WebSVN - FlightCtrl - Diff - Rev 2158 and 2160 - /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 RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.
        uint8_t HWTrim;
        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 2158	Rev 2160
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 RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.
87	uint8_t trim;	88	uint8_t HWTrim;
88	uint8_t variableOffset;	89	uint8_t variableOffset;
89	uint8_t channels[MAX_CHANNELS];	90	uint8_t channels[MAX_CHANNELS];
90	} ChannelMap_t;	91	} ChannelMap_t;
-		92
91	extern ChannelMap_t channelMap;	93	extern ChannelMap_t channelMap;
92		94
93	typedef struct {	95	typedef struct {
94	char name[12];	96	char name[12];
95	int8_t matrix[MAX_MOTORS][5];	97	int8_t matrix[MAX_MOTORS][5];
96	//int8_t oppositeMotor[MAX_MOTORS];	98	//int8_t oppositeMotor[MAX_MOTORS];
97	}__attribute__((packed)) MotorMixer_t;	99	}__attribute__((packed)) MotorMixer_t;
98	extern MotorMixer_t motorMixer;	100	extern MotorMixer_t motorMixer;
99		101
100	typedef struct {	102	typedef struct {
101	int16_t offsets[3];	103	int16_t offsets[3];
102	} sensorOffset_t;	104	} sensorOffset_t;
103		105
104	typedef struct {	106	typedef struct {
105	uint8_t manualControl;	107	uint8_t manualControl;
106	uint8_t stabilizationFactor;	108	uint8_t stabilizationFactor;
107	uint8_t minValue;	109	uint8_t minValue;
108	uint8_t maxValue;	110	uint8_t maxValue;
109	uint8_t flags;	111	uint8_t flags;
110	} Servo_t;	112	} Servo_t;
111		113
112	#define SERVO_STABILIZATION_REVERSE 1	114	#define SERVO_STABILIZATION_REVERSE 1
113		115
114	typedef struct {	116	typedef struct {
115	uint8_t bitmask;	117	uint8_t bitmask;
116	uint8_t timing;	118	uint8_t timing;
117	} output_flash_t;	119	} output_flash_t;
118		120
119	typedef struct {	121	typedef struct {
120	uint8_t gyroQuadrant;	122	uint8_t gyroQuadrant;
121	uint8_t accQuadrant;	123	uint8_t accQuadrant;
122	uint8_t imuReversedFlags;	124	uint8_t imuReversedFlags;
123		125
124	uint8_t gyroPIDFilterConstant;	126	uint8_t gyroPIDFilterConstant;
125	uint8_t gyroDWindowLength;	127	uint8_t gyroDWindowLength;
126	// uint8_t gyroDFilterConstant;	128	// uint8_t gyroDFilterConstant;
127	uint8_t accFilterConstant;	129	uint8_t accFilterConstant;
128		130
129	uint8_t zerothOrderCorrection;	131	uint8_t zerothOrderCorrection;
130	uint8_t rateTolerance;	132	uint8_t rateTolerance;
131		133
132	uint8_t gyroActivityDamping;	134	uint8_t gyroActivityDamping;
133	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	135	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
134	uint8_t driftCompLimit; // limit for gyrodrift compensation	136	uint8_t driftCompLimit; // limit for gyrodrift compensation
135	} IMUConfig_t;	137	} IMUConfig_t;
136		138
137	extern IMUConfig_t IMUConfig;	139	extern IMUConfig_t IMUConfig;
138		140
139	// values above 250 representing poti1 to poti4	141	// values above 250 representing poti1 to poti4
140	typedef struct {	142	typedef struct {
141	// Global bitflags	143	// Global bitflags
142	uint8_t bitConfig; // see upper defines for bitcoding	144	uint8_t bitConfig; // see upper defines for bitcoding
143		145
144	// uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)	146	// uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
145	// uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	147	// uint8_t axisCoupling2; // 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	148	// uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
147		149
148	uint8_t levelCorrection[2];	150	uint8_t levelCorrection[2];
149		151
150	// Control	152	// Control
151	uint8_t gyroP;	153	uint8_t gyroP;
152	uint8_t gyroI;	154	uint8_t gyroI;
153	uint8_t gyroD;	155	uint8_t gyroD;
154		156
155	uint8_t attitudeControl;	157	uint8_t attitudeControl;
156		158
157	uint8_t stickP;	159	uint8_t stickP;
158	uint8_t stickD;	160	uint8_t stickD;
159	uint8_t stickYawP;	161	uint8_t stickYawP;
160	uint8_t stickThrottleD;	162	uint8_t stickThrottleD;
161		163
162	uint8_t minThrottle;	164	uint8_t minThrottle;
163	uint8_t maxThrottle;	165	uint8_t maxThrottle;
164		166
165	uint8_t externalControl; // for serial Control	167	uint8_t externalControl; // for serial Control
166	uint8_t motorSmoothing;	168	uint8_t motorSmoothing;
167	uint8_t dynamicStability; // PID limit for Attitude controller	169	uint8_t dynamicStability; // PID limit for Attitude controller
168		170
169	uint8_t IFactor;	171	uint8_t IFactor;
170	uint8_t yawIFactor;	172	uint8_t yawIFactor;
171		173
172	uint8_t compassMode; // bitflag thing.	174	uint8_t compassMode; // bitflag thing.
173	uint8_t compassYawCorrection;	175	uint8_t compassYawCorrection;
174	uint8_t compassBendingReturnSpeed;	176	uint8_t compassBendingReturnSpeed;
175	uint8_t compassP;	177	uint8_t compassP;
176		178
177	uint8_t batteryVoltageWarning;	179	uint8_t batteryVoltageWarning;
178	uint8_t emergencyThrottle;	180	uint8_t emergencyThrottle;
179	uint8_t emergencyFlightDuration;	181	uint8_t emergencyFlightDuration;
180		182
181	// Height Control	183	// Height Control
182	uint8_t airpressureFilterConstant;	184	uint8_t airpressureFilterConstant;
183	uint8_t airpressureWindowLength; // 0 means: Use filter.	185	uint8_t airpressureWindowLength; // 0 means: Use filter.
184	uint8_t airpressureDWindowLength; // values 1..5 are legal.	186	uint8_t airpressureDWindowLength; // values 1..5 are legal.
185	uint8_t airpressureAccZCorrection;	187	uint8_t airpressureAccZCorrection;
186		188
187	uint8_t heightP;	189	uint8_t heightP;
188	uint8_t heightI;	190	uint8_t heightI;
189	uint8_t heightD;	191	uint8_t heightD;
190		192
191	uint8_t heightSetting;	193	uint8_t heightSetting;
192	uint8_t heightControlMaxIntegralIn;	194	uint8_t heightControlMaxIntegralIn;
193	uint8_t heightControlMaxIntegralOut;	195	uint8_t heightControlMaxIntegralOut;
194	uint8_t heightControlMaxThrottleChange;	196	uint8_t heightControlMaxThrottleChange;
195		197
196	uint8_t heightControlTestOscPeriod;	198	uint8_t heightControlTestOscPeriod;
197	uint8_t heightControlTestOscAmplitude;	199	uint8_t heightControlTestOscAmplitude;
198		200
199	// Servos	201	// Servos
200	uint8_t servoCount;	202	uint8_t servoCount;
201	uint8_t servoManualMaxSpeed;	203	uint8_t servoManualMaxSpeed;
202	Servo_t servoConfigurations[2]; // [PITCH, ROLL]	204	Servo_t servoConfigurations[2]; // [PITCH, ROLL]
203		205
204	// Outputs	206	// Outputs
205	output_flash_t outputFlash[2];	207	output_flash_t outputFlash[2];
206	uint8_t outputDebugMask;	208	uint8_t outputDebugMask;
207	uint8_t outputFlags;	209	uint8_t outputFlags;
208		210
209	// Shared for both modes of navigation	211	// Shared for both modes of navigation
210	uint8_t naviMode;	212	uint8_t naviMode;
211	uint8_t naviStickThreshold;	213	uint8_t naviStickThreshold;
212	uint8_t naviStickLimit;	214	uint8_t naviStickLimit;
213	uint8_t GPSMininumSatellites;	215	uint8_t GPSMininumSatellites;
214	uint8_t naviP;	216	uint8_t naviP;
215	uint8_t naviI;	217	uint8_t naviI;
216	uint8_t naviD;	218	uint8_t naviD;
217		219
218	uint8_t naviTestOscPeriod;	220	uint8_t naviTestOscPeriod;
219	uint8_t naviTestOscAmplitude;	221	uint8_t naviTestOscAmplitude;
220		222
221	// User params	223	// User params
222	uint8_t userParams[8];	224	uint8_t userParams[8];
223		225
224	// Name	226	// Name
225	char name[12];	227	char name[12];
226	} ParamSet_t;	228	} ParamSet_t;
227		229
228	extern ParamSet_t staticParams;	230	extern ParamSet_t staticParams;
229		231
230	// MKFlags	232	// MKFlags
231	#define MKFLAG_MOTOR_RUN (1<<0)	233	#define MKFLAG_MOTOR_RUN (1<<0)
232	//#define MKFLAG_FLY (1<<1)	234	//#define MKFLAG_FLY (1<<1)
233	#define MKFLAG_CALIBRATE (1<<2)	235	#define MKFLAG_CALIBRATE (1<<2)
234	#define MKFLAG_START (1<<3)	236	#define MKFLAG_START (1<<3)
235	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)	237	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
236	#define MKFLAG_LOWBAT (1<<5)	238	#define MKFLAG_LOWBAT (1<<5)
237	#define MKFLAG_RESERVE2 (1<<6)	239	#define MKFLAG_RESERVE2 (1<<6)
238	#define MKFLAG_RESERVE3 (1<<7)	240	#define MKFLAG_RESERVE3 (1<<7)
239		241
240	// bit mask for staticParams.bitConfig	242	// bit mask for staticParams.bitConfig
241	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)	243	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)
242	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)	244	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)
243	#define CFG_HEADING_HOLD (1<<2)	245	#define CFG_HEADING_HOLD (1<<2)
244	#define CFG_COMPASS_ENABLED (1<<3)	246	#define CFG_COMPASS_ENABLED (1<<3)
245	#define CFG_UNUSED (1<<4)	247	#define CFG_UNUSED (1<<4)
246	#define CFG_NAVI_ENABLED (1<<5)	248	#define CFG_NAVI_ENABLED (1<<5)
247	#define CFG_AXIS_COUPLING_ENABLED (1<<6)	249	#define CFG_AXIS_COUPLING_ENABLED (1<<6)
248	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)	250	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)
249		251
250	#define IMU_REVERSE_GYRO_PR (1<<0)	252	#define IMU_REVERSE_GYRO_PR (1<<0)
251	#define IMU_REVERSE_GYRO_YAW (1<<1)	253	#define IMU_REVERSE_GYRO_YAW (1<<1)
252	#define IMU_REVERSE_ACC_XY (1<<2)	254	#define IMU_REVERSE_ACC_XY (1<<2)
253	#define IMU_REVERSE_ACC_Z (1<<3)	255	#define IMU_REVERSE_ACC_Z (1<<3)
254		256
255	#define ATMEGA644 0	257	#define ATMEGA644 0
256	#define ATMEGA644P 1	258	#define ATMEGA644P 1
257	#define SYSCLK F_CPU	259	#define SYSCLK F_CPU
258		260
259	// Not really a part of configuration, but LEDs and HW s test are the same.	261	// Not really a part of configuration, but LEDs and HW s test are the same.
260	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	262	#define RED_OFF {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);}	263	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
262	#define RED_FLASH PORTB ^= (1<<PORTB0)	264	#define RED_FLASH PORTB ^= (1<<PORTB0)
263	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	265	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
264	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	266	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
265	#define GRN_FLASH PORTB ^= (1<<PORTB1)	267	#define GRN_FLASH PORTB ^= (1<<PORTB1)
266		268
267	// Mixer table	269	// Mixer table
268	#define MIX_PITCH 0	270	#define MIX_PITCH 0
269	#define MIX_ROLL 1	271	#define MIX_ROLL 1
270	#define MIX_THROTTLE 2	272	#define MIX_THROTTLE 2
271	#define MIX_YAW 3	273	#define MIX_YAW 3
272	#define MIX_OPPOSITE_MOTOR 4	274	#define MIX_OPPOSITE_MOTOR 4
273		275
274	#define VARIABLE_COUNT 8	276	#define VARIABLE_COUNT 8
275		277
276	extern volatile uint8_t MKFlags;	278	extern volatile uint8_t MKFlags;
277	extern uint8_t requiredMotors;	279	extern uint8_t requiredMotors;
278	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	280	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
279	extern uint8_t boardRelease;	281	extern uint8_t boardRelease;
280	extern uint8_t CPUType;	282	extern uint8_t CPUType;
281		283
282	extern volatile uint8_t MKFlags;	284	extern volatile uint8_t MKFlags;
283	extern uint16_t isFlying;	285	extern uint16_t isFlying;
284		286
285	void IMUConfig_default(void);	287	void IMUConfig_default(void);
286	void channelMap_default(void);	288	void channelMap_default(void);
287	void paramSet_default(uint8_t setnumber);	289	void paramSet_default(uint8_t setnumber);
288	void motorMixer_default(void);	290	void motorMixer_default(void);
289		291
290	void configuration_setNormalFlightParameters(void);	292	void configuration_setNormalFlightParameters(void);
291	void configuration_setFailsafeFlightParameters(void);	293	void configuration_setFailsafeFlightParameters(void);
292	void configuration_applyVariablesToParams(void);	294	void configuration_applyVariablesToParams(void);
293		295
294	void setCPUType(void);	296	void setCPUType(void);
295	void setBoardRelease(void);	297	void setBoardRelease(void);
296		298
297	// Called after a change in configuration parameters, as a hook for modules to take over changes.	299	// Called after a change in configuration parameters, as a hook for modules to take over changes.
298	void configuration_paramSetDidChange(void);	300	void configuration_paramSetDidChange(void);
299	#endif // _CONFIGURATION_H	301	#endif // _CONFIGURATION_H
300		302

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.h @ 2290 - Rev 2158 → 2160