WebSVN - FlightCtrl - Diff - Rev 2099 and 2102 - /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 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 {
   /*PMM*/uint8_t gyroPitchD;
-  /* P */uint8_t gyroRollD;
+  /* P */uint8_t gyroRollD;\
   /* P */uint8_t gyroYawD;
   // Control
   /* P */uint8_t externalControl;
-  // Height control
-  /*PMM*/uint8_t heightP;
-  /* P */uint8_t heightI;
-  /*PMM*/uint8_t heightD;
-  /* P */uint8_t heightSetting;
   // Output and servo
   /*PMM*/uint8_t output0Timing;
   /*PMM*/uint8_t output1Timing;
   uint8_t servoManualControl[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 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;
 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
 } IMUConfig_t;
 extern IMUConfig_t IMUConfig;
+typedef struct {
+        uint8_t P;
+        uint8_t I;
+        uint8_t D;
+} PID_t;
 // values above 250 representing poti1 to poti4
 typedef struct {
   // Global bitflags
   uint8_t bitConfig;  // see upper defines for bitcoding
   // 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 gyroPitchP;
-  uint8_t gyroPitchI;
-  uint8_t gyroPitchD;
+  PID_t gyroPID[3];
-  uint8_t gyroRollP;
-  uint8_t gyroRollI;
-  uint8_t gyroRollD;
-  uint8_t gyroYawP;
-  uint8_t gyroYawI;
-  uint8_t gyroYawD;
   uint8_t stickIElevator;
   uint8_t stickIAilerons;
   uint8_t stickIRudder;
   uint8_t externalControl; // for serial Control
   uint8_t IFactor;
   uint8_t batteryVoltageWarning;
   uint8_t emergencyThrottle;
   uint8_t emergencyFlightDuration;
   // Servos
+  uint8_t controlServosReverse;
   uint8_t servoCount;
   uint8_t servoManualMaxSpeed;
   servo_t servoConfigurations[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;
-// 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_NAVI_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 volatile uint8_t isMotorRunning;
-extern uint16_t isFlying;
+extern FlightMode_t currentFlightMode;
 void IMUConfig_default(void);
 void channelMap_default(void);
 void paramSet_default(uint8_t setnumber);
-void mixerMatrix_default(void);
-void configuration_setNormalFlightParameters(void);
-void configuration_setFailsafeFlightParameters(void);
+void configuration_setFlightParameters(uint8_t newFlightMode);
 void configuration_applyVariablesToParams(void);
 void setCPUType(void);
 void setBoardRelease(void);
 // Called after a change in configuration parameters, as a hook for modules to take over changes.
 void configuration_paramSetDidChange(void);
 #endif // _CONFIGURATION_H

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/configuration.h @ 2133 - Rev 2099 → 2102