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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 compassYawEffect; |
45 | /* P */uint8_t compassYawEffect; |
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 | // The rest... |
60 | // The rest... |
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 | uint8_t levelCorrection[2]; |
65 | uint8_t levelCorrection[2]; |
66 | 66 | ||
67 | /* P */uint8_t userParams[8]; |
67 | /* P */uint8_t userParams[8]; |
68 | } dynamicParam_t; |
68 | } dynamicParam_t; |
69 | 69 | ||
70 | extern volatile dynamicParam_t dynamicParams; |
70 | extern volatile dynamicParam_t dynamicParams; |
71 | 71 | ||
72 | typedef struct { |
72 | typedef struct { |
73 | uint8_t sourceIdx, targetIdx; |
73 | uint8_t sourceIdx, targetIdx; |
74 | uint8_t min, max; |
74 | uint8_t min, max; |
75 | } MMXLATION; |
75 | } MMXLATION; |
76 | 76 | ||
77 | typedef struct { |
77 | typedef struct { |
78 | uint8_t sourceIdx, targetIdx; |
78 | uint8_t sourceIdx, targetIdx; |
79 | } XLATION; |
79 | } XLATION; |
80 | 80 | ||
81 | typedef struct { |
81 | typedef struct { |
82 | uint8_t channels[MAX_CHANNELS]; |
82 | uint8_t channels[MAX_CHANNELS]; |
83 | } channelMap_t; |
83 | } channelMap_t; |
84 | extern channelMap_t channelMap; |
84 | extern channelMap_t channelMap; |
85 | 85 | ||
86 | typedef struct { |
86 | typedef struct { |
87 | char name[12]; |
87 | char name[12]; |
88 | int8_t motor[MAX_MOTORS][4]; |
88 | int8_t motor[MAX_MOTORS][4]; |
89 | }__attribute__((packed)) mixerMatrix_t; |
89 | }__attribute__((packed)) mixerMatrix_t; |
90 | extern mixerMatrix_t mixerMatrix; |
90 | extern mixerMatrix_t mixerMatrix; |
91 | 91 | ||
92 | typedef struct { |
92 | typedef struct { |
93 | int16_t offsets[3]; |
93 | int16_t offsets[3]; |
94 | } sensorOffset_t; |
94 | } sensorOffset_t; |
95 | 95 | ||
96 | typedef struct { |
96 | typedef struct { |
97 | uint8_t manualControl; |
97 | uint8_t manualControl; |
98 | uint8_t stabilizationFactor; |
98 | uint8_t stabilizationFactor; |
99 | uint8_t minValue; |
99 | uint8_t minValue; |
100 | uint8_t maxValue; |
100 | uint8_t maxValue; |
101 | uint8_t flags; |
101 | uint8_t flags; |
102 | } servo_t; |
102 | } servo_t; |
103 | 103 | ||
104 | #define SERVO_STABILIZATION_REVERSE 1 |
104 | #define SERVO_STABILIZATION_REVERSE 1 |
105 | 105 | ||
106 | typedef struct { |
106 | typedef struct { |
107 | uint8_t bitmask; |
107 | uint8_t bitmask; |
108 | uint8_t timing; |
108 | uint8_t timing; |
109 | } output_flash_t; |
109 | } output_flash_t; |
110 | 110 | ||
111 | // values above 250 representing poti1 to poti4 |
111 | // values above 250 representing poti1 to poti4 |
112 | typedef struct { |
112 | typedef struct { |
113 | // Global bitflags |
113 | // Global bitflags |
114 | uint8_t bitConfig; // see upper defines for bitcoding |
114 | uint8_t bitConfig; // see upper defines for bitcoding |
115 | 115 | ||
116 | // IMU |
116 | // IMU |
117 | uint8_t gyroQuadrant; |
117 | uint8_t gyroQuadrant; |
118 | uint8_t accQuadrant; |
118 | uint8_t accQuadrant; |
119 | uint8_t imuReversedFlags; |
119 | uint8_t imuReversedFlags; |
120 | 120 | ||
121 | uint8_t gyroPIDFilterConstant; |
121 | uint8_t gyroPIDFilterConstant; |
122 | uint8_t gyroATTFilterConstant; |
122 | uint8_t gyroATTFilterConstant; |
123 | uint8_t gyroDFilterConstant; |
123 | uint8_t gyroDFilterConstant; |
124 | uint8_t accFilterConstant; |
124 | uint8_t accFilterConstant; |
125 | 125 | ||
126 | uint8_t maxAccVector; |
126 | uint8_t maxAccVector; |
127 | uint8_t maxControlActivity; |
127 | uint8_t maxControlActivity; |
128 | uint8_t zerothOrderCorrection; |
128 | uint8_t zerothOrderCorrection; |
129 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
129 | uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung) |
130 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
130 | uint8_t driftCompLimit; // limit for gyrodrift compensation |
131 | 131 | ||
132 | uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
132 | uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
133 | uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
133 | uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
134 | uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
134 | uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
135 | 135 | ||
136 | uint8_t levelCorrection[2]; |
136 | uint8_t levelCorrection[2]; |
137 | 137 | ||
138 | // Control |
138 | // Control |
139 | uint8_t gyroP; |
139 | uint8_t gyroP; |
140 | uint8_t gyroI; |
140 | uint8_t gyroI; |
141 | uint8_t gyroD; |
141 | uint8_t gyroD; |
142 | 142 | ||
143 | uint8_t attitudeControl; |
143 | uint8_t attitudeControl; |
144 | uint8_t stickP; |
144 | uint8_t stickP; |
145 | uint8_t stickD; |
145 | uint8_t stickD; |
146 | uint8_t stickYawP; |
146 | uint8_t stickYawP; |
147 | uint8_t stickThrottleD; |
147 | uint8_t stickThrottleD; |
148 | uint8_t minThrottle; |
148 | uint8_t minThrottle; |
149 | uint8_t maxThrottle; |
149 | uint8_t maxThrottle; |
150 | uint8_t externalControl; // for serial Control |
150 | uint8_t externalControl; // for serial Control |
151 | uint8_t motorSmoothing; |
151 | uint8_t motorSmoothing; |
152 | uint8_t dynamicStability; // PID limit for Attitude controller |
152 | uint8_t dynamicStability; // PID limit for Attitude controller |
153 | uint8_t IFactor; |
153 | uint8_t IFactor; |
154 | uint8_t yawIFactor; |
154 | uint8_t yawIFactor; |
155 | uint8_t compassYawEffect; |
155 | uint8_t compassYawEffect; |
156 | uint8_t batteryVoltageWarning; |
156 | uint8_t batteryVoltageWarning; |
157 | uint8_t emergencyThrottle; |
157 | uint8_t emergencyThrottle; |
158 | uint8_t emergencyFlightDuration; |
158 | uint8_t emergencyFlightDuration; |
159 | 159 | ||
160 | // Height Control |
160 | // Height Control |
161 | uint8_t airpressureFilter; |
161 | uint8_t airpressureFilter; |
162 | uint8_t airpressureAccZCorrection; |
162 | uint8_t airpressureAccZCorrection; |
163 | uint8_t heightP; |
163 | uint8_t heightP; |
164 | uint8_t heightI; |
164 | uint8_t heightI; |
165 | uint8_t heightD; |
165 | uint8_t heightD; |
166 | uint8_t heightSetting; |
166 | uint8_t heightSetting; |
167 | uint8_t heightControlMaxIntegralThrottleChange; |
167 | uint8_t heightControlMaxIntegral; |
168 | uint8_t heightControlMaxThrottleChange; |
168 | uint8_t heightControlMaxThrottleChange; |
169 | uint8_t heightSlewRate; |
169 | uint8_t heightSlewRate; |
170 | 170 | ||
171 | // Servos |
171 | // Servos |
172 | uint8_t servoCount; |
172 | uint8_t servoCount; |
173 | uint8_t servoManualMaxSpeed; |
173 | uint8_t servoManualMaxSpeed; |
174 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
174 | servo_t servoConfigurations[2]; // [PITCH, ROLL] |
175 | 175 | ||
176 | // Outputs |
176 | // Outputs |
177 | output_flash_t outputFlash[2]; |
177 | output_flash_t outputFlash[2]; |
178 | uint8_t outputDebugMask; |
178 | uint8_t outputDebugMask; |
179 | uint8_t outputFlags; |
179 | uint8_t outputFlags; |
180 | 180 | ||
181 | // User params |
181 | // User params |
182 | uint8_t userParams[8]; |
182 | uint8_t userParams[8]; |
183 | 183 | ||
184 | // Name |
184 | // Name |
185 | char name[12]; |
185 | char name[12]; |
186 | } paramset_t; |
186 | } paramset_t; |
187 | extern paramset_t staticParams; |
187 | extern paramset_t staticParams; |
188 | 188 | ||
189 | // MKFlags |
189 | // MKFlags |
190 | #define MKFLAG_MOTOR_RUN (1<<0) |
190 | #define MKFLAG_MOTOR_RUN (1<<0) |
191 | #define MKFLAG_FLY (1<<1) |
191 | #define MKFLAG_FLY (1<<1) |
192 | #define MKFLAG_CALIBRATE (1<<2) |
192 | #define MKFLAG_CALIBRATE (1<<2) |
193 | #define MKFLAG_START (1<<3) |
193 | #define MKFLAG_START (1<<3) |
194 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
194 | #define MKFLAG_EMERGENCY_FLIGHT (1<<4) |
195 | #define MKFLAG_RESERVE1 (1<<5) |
195 | #define MKFLAG_RESERVE1 (1<<5) |
196 | #define MKFLAG_RESERVE2 (1<<6) |
196 | #define MKFLAG_RESERVE2 (1<<6) |
197 | #define MKFLAG_RESERVE3 (1<<7) |
197 | #define MKFLAG_RESERVE3 (1<<7) |
198 | 198 | ||
199 | // bit mask for staticParams.bitConfig |
199 | // bit mask for staticParams.bitConfig |
200 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
200 | #define CFG_SIMPLE_HEIGHT_CONTROL (1<<0) |
201 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
201 | #define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1) |
202 | #define CFG_HEADING_HOLD (1<<2) |
202 | #define CFG_HEADING_HOLD (1<<2) |
203 | #define CFG_COMPASS_ACTIVE (1<<3) |
203 | #define CFG_COMPASS_ACTIVE (1<<3) |
204 | #define CFG_COMPASS_FIX (1<<4) |
204 | #define CFG_COMPASS_FIX (1<<4) |
205 | #define CFG_GPS_ACTIVE (1<<5) |
205 | #define CFG_GPS_ACTIVE (1<<5) |
206 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
206 | #define CFG_AXIS_COUPLING_ACTIVE (1<<6) |
207 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
207 | #define CFG_GYRO_SATURATION_PREVENTION (1<<7) |
208 | 208 | ||
209 | #define IMU_REVERSE_GYRO_PR (1<<0) |
209 | #define IMU_REVERSE_GYRO_PR (1<<0) |
210 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
210 | #define IMU_REVERSE_GYRO_YAW (1<<1) |
211 | #define IMU_REVERSE_ACC_XY (1<<2) |
211 | #define IMU_REVERSE_ACC_XY (1<<2) |
212 | #define IMU_REVERSE_ACC_Z (1<<3) |
212 | #define IMU_REVERSE_ACC_Z (1<<3) |
213 | 213 | ||
214 | #define ATMEGA644 0 |
214 | #define ATMEGA644 0 |
215 | #define ATMEGA644P 1 |
215 | #define ATMEGA644P 1 |
216 | #define SYSCLK F_CPU |
216 | #define SYSCLK F_CPU |
217 | 217 | ||
218 | // Not really a part of configuration, but LEDs and HW version test are the same. |
218 | // Not really a part of configuration, but LEDs and HW s test are the same. |
219 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
219 | #define RED_OFF {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
220 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
220 | #define RED_ON {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
221 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
221 | #define RED_FLASH PORTB ^= (1<<PORTB0) |
222 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
222 | #define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
223 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
223 | #define GRN_ON {if(boardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
224 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
224 | #define GRN_FLASH PORTB ^= (1<<PORTB1) |
225 | 225 | ||
226 | // Mixer table |
226 | // Mixer table |
227 | #define MIX_THROTTLE 0 |
227 | #define MIX_THROTTLE 0 |
228 | #define MIX_PITCH 1 |
228 | #define MIX_PITCH 1 |
229 | #define MIX_ROLL 2 |
229 | #define MIX_ROLL 2 |
230 | #define MIX_YAW 3 |
230 | #define MIX_YAW 3 |
231 | 231 | ||
232 | #define VARIABLE_COUNT 8 |
232 | #define VARIABLE_COUNT 8 |
233 | 233 | ||
234 | extern volatile uint8_t MKFlags; |
234 | extern volatile uint8_t MKFlags; |
235 | extern uint8_t requiredMotors; |
235 | extern uint8_t requiredMotors; |
236 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
236 | extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s. |
237 | extern uint8_t boardRelease; |
237 | extern uint8_t boardRelease; |
238 | extern uint8_t CPUType; |
238 | extern uint8_t CPUType; |
239 | 239 | ||
240 | extern volatile uint8_t MKFlags; |
240 | extern volatile uint8_t MKFlags; |
241 | extern uint16_t isFlying; |
241 | extern uint16_t isFlying; |
242 | 242 | ||
243 | void channelMap_default(void); |
243 | void channelMap_default(void); |
244 | void paramSet_default(uint8_t setnumber); |
244 | void paramSet_default(uint8_t setnumber); |
245 | void mixerMatrix_default(void); |
245 | void mixerMatrix_default(void); |
246 | 246 | ||
247 | void configuration_applyVariablesToParams(void); |
247 | void configuration_applyVariablesToParams(void); |
248 | uint8_t getCPUType(void); |
248 | uint8_t getCPUType(void); |
249 | uint8_t getBoardRelease(void); |
249 | uint8_t getBoardRelease(void); |
250 | 250 | ||
251 | #endif // _CONFIGURATION_H |
251 | #endif // _CONFIGURATION_H |
252 | 252 |