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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 10 |
7 | #define MAX_CHANNELS 10 |
8 | #define MAX_MOTORS 12 |
8 | #define MAX_MOTORS 12 |
9 | 9 | ||
10 | // bitmask for VersionInfo_t.HardwareError[0] |
10 | // bitmask for VersionInfo_t.HardwareError[0] |
11 | #define FC_ERROR0_GYRO_PITCH 0x01 |
11 | #define FC_ERROR0_GYRO_PITCH 0x01 |
12 | #define FC_ERROR0_GYRO_ROLL 0x02 |
12 | #define FC_ERROR0_GYRO_ROLL 0x02 |
13 | #define FC_ERROR0_GYRO_YAW 0x04 |
13 | #define FC_ERROR0_GYRO_YAW 0x04 |
14 | #define FC_ERROR0_ACC_X 0x08 |
14 | #define FC_ERROR0_ACC_X 0x08 |
15 | #define FC_ERROR0_ACC_Y 0x10 |
15 | #define FC_ERROR0_ACC_Y 0x10 |
16 | #define FC_ERROR0_ACC_Z 0x20 |
16 | #define FC_ERROR0_ACC_Z 0x20 |
17 | #define FC_ERROR0_PRESSURE 0x40 |
17 | #define FC_ERROR0_PRESSURE 0x40 |
18 | #define FC_ERROR1_RES0 0x80 |
18 | #define FC_ERROR1_RES0 0x80 |
19 | // bitmask for VersionInfo_t.HardwareError[1] |
19 | // bitmask for VersionInfo_t.HardwareError[1] |
20 | #define FC_ERROR1_I2C 0x01 |
20 | #define FC_ERROR1_I2C 0x01 |
21 | #define FC_ERROR1_BL_MISSING 0x02 |
21 | #define FC_ERROR1_BL_MISSING 0x02 |
22 | #define FC_ERROR1_SPI_RX 0x04 |
22 | #define FC_ERROR1_SPI_RX 0x04 |
23 | #define FC_ERROR1_PPM 0x08 |
23 | #define FC_ERROR1_PPM 0x08 |
24 | #define FC_ERROR1_MIXER 0x10 |
24 | #define FC_ERROR1_MIXER 0x10 |
25 | #define FC_ERROR1_RES1 0x20 |
25 | #define FC_ERROR1_RES1 0x20 |
26 | #define FC_ERROR1_RES2 0x40 |
26 | #define FC_ERROR1_RES2 0x40 |
27 | #define FC_ERROR1_RES3 0x80 |
27 | #define FC_ERROR1_RES3 0x80 |
- | 28 | ||
- | 29 | typedef enum { |
|
- | 30 | FLIGHT_MODE_NONE, |
|
- | 31 | FLIGHT_MODE_MANUAL, |
|
- | 32 | FLIGHT_MODE_RATE, |
|
- | 33 | FLIGHT_MODE_ANGLES |
|
- | 34 | } FlightMode_t; |
|
- | 35 | ||
- | 36 | #define CONTROL_SERVO_REVERSE_ELEVATOR 1 |
|
- | 37 | #define CONTROL_SERVO_REVERSE_AILERONS 2 |
|
- | 38 | #define CONTROL_SERVO_REVERSE_RUDDER 4 |
|
28 | 39 | ||
29 | typedef struct { |
40 | typedef struct { |
30 | uint8_t SWMajor; |
41 | uint8_t SWMajor; |
31 | uint8_t SWMinor; |
42 | uint8_t SWMinor; |
32 | uint8_t protoMajor; |
43 | uint8_t protoMajor; |
33 | uint8_t protoMinor; |
44 | uint8_t protoMinor; |
34 | uint8_t SWPatch; |
45 | uint8_t SWPatch; |
35 | uint8_t hardwareErrors[5]; |
46 | uint8_t hardwareErrors[5]; |
36 | }__attribute__((packed)) VersionInfo_t; |
47 | }__attribute__((packed)) VersionInfo_t; |
37 | 48 | ||
38 | extern VersionInfo_t versionInfo; |
49 | extern VersionInfo_t versionInfo; |
39 | 50 | ||
40 | typedef struct { |
51 | typedef struct { |
41 | /*PMM*/uint8_t gyroPitchD; |
52 | /*PMM*/uint8_t gyroPitchD; |
42 | /* P */uint8_t gyroRollD; |
53 | /* P */uint8_t gyroRollD;\ |
43 | /* P */uint8_t gyroYawD; |
54 | /* P */uint8_t gyroYawD; |
44 | 55 | ||
45 | // Control |
56 | // Control |
46 | /* P */uint8_t externalControl; |
57 | /* P */uint8_t externalControl; |
47 | - | ||
48 | // Height control |
- | |
49 | /*PMM*/uint8_t heightP; |
- | |
50 | /* P */uint8_t heightI; |
- | |
51 | /*PMM*/uint8_t heightD; |
- | |
52 | /* P */uint8_t heightSetting; |
- | |
53 | 58 | ||
54 | // Output and servo |
59 | // Output and servo |
55 | /*PMM*/uint8_t output0Timing; |
60 | /*PMM*/uint8_t output0Timing; |
56 | /*PMM*/uint8_t output1Timing; |
61 | /*PMM*/uint8_t output1Timing; |
57 | 62 | ||
58 | uint8_t servoManualControl[2]; |
63 | uint8_t servoManualControl[2]; |
59 | 64 | ||
60 | /* P */uint8_t userParams[8]; |
65 | /* P */uint8_t userParams[8]; |
61 | } DynamicParams_t; |
66 | } DynamicParams_t; |
62 | 67 | ||
63 | extern volatile DynamicParams_t dynamicParams; |
68 | extern volatile DynamicParams_t dynamicParams; |
64 | 69 | ||
65 | typedef struct { |
70 | typedef struct { |
66 | uint8_t sourceIdx, targetIdx; |
71 | uint8_t sourceIdx, targetIdx; |
67 | uint8_t min, max; |
72 | uint8_t min, max; |
68 | } MMXLATION; |
73 | } MMXLATION; |
69 | 74 | ||
70 | /* |
75 | /* |
71 | typedef struct { |
76 | typedef struct { |
72 | uint8_t sourceIdx, targetIdx; |
77 | uint8_t sourceIdx, targetIdx; |
73 | } XLATION; |
78 | } XLATION; |
74 | */ |
79 | */ |
75 | 80 | ||
76 | typedef struct { |
81 | typedef struct { |
77 | uint8_t channels[MAX_CHANNELS]; |
82 | uint8_t channels[MAX_CHANNELS]; |
78 | } channelMap_t; |
83 | } channelMap_t; |
79 | extern channelMap_t channelMap; |
84 | extern channelMap_t channelMap; |
80 | 85 | ||
81 | typedef struct { |
86 | typedef struct { |
82 | char name[12]; |
87 | char name[12]; |
83 | int8_t motor[MAX_MOTORS][4]; |
88 | int8_t motor[MAX_MOTORS][4]; |
84 | }__attribute__((packed)) mixerMatrix_t; |
89 | }__attribute__((packed)) mixerMatrix_t; |
85 | extern mixerMatrix_t mixerMatrix; |
90 | extern mixerMatrix_t mixerMatrix; |
86 | 91 | ||
87 | typedef struct { |
92 | typedef struct { |
88 | int16_t offsets[3]; |
93 | int16_t offsets[3]; |
89 | } sensorOffset_t; |
94 | } sensorOffset_t; |
90 | 95 | ||
91 | typedef struct { |
96 | typedef struct { |
92 | uint8_t manualControl; |
97 | uint8_t manualControl; |
93 | uint8_t stabilizationFactor; |
98 | uint8_t stabilizationFactor; |
94 | uint8_t minValue; |
99 | uint8_t minValue; |
95 | uint8_t maxValue; |
100 | uint8_t maxValue; |
96 | uint8_t flags; |
101 | uint8_t flags; |
97 | } servo_t; |
102 | } servo_t; |
98 | 103 | ||
99 | #define SERVO_STABILIZATION_REVERSE 1 |
104 | #define SERVO_STABILIZATION_REVERSE 1 |
100 | 105 | ||
101 | typedef struct { |
106 | typedef struct { |
102 | uint8_t bitmask; |
107 | uint8_t bitmask; |
103 | uint8_t timing; |
108 | uint8_t timing; |
104 | } output_flash_t; |
109 | } output_flash_t; |
105 | 110 | ||
106 | typedef struct { |
111 | typedef struct { |
107 | uint8_t gyroQuadrant; |
112 | uint8_t gyroQuadrant; |
108 | uint8_t accQuadrant; |
113 | uint8_t accQuadrant; |
109 | uint8_t imuReversedFlags; |
114 | uint8_t imuReversedFlags; |
110 | 115 | ||
111 | uint8_t gyroPIDFilterConstant; |
116 | uint8_t gyroPIDFilterConstant; |
112 | uint8_t gyroDWindowLength; |
117 | uint8_t gyroDWindowLength; |
113 | uint8_t gyroDFilterConstant; |
118 | uint8_t gyroDFilterConstant; |
114 | uint8_t accFilterConstant; |
119 | uint8_t accFilterConstant; |
115 | 120 | ||
116 | uint8_t zerothOrderCorrection; |
121 | uint8_t zerothOrderCorrection; |
117 | uint8_t rateTolerance; |
122 | uint8_t rateTolerance; |
118 | 123 | ||
119 | uint8_t gyroActivityDamping; |
124 | uint8_t gyroActivityDamping; |
120 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
125 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
121 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
126 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
122 | } IMUConfig_t; |
127 | } IMUConfig_t; |
123 | 128 | ||
124 | extern IMUConfig_t IMUConfig; |
129 | extern IMUConfig_t IMUConfig; |
- | 130 | ||
- | 131 | typedef struct { |
|
- | 132 | uint8_t P; |
|
- | 133 | uint8_t I; |
|
- | 134 | uint8_t D; |
|
- | 135 | } PID_t; |
|
125 | 136 | ||
126 | // values above 250 representing poti1 to poti4 |
137 | // values above 250 representing poti1 to poti4 |
127 | typedef struct { |
138 | typedef struct { |
128 | // Global bitflags |
139 | // Global bitflags |
129 | uint8_t bitConfig; // see upper defines for bitcoding |
140 | uint8_t bitConfig; // see upper defines for bitcoding |
130 | 141 | ||
131 | // uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
142 | // uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
132 | // uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
143 | // uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
133 | // uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
144 | // uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
134 | 145 | ||
135 | uint8_t levelCorrection[2]; |
146 | uint8_t levelCorrection[2]; |
136 | 147 | ||
137 | // Control |
148 | // Control |
138 | uint8_t gyroPitchP; |
- | |
139 | uint8_t gyroPitchI; |
- | |
140 | uint8_t gyroPitchD; |
149 | PID_t gyroPID[3]; |
141 | - | ||
142 | uint8_t gyroRollP; |
- | |
143 | uint8_t gyroRollI; |
- | |
144 | uint8_t gyroRollD; |
- | |
145 | - | ||
146 | uint8_t gyroYawP; |
- | |
147 | uint8_t gyroYawI; |
- | |
148 | uint8_t gyroYawD; |
- | |
149 | 150 | ||
150 | uint8_t stickIElevator; |
151 | uint8_t stickIElevator; |
151 | uint8_t stickIAilerons; |
152 | uint8_t stickIAilerons; |
152 | uint8_t stickIRudder; |
153 | uint8_t stickIRudder; |
153 | 154 | ||
154 | uint8_t externalControl; // for serial Control |
155 | uint8_t externalControl; // for serial Control |
155 | 156 | ||
156 | uint8_t IFactor; |
157 | uint8_t IFactor; |
157 | 158 | ||
158 | uint8_t batteryVoltageWarning; |
159 | uint8_t batteryVoltageWarning; |
159 | uint8_t emergencyThrottle; |
160 | uint8_t emergencyThrottle; |
160 | uint8_t emergencyFlightDuration; |
161 | uint8_t emergencyFlightDuration; |
161 | 162 | ||
162 | // Servos |
163 | // Servos |
- | 164 | uint8_t controlServosReverse; |
|
- | 165 | ||
163 | uint8_t servoCount; |
166 | uint8_t servoCount; |
164 | uint8_t servoManualMaxSpeed; |
167 | uint8_t servoManualMaxSpeed; |
165 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
168 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
166 | 169 | ||
167 | // Outputs |
170 | // Outputs |
168 | output_flash_t outputFlash[2]; |
171 | output_flash_t outputFlash[2]; |
169 | uint8_t outputDebugMask; |
172 | uint8_t outputDebugMask; |
170 | uint8_t outputFlags; |
173 | uint8_t outputFlags; |
171 | 174 | ||
172 | // User params |
175 | // User params |
173 | uint8_t userParams[8]; |
176 | uint8_t userParams[8]; |
174 | 177 | ||
175 | // Name |
178 | // Name |
176 | char name[12]; |
179 | char name[12]; |
177 | } ParamSet_t; |
180 | } ParamSet_t; |
178 | 181 | ||
179 | extern ParamSet_t staticParams; |
182 | extern ParamSet_t staticParams; |
180 | - | ||
181 | // MKFlags |
- | |
182 | #define MKFLAG_MOTOR_RUN (1<<0) |
- | |
183 | //#define MKFLAG_FLY (1<<1) |
- | |
184 | #define MKFLAG_CALIBRATE (1<<2) |
- | |
185 | #define MKFLAG_START (1<<3) |
- | |
186 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
- | |
187 | #define MKFLAG_LOWBAT (1<<5) |
- | |
188 | #define MKFLAG_RESERVE2 (1<<6) |
- | |
189 | #define MKFLAG_RESERVE3 (1<<7) |
- | |
190 | 183 | ||
191 | // bit mask for staticParams.bitConfig |
184 | // bit mask for staticParams.bitConfig |
192 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
185 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
193 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
186 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
194 | #define CFG_HEADING_HOLD (1<<2) |
187 | #define CFG_HEADING_HOLD (1<<2) |
195 | #define CFG_COMPASS_ENABLED (1<<3) |
188 | #define CFG_COMPASS_ENABLED (1<<3) |
196 | #define CFG_UNUSED (1<<4) |
189 | #define CFG_UNUSED (1<<4) |
197 | #define CFG_NAVI_ENABLED (1<<5) |
190 | #define CFG_NAVI_ENABLED (1<<5) |
198 | #define CFG_AXIS_COUPLING_ENABLED (1<<6) |
191 | #define CFG_AXIS_COUPLING_ENABLED (1<<6) |
199 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
192 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
200 | 193 | ||
201 | #define IMU_REVERSE_GYRO_PR (1<<0) |
194 | #define IMU_REVERSE_GYRO_PR (1<<0) |
202 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
195 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
203 | #define IMU_REVERSE_ACC_XY (1<<2) |
196 | #define IMU_REVERSE_ACC_XY (1<<2) |
204 | #define IMU_REVERSE_ACC_Z (1<<3) |
197 | #define IMU_REVERSE_ACC_Z (1<<3) |
205 | 198 | ||
206 | #define ATMEGA644 0 |
199 | #define ATMEGA644 0 |
207 | #define ATMEGA644P 1 |
200 | #define ATMEGA644P 1 |
208 | #define SYSCLK F_CPU |
201 | #define SYSCLK F_CPU |
209 | 202 | ||
210 | // Not really a part of configuration, but LEDs and HW s test are the same. |
203 | // Not really a part of configuration, but LEDs and HW s test are the same. |
211 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
204 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
212 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
205 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
213 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
206 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
214 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
207 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
215 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
208 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
216 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
209 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
217 | 210 | ||
218 | // Mixer table |
211 | // Mixer table |
219 | #define MIX_THROTTLE 0 |
212 | #define MIX_THROTTLE 0 |
220 | #define MIX_PITCH 1 |
213 | #define MIX_PITCH 1 |
221 | #define MIX_ROLL 2 |
214 | #define MIX_ROLL 2 |
222 | #define MIX_YAW 3 |
215 | #define MIX_YAW 3 |
223 | 216 | ||
224 | #define VARIABLE_COUNT 8 |
217 | #define VARIABLE_COUNT 8 |
225 | - | ||
226 | extern volatile uint8_t MKFlags; |
- | |
227 | extern uint8_t requiredMotors; |
218 | |
228 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
219 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
229 | extern uint8_t boardRelease; |
220 | extern uint8_t boardRelease; |
230 | extern uint8_t CPUType; |
221 | extern uint8_t CPUType; |
231 | 222 | ||
232 | extern volatile uint8_t MKFlags; |
223 | extern volatile uint8_t isMotorRunning; |
233 | extern uint16_t isFlying; |
224 | extern FlightMode_t currentFlightMode; |
234 | 225 | ||
235 | void IMUConfig_default(void); |
226 | void IMUConfig_default(void); |
236 | void channelMap_default(void); |
227 | void channelMap_default(void); |
237 | void paramSet_default(uint8_t setnumber); |
228 | void paramSet_default(uint8_t setnumber); |
238 | void mixerMatrix_default(void); |
- | |
239 | 229 | ||
240 | void configuration_setNormalFlightParameters(void); |
- | |
241 | void configuration_setFailsafeFlightParameters(void); |
230 | void configuration_setFlightParameters(uint8_t newFlightMode); |
242 | void configuration_applyVariablesToParams(void); |
231 | void configuration_applyVariablesToParams(void); |
243 | 232 | ||
244 | void setCPUType(void); |
233 | void setCPUType(void); |
245 | void setBoardRelease(void); |
234 | void setBoardRelease(void); |
246 | 235 | ||
247 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
236 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
248 | void configuration_paramSetDidChange(void); |
237 | void configuration_paramSetDidChange(void); |
249 | #endif // _CONFIGURATION_H |
238 | #endif // _CONFIGURATION_H |
250 | 239 |