WebSVN - FlightCtrl - Diff - Rev 2140 and 2142 - /branches/dongfang_FC


#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
} 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;
 
 
 
 
 
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;
 
 
 
  /* 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 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 reverse;
 
  int8_t minValue;
  int8_t maxValue;
 
} 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;
  Servo_t servos[3];
 
 
 
 
 
 
 
  // 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   {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 int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
extern uint8_t boardRelease;
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);
 
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
 

Rev 2140	Rev 2142
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 8	7	#define MAX_CHANNELS 8
8		8
9	// bitmask for VersionInfo_t.HardwareError[0]	9	// bitmask for VersionInfo_t.HardwareError[0]
10	#define FC_ERROR0_GYRO_PITCH 0x01	10	#define FC_ERROR0_GYRO_PITCH 0x01
11	#define FC_ERROR0_GYRO_ROLL 0x02	11	#define FC_ERROR0_GYRO_ROLL 0x02
12	#define FC_ERROR0_GYRO_YAW 0x04	12	#define FC_ERROR0_GYRO_YAW 0x04
13	#define FC_ERROR0_ACC_X 0x08	13	#define FC_ERROR0_ACC_X 0x08
14	#define FC_ERROR0_ACC_Y 0x10	14	#define FC_ERROR0_ACC_Y 0x10
15	#define FC_ERROR0_ACC_Z 0x20	15	#define FC_ERROR0_ACC_Z 0x20
16	#define FC_ERROR0_PRESSURE 0x40	16	#define FC_ERROR0_PRESSURE 0x40
17	#define FC_ERROR1_RES0 0x80	17	#define FC_ERROR1_RES0 0x80
18	// bitmask for VersionInfo_t.HardwareError[1]	18	// bitmask for VersionInfo_t.HardwareError[1]
19	#define FC_ERROR1_I2C 0x01	19	#define FC_ERROR1_I2C 0x01
20	#define FC_ERROR1_BL_MISSING 0x02	20	#define FC_ERROR1_BL_MISSING 0x02
21	#define FC_ERROR1_SPI_RX 0x04	21	#define FC_ERROR1_SPI_RX 0x04
22	#define FC_ERROR1_PPM 0x08	22	#define FC_ERROR1_PPM 0x08
23	#define FC_ERROR1_MIXER 0x10	23	#define FC_ERROR1_MIXER 0x10
24	#define FC_ERROR1_RES1 0x20	24	#define FC_ERROR1_RES1 0x20
25	#define FC_ERROR1_RES2 0x40	25	#define FC_ERROR1_RES2 0x40
26	#define FC_ERROR1_RES3 0x80	26	#define FC_ERROR1_RES3 0x80
27		27
28	typedef struct {	28	typedef struct {
29	uint8_t gyroQuadrant;	29	uint8_t gyroQuadrant;
30	uint8_t accQuadrant;	30	uint8_t accQuadrant;
31	uint8_t imuReversedFlags;	31	uint8_t imuReversedFlags;
32		32
33	uint8_t gyroPIDFilterConstant;	33	uint8_t gyroPIDFilterConstant;
34	uint8_t gyroDWindowLength;	34	uint8_t gyroDWindowLength;
35	uint8_t gyroDFilterConstant;	35	uint8_t gyroDFilterConstant;
36	uint8_t accFilterConstant;	36	uint8_t accFilterConstant;
37		37
38	uint8_t zerothOrderCorrection;	38	uint8_t zerothOrderCorrection;
39	uint8_t rateTolerance;	39	uint8_t rateTolerance;
40		40
41	uint8_t gyroActivityDamping;	41	uint8_t gyroActivityDamping;
42	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	42	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
43	uint8_t driftCompLimit; // limit for gyrodrift compensation	43	uint8_t driftCompLimit; // limit for gyrodrift compensation
44	} IMUConfig_t;	44	} IMUConfig_t;
45		45
46	extern IMUConfig_t IMUConfig;	46	extern IMUConfig_t IMUConfig;
47		47
48	typedef struct {	48	typedef struct {
49	uint8_t P;	49	uint8_t P;
50	uint8_t I;	50	uint8_t I;
51	uint8_t D;	51	uint8_t D;
52	} PID_t;	52	} PID_t;
53		53
54	typedef struct {	54	typedef struct {
55	uint8_t P;	55	uint8_t P;
56	uint8_t I;	56	uint8_t I;
57	uint8_t D;	57	uint8_t D;
58	uint8_t iMax;	58	uint8_t iMax;
59	} PIDIM_t;	59	} PIDIM_t;
60		60
61	typedef enum {	61	typedef enum {
62	FLIGHT_MODE_NONE,	62	FLIGHT_MODE_NONE,
63	FLIGHT_MODE_MANUAL,	63	FLIGHT_MODE_MANUAL,
64	FLIGHT_MODE_RATE,	64	FLIGHT_MODE_RATE,
65	FLIGHT_MODE_ANGLES	65	FLIGHT_MODE_ANGLES
66	} FlightMode_t;	66	} FlightMode_t;
67		-
68	#define CONTROL_SERVO_REVERSE_ELEVATOR 1	-
69	#define CONTROL_SERVO_REVERSE_AILERONS 2	-
70	#define CONTROL_SERVO_REVERSE_RUDDER 4	-
71		67
72	typedef struct {	68	typedef struct {
73	uint8_t SWMajor;	69	uint8_t SWMajor;
74	uint8_t SWMinor;	70	uint8_t SWMinor;
75	uint8_t protoMajor;	71	uint8_t protoMajor;
76	uint8_t protoMinor;	72	uint8_t protoMinor;
77	uint8_t SWPatch;	73	uint8_t SWPatch;
78	uint8_t hardwareErrors[5];	74	uint8_t hardwareErrors[5];
79	}__attribute__((packed)) VersionInfo_t;	75	}__attribute__((packed)) VersionInfo_t;
80		76
81	extern VersionInfo_t versionInfo;	77	extern VersionInfo_t versionInfo;
82		78
83	typedef struct {	79	typedef struct {
84	// IMU stuff:	80	// IMU stuff:
85	PID_t gyroPID[3];	81	PID_t gyroPID[3];
86		82
87	// Control	83	// Control
88	/* P */uint8_t externalControl;	84	/* P */uint8_t externalControl;
89		85
90	// Output and servo	86	// Output and servo
91	/PMM/uint8_t output0Timing;	87	/PMM/uint8_t output0Timing;
92	/PMM/uint8_t output1Timing;	88	/PMM/uint8_t output1Timing;
93		-
94	uint8_t gimbalServoManualControl[2];	-
95		89
96	/* P */uint8_t userParams[8];	90	/* P */uint8_t userParams[8];
97	} DynamicParams_t;	91	} DynamicParams_t;
98		92
99	extern volatile DynamicParams_t dynamicParams;	93	extern volatile DynamicParams_t dynamicParams;
100		94
101	typedef struct {	95	typedef struct {
102	uint8_t sourceIdx, targetIdx;	96	uint8_t sourceIdx, targetIdx;
103	uint8_t min, max;	97	uint8_t min, max;
104	} MMXLATION;	98	} MMXLATION;
105		-
106	/*	-
107	typedef struct {	-
108	uint8_t sourceIdx, targetIdx;	-
109	} XLATION;	-
110	*/	-
111		99
112	typedef struct {	100	typedef struct {
113	uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.	101	uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.
114	uint8_t HWTrim;	102	uint8_t HWTrim;
115	uint8_t variableOffset;	103	uint8_t variableOffset;
116	uint8_t channels[MAX_CHANNELS];	104	uint8_t channels[MAX_CHANNELS];
117	} ChannelMap_t;	105	} ChannelMap_t;
118	extern ChannelMap_t channelMap;	106	extern ChannelMap_t channelMap;
119		107
120	// With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated,	108	// With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated,
121	// and then save in a succeeding gyro calibration command.	109	// and then save in a succeeding gyro calibration command.
122	typedef struct {	110	typedef struct {
123	int16_t trim[MAX_CHANNELS];	111	int16_t trim[MAX_CHANNELS];
124	} RCTrim_t;	112	} RCTrim_t;
125	extern RCTrim_t rcTrim;	113	extern RCTrim_t rcTrim;
126		114
127	typedef struct {	115	typedef struct {
128	int16_t offsets[3];	116	int16_t offsets[3];
129	} sensorOffset_t;	117	} sensorOffset_t;
130		118
131	typedef struct {	119	typedef struct {
132	uint8_t manualControl;	120	uint8_t reverse;
133	uint8_t stabilizationFactor;	-
134	uint8_t minValue;	121	int8_t minValue;
135	uint8_t maxValue;	122	int8_t maxValue;
136	uint8_t flags;	-
137	} Servo_t;	123	} Servo_t;
138		124
139	#define SERVO_STABILIZATION_REVERSE 1	125	#define SERVO_STABILIZATION_REVERSE 1
140		126
141	typedef struct {	127	typedef struct {
142	uint8_t bitmask;	128	uint8_t bitmask;
143	uint8_t timing;	129	uint8_t timing;
144	} output_flash_t;	130	} output_flash_t;
145		131
146	// values above 250 representing poti1 to poti4	132	// values above 250 representing poti1 to poti4
147	typedef struct {	133	typedef struct {
148	// Global bitflags	134	// Global bitflags
149	uint8_t bitConfig; // see upper defines for bitcoding	135	uint8_t bitConfig; // see upper defines for bitcoding
150		136
151	// Control	137	// Control
152	PIDIM_t gyroPID[3];	138	PIDIM_t gyroPID[3];
153		139
154	uint8_t stickIElevator;	140	uint8_t stickIElevator;
155	uint8_t stickIAilerons;	141	uint8_t stickIAilerons;
156	uint8_t stickIRudder;	142	uint8_t stickIRudder;
157		143
158	uint8_t externalControl; // for serial Control	144	uint8_t externalControl; // for serial Control
159		145
160	uint8_t IFactor;	146	uint8_t IFactor;
161		147
162	uint8_t batteryWarningVoltage;	148	uint8_t batteryWarningVoltage;
163		149
164	// Airspeed	150	// Airspeed
165	uint8_t airspeedCorrection;	151	uint8_t airspeedCorrection;
166	uint8_t isFlyingThreshold;	152	uint8_t isFlyingThreshold;
167		153
168	// Servos	154	// Servos
169	uint8_t servoCount;	155	uint8_t servoCount;
170	uint8_t servosReverse;	156	Servo_t servos[3];
171		-
172	uint8_t controlServoMinValue;	-
173	uint8_t controlServoMaxValue;	-
174		-
175	uint8_t gimbalServoMaxManualSpeed;	-
176	Servo_t gimbalServoConfigurations[2]; // [PITCH, ROLL]	-
177		157
178	// Outputs	158	// Outputs
179	output_flash_t outputFlash[2];	159	output_flash_t outputFlash[2];
180	uint8_t outputDebugMask;	160	uint8_t outputDebugMask;
181	uint8_t outputFlags;	161	uint8_t outputFlags;
182		162
183	// User params	163	// User params
184	uint8_t userParams[8];	164	uint8_t userParams[8];
185		165
186	// Name	166	// Name
187	char name[12];	167	char name[12];
188	} ParamSet_t;	168	} ParamSet_t;
189		169
190	extern ParamSet_t staticParams;	170	extern ParamSet_t staticParams;
191		171
192	// bit mask for staticParams.bitConfig	172	// bit mask for staticParams.bitConfig
193	#define CFG_GYRO_SATURATION_PREVENTION (1<<0)	173	#define CFG_GYRO_SATURATION_PREVENTION (1<<0)
194	#define CFG_USE_AIRSPEED_PID (1<<1)	174	#define CFG_USE_AIRSPEED_PID (1<<1)
195		175
196	#define IMU_REVERSE_GYRO_PR (1<<0)	176	#define IMU_REVERSE_GYRO_PR (1<<0)
197	#define IMU_REVERSE_GYRO_YAW (1<<1)	177	#define IMU_REVERSE_GYRO_YAW (1<<1)
198	#define IMU_REVERSE_ACC_XY (1<<2)	178	#define IMU_REVERSE_ACC_XY (1<<2)
199	#define IMU_REVERSE_ACC_Z (1<<3)	179	#define IMU_REVERSE_ACC_Z (1<<3)
200		180
201	#define ATMEGA644 0	181	#define ATMEGA644 0
202	#define ATMEGA644P 1	182	#define ATMEGA644P 1
203	#define SYSCLK F_CPU	183	#define SYSCLK F_CPU
204		184
205	// Not really a part of configuration, but LEDs and HW s test are the same.	185	// Not really a part of configuration, but LEDs and HW s test are the same.
206	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	186	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
207	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	187	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
208	#define RED_FLASH PORTB ^= (1<<PORTB0)	188	#define RED_FLASH PORTB ^= (1<<PORTB0)
209	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	189	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
210	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	190	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
211	#define GRN_FLASH PORTB ^= (1<<PORTB1)	191	#define GRN_FLASH PORTB ^= (1<<PORTB1)
212		192
213	// Mixer table	193	// Mixer table
214	#define MIX_THROTTLE 0	194	#define MIX_THROTTLE 0
215	#define MIX_PITCH 1	195	#define MIX_PITCH 1
216	#define MIX_ROLL 2	196	#define MIX_ROLL 2
217	#define MIX_YAW 3	197	#define MIX_YAW 3
218		198
219	#define VARIABLE_COUNT 8	199	#define VARIABLE_COUNT 8
220		200
221	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	201	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
222	extern uint8_t boardRelease;	202	extern uint8_t boardRelease;
223	extern uint8_t CPUType;	203	extern uint8_t CPUType;
224		204
225	extern volatile uint16_t isFlying;	205	extern volatile uint16_t isFlying;
226	extern FlightMode_t currentFlightMode;	206	extern FlightMode_t currentFlightMode;
227		207
228	void IMUConfig_default(void);	208	void IMUConfig_default(void);
229	void channelMap_default(void);	209	void channelMap_default(void);
230	void rcTrim_setZero(void);	210	void rcTrim_setZero(void);
231	void paramSet_default(uint8_t setnumber);	211	void paramSet_default(uint8_t setnumber);
232		212
233	void configuration_setFlightParameters(uint8_t newFlightMode);	213	void configuration_setFlightParameters(uint8_t newFlightMode);
234	void configuration_applyVariablesToParams(void);	214	void configuration_applyVariablesToParams(void);
235		215
236	void setCPUType(void);	216	void setCPUType(void);
237	void setBoardRelease(void);	217	void setBoardRelease(void);
238		218
239	// Called after a change in configuration parameters, as a hook for modules to take over changes.	219	// Called after a change in configuration parameters, as a hook for modules to take over changes.
240	void configuration_paramSetDidChange(void);	220	void configuration_paramSetDidChange(void);
241	#endif // _CONFIGURATION_H	221	#endif // _CONFIGURATION_H
242		222

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/configuration.h - Rev 2140 → 2142