WebSVN - FlightCtrl - Diff - Rev 2095 and 2113 - /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 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 gyroP;
  /* P */uint8_t gyroI;
  /* P */uint8_t gyroD;
  /* P */uint8_t compassControlHeading;
 
  // Control
  /* P */uint8_t externalControl;
  /* P */uint8_t dynamicStability;
 
  // Height control
  /*PMM*/uint8_t heightP;
  /* P */uint8_t heightI;
  /*PMM*/uint8_t heightD;
  /* P */uint8_t heightSetting;
 
  uint8_t attitudeControl;
 
  // Output and servo
  /*PMM*/uint8_t output0Timing;
  /*PMM*/uint8_t output1Timing;
 
  uint8_t servoManualControl[2];
 
  // Correction
  uint8_t levelCorrection[2];
 
  // Simple direct navigation
  uint8_t naviMode;
 
  /* 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;
 
// 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 gyroP;
  uint8_t gyroI;
  uint8_t gyroD;
 
  uint8_t attitudeControl;
 
  uint8_t stickP;
  uint8_t stickD;
  uint8_t stickYawP;
  uint8_t stickThrottleD;
 
  uint8_t minThrottle;
  uint8_t maxThrottle;
 
  uint8_t externalControl; // for serial Control
  uint8_t motorSmoothing;
  uint8_t dynamicStability; // PID limit for Attitude controller
 
  uint8_t IFactor;
  uint8_t yawIFactor;
 
  uint8_t compassMode;      // bitflag thing.
  uint8_t compassYawCorrection;
  uint8_t compassBendingReturnSpeed;
  uint8_t compassP;
 
  uint8_t batteryVoltageWarning;
  uint8_t emergencyThrottle;
  uint8_t emergencyFlightDuration;
 
  // Height Control
  uint8_t airpressureFilterConstant;
  uint8_t airpressureWindowLength; // 0 means: Use filter.
  uint8_t airpressureDWindowLength; // values 1..5 are legal.
  uint8_t airpressureAccZCorrection;
 
  uint8_t heightP;
  uint8_t heightI;
  uint8_t heightD;
 
  uint8_t heightSetting;
  uint8_t heightControlMaxIntegralIn;
  uint8_t heightControlMaxIntegralOut;
  uint8_t heightControlMaxThrottleChange;
 
  uint8_t heightControlTestOscPeriod;
  uint8_t heightControlTestOscAmplitude;
 
  // Servos
  uint8_t servoCount;
  uint8_t servoManualMaxSpeed;
  servo_t servoConfigurations[2]; // [PITCH, ROLL]
 
  // Outputs
  output_flash_t outputFlash[2];
  uint8_t outputDebugMask;
  uint8_t outputFlags;
 
 // Shared for both modes of navigation
  uint8_t naviMode;
  uint8_t naviStickThreshold;
  uint8_t naviStickLimit;
  uint8_t GPSMininumSatellites;
  uint8_t naviP;
  uint8_t naviI;
  uint8_t naviD;
 
  uint8_t naviTestOscPeriod;
  uint8_t naviTestOscAmplitude;
 
  // 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 uint16_t isFlying;
 
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_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 2095	Rev 2113
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		28
29	typedef struct {	29	typedef struct {
30	uint8_t SWMajor;	30	uint8_t SWMajor;
31	uint8_t SWMinor;	31	uint8_t SWMinor;
32	uint8_t protoMajor;	32	uint8_t protoMajor;
33	uint8_t protoMinor;	33	uint8_t protoMinor;
34	uint8_t SWPatch;	34	uint8_t SWPatch;
35	uint8_t hardwareErrors[5];	35	uint8_t hardwareErrors[5];
36	}__attribute__((packed)) VersionInfo_t;	36	}__attribute__((packed)) VersionInfo_t;
37		37
38	extern VersionInfo_t versionInfo;	38	extern VersionInfo_t versionInfo;
39		39
40	typedef struct {	40	typedef struct {
41	// IMU	-
42	/PMM/uint8_t gyroP;	41	/PMM/uint8_t gyroP;
43	/* P */uint8_t gyroI;	42	/* P */uint8_t gyroI;
44	/* P */uint8_t gyroD;	43	/* P */uint8_t gyroD;
45	/* P */uint8_t compassControlHeading;	44	/* P */uint8_t compassControlHeading;
46		45
47	// Control	46	// Control
48	/* P */uint8_t externalControl;	47	/* P */uint8_t externalControl;
49	/* P */uint8_t dynamicStability;	48	/* P */uint8_t dynamicStability;
50		49
51	// Height control	50	// Height control
52	/PMM/uint8_t heightP;	51	/PMM/uint8_t heightP;
53	/* P */uint8_t heightI;	52	/* P */uint8_t heightI;
54	/PMM/uint8_t heightD;	53	/PMM/uint8_t heightD;
55	/* P */uint8_t heightSetting;	54	/* P */uint8_t heightSetting;
56		55
57	uint8_t attitudeControl;	56	uint8_t attitudeControl;
58		57
59	// Output and servo	58	// Output and servo
60	/PMM/uint8_t output0Timing;	59	/PMM/uint8_t output0Timing;
61	/PMM/uint8_t output1Timing;	60	/PMM/uint8_t output1Timing;
62		61
63	uint8_t servoManualControl[2];	62	uint8_t servoManualControl[2];
64		63
65	// Correction	64	// Correction
66	uint8_t levelCorrection[2];	65	uint8_t levelCorrection[2];
67		66
68	// Simple direct navigation	67	// Simple direct navigation
69	uint8_t naviMode;	68	uint8_t naviMode;
70		69
71	/* P */uint8_t userParams[8];	70	/* P */uint8_t userParams[8];
72	} DynamicParams_t;	71	} DynamicParams_t;
73		72
74	extern volatile DynamicParams_t dynamicParams;	73	extern volatile DynamicParams_t dynamicParams;
75		74
76	typedef struct {	75	typedef struct {
77	uint8_t sourceIdx, targetIdx;	76	uint8_t sourceIdx, targetIdx;
78	uint8_t min, max;	77	uint8_t min, max;
79	} MMXLATION;	78	} MMXLATION;
80		79
81	/*	80	/*
82	typedef struct {	81	typedef struct {
83	uint8_t sourceIdx, targetIdx;	82	uint8_t sourceIdx, targetIdx;
84	} XLATION;	83	} XLATION;
85	*/	84	*/
86		85
87	typedef struct {	86	typedef struct {
88	uint8_t channels[MAX_CHANNELS];	87	uint8_t channels[MAX_CHANNELS];
89	} channelMap_t;	88	} channelMap_t;
90	extern channelMap_t channelMap;	89	extern channelMap_t channelMap;
91		90
92	typedef struct {	91	typedef struct {
93	char name[12];	92	char name[12];
94	int8_t motor[MAX_MOTORS][4];	93	int8_t motor[MAX_MOTORS][4];
95	}__attribute__((packed)) mixerMatrix_t;	94	}__attribute__((packed)) mixerMatrix_t;
96	extern mixerMatrix_t mixerMatrix;	95	extern mixerMatrix_t mixerMatrix;
97		96
98	typedef struct {	97	typedef struct {
99	int16_t offsets[3];	98	int16_t offsets[3];
100	} sensorOffset_t;	99	} sensorOffset_t;
101		100
102	typedef struct {	101	typedef struct {
103	uint8_t manualControl;	102	uint8_t manualControl;
104	uint8_t stabilizationFactor;	103	uint8_t stabilizationFactor;
105	uint8_t minValue;	104	uint8_t minValue;
106	uint8_t maxValue;	105	uint8_t maxValue;
107	uint8_t flags;	106	uint8_t flags;
108	} servo_t;	107	} servo_t;
109		108
110	#define SERVO_STABILIZATION_REVERSE 1	109	#define SERVO_STABILIZATION_REVERSE 1
111		110
112	typedef struct {	111	typedef struct {
113	uint8_t bitmask;	112	uint8_t bitmask;
114	uint8_t timing;	113	uint8_t timing;
115	} output_flash_t;	114	} output_flash_t;
116		115
117	typedef struct {	116	typedef struct {
118	uint8_t gyroQuadrant;	117	uint8_t gyroQuadrant;
119	uint8_t accQuadrant;	118	uint8_t accQuadrant;
120	uint8_t imuReversedFlags;	119	uint8_t imuReversedFlags;
121		120
122	uint8_t gyroPIDFilterConstant;	121	uint8_t gyroPIDFilterConstant;
123	uint8_t gyroDWindowLength;	122	uint8_t gyroDWindowLength;
124	uint8_t gyroDFilterConstant;	123	uint8_t gyroDFilterConstant;
125	uint8_t accFilterConstant;	124	uint8_t accFilterConstant;
126		125
127	uint8_t zerothOrderCorrection;	126	uint8_t zerothOrderCorrection;
128	uint8_t rateTolerance;	127	uint8_t rateTolerance;
129		128
130	uint8_t gyroActivityDamping;	129	uint8_t gyroActivityDamping;
131	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	130	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
132	uint8_t driftCompLimit; // limit for gyrodrift compensation	131	uint8_t driftCompLimit; // limit for gyrodrift compensation
133	} IMUConfig_t;	132	} IMUConfig_t;
134		133
135	extern IMUConfig_t IMUConfig;	134	extern IMUConfig_t IMUConfig;
136		135
137	// values above 250 representing poti1 to poti4	136	// values above 250 representing poti1 to poti4
138	typedef struct {	137	typedef struct {
139	// Global bitflags	138	// Global bitflags
140	uint8_t bitConfig; // see upper defines for bitcoding	139	uint8_t bitConfig; // see upper defines for bitcoding
141		140
142	// uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)	141	// uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
143	// uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	142	// uint8_t axisCoupling2; // 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	143	// uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
145		144
146	uint8_t levelCorrection[2];	145	uint8_t levelCorrection[2];
147		146
148	// Control	147	// Control
149	uint8_t gyroP;	148	uint8_t gyroP;
150	uint8_t gyroI;	149	uint8_t gyroI;
151	uint8_t gyroD;	150	uint8_t gyroD;
152		151
153	uint8_t attitudeControl;	152	uint8_t attitudeControl;
154		153
155	uint8_t stickP;	154	uint8_t stickP;
156	uint8_t stickD;	155	uint8_t stickD;
157	uint8_t stickYawP;	156	uint8_t stickYawP;
158	uint8_t stickThrottleD;	157	uint8_t stickThrottleD;
159		158
160	uint8_t minThrottle;	159	uint8_t minThrottle;
161	uint8_t maxThrottle;	160	uint8_t maxThrottle;
162		161
163	uint8_t externalControl; // for serial Control	162	uint8_t externalControl; // for serial Control
164	uint8_t motorSmoothing;	163	uint8_t motorSmoothing;
165	uint8_t dynamicStability; // PID limit for Attitude controller	164	uint8_t dynamicStability; // PID limit for Attitude controller
166		165
167	uint8_t IFactor;	166	uint8_t IFactor;
168	uint8_t yawIFactor;	167	uint8_t yawIFactor;
169		168
170	uint8_t compassMode; // bitflag thing.	169	uint8_t compassMode; // bitflag thing.
171	uint8_t compassYawCorrection;	170	uint8_t compassYawCorrection;
172	uint8_t compassBendingReturnSpeed;	171	uint8_t compassBendingReturnSpeed;
173	uint8_t compassP;	172	uint8_t compassP;
174		173
175	uint8_t batteryVoltageWarning;	174	uint8_t batteryVoltageWarning;
176	uint8_t emergencyThrottle;	175	uint8_t emergencyThrottle;
177	uint8_t emergencyFlightDuration;	176	uint8_t emergencyFlightDuration;
178		177
179	// Height Control	178	// Height Control
180	uint8_t airpressureFilterConstant;	179	uint8_t airpressureFilterConstant;
181	uint8_t airpressureWindowLength; // 0 means: Use filter.	180	uint8_t airpressureWindowLength; // 0 means: Use filter.
182	uint8_t airpressureDWindowLength; // values 1..5 are legal.	181	uint8_t airpressureDWindowLength; // values 1..5 are legal.
183	uint8_t airpressureAccZCorrection;	182	uint8_t airpressureAccZCorrection;
184		183
185	uint8_t heightP;	184	uint8_t heightP;
186	uint8_t heightI;	185	uint8_t heightI;
187	uint8_t heightD;	186	uint8_t heightD;
188		187
189	uint8_t heightSetting;	188	uint8_t heightSetting;
190	uint8_t heightControlMaxIntegralIn;	189	uint8_t heightControlMaxIntegralIn;
191	uint8_t heightControlMaxIntegralOut;	190	uint8_t heightControlMaxIntegralOut;
192	uint8_t heightControlMaxThrottleChange;	191	uint8_t heightControlMaxThrottleChange;
193		192
194	uint8_t heightControlTestOscPeriod;	193	uint8_t heightControlTestOscPeriod;
195	uint8_t heightControlTestOscAmplitude;	194	uint8_t heightControlTestOscAmplitude;
196		195
197	// Servos	196	// Servos
198	uint8_t servoCount;	197	uint8_t servoCount;
199	uint8_t servoManualMaxSpeed;	198	uint8_t servoManualMaxSpeed;
200	servo_t servoConfigurations[2]; // [PITCH, ROLL]	199	servo_t servoConfigurations[2]; // [PITCH, ROLL]
201		200
202	// Outputs	201	// Outputs
203	output_flash_t outputFlash[2];	202	output_flash_t outputFlash[2];
204	uint8_t outputDebugMask;	203	uint8_t outputDebugMask;
205	uint8_t outputFlags;	204	uint8_t outputFlags;
206		205
207	// Shared for both modes of navigation	206	// Shared for both modes of navigation
208	uint8_t naviMode;	207	uint8_t naviMode;
209	uint8_t naviStickThreshold;	208	uint8_t naviStickThreshold;
210	uint8_t naviStickLimit;	209	uint8_t naviStickLimit;
211	uint8_t GPSMininumSatellites;	210	uint8_t GPSMininumSatellites;
212	uint8_t naviP;	211	uint8_t naviP;
213	uint8_t naviI;	212	uint8_t naviI;
214	uint8_t naviD;	213	uint8_t naviD;
215		214
216	uint8_t naviTestOscPeriod;	215	uint8_t naviTestOscPeriod;
217	uint8_t naviTestOscAmplitude;	216	uint8_t naviTestOscAmplitude;
218		217
219	// User params	218	// User params
220	uint8_t userParams[8];	219	uint8_t userParams[8];
221		220
222	// Name	221	// Name
223	char name[12];	222	char name[12];
224	} ParamSet_t;	223	} ParamSet_t;
225		224
226	extern ParamSet_t staticParams;	225	extern ParamSet_t staticParams;
227		226
228	// MKFlags	227	// MKFlags
229	#define MKFLAG_MOTOR_RUN (1<<0)	228	#define MKFLAG_MOTOR_RUN (1<<0)
230	//#define MKFLAG_FLY (1<<1)	229	//#define MKFLAG_FLY (1<<1)
231	#define MKFLAG_CALIBRATE (1<<2)	230	#define MKFLAG_CALIBRATE (1<<2)
232	#define MKFLAG_START (1<<3)	231	#define MKFLAG_START (1<<3)
233	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)	232	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
234	#define MKFLAG_LOWBAT (1<<5)	233	#define MKFLAG_LOWBAT (1<<5)
235	#define MKFLAG_RESERVE2 (1<<6)	234	#define MKFLAG_RESERVE2 (1<<6)
236	#define MKFLAG_RESERVE3 (1<<7)	235	#define MKFLAG_RESERVE3 (1<<7)
237		236
238	// bit mask for staticParams.bitConfig	237	// bit mask for staticParams.bitConfig
239	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)	238	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)
240	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)	239	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)
241	#define CFG_HEADING_HOLD (1<<2)	240	#define CFG_HEADING_HOLD (1<<2)
242	#define CFG_COMPASS_ENABLED (1<<3)	241	#define CFG_COMPASS_ENABLED (1<<3)
243	#define CFG_UNUSED (1<<4)	242	#define CFG_UNUSED (1<<4)
244	#define CFG_NAVI_ENABLED (1<<5)	243	#define CFG_NAVI_ENABLED (1<<5)
245	#define CFG_AXIS_COUPLING_ENABLED (1<<6)	244	#define CFG_AXIS_COUPLING_ENABLED (1<<6)
246	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)	245	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)
247		246
248	#define IMU_REVERSE_GYRO_PR (1<<0)	247	#define IMU_REVERSE_GYRO_PR (1<<0)
249	#define IMU_REVERSE_GYRO_YAW (1<<1)	248	#define IMU_REVERSE_GYRO_YAW (1<<1)
250	#define IMU_REVERSE_ACC_XY (1<<2)	249	#define IMU_REVERSE_ACC_XY (1<<2)
251	#define IMU_REVERSE_ACC_Z (1<<3)	250	#define IMU_REVERSE_ACC_Z (1<<3)
252		251
253	#define ATMEGA644 0	252	#define ATMEGA644 0
254	#define ATMEGA644P 1	253	#define ATMEGA644P 1
255	#define SYSCLK F_CPU	254	#define SYSCLK F_CPU
256		255
257	// Not really a part of configuration, but LEDs and HW s test are the same.	256	// Not really a part of configuration, but LEDs and HW s test are the same.
258	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	257	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
259	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	258	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
260	#define RED_FLASH PORTB ^= (1<<PORTB0)	259	#define RED_FLASH PORTB ^= (1<<PORTB0)
261	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	260	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
262	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	261	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
263	#define GRN_FLASH PORTB ^= (1<<PORTB1)	262	#define GRN_FLASH PORTB ^= (1<<PORTB1)
264		263
265	// Mixer table	264	// Mixer table
266	#define MIX_THROTTLE 0	265	#define MIX_THROTTLE 0
267	#define MIX_PITCH 1	266	#define MIX_PITCH 1
268	#define MIX_ROLL 2	267	#define MIX_ROLL 2
269	#define MIX_YAW 3	268	#define MIX_YAW 3
270		269
271	#define VARIABLE_COUNT 8	270	#define VARIABLE_COUNT 8
272		271
273	extern volatile uint8_t MKFlags;	272	extern volatile uint8_t MKFlags;
274	extern uint8_t requiredMotors;	273	extern uint8_t requiredMotors;
275	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	274	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
276	extern uint8_t boardRelease;	275	extern uint8_t boardRelease;
277	extern uint8_t CPUType;	276	extern uint8_t CPUType;
278		277
279	extern volatile uint8_t MKFlags;	278	extern volatile uint8_t MKFlags;
280	extern uint16_t isFlying;	279	extern uint16_t isFlying;
281		280
282	void IMUConfig_default(void);	281	void IMUConfig_default(void);
283	void channelMap_default(void);	282	void channelMap_default(void);
284	void paramSet_default(uint8_t setnumber);	283	void paramSet_default(uint8_t setnumber);
285	void mixerMatrix_default(void);	284	void mixerMatrix_default(void);
286		285
287	void configuration_setNormalFlightParameters(void);	286	void configuration_setNormalFlightParameters(void);
288	void configuration_setFailsafeFlightParameters(void);	287	void configuration_setFailsafeFlightParameters(void);
289	void configuration_applyVariablesToParams(void);	288	void configuration_applyVariablesToParams(void);
290		289
291	void setCPUType(void);	290	void setCPUType(void);
292	void setBoardRelease(void);	291	void setBoardRelease(void);
293		292
294	// Called after a change in configuration parameters, as a hook for modules to take over changes.	293	// Called after a change in configuration parameters, as a hook for modules to take over changes.
295	void configuration_paramSetDidChange(void);	294	void configuration_paramSetDidChange(void);
296	#endif // _CONFIGURATION_H	295	#endif // _CONFIGURATION_H
297		296

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.h @ 1816 - Rev 2095 → 2113