WebSVN - FlightCtrl - Diff - Rev 2051 and 2052 - /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 {
  // IMU
  /*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;
  uint8_t maxAccVector;
 
  // 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];
} dynamicParam_t;
 
extern volatile dynamicParam_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;
 
// values above 250 representing poti1 to poti4
typedef struct {
  // Global bitflags
  uint8_t bitConfig;  // see upper defines for bitcoding
 
  // IMU
  uint8_t gyroQuadrant;
  uint8_t accQuadrant;
  uint8_t imuReversedFlags;
 
  uint8_t gyroPIDFilterConstant;
  uint8_t gyroATTFilterConstant;
  uint8_t gyroDFilterConstant;
  uint8_t accFilterConstant;
 
  uint8_t maxAccVector;
  uint8_t maxControlActivity;
  uint8_t zerothOrderCorrection;
  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
  uint8_t driftCompLimit;   // limit for gyrodrift compensation
 
  // 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 airpressureAccZCorrection;
  uint8_t heightP;
  uint8_t heightI;
  uint8_t heightD;
  uint8_t heightSetting;
  uint8_t heightControlMaxIntegral;
  uint8_t heightControlMaxThrottleChange;
  uint8_t heightSlewRate;
 
  // 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;
 
  // 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_GPS_ENABLED                         (1<<5)
#define CFG_AXIS_COUPLING_ACTIVE        (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 channelMap_default(void);
void paramSet_default(uint8_t setnumber);
void mixerMatrix_default(void);
 
void configuration_applyVariablesToParams(void);
uint8_t getCPUType(void);
uint8_t getBoardRelease(void);
 
#endif // _CONFIGURATION_H
 

Rev 2051	Rev 2052
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	41	// IMU
42	/PMM/uint8_t gyroP;	42	/PMM/uint8_t gyroP;
43	/* P */uint8_t gyroI;	43	/* P */uint8_t gyroI;
44	/* P */uint8_t gyroD;	44	/* P */uint8_t gyroD;
45	/* P */uint8_t compassFixedHeading;	45	/* P */uint8_t compassControlHeading;
46		46
47	// Control	47	// Control
48	/* P */uint8_t externalControl;	48	/* P */uint8_t externalControl;
49	/* P */uint8_t dynamicStability;	49	/* P */uint8_t dynamicStability;
50	uint8_t maxAccVector;	50	uint8_t maxAccVector;
51		51
52	// Height control	52	// Height control
53	/PMM/uint8_t heightP;	53	/PMM/uint8_t heightP;
54	/* P */uint8_t heightI;	54	/* P */uint8_t heightI;
55	/PMM/uint8_t heightD;	55	/PMM/uint8_t heightD;
56	/* P */uint8_t heightSetting;	56	/* P */uint8_t heightSetting;
57		57
58	uint8_t attitudeControl;	58	uint8_t attitudeControl;
59		59
60	// Output and servo	60	// Output and servo
61	/PMM/uint8_t output0Timing;	61	/PMM/uint8_t output0Timing;
62	/PMM/uint8_t output1Timing;	62	/PMM/uint8_t output1Timing;
63		63
64	uint8_t servoManualControl[2];	64	uint8_t servoManualControl[2];
65		65
66	// Correction	66	// Correction
67	uint8_t levelCorrection[2];	67	uint8_t levelCorrection[2];
68		68
69	// Simple direct navigation	69	// Simple direct navigation
70	uint8_t naviMode;	70	uint8_t naviMode;
71		71
72	/* P */uint8_t userParams[8];	72	/* P */uint8_t userParams[8];
73	} dynamicParam_t;	73	} dynamicParam_t;
74		74
75	extern volatile dynamicParam_t dynamicParams;	75	extern volatile dynamicParam_t dynamicParams;
76		76
77	typedef struct {	77	typedef struct {
78	uint8_t sourceIdx, targetIdx;	78	uint8_t sourceIdx, targetIdx;
79	uint8_t min, max;	79	uint8_t min, max;
80	} MMXLATION;	80	} MMXLATION;
81		81
82	typedef struct {	82	typedef struct {
83	uint8_t sourceIdx, targetIdx;	83	uint8_t sourceIdx, targetIdx;
84	} XLATION;	84	} XLATION;
85		85
86	typedef struct {	86	typedef struct {
87	uint8_t channels[MAX_CHANNELS];	87	uint8_t channels[MAX_CHANNELS];
88	} channelMap_t;	88	} channelMap_t;
89	extern channelMap_t channelMap;	89	extern channelMap_t channelMap;
90		90
91	typedef struct {	91	typedef struct {
92	char name[12];	92	char name[12];
93	int8_t motor[MAX_MOTORS][4];	93	int8_t motor[MAX_MOTORS][4];
94	}__attribute__((packed)) mixerMatrix_t;	94	}__attribute__((packed)) mixerMatrix_t;
95	extern mixerMatrix_t mixerMatrix;	95	extern mixerMatrix_t mixerMatrix;
96		96
97	typedef struct {	97	typedef struct {
98	int16_t offsets[3];	98	int16_t offsets[3];
99	} sensorOffset_t;	99	} sensorOffset_t;
100		100
101	typedef struct {	101	typedef struct {
102	uint8_t manualControl;	102	uint8_t manualControl;
103	uint8_t stabilizationFactor;	103	uint8_t stabilizationFactor;
104	uint8_t minValue;	104	uint8_t minValue;
105	uint8_t maxValue;	105	uint8_t maxValue;
106	uint8_t flags;	106	uint8_t flags;
107	} servo_t;	107	} servo_t;
108		108
109	#define SERVO_STABILIZATION_REVERSE 1	109	#define SERVO_STABILIZATION_REVERSE 1
110		110
111	typedef struct {	111	typedef struct {
112	uint8_t bitmask;	112	uint8_t bitmask;
113	uint8_t timing;	113	uint8_t timing;
114	} output_flash_t;	114	} output_flash_t;
115		115
116	// values above 250 representing poti1 to poti4	116	// values above 250 representing poti1 to poti4
117	typedef struct {	117	typedef struct {
118	// Global bitflags	118	// Global bitflags
119	uint8_t bitConfig; // see upper defines for bitcoding	119	uint8_t bitConfig; // see upper defines for bitcoding
120		120
121	// IMU	121	// IMU
122	uint8_t gyroQuadrant;	122	uint8_t gyroQuadrant;
123	uint8_t accQuadrant;	123	uint8_t accQuadrant;
124	uint8_t imuReversedFlags;	124	uint8_t imuReversedFlags;
125		125
126	uint8_t gyroPIDFilterConstant;	126	uint8_t gyroPIDFilterConstant;
127	uint8_t gyroATTFilterConstant;	127	uint8_t gyroATTFilterConstant;
128	uint8_t gyroDFilterConstant;	128	uint8_t gyroDFilterConstant;
129	uint8_t accFilterConstant;	129	uint8_t accFilterConstant;
130		130
131	uint8_t maxAccVector;	131	uint8_t maxAccVector;
132	uint8_t maxControlActivity;	132	uint8_t maxControlActivity;
133	uint8_t zerothOrderCorrection;	133	uint8_t zerothOrderCorrection;
134	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	134	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
135	uint8_t driftCompLimit; // limit for gyrodrift compensation	135	uint8_t driftCompLimit; // limit for gyrodrift compensation
136		136
137	// uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)	137	// uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
138	// uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	138	// uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
139	// uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	139	// uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
140		140
141	uint8_t levelCorrection[2];	141	uint8_t levelCorrection[2];
142		142
143	// Control	143	// Control
144	uint8_t gyroP;	144	uint8_t gyroP;
145	uint8_t gyroI;	145	uint8_t gyroI;
146	uint8_t gyroD;	146	uint8_t gyroD;
147		147
148	uint8_t attitudeControl;	148	uint8_t attitudeControl;
149		149
150	uint8_t stickP;	150	uint8_t stickP;
151	uint8_t stickD;	151	uint8_t stickD;
152	uint8_t stickYawP;	152	uint8_t stickYawP;
153	uint8_t stickThrottleD;	153	uint8_t stickThrottleD;
154		154
155	uint8_t minThrottle;	155	uint8_t minThrottle;
156	uint8_t maxThrottle;	156	uint8_t maxThrottle;
157		157
158	uint8_t externalControl; // for serial Control	158	uint8_t externalControl; // for serial Control
159	uint8_t motorSmoothing;	159	uint8_t motorSmoothing;
160	uint8_t dynamicStability; // PID limit for Attitude controller	160	uint8_t dynamicStability; // PID limit for Attitude controller
161		161
162	uint8_t IFactor;	162	uint8_t IFactor;
163	uint8_t yawIFactor;	163	uint8_t yawIFactor;
-		164
164		165	uint8_t compassMode; // bitflag thing.
-		166	uint8_t compassYawCorrection;
165	uint8_t compassYawCorrection;	167	uint8_t compassBendingReturnSpeed;
166	uint8_t compassFixedHeading;	168	uint8_t compassP;
167		169
168	uint8_t batteryVoltageWarning;	170	uint8_t batteryVoltageWarning;
169	uint8_t emergencyThrottle;	171	uint8_t emergencyThrottle;
170	uint8_t emergencyFlightDuration;	172	uint8_t emergencyFlightDuration;
171		173
172	// Height Control	174	// Height Control
173	uint8_t airpressureFilterConstant;	175	uint8_t airpressureFilterConstant;
174	uint8_t airpressureWindowLength; // 0 means: Use filter.	176	uint8_t airpressureWindowLength; // 0 means: Use filter.
175	uint8_t airpressureAccZCorrection;	177	uint8_t airpressureAccZCorrection;
176	uint8_t heightP;	178	uint8_t heightP;
177	uint8_t heightI;	179	uint8_t heightI;
178	uint8_t heightD;	180	uint8_t heightD;
179	uint8_t heightSetting;	181	uint8_t heightSetting;
180	uint8_t heightControlMaxIntegral;	182	uint8_t heightControlMaxIntegral;
181	uint8_t heightControlMaxThrottleChange;	183	uint8_t heightControlMaxThrottleChange;
182	uint8_t heightSlewRate;	184	uint8_t heightSlewRate;
183		185
184	// Servos	186	// Servos
185	uint8_t servoCount;	187	uint8_t servoCount;
186	uint8_t servoManualMaxSpeed;	188	uint8_t servoManualMaxSpeed;
187	servo_t servoConfigurations[2]; // [PITCH, ROLL]	189	servo_t servoConfigurations[2]; // [PITCH, ROLL]
188		190
189	// Outputs	191	// Outputs
190	output_flash_t outputFlash[2];	192	output_flash_t outputFlash[2];
191	uint8_t outputDebugMask;	193	uint8_t outputDebugMask;
192	uint8_t outputFlags;	194	uint8_t outputFlags;
193		195
194	// Shared for both modes of navigation	196	// Shared for both modes of navigation
195	uint8_t naviMode;	197	uint8_t naviMode;
196	uint8_t naviStickThreshold;	198	uint8_t naviStickThreshold;
197	uint8_t naviStickLimit;	199	uint8_t naviStickLimit;
198	uint8_t GPSMininumSatellites;	200	uint8_t GPSMininumSatellites;
199	uint8_t naviP;	201	uint8_t naviP;
200	uint8_t naviI;	202	uint8_t naviI;
201	uint8_t naviD;	203	uint8_t naviD;
202		204
203	// User params	205	// User params
204	uint8_t userParams[8];	206	uint8_t userParams[8];
205		207
206	// Name	208	// Name
207	char name[12];	209	char name[12];
208	} ParamSet_t;	210	} ParamSet_t;
209		211
210	extern ParamSet_t staticParams;	212	extern ParamSet_t staticParams;
211		213
212	// MKFlags	214	// MKFlags
213	#define MKFLAG_MOTOR_RUN (1<<0)	215	#define MKFLAG_MOTOR_RUN (1<<0)
214	#define MKFLAG_FLY (1<<1)	216	#define MKFLAG_FLY (1<<1)
215	#define MKFLAG_CALIBRATE (1<<2)	217	#define MKFLAG_CALIBRATE (1<<2)
216	#define MKFLAG_START (1<<3)	218	#define MKFLAG_START (1<<3)
217	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)	219	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
218	#define MKFLAG_LOWBAT (1<<5)	220	#define MKFLAG_LOWBAT (1<<5)
219	#define MKFLAG_RESERVE2 (1<<6)	221	#define MKFLAG_RESERVE2 (1<<6)
220	#define MKFLAG_RESERVE3 (1<<7)	222	#define MKFLAG_RESERVE3 (1<<7)
221		223
222	// bit mask for staticParams.bitConfig	224	// bit mask for staticParams.bitConfig
223	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)	225	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)
224	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)	226	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)
225	#define CFG_HEADING_HOLD (1<<2)	227	#define CFG_HEADING_HOLD (1<<2)
226	#define CFG_COMPASS_ACTIVE (1<<3)	228	#define CFG_COMPASS_ENABLED (1<<3)
227	#define CFG_UNUSED (1<<4)	229	#define CFG_UNUSED (1<<4)
228	#define CFG_GPS_ACTIVE (1<<5)	230	#define CFG_GPS_ENABLED (1<<5)
229	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)	231	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
230	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)	232	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)
231		233
232	#define IMU_REVERSE_GYRO_PR (1<<0)	234	#define IMU_REVERSE_GYRO_PR (1<<0)
233	#define IMU_REVERSE_GYRO_YAW (1<<1)	235	#define IMU_REVERSE_GYRO_YAW (1<<1)
234	#define IMU_REVERSE_ACC_XY (1<<2)	236	#define IMU_REVERSE_ACC_XY (1<<2)
235	#define IMU_REVERSE_ACC_Z (1<<3)	237	#define IMU_REVERSE_ACC_Z (1<<3)
236		238
237	#define ATMEGA644 0	239	#define ATMEGA644 0
238	#define ATMEGA644P 1	240	#define ATMEGA644P 1
239	#define SYSCLK F_CPU	241	#define SYSCLK F_CPU
240		242
241	// Not really a part of configuration, but LEDs and HW s test are the same.	243	// Not really a part of configuration, but LEDs and HW s test are the same.
242	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	244	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
243	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	245	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
244	#define RED_FLASH PORTB ^= (1<<PORTB0)	246	#define RED_FLASH PORTB ^= (1<<PORTB0)
245	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	247	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
246	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	248	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
247	#define GRN_FLASH PORTB ^= (1<<PORTB1)	249	#define GRN_FLASH PORTB ^= (1<<PORTB1)
248		250
249	// Mixer table	251	// Mixer table
250	#define MIX_THROTTLE 0	252	#define MIX_THROTTLE 0
251	#define MIX_PITCH 1	253	#define MIX_PITCH 1
252	#define MIX_ROLL 2	254	#define MIX_ROLL 2
253	#define MIX_YAW 3	255	#define MIX_YAW 3
254		256
255	#define VARIABLE_COUNT 8	257	#define VARIABLE_COUNT 8
256		258
257	extern volatile uint8_t MKFlags;	259	extern volatile uint8_t MKFlags;
258	extern uint8_t requiredMotors;	260	extern uint8_t requiredMotors;
259	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	261	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
260	extern uint8_t boardRelease;	262	extern uint8_t boardRelease;
261	extern uint8_t CPUType;	263	extern uint8_t CPUType;
262		264
263	extern volatile uint8_t MKFlags;	265	extern volatile uint8_t MKFlags;
264	extern uint16_t isFlying;	266	extern uint16_t isFlying;
265		267
266	void channelMap_default(void);	268	void channelMap_default(void);
267	void paramSet_default(uint8_t setnumber);	269	void paramSet_default(uint8_t setnumber);
268	void mixerMatrix_default(void);	270	void mixerMatrix_default(void);
269		271
270	void configuration_applyVariablesToParams(void);	272	void configuration_applyVariablesToParams(void);
271	uint8_t getCPUType(void);	273	uint8_t getCPUType(void);
272	uint8_t getBoardRelease(void);	274	uint8_t getBoardRelease(void);
273		275
274	#endif // _CONFIGURATION_H	276	#endif // _CONFIGURATION_H
275		277

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.h @ 1919 - Rev 2051 → 2052