WebSVN - FlightCtrl - Diff - Rev 2017 and 2018 - /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 gyroD;
   /* P */uint8_t gyroI;
   /* P */uint8_t IFactor;
   uint8_t yawIFactor;
   /* P */uint8_t compassYawEffect;
   // Control
   /* P */uint8_t externalControl;
   /* P */uint8_t axisCoupling1;
   /* P */uint8_t axisCoupling2;
   /* P */uint8_t axisCouplingYawCorrection;
   /* P */uint8_t dynamicStability;
   uint8_t maxAccVector;
   // Height control
   /*PMM*/uint8_t heightP;
   /*PMM*/uint8_t heightD;
   /* P */uint8_t heightSetting;
   /* P */uint8_t heightACCEffect;
   uint8_t attitudeControl;
   // The rest...
   /* P */uint8_t userParams[8];
   /*PMM*/uint8_t output0Timing;
   /*PMM*/uint8_t output1Timing;
   uint8_t servoManualControl[2];
   uint8_t motorSmoothing;
   uint8_t levelCorrection[2];
 } 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
   // Height Control
+  uint8_t airpressureFilter;
-  uint8_t heightP; // Value : 0-32
+  uint8_t heightP;
-  uint8_t heightD; // Value : 0-250
+  uint8_t heightD;
-  uint8_t heightSetting; // Value : 0-32
+  uint8_t heightSetting;
-  uint8_t heightControlMaxThrottleChange; // Value : 0-100
+  uint8_t heightControlMaxThrottleChange;
-  uint8_t heightSlewRate; // Value : 0-50
+  uint8_t heightSlewRate;
   // Attitude Control
   uint8_t attitudeControl;
   // Control
-  uint8_t stickP; // Value : 1-6
+  uint8_t stickP;
-  uint8_t stickD; // Value : 0-64
+  uint8_t stickD;
-  uint8_t stickYawP; // Value : 1-20
+  uint8_t stickYawP;
   uint8_t stickThrottleD;
-  uint8_t minThrottle; // Value : 0-32
+  uint8_t minThrottle;
-  uint8_t maxThrottle; // Value : 33-250
+  uint8_t maxThrottle;
   uint8_t externalControl; // for serial Control
   uint8_t maxAccVector;
   uint8_t maxControlActivity;
   uint8_t motorSmoothing;
   // IMU
   uint8_t gyroQuadrant;
   uint8_t accQuadrant;
   uint8_t imuReversedFlags;
   uint8_t gyroPIDFilterConstant;
   uint8_t gyroATTFilterConstant;
   uint8_t gyroDFilterConstant;
   uint8_t accFilterConstant;
-  uint8_t gyroP; // Value : 10-250
+  uint8_t gyroP;
-  uint8_t gyroI; // Value : 0-250
+  uint8_t gyroI;
-  uint8_t gyroD; // Value : 0-250
+  uint8_t gyroD;
-  uint8_t zerothOrderCorrection; // Value : 1-64
+  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 dynamicStability; // PID limit for Attitude controller
-  uint8_t IFactor; // Value : 0-250
+  uint8_t IFactor;
   uint8_t yawIFactor;
-  uint8_t compassYawEffect; // Value : 0-32
+  uint8_t compassYawEffect;
   uint8_t levelCorrection[2];
   // Servos
   uint8_t servoCount;
   uint8_t servoManualMaxSpeed;
   servo_t servoConfigurations[2]; // [PITCH, ROLL]
   // Battery warning and emergency flight
-  uint8_t batteryVoltageWarning; // Value : 0-250
+  uint8_t batteryVoltageWarning;
-  uint8_t emergencyThrottle; // Value : 0-250
+  uint8_t emergencyThrottle;
-  uint8_t emergencyFlightDuration; // Value : 0-250
+  uint8_t emergencyFlightDuration;
   // Outputs
   output_flash_t outputFlash[2];
   uint8_t outputDebugMask;
   uint8_t outputFlags;
   // User params
-  uint8_t userParams[8]; // Value : 0-250
+  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_RESERVE1         (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_ACTIVE                          (1<<3)
 #define CFG_COMPASS_FIX                                 (1<<4)
 #define CFG_GPS_ACTIVE                          (1<<5)
 #define CFG_AXIS_COUPLING_ACTIVE        (1<<6)
 #define CFG_GYRO_SATURATION_PREVENTION  (1<<7)
 #define ATMEGA644       0
 #define ATMEGA644P      1
 #define SYSCLK F_CPU
 // Not really a part of configuration, but LEDs and HW version 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

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.h @ 2059 - Rev 2017 → 2018