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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 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 | - | ||
45 | int8_t gyroCalibrationTweak[3]; |
44 | int8_t gyroCalibrationTweak[3]; |
46 | } IMUConfig_t; |
45 | } IMUConfig_t; |
47 | 46 | ||
48 | extern IMUConfig_t IMUConfig; |
47 | extern IMUConfig_t IMUConfig; |
49 | 48 | ||
50 | typedef struct { |
49 | typedef struct { |
51 | uint8_t P; |
50 | uint8_t P; |
52 | uint8_t I; |
51 | uint8_t I; |
53 | uint8_t D; |
52 | uint8_t D; |
54 | } PID_t; |
53 | } PID_t; |
55 | 54 | ||
56 | typedef struct { |
55 | typedef struct { |
57 | uint8_t P; |
56 | uint8_t P; |
58 | uint8_t I; |
57 | uint8_t I; |
59 | uint8_t D; |
58 | uint8_t D; |
60 | uint8_t iMax; |
59 | uint8_t iMax; |
61 | } PIDIM_t; |
60 | } PIDIM_t; |
62 | 61 | ||
63 | typedef enum { |
62 | typedef enum { |
64 | FLIGHT_MODE_NONE, |
63 | FLIGHT_MODE_NONE, |
65 | FLIGHT_MODE_MANUAL, |
64 | FLIGHT_MODE_MANUAL, |
66 | FLIGHT_MODE_RATE, |
65 | FLIGHT_MODE_RATE, |
67 | FLIGHT_MODE_ANGLES |
66 | FLIGHT_MODE_ANGLES |
68 | } FlightMode_t; |
67 | } FlightMode_t; |
69 | 68 | ||
70 | #define CONTROL_SERVO_REVERSE_ELEVATOR 1 |
69 | #define CONTROL_SERVO_REVERSE_ELEVATOR 1 |
71 | #define CONTROL_SERVO_REVERSE_AILERONS 2 |
70 | #define CONTROL_SERVO_REVERSE_AILERONS 2 |
72 | #define CONTROL_SERVO_REVERSE_RUDDER 4 |
71 | #define CONTROL_SERVO_REVERSE_RUDDER 4 |
73 | 72 | ||
74 | typedef struct { |
73 | typedef struct { |
75 | uint8_t SWMajor; |
74 | uint8_t SWMajor; |
76 | uint8_t SWMinor; |
75 | uint8_t SWMinor; |
77 | uint8_t protoMajor; |
76 | uint8_t protoMajor; |
78 | uint8_t protoMinor; |
77 | uint8_t protoMinor; |
79 | uint8_t SWPatch; |
78 | uint8_t SWPatch; |
80 | uint8_t hardwareErrors[5]; |
79 | uint8_t hardwareErrors[5]; |
81 | }__attribute__((packed)) VersionInfo_t; |
80 | }__attribute__((packed)) VersionInfo_t; |
82 | 81 | ||
83 | extern VersionInfo_t versionInfo; |
82 | extern VersionInfo_t versionInfo; |
84 | 83 | ||
85 | typedef struct { |
84 | typedef struct { |
86 | // IMU stuff: |
85 | // IMU stuff: |
87 | PID_t gyroPID[3]; |
86 | PID_t gyroPID[3]; |
88 | 87 | ||
89 | // Control |
88 | // Control |
90 | /* P */uint8_t externalControl; |
89 | /* P */uint8_t externalControl; |
91 | 90 | ||
92 | // Output and servo |
91 | // Output and servo |
93 | /*PMM*/uint8_t output0Timing; |
92 | /*PMM*/uint8_t output0Timing; |
94 | /*PMM*/uint8_t output1Timing; |
93 | /*PMM*/uint8_t output1Timing; |
95 | 94 | ||
96 | uint8_t gimbalServoManualControl[2]; |
95 | uint8_t gimbalServoManualControl[2]; |
97 | 96 | ||
98 | /* P */uint8_t userParams[8]; |
97 | /* P */uint8_t userParams[8]; |
99 | } DynamicParams_t; |
98 | } DynamicParams_t; |
100 | 99 | ||
101 | extern volatile DynamicParams_t dynamicParams; |
100 | extern volatile DynamicParams_t dynamicParams; |
102 | 101 | ||
103 | typedef struct { |
102 | typedef struct { |
104 | uint8_t sourceIdx, targetIdx; |
103 | uint8_t sourceIdx, targetIdx; |
105 | uint8_t min, max; |
104 | uint8_t min, max; |
106 | } MMXLATION; |
105 | } MMXLATION; |
107 | 106 | ||
108 | /* |
107 | /* |
109 | typedef struct { |
108 | typedef struct { |
110 | uint8_t sourceIdx, targetIdx; |
109 | uint8_t sourceIdx, targetIdx; |
111 | } XLATION; |
110 | } XLATION; |
112 | */ |
111 | */ |
113 | 112 | ||
114 | typedef struct { |
113 | typedef struct { |
115 | uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky. |
114 | uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky. |
116 | uint8_t HWTrim; |
115 | uint8_t HWTrim; |
117 | uint8_t variableOffset; |
116 | uint8_t variableOffset; |
118 | uint8_t channels[MAX_CHANNELS]; |
117 | uint8_t channels[MAX_CHANNELS]; |
119 | } ChannelMap_t; |
118 | } ChannelMap_t; |
120 | extern ChannelMap_t channelMap; |
119 | extern ChannelMap_t channelMap; |
121 | 120 | ||
122 | // With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated, |
121 | // With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated, |
123 | // and then save in a succeeding gyro calibration command. |
122 | // and then save in a succeeding gyro calibration command. |
124 | typedef struct { |
123 | typedef struct { |
125 | int16_t trim[MAX_CHANNELS]; |
124 | int16_t trim[MAX_CHANNELS]; |
126 | } RCTrim_t; |
125 | } RCTrim_t; |
127 | extern RCTrim_t rcTrim; |
126 | extern RCTrim_t rcTrim; |
128 | 127 | ||
129 | typedef struct { |
128 | typedef struct { |
130 | int16_t offsets[3]; |
129 | int16_t offsets[3]; |
131 | } sensorOffset_t; |
130 | } sensorOffset_t; |
132 | 131 | ||
133 | typedef struct { |
132 | typedef struct { |
134 | uint8_t manualControl; |
133 | uint8_t manualControl; |
135 | uint8_t stabilizationFactor; |
134 | uint8_t stabilizationFactor; |
136 | uint8_t minValue; |
135 | uint8_t minValue; |
137 | uint8_t maxValue; |
136 | uint8_t maxValue; |
138 | uint8_t flags; |
137 | uint8_t flags; |
139 | } Servo_t; |
138 | } Servo_t; |
140 | 139 | ||
141 | #define SERVO_STABILIZATION_REVERSE 1 |
140 | #define SERVO_STABILIZATION_REVERSE 1 |
142 | 141 | ||
143 | typedef struct { |
142 | typedef struct { |
144 | uint8_t bitmask; |
143 | uint8_t bitmask; |
145 | uint8_t timing; |
144 | uint8_t timing; |
146 | } output_flash_t; |
145 | } output_flash_t; |
147 | 146 | ||
148 | // values above 250 representing poti1 to poti4 |
147 | // values above 250 representing poti1 to poti4 |
149 | typedef struct { |
148 | typedef struct { |
150 | // Global bitflags |
149 | // Global bitflags |
151 | uint8_t bitConfig; // see upper defines for bitcoding |
150 | uint8_t bitConfig; // see upper defines for bitcoding |
152 | 151 | ||
153 | // Control |
152 | // Control |
154 | PIDIM_t gyroPID[3]; |
153 | PIDIM_t gyroPID[3]; |
155 | 154 | ||
156 | uint8_t stickIElevator; |
155 | uint8_t stickIElevator; |
157 | uint8_t stickIAilerons; |
156 | uint8_t stickIAilerons; |
158 | uint8_t stickIRudder; |
157 | uint8_t stickIRudder; |
159 | 158 | ||
160 | uint8_t externalControl; // for serial Control |
159 | uint8_t externalControl; // for serial Control |
161 | 160 | ||
162 | uint8_t IFactor; |
161 | uint8_t IFactor; |
163 | 162 | ||
164 | uint8_t batteryWarningVoltage; |
163 | uint8_t batteryWarningVoltage; |
165 | 164 | ||
166 | // Airspeed |
165 | // Airspeed |
167 | uint8_t airspeedCorrection; |
166 | uint8_t airspeedCorrection; |
168 | uint8_t isFlyingThreshold; |
167 | uint8_t isFlyingThreshold; |
169 | 168 | ||
170 | // Servos |
169 | // Servos |
171 | - | ||
172 | uint8_t servoCount; |
170 | uint8_t servoCount; |
173 | uint8_t servosReverse; |
171 | uint8_t servosReverse; |
174 | 172 | ||
175 | uint8_t controlServoMinValue; |
173 | uint8_t controlServoMinValue; |
176 | uint8_t controlServoMaxValue; |
174 | uint8_t controlServoMaxValue; |
177 | 175 | ||
178 | uint8_t gimbalServoMaxManualSpeed; |
176 | uint8_t gimbalServoMaxManualSpeed; |
179 | Servo_t gimbalServoConfigurations[2]; // [PITCH, ROLL] |
177 | Servo_t gimbalServoConfigurations[2]; // [PITCH, ROLL] |
180 | 178 | ||
181 | // Outputs |
179 | // Outputs |
182 | output_flash_t outputFlash[2]; |
180 | output_flash_t outputFlash[2]; |
183 | uint8_t outputDebugMask; |
181 | uint8_t outputDebugMask; |
184 | uint8_t outputFlags; |
182 | uint8_t outputFlags; |
185 | 183 | ||
186 | // User params |
184 | // User params |
187 | uint8_t userParams[8]; |
185 | uint8_t userParams[8]; |
188 | 186 | ||
189 | // Name |
187 | // Name |
190 | char name[12]; |
188 | char name[12]; |
191 | } ParamSet_t; |
189 | } ParamSet_t; |
192 | 190 | ||
193 | extern ParamSet_t staticParams; |
191 | extern ParamSet_t staticParams; |
194 | 192 | ||
195 | // bit mask for staticParams.bitConfig |
193 | // bit mask for staticParams.bitConfig |
196 | #define CFG_GYRO_SATURATION_PREVENTION (1<<0) |
194 | #define CFG_GYRO_SATURATION_PREVENTION (1<<0) |
197 | #define CFG_USE_AIRSPEED_PID (1<<1) |
195 | #define CFG_USE_AIRSPEED_PID (1<<1) |
198 | 196 | ||
199 | #define IMU_REVERSE_GYRO_PR (1<<0) |
197 | #define IMU_REVERSE_GYRO_PR (1<<0) |
200 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
198 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
201 | #define IMU_REVERSE_ACC_XY (1<<2) |
199 | #define IMU_REVERSE_ACC_XY (1<<2) |
202 | #define IMU_REVERSE_ACC_Z (1<<3) |
200 | #define IMU_REVERSE_ACC_Z (1<<3) |
203 | 201 | ||
204 | #define ATMEGA644 0 |
202 | #define ATMEGA644 0 |
205 | #define ATMEGA644P 1 |
203 | #define ATMEGA644P 1 |
206 | #define SYSCLK F_CPU |
204 | #define SYSCLK F_CPU |
207 | 205 | ||
208 | // Not really a part of configuration, but LEDs and HW s test are the same. |
206 | // Not really a part of configuration, but LEDs and HW s test are the same. |
209 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
207 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
210 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
208 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
211 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
209 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
212 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
210 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
213 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
211 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
214 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
212 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
215 | 213 | ||
216 | // Mixer table |
214 | // Mixer table |
217 | #define MIX_THROTTLE 0 |
215 | #define MIX_THROTTLE 0 |
218 | #define MIX_PITCH 1 |
216 | #define MIX_PITCH 1 |
219 | #define MIX_ROLL 2 |
217 | #define MIX_ROLL 2 |
220 | #define MIX_YAW 3 |
218 | #define MIX_YAW 3 |
221 | 219 | ||
222 | #define VARIABLE_COUNT 8 |
220 | #define VARIABLE_COUNT 8 |
223 | 221 | ||
224 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
222 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
225 | extern uint8_t boardRelease; |
223 | extern uint8_t boardRelease; |
226 | extern uint8_t CPUType; |
224 | extern uint8_t CPUType; |
227 | 225 | ||
228 | extern volatile uint16_t isFlying; |
226 | extern volatile uint16_t isFlying; |
229 | extern FlightMode_t currentFlightMode; |
227 | extern FlightMode_t currentFlightMode; |
230 | 228 | ||
231 | void IMUConfig_default(void); |
229 | void IMUConfig_default(void); |
232 | void channelMap_default(void); |
230 | void channelMap_default(void); |
233 | void rcTrim_setZero(void); |
231 | void rcTrim_setZero(void); |
234 | void paramSet_default(uint8_t setnumber); |
232 | void paramSet_default(uint8_t setnumber); |
235 | 233 | ||
236 | void configuration_setFlightParameters(uint8_t newFlightMode); |
234 | void configuration_setFlightParameters(uint8_t newFlightMode); |
237 | void configuration_applyVariablesToParams(void); |
235 | void configuration_applyVariablesToParams(void); |
238 | 236 | ||
239 | void setCPUType(void); |
237 | void setCPUType(void); |
240 | void setBoardRelease(void); |
238 | void setBoardRelease(void); |
241 | 239 | ||
242 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
240 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
243 | void configuration_paramSetDidChange(void); |
241 | void configuration_paramSetDidChange(void); |
244 | #endif // _CONFIGURATION_H |
242 | #endif // _CONFIGURATION_H |
245 | 243 |