WebSVN - FlightCtrl - Diff - Rev 2157 and 2158 - /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 trim;
        uint8_t variableOffset;
  uint8_t channels[MAX_CHANNELS];
} ChannelMap_t;
extern ChannelMap_t channelMap;
 
typedef struct {
  char name[12];
  int8_t matrix[MAX_MOTORS][5];
  //int8_t oppositeMotor[MAX_MOTORS];
}__attribute__((packed)) MotorMixer_t;
extern MotorMixer_t motorMixer;
 
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_PITCH               0
#define MIX_ROLL                1
#define MIX_THROTTLE        2
#define MIX_YAW             3
#define MIX_OPPOSITE_MOTOR  4
 
#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 motorMixer_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 2157	Rev 2158
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	/PMM/uint8_t gyroP;	41	/PMM/uint8_t gyroP;
42	/* P */uint8_t gyroI;	42	/* P */uint8_t gyroI;
43	/* P */uint8_t gyroD;	43	/* P */uint8_t gyroD;
44	/* P */uint8_t compassControlHeading;	44	/* P */uint8_t compassControlHeading;
45		45
46	// Control	46	// Control
47	/* P */uint8_t externalControl;	47	/* P */uint8_t externalControl;
48	/* P */uint8_t dynamicStability;	48	/* P */uint8_t dynamicStability;
49		49
50	// Height control	50	// Height control
51	/PMM/uint8_t heightP;	51	/PMM/uint8_t heightP;
52	/* P */uint8_t heightI;	52	/* P */uint8_t heightI;
53	/PMM/uint8_t heightD;	53	/PMM/uint8_t heightD;
54	/* P */uint8_t heightSetting;	54	/* P */uint8_t heightSetting;
55		55
56	uint8_t attitudeControl;	56	uint8_t attitudeControl;
57		57
58	// Output and servo	58	// Output and servo
59	/PMM/uint8_t output0Timing;	59	/PMM/uint8_t output0Timing;
60	/PMM/uint8_t output1Timing;	60	/PMM/uint8_t output1Timing;
61		61
62	uint8_t servoManualControl[2];	62	uint8_t servoManualControl[2];
63		63
64	// Correction	64	// Correction
65	uint8_t levelCorrection[2];	65	uint8_t levelCorrection[2];
66		66
67	// Simple direct navigation	67	// Simple direct navigation
68	uint8_t naviMode;	68	uint8_t naviMode;
69		69
70	/* P */uint8_t userParams[8];	70	/* P */uint8_t userParams[8];
71	} DynamicParams_t;	71	} DynamicParams_t;
72		72
73	extern volatile DynamicParams_t dynamicParams;	73	extern volatile DynamicParams_t dynamicParams;
74		74
75	typedef struct {	75	typedef struct {
76	uint8_t sourceIdx, targetIdx;	76	uint8_t sourceIdx, targetIdx;
77	uint8_t min, max;	77	uint8_t min, max;
78	} MMXLATION;	78	} MMXLATION;
79		79
80	/*	80	/*
81	typedef struct {	81	typedef struct {
82	uint8_t sourceIdx, targetIdx;	82	uint8_t sourceIdx, targetIdx;
83	} XLATION;	83	} XLATION;
84	*/	84	*/
85		85
86	typedef struct {	86	typedef struct {
87	uint8_t trim;	87	uint8_t trim;
88	uint8_t variableOffset;	88	uint8_t variableOffset;
89	uint8_t channels[MAX_CHANNELS];	89	uint8_t channels[MAX_CHANNELS];
90	} ChannelMap_t;	90	} ChannelMap_t;
91	extern ChannelMap_t channelMap;	91	extern ChannelMap_t channelMap;
92		92
93	typedef struct {	93	typedef struct {
94	char name[12];	94	char name[12];
95	int8_t motor[MAX_MOTORS][4];	95	int8_t matrix[MAX_MOTORS][5];
-		96	//int8_t oppositeMotor[MAX_MOTORS];
96	}__attribute__((packed)) MixerMatrix_t;	97	}__attribute__((packed)) MotorMixer_t;
97	extern MixerMatrix_t mixerMatrix;	98	extern MotorMixer_t motorMixer;
98		99
99	typedef struct {	100	typedef struct {
100	int16_t offsets[3];	101	int16_t offsets[3];
101	} sensorOffset_t;	102	} sensorOffset_t;
102		103
103	typedef struct {	104	typedef struct {
104	uint8_t manualControl;	105	uint8_t manualControl;
105	uint8_t stabilizationFactor;	106	uint8_t stabilizationFactor;
106	uint8_t minValue;	107	uint8_t minValue;
107	uint8_t maxValue;	108	uint8_t maxValue;
108	uint8_t flags;	109	uint8_t flags;
109	} Servo_t;	110	} Servo_t;
110		111
111	#define SERVO_STABILIZATION_REVERSE 1	112	#define SERVO_STABILIZATION_REVERSE 1
112		113
113	typedef struct {	114	typedef struct {
114	uint8_t bitmask;	115	uint8_t bitmask;
115	uint8_t timing;	116	uint8_t timing;
116	} output_flash_t;	117	} output_flash_t;
117		118
118	typedef struct {	119	typedef struct {
119	uint8_t gyroQuadrant;	120	uint8_t gyroQuadrant;
120	uint8_t accQuadrant;	121	uint8_t accQuadrant;
121	uint8_t imuReversedFlags;	122	uint8_t imuReversedFlags;
122		123
123	uint8_t gyroPIDFilterConstant;	124	uint8_t gyroPIDFilterConstant;
124	uint8_t gyroDWindowLength;	125	uint8_t gyroDWindowLength;
125	uint8_t gyroDFilterConstant;	126	// uint8_t gyroDFilterConstant;
126	uint8_t accFilterConstant;	127	uint8_t accFilterConstant;
127		128
128	uint8_t zerothOrderCorrection;	129	uint8_t zerothOrderCorrection;
129	uint8_t rateTolerance;	130	uint8_t rateTolerance;
130		131
131	uint8_t gyroActivityDamping;	132	uint8_t gyroActivityDamping;
132	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	133	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
133	uint8_t driftCompLimit; // limit for gyrodrift compensation	134	uint8_t driftCompLimit; // limit for gyrodrift compensation
134	} IMUConfig_t;	135	} IMUConfig_t;
135		136
136	extern IMUConfig_t IMUConfig;	137	extern IMUConfig_t IMUConfig;
137		138
138	// values above 250 representing poti1 to poti4	139	// values above 250 representing poti1 to poti4
139	typedef struct {	140	typedef struct {
140	// Global bitflags	141	// Global bitflags
141	uint8_t bitConfig; // see upper defines for bitcoding	142	uint8_t bitConfig; // see upper defines for bitcoding
142		143
143	// uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)	144	// uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
144	// uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	145	// uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
145	// uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	146	// uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
146		147
147	uint8_t levelCorrection[2];	148	uint8_t levelCorrection[2];
148		149
149	// Control	150	// Control
150	uint8_t gyroP;	151	uint8_t gyroP;
151	uint8_t gyroI;	152	uint8_t gyroI;
152	uint8_t gyroD;	153	uint8_t gyroD;
153		154
154	uint8_t attitudeControl;	155	uint8_t attitudeControl;
155		156
156	uint8_t stickP;	157	uint8_t stickP;
157	uint8_t stickD;	158	uint8_t stickD;
158	uint8_t stickYawP;	159	uint8_t stickYawP;
159	uint8_t stickThrottleD;	160	uint8_t stickThrottleD;
160		161
161	uint8_t minThrottle;	162	uint8_t minThrottle;
162	uint8_t maxThrottle;	163	uint8_t maxThrottle;
163		164
164	uint8_t externalControl; // for serial Control	165	uint8_t externalControl; // for serial Control
165	uint8_t motorSmoothing;	166	uint8_t motorSmoothing;
166	uint8_t dynamicStability; // PID limit for Attitude controller	167	uint8_t dynamicStability; // PID limit for Attitude controller
167		168
168	uint8_t IFactor;	169	uint8_t IFactor;
169	uint8_t yawIFactor;	170	uint8_t yawIFactor;
170		171
171	uint8_t compassMode; // bitflag thing.	172	uint8_t compassMode; // bitflag thing.
172	uint8_t compassYawCorrection;	173	uint8_t compassYawCorrection;
173	uint8_t compassBendingReturnSpeed;	174	uint8_t compassBendingReturnSpeed;
174	uint8_t compassP;	175	uint8_t compassP;
175		176
176	uint8_t batteryVoltageWarning;	177	uint8_t batteryVoltageWarning;
177	uint8_t emergencyThrottle;	178	uint8_t emergencyThrottle;
178	uint8_t emergencyFlightDuration;	179	uint8_t emergencyFlightDuration;
179		180
180	// Height Control	181	// Height Control
181	uint8_t airpressureFilterConstant;	182	uint8_t airpressureFilterConstant;
182	uint8_t airpressureWindowLength; // 0 means: Use filter.	183	uint8_t airpressureWindowLength; // 0 means: Use filter.
183	uint8_t airpressureDWindowLength; // values 1..5 are legal.	184	uint8_t airpressureDWindowLength; // values 1..5 are legal.
184	uint8_t airpressureAccZCorrection;	185	uint8_t airpressureAccZCorrection;
185		186
186	uint8_t heightP;	187	uint8_t heightP;
187	uint8_t heightI;	188	uint8_t heightI;
188	uint8_t heightD;	189	uint8_t heightD;
189		190
190	uint8_t heightSetting;	191	uint8_t heightSetting;
191	uint8_t heightControlMaxIntegralIn;	192	uint8_t heightControlMaxIntegralIn;
192	uint8_t heightControlMaxIntegralOut;	193	uint8_t heightControlMaxIntegralOut;
193	uint8_t heightControlMaxThrottleChange;	194	uint8_t heightControlMaxThrottleChange;
194		195
195	uint8_t heightControlTestOscPeriod;	196	uint8_t heightControlTestOscPeriod;
196	uint8_t heightControlTestOscAmplitude;	197	uint8_t heightControlTestOscAmplitude;
197		198
198	// Servos	199	// Servos
199	uint8_t servoCount;	200	uint8_t servoCount;
200	uint8_t servoManualMaxSpeed;	201	uint8_t servoManualMaxSpeed;
201	Servo_t servoConfigurations[2]; // [PITCH, ROLL]	202	Servo_t servoConfigurations[2]; // [PITCH, ROLL]
202		203
203	// Outputs	204	// Outputs
204	output_flash_t outputFlash[2];	205	output_flash_t outputFlash[2];
205	uint8_t outputDebugMask;	206	uint8_t outputDebugMask;
206	uint8_t outputFlags;	207	uint8_t outputFlags;
207		208
208	// Shared for both modes of navigation	209	// Shared for both modes of navigation
209	uint8_t naviMode;	210	uint8_t naviMode;
210	uint8_t naviStickThreshold;	211	uint8_t naviStickThreshold;
211	uint8_t naviStickLimit;	212	uint8_t naviStickLimit;
212	uint8_t GPSMininumSatellites;	213	uint8_t GPSMininumSatellites;
213	uint8_t naviP;	214	uint8_t naviP;
214	uint8_t naviI;	215	uint8_t naviI;
215	uint8_t naviD;	216	uint8_t naviD;
216		217
217	uint8_t naviTestOscPeriod;	218	uint8_t naviTestOscPeriod;
218	uint8_t naviTestOscAmplitude;	219	uint8_t naviTestOscAmplitude;
219		220
220	// User params	221	// User params
221	uint8_t userParams[8];	222	uint8_t userParams[8];
222		223
223	// Name	224	// Name
224	char name[12];	225	char name[12];
225	} ParamSet_t;	226	} ParamSet_t;
226		227
227	extern ParamSet_t staticParams;	228	extern ParamSet_t staticParams;
228		229
229	// MKFlags	230	// MKFlags
230	#define MKFLAG_MOTOR_RUN (1<<0)	231	#define MKFLAG_MOTOR_RUN (1<<0)
231	//#define MKFLAG_FLY (1<<1)	232	//#define MKFLAG_FLY (1<<1)
232	#define MKFLAG_CALIBRATE (1<<2)	233	#define MKFLAG_CALIBRATE (1<<2)
233	#define MKFLAG_START (1<<3)	234	#define MKFLAG_START (1<<3)
234	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)	235	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
235	#define MKFLAG_LOWBAT (1<<5)	236	#define MKFLAG_LOWBAT (1<<5)
236	#define MKFLAG_RESERVE2 (1<<6)	237	#define MKFLAG_RESERVE2 (1<<6)
237	#define MKFLAG_RESERVE3 (1<<7)	238	#define MKFLAG_RESERVE3 (1<<7)
238		239
239	// bit mask for staticParams.bitConfig	240	// bit mask for staticParams.bitConfig
240	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)	241	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)
241	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)	242	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)
242	#define CFG_HEADING_HOLD (1<<2)	243	#define CFG_HEADING_HOLD (1<<2)
243	#define CFG_COMPASS_ENABLED (1<<3)	244	#define CFG_COMPASS_ENABLED (1<<3)
244	#define CFG_UNUSED (1<<4)	245	#define CFG_UNUSED (1<<4)
245	#define CFG_NAVI_ENABLED (1<<5)	246	#define CFG_NAVI_ENABLED (1<<5)
246	#define CFG_AXIS_COUPLING_ENABLED (1<<6)	247	#define CFG_AXIS_COUPLING_ENABLED (1<<6)
247	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)	248	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)
248		249
249	#define IMU_REVERSE_GYRO_PR (1<<0)	250	#define IMU_REVERSE_GYRO_PR (1<<0)
250	#define IMU_REVERSE_GYRO_YAW (1<<1)	251	#define IMU_REVERSE_GYRO_YAW (1<<1)
251	#define IMU_REVERSE_ACC_XY (1<<2)	252	#define IMU_REVERSE_ACC_XY (1<<2)
252	#define IMU_REVERSE_ACC_Z (1<<3)	253	#define IMU_REVERSE_ACC_Z (1<<3)
253		254
254	#define ATMEGA644 0	255	#define ATMEGA644 0
255	#define ATMEGA644P 1	256	#define ATMEGA644P 1
256	#define SYSCLK F_CPU	257	#define SYSCLK F_CPU
257		258
258	// Not really a part of configuration, but LEDs and HW s test are the same.	259	// Not really a part of configuration, but LEDs and HW s test are the same.
259	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	260	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
260	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	261	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
261	#define RED_FLASH PORTB ^= (1<<PORTB0)	262	#define RED_FLASH PORTB ^= (1<<PORTB0)
262	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	263	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
263	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	264	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
264	#define GRN_FLASH PORTB ^= (1<<PORTB1)	265	#define GRN_FLASH PORTB ^= (1<<PORTB1)
265		266
266	// Mixer table	267	// Mixer table
267	#define MIX_THROTTLE 0	268	#define MIX_PITCH 0
268	#define MIX_PITCH 1	269	#define MIX_ROLL 1
269	#define MIX_ROLL 2	270	#define MIX_THROTTLE 2
270	#define MIX_YAW 3	271	#define MIX_YAW 3
-		272	#define MIX_OPPOSITE_MOTOR 4
271		273
272	#define VARIABLE_COUNT 8	274	#define VARIABLE_COUNT 8
273		275
274	extern volatile uint8_t MKFlags;	276	extern volatile uint8_t MKFlags;
275	extern uint8_t requiredMotors;	277	extern uint8_t requiredMotors;
276	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	278	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
277	extern uint8_t boardRelease;	279	extern uint8_t boardRelease;
278	extern uint8_t CPUType;	280	extern uint8_t CPUType;
279		281
280	extern volatile uint8_t MKFlags;	282	extern volatile uint8_t MKFlags;
281	extern uint16_t isFlying;	283	extern uint16_t isFlying;
282		284
283	void IMUConfig_default(void);	285	void IMUConfig_default(void);
284	void channelMap_default(void);	286	void channelMap_default(void);
285	void paramSet_default(uint8_t setnumber);	287	void paramSet_default(uint8_t setnumber);
286	void mixerMatrix_default(void);	288	void motorMixer_default(void);
287		289
288	void configuration_setNormalFlightParameters(void);	290	void configuration_setNormalFlightParameters(void);
289	void configuration_setFailsafeFlightParameters(void);	291	void configuration_setFailsafeFlightParameters(void);
290	void configuration_applyVariablesToParams(void);	292	void configuration_applyVariablesToParams(void);
291		293
292	void setCPUType(void);	294	void setCPUType(void);
293	void setBoardRelease(void);	295	void setBoardRelease(void);
294		296
295	// Called after a change in configuration parameters, as a hook for modules to take over changes.	297	// Called after a change in configuration parameters, as a hook for modules to take over changes.
296	void configuration_paramSetDidChange(void);	298	void configuration_paramSetDidChange(void);
297	#endif // _CONFIGURATION_H	299	#endif // _CONFIGURATION_H
298		300

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.h @ 2020 - Rev 2157 → 2158