WebSVN - FlightCtrl - Diff - Rev 2092 and 2095 - /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 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 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;
 
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_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 IMUConfig_default(void);
void channelMap_default(void);
void paramSet_default(uint8_t setnumber);
void mixerMatrix_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 2092	Rev 2095
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		50
51	// Height control	51	// Height control
52	/PMM/uint8_t heightP;	52	/PMM/uint8_t heightP;
53	/* P */uint8_t heightI;	53	/* P */uint8_t heightI;
54	/PMM/uint8_t heightD;	54	/PMM/uint8_t heightD;
55	/* P */uint8_t heightSetting;	55	/* P */uint8_t heightSetting;
56		56
57	uint8_t attitudeControl;	57	uint8_t attitudeControl;
58		58
59	// Output and servo	59	// Output and servo
60	/PMM/uint8_t output0Timing;	60	/PMM/uint8_t output0Timing;
61	/PMM/uint8_t output1Timing;	61	/PMM/uint8_t output1Timing;
62		62
63	uint8_t servoManualControl[2];	63	uint8_t servoManualControl[2];
64		64
65	// Correction	65	// Correction
66	uint8_t levelCorrection[2];	66	uint8_t levelCorrection[2];
67		67
68	// Simple direct navigation	68	// Simple direct navigation
69	uint8_t naviMode;	69	uint8_t naviMode;
70		70
71	/* P */uint8_t userParams[8];	71	/* P */uint8_t userParams[8];
72	} DynamicParams_t;	72	} DynamicParams_t;
73		73
74	extern volatile DynamicParams_t dynamicParams;	74	extern volatile DynamicParams_t dynamicParams;
75		75
76	typedef struct {	76	typedef struct {
77	uint8_t sourceIdx, targetIdx;	77	uint8_t sourceIdx, targetIdx;
78	uint8_t min, max;	78	uint8_t min, max;
79	} MMXLATION;	79	} MMXLATION;
80		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
87	typedef struct {	87	typedef struct {
88	uint8_t channels[MAX_CHANNELS];	88	uint8_t channels[MAX_CHANNELS];
89	} channelMap_t;	89	} channelMap_t;
90	extern channelMap_t channelMap;	90	extern channelMap_t channelMap;
91		91
92	typedef struct {	92	typedef struct {
93	char name[12];	93	char name[12];
94	int8_t motor[MAX_MOTORS][4];	94	int8_t motor[MAX_MOTORS][4];
95	}__attribute__((packed)) mixerMatrix_t;	95	}__attribute__((packed)) mixerMatrix_t;
96	extern mixerMatrix_t mixerMatrix;	96	extern mixerMatrix_t mixerMatrix;
97		97
98	typedef struct {	98	typedef struct {
99	int16_t offsets[3];	99	int16_t offsets[3];
100	} sensorOffset_t;	100	} sensorOffset_t;
101		101
102	typedef struct {	102	typedef struct {
103	uint8_t manualControl;	103	uint8_t manualControl;
104	uint8_t stabilizationFactor;	104	uint8_t stabilizationFactor;
105	uint8_t minValue;	105	uint8_t minValue;
106	uint8_t maxValue;	106	uint8_t maxValue;
107	uint8_t flags;	107	uint8_t flags;
108	} servo_t;	108	} servo_t;
109		109
110	#define SERVO_STABILIZATION_REVERSE 1	110	#define SERVO_STABILIZATION_REVERSE 1
111		111
112	typedef struct {	112	typedef struct {
113	uint8_t bitmask;	113	uint8_t bitmask;
114	uint8_t timing;	114	uint8_t timing;
115	} output_flash_t;	115	} output_flash_t;
116		116
117	typedef struct {	117	typedef struct {
118	uint8_t gyroQuadrant;	118	uint8_t gyroQuadrant;
119	uint8_t accQuadrant;	119	uint8_t accQuadrant;
120	uint8_t imuReversedFlags;	120	uint8_t imuReversedFlags;
121		121
122	uint8_t gyroPIDFilterConstant;	122	uint8_t gyroPIDFilterConstant;
-		123	uint8_t gyroDWindowLength;
123	uint8_t gyroDFilterConstant;	124	uint8_t gyroDFilterConstant;
124	uint8_t accFilterConstant;	125	uint8_t accFilterConstant;
125		126
126	uint8_t zerothOrderCorrection;	127	uint8_t zerothOrderCorrection;
127	uint8_t rateTolerance;	128	uint8_t rateTolerance;
128		129
129	uint8_t yawRateFactor;	130	uint8_t gyroActivityDamping;
130	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	131	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
131	uint8_t driftCompLimit; // limit for gyrodrift compensation	132	uint8_t driftCompLimit; // limit for gyrodrift compensation
132	} IMUConfig_t;	133	} IMUConfig_t;
133		134
134	extern IMUConfig_t IMUConfig;	135	extern IMUConfig_t IMUConfig;
135		136
136	// values above 250 representing poti1 to poti4	137	// values above 250 representing poti1 to poti4
137	typedef struct {	138	typedef struct {
138	// Global bitflags	139	// Global bitflags
139	uint8_t bitConfig; // see upper defines for bitcoding	140	uint8_t bitConfig; // see upper defines for bitcoding
140		141
141	// uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)	142	// uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
142	// uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	143	// uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
143	// uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	144	// uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
144		145
145	uint8_t levelCorrection[2];	146	uint8_t levelCorrection[2];
146		147
147	// Control	148	// Control
148	uint8_t gyroP;	149	uint8_t gyroP;
149	uint8_t gyroI;	150	uint8_t gyroI;
150	uint8_t gyroD;	151	uint8_t gyroD;
151		152
152	uint8_t attitudeControl;	153	uint8_t attitudeControl;
153		154
154	uint8_t stickP;	155	uint8_t stickP;
155	uint8_t stickD;	156	uint8_t stickD;
156	uint8_t stickYawP;	157	uint8_t stickYawP;
157	uint8_t stickThrottleD;	158	uint8_t stickThrottleD;
158		159
159	uint8_t minThrottle;	160	uint8_t minThrottle;
160	uint8_t maxThrottle;	161	uint8_t maxThrottle;
161		162
162	uint8_t externalControl; // for serial Control	163	uint8_t externalControl; // for serial Control
163	uint8_t motorSmoothing;	164	uint8_t motorSmoothing;
164	uint8_t dynamicStability; // PID limit for Attitude controller	165	uint8_t dynamicStability; // PID limit for Attitude controller
165		166
166	uint8_t IFactor;	167	uint8_t IFactor;
167	uint8_t yawIFactor;	168	uint8_t yawIFactor;
168		169
169	uint8_t compassMode; // bitflag thing.	170	uint8_t compassMode; // bitflag thing.
170	uint8_t compassYawCorrection;	171	uint8_t compassYawCorrection;
171	uint8_t compassBendingReturnSpeed;	172	uint8_t compassBendingReturnSpeed;
172	uint8_t compassP;	173	uint8_t compassP;
173		174
174	uint8_t batteryVoltageWarning;	175	uint8_t batteryVoltageWarning;
175	uint8_t emergencyThrottle;	176	uint8_t emergencyThrottle;
176	uint8_t emergencyFlightDuration;	177	uint8_t emergencyFlightDuration;
177		178
178	// Height Control	179	// Height Control
179	uint8_t airpressureFilterConstant;	180	uint8_t airpressureFilterConstant;
180	uint8_t airpressureWindowLength; // 0 means: Use filter.	181	uint8_t airpressureWindowLength; // 0 means: Use filter.
181	uint8_t airpressureDWindowLength; // values 1..5 are legal.	182	uint8_t airpressureDWindowLength; // values 1..5 are legal.
182	uint8_t airpressureAccZCorrection;	183	uint8_t airpressureAccZCorrection;
183		184
184	uint8_t heightP;	185	uint8_t heightP;
185	uint8_t heightI;	186	uint8_t heightI;
186	uint8_t heightD;	187	uint8_t heightD;
187		188
188	uint8_t heightSetting;	189	uint8_t heightSetting;
189	uint8_t heightControlMaxIntegralIn;	190	uint8_t heightControlMaxIntegralIn;
190	uint8_t heightControlMaxIntegralOut;	191	uint8_t heightControlMaxIntegralOut;
191	uint8_t heightControlMaxThrottleChange;	192	uint8_t heightControlMaxThrottleChange;
192		193
193	uint8_t heightControlTestOscPeriod;	194	uint8_t heightControlTestOscPeriod;
194	uint8_t heightControlTestOscAmplitude;	195	uint8_t heightControlTestOscAmplitude;
195		196
196	// Servos	197	// Servos
197	uint8_t servoCount;	198	uint8_t servoCount;
198	uint8_t servoManualMaxSpeed;	199	uint8_t servoManualMaxSpeed;
199	servo_t servoConfigurations[2]; // [PITCH, ROLL]	200	servo_t servoConfigurations[2]; // [PITCH, ROLL]
200		201
201	// Outputs	202	// Outputs
202	output_flash_t outputFlash[2];	203	output_flash_t outputFlash[2];
203	uint8_t outputDebugMask;	204	uint8_t outputDebugMask;
204	uint8_t outputFlags;	205	uint8_t outputFlags;
205		206
206	// Shared for both modes of navigation	207	// Shared for both modes of navigation
207	uint8_t naviMode;	208	uint8_t naviMode;
208	uint8_t naviStickThreshold;	209	uint8_t naviStickThreshold;
209	uint8_t naviStickLimit;	210	uint8_t naviStickLimit;
210	uint8_t GPSMininumSatellites;	211	uint8_t GPSMininumSatellites;
211	uint8_t naviP;	212	uint8_t naviP;
212	uint8_t naviI;	213	uint8_t naviI;
213	uint8_t naviD;	214	uint8_t naviD;
214		215
215	uint8_t naviTestOscPeriod;	216	uint8_t naviTestOscPeriod;
216	uint8_t naviTestOscAmplitude;	217	uint8_t naviTestOscAmplitude;
217		218
218	// User params	219	// User params
219	uint8_t userParams[8];	220	uint8_t userParams[8];
220		221
221	// Name	222	// Name
222	char name[12];	223	char name[12];
223	} ParamSet_t;	224	} ParamSet_t;
224		225
225	extern ParamSet_t staticParams;	226	extern ParamSet_t staticParams;
226		227
227	// MKFlags	228	// MKFlags
228	#define MKFLAG_MOTOR_RUN (1<<0)	229	#define MKFLAG_MOTOR_RUN (1<<0)
229	//#define MKFLAG_FLY (1<<1)	230	//#define MKFLAG_FLY (1<<1)
230	#define MKFLAG_CALIBRATE (1<<2)	231	#define MKFLAG_CALIBRATE (1<<2)
231	#define MKFLAG_START (1<<3)	232	#define MKFLAG_START (1<<3)
232	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)	233	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
233	#define MKFLAG_LOWBAT (1<<5)	234	#define MKFLAG_LOWBAT (1<<5)
234	#define MKFLAG_RESERVE2 (1<<6)	235	#define MKFLAG_RESERVE2 (1<<6)
235	#define MKFLAG_RESERVE3 (1<<7)	236	#define MKFLAG_RESERVE3 (1<<7)
236		237
237	// bit mask for staticParams.bitConfig	238	// bit mask for staticParams.bitConfig
238	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)	239	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)
239	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)	240	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)
240	#define CFG_HEADING_HOLD (1<<2)	241	#define CFG_HEADING_HOLD (1<<2)
241	#define CFG_COMPASS_ENABLED (1<<3)	242	#define CFG_COMPASS_ENABLED (1<<3)
242	#define CFG_UNUSED (1<<4)	243	#define CFG_UNUSED (1<<4)
243	#define CFG_NAVI_ENABLED (1<<5)	244	#define CFG_NAVI_ENABLED (1<<5)
244	#define CFG_AXIS_COUPLING_ENABLED (1<<6)	245	#define CFG_AXIS_COUPLING_ENABLED (1<<6)
245	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)	246	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)
246		247
247	#define IMU_REVERSE_GYRO_PR (1<<0)	248	#define IMU_REVERSE_GYRO_PR (1<<0)
248	#define IMU_REVERSE_GYRO_YAW (1<<1)	249	#define IMU_REVERSE_GYRO_YAW (1<<1)
249	#define IMU_REVERSE_ACC_XY (1<<2)	250	#define IMU_REVERSE_ACC_XY (1<<2)
250	#define IMU_REVERSE_ACC_Z (1<<3)	251	#define IMU_REVERSE_ACC_Z (1<<3)
251		252
252	#define ATMEGA644 0	253	#define ATMEGA644 0
253	#define ATMEGA644P 1	254	#define ATMEGA644P 1
254	#define SYSCLK F_CPU	255	#define SYSCLK F_CPU
255		256
256	// Not really a part of configuration, but LEDs and HW s test are the same.	257	// Not really a part of configuration, but LEDs and HW s test are the same.
257	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	258	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
258	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	259	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
259	#define RED_FLASH PORTB ^= (1<<PORTB0)	260	#define RED_FLASH PORTB ^= (1<<PORTB0)
260	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	261	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
261	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	262	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
262	#define GRN_FLASH PORTB ^= (1<<PORTB1)	263	#define GRN_FLASH PORTB ^= (1<<PORTB1)
263		264
264	// Mixer table	265	// Mixer table
265	#define MIX_THROTTLE 0	266	#define MIX_THROTTLE 0
266	#define MIX_PITCH 1	267	#define MIX_PITCH 1
267	#define MIX_ROLL 2	268	#define MIX_ROLL 2
268	#define MIX_YAW 3	269	#define MIX_YAW 3
269		270
270	#define VARIABLE_COUNT 8	271	#define VARIABLE_COUNT 8
271		272
272	extern volatile uint8_t MKFlags;	273	extern volatile uint8_t MKFlags;
273	extern uint8_t requiredMotors;	274	extern uint8_t requiredMotors;
274	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	275	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
275	extern uint8_t boardRelease;	276	extern uint8_t boardRelease;
276	extern uint8_t CPUType;	277	extern uint8_t CPUType;
277		278
278	extern volatile uint8_t MKFlags;	279	extern volatile uint8_t MKFlags;
279	extern uint16_t isFlying;	280	extern uint16_t isFlying;
280		281
281	void IMUConfig_default(void);	282	void IMUConfig_default(void);
282	void channelMap_default(void);	283	void channelMap_default(void);
283	void paramSet_default(uint8_t setnumber);	284	void paramSet_default(uint8_t setnumber);
284	void mixerMatrix_default(void);	285	void mixerMatrix_default(void);
285		286
286	void configuration_setNormalFlightParameters(void);	287	void configuration_setNormalFlightParameters(void);
287	void configuration_setFailsafeFlightParameters(void);	288	void configuration_setFailsafeFlightParameters(void);
288	void configuration_applyVariablesToParams(void);	289	void configuration_applyVariablesToParams(void);
289		290
290	void setCPUType(void);	291	void setCPUType(void);
291	void setBoardRelease(void);	292	void setBoardRelease(void);
292		293
293	// Called after a change in configuration parameters, as a hook for modules to take over changes.	294	// Called after a change in configuration parameters, as a hook for modules to take over changes.
294	void configuration_paramSetDidChange(void);	295	void configuration_paramSetDidChange(void);
295	#endif // _CONFIGURATION_H	296	#endif // _CONFIGURATION_H
296		297

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.h @ 2762 - Rev 2092 → 2095