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