing; // for the J16 Output
93	uint8_t J17Bitmask; // for the J17 Output	93	uint8_t J17Bitmask; // for the J17 Output
94	uint8_t J17Timing; // for the J17 Output	94	uint8_t J17Timing; // for the J17 Output
95		95
96	uint8_t ExternalControl; // for serial Control	96	uint8_t ExternalControl; // for serial Control
97	uint8_t BitConfig; // see upper defines for bitcoding	97	uint8_t BitConfig; // see upper defines for bitcoding
-		98
-		99	uint8_t accCorrectionZAccLimit;
-		100	uint8_t sensorFilterSettings;
98		101
99	uint8_t Reserved[4];	102	uint8_t Reserved[4];
100	} paramset_t;	103	} paramset_t;
101		104
102	#define PARAMSET_STRUCT_LEN sizeof(paramset_t)	105	#define PARAMSET_STRUCT_LEN sizeof(paramset_t)
103		106
104	extern paramset_t staticParams;	107	extern paramset_t staticParams;
105		108
106	typedef struct {	109	typedef struct {
107	uint8_t Revision;	110	uint8_t Revision;
108	int8_t Name[12];	111	int8_t Name[12];
109	int8_t Motor[16][4];	112	int8_t Motor[16][4];
110	}__attribute__((packed)) MixerTable_t;	113	}__attribute__((packed)) MixerTable_t;
111		114
112	extern MixerTable_t Mixer;	115	extern MixerTable_t Mixer;
113		116
114	// MKFlags	117	// MKFlags
115	#define MKFLAG_MOTOR_RUN (1<<0)	118	#define MKFLAG_MOTOR_RUN (1<<0)
116	#define MKFLAG_FLY (1<<1)	119	#define MKFLAG_FLY (1<<1)
117	#define MKFLAG_CALIBRATE (1<<2)	120	#define MKFLAG_CALIBRATE (1<<2)
118	#define MKFLAG_START (1<<3)	121	#define MKFLAG_START (1<<3)
119	#define MKFLAG_EMERGENCY_LANDING (1<<4)	122	#define MKFLAG_EMERGENCY_LANDING (1<<4)
120	#define MKFLAG_RESERVE1 (1<<5)	123	#define MKFLAG_RESERVE1 (1<<5)
121	#define MKFLAG_RESERVE2 (1<<6)	124	#define MKFLAG_RESERVE2 (1<<6)
122	#define MKFLAG_RESERVE3 (1<<7)	125	#define MKFLAG_RESERVE3 (1<<7)
123		126
124	// bit mask for staticParams.GlobalConfig	127	// bit mask for staticParams.GlobalConfig
125	#define CFG_HEIGHT_CONTROL (1<<0)	128	#define CFG_HEIGHT_CONTROL (1<<0)
126	#define CFG_HEIGHT_SWITCH (1<<1)	129	#define CFG_HEIGHT_SWITCH (1<<1)
127	#define CFG_HEADING_HOLD (1<<2)	130	#define CFG_HEADING_HOLD (1<<2)
128	#define CFG_COMPASS_ACTIVE (1<<3)	131	#define CFG_COMPASS_ACTIVE (1<<3)
129	#define CFG_COMPASS_FIX (1<<4)	132	#define CFG_COMPASS_FIX (1<<4)
130	#define CFG_GPS_ACTIVE (1<<5)	133	#define CFG_GPS_ACTIVE (1<<5)
131	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)	134	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
132	#define CFG_ROTARY_RATE_LIMITER (1<<7)	135	#define CFG_ROTARY_RATE_LIMITER (1<<7)
133		136
134	// bit mask for staticParams.BitConfig	137	// bit mask for staticParams.BitConfig
135	#define CFG_LOOP_UP (1<<0)	138	#define CFG_LOOP_UP (1<<0)
136	#define CFG_LOOP_DOWN (1<<1)	139	#define CFG_LOOP_DOWN (1<<1)
137	#define CFG_LOOP_LEFT (1<<2)	140	#define CFG_LOOP_LEFT (1<<2)
138	#define CFG_LOOP_RIGHT (1<<3)	141	#define CFG_LOOP_RIGHT (1<<3)
139	#define CFG_HEIGHT_3SWITCH (1<<4)	142	#define CFG_HEIGHT_3SWITCH (1<<4)
140		143
141	#define ATMEGA644 0	144	#define ATMEGA644 0
142	#define ATMEGA644P 1	145	#define ATMEGA644P 1
143	#define SYSCLK F_CPU	146	#define SYSCLK F_CPU
144		147
145	// Not really a part of configuration, but LEDs and HW version test are the same.	148	// Not really a part of configuration, but LEDs and HW version test are the same.
146	#define RED_OFF {if((BoardRelease == 10) \|\| (BoardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	149	#define RED_OFF {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);}	150	#define RED_ON {if((BoardRelease == 10) \|\| (BoardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
148	#define RED_FLASH PORTB ^= (1<<PORTB0)	151	#define RED_FLASH PORTB ^= (1<<PORTB0)
149	#define GRN_OFF {if(BoardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	152	#define GRN_OFF {if(BoardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
150	#define GRN_ON {if(BoardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	153	#define GRN_ON {if(BoardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
151	#define GRN_FLASH PORTB ^= (1<<PORTB1)	154	#define GRN_FLASH PORTB ^= (1<<PORTB1)
152		155
153	// Mixer table	156	// Mixer table
154	#define MIX_THROTTLE 0	157	#define MIX_THROTTLE 0
155	#define MIX_PITCH 1	158	#define MIX_PITCH 1
156	#define MIX_ROLL 2	159	#define MIX_ROLL 2
157	#define MIX_YAW 3	160	#define MIX_YAW 3
158		161
159	extern volatile uint8_t MKFlags;	162	extern volatile uint8_t MKFlags;
160	extern int16_t variables[8]; // The "Poti"s.	163	extern int16_t variables[8]; // The "Poti"s.
161	extern uint8_t BoardRelease;	164	extern uint8_t BoardRelease;
162	extern uint8_t CPUType;	165	extern uint8_t CPUType;
163		166
164	void configuration_staticToDynamic(void);	167	void configuration_staticToDynamic(void);
165	uint8_t getCPUType(void);	168	uint8_t getCPUType(void);
166	uint8_t getBoardRelease(void);	169	uint8_t getBoardRelease(void);
167		170
168	#endif // _CONFIGURATION_H	171	#endif // _CONFIGURATION_H
169		172

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(root)/branches/dongfang_FC_fixedwing/configuration.h - Rev 1926 → 1927