WebSVN - FlightCtrl - Diff - Rev 2020 and 2026 - /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 airpressureAccZCorrection;
  uint8_t heightP;
  uint8_t heightD;
  uint8_t heightSetting;
  uint8_t heightControlMaxThrottleChange;
  uint8_t heightSlewRate;
 
  // Attitude Control
  uint8_t attitudeControl;
 
  // Control
  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 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;
  uint8_t gyroI;
  uint8_t gyroD;
 
  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;
  uint8_t yawIFactor;
  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;
  uint8_t emergencyThrottle;
  uint8_t emergencyFlightDuration;
 
  // Outputs
  output_flash_t outputFlash[2];
  uint8_t outputDebugMask;
  uint8_t outputFlags;
 
  // 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_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 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 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
 

Rev 2020	Rev 2026
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 gyroD;	43	/* P */uint8_t gyroD;
44	/* P */uint8_t gyroI;	44	/* P */uint8_t gyroI;
45	/* P */uint8_t IFactor;	45	/* P */uint8_t IFactor;
46	uint8_t yawIFactor;	46	uint8_t yawIFactor;
47	/* P */uint8_t compassYawEffect;	47	/* P */uint8_t compassYawEffect;
48		48
49	// Control	49	// Control
50	/* P */uint8_t externalControl;	50	/* P */uint8_t externalControl;
51		51
52	/* P */uint8_t axisCoupling1;	52	/* P */uint8_t axisCoupling1;
53	/* P */uint8_t axisCoupling2;	53	/* P */uint8_t axisCoupling2;
54	/* P */uint8_t axisCouplingYawCorrection;	54	/* P */uint8_t axisCouplingYawCorrection;
55	/* P */uint8_t dynamicStability;	55	/* P */uint8_t dynamicStability;
56	uint8_t maxAccVector;	56	uint8_t maxAccVector;
57		57
58	// Height control	58	// Height control
59	/PMM/uint8_t heightP;	59	/PMM/uint8_t heightP;
60	/PMM/uint8_t heightD;	60	/PMM/uint8_t heightD;
61	/* P */uint8_t heightSetting;	61	/* P */uint8_t heightSetting;
62	/* P */uint8_t heightACCEffect;	62	/* P */uint8_t heightACCEffect;
63		63
64	uint8_t attitudeControl;	64	uint8_t attitudeControl;
65		65
66	// The rest...	66	// The rest...
67	/* P */uint8_t userParams[8];	67	/* P */uint8_t userParams[8];
68	/PMM/uint8_t output0Timing;	68	/PMM/uint8_t output0Timing;
69	/PMM/uint8_t output1Timing;	69	/PMM/uint8_t output1Timing;
70		70
71	uint8_t servoManualControl[2];	71	uint8_t servoManualControl[2];
72		72
73	uint8_t motorSmoothing;	73	uint8_t motorSmoothing;
74	uint8_t levelCorrection[2];	74	uint8_t levelCorrection[2];
75	} dynamicParam_t;	75	} dynamicParam_t;
76		76
77	extern volatile dynamicParam_t dynamicParams;	77	extern volatile dynamicParam_t dynamicParams;
78		78
79	typedef struct {	79	typedef struct {
80	uint8_t sourceIdx, targetIdx;	80	uint8_t sourceIdx, targetIdx;
81	uint8_t min, max;	81	uint8_t min, max;
82	} MMXLATION;	82	} MMXLATION;
83		83
84	typedef struct {	84	typedef struct {
85	uint8_t sourceIdx, targetIdx;	85	uint8_t sourceIdx, targetIdx;
86	} XLATION;	86	} XLATION;
87		87
88	typedef struct {	88	typedef struct {
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 motor[MAX_MOTORS][4];
96	}__attribute__((packed)) mixerMatrix_t;	96	}__attribute__((packed)) mixerMatrix_t;
97	extern mixerMatrix_t mixerMatrix;	97	extern mixerMatrix_t mixerMatrix;
98		98
99	typedef struct {	99	typedef struct {
100	int16_t offsets[3];	100	int16_t offsets[3];
101	} sensorOffset_t;	101	} sensorOffset_t;
102		102
103	typedef struct {	103	typedef struct {
104	uint8_t manualControl;	104	uint8_t manualControl;
105	uint8_t stabilizationFactor;	105	uint8_t stabilizationFactor;
106	uint8_t minValue;	106	uint8_t minValue;
107	uint8_t maxValue;	107	uint8_t maxValue;
108	uint8_t flags;	108	uint8_t flags;
109	} servo_t;	109	} servo_t;
110		110
111	#define SERVO_STABILIZATION_REVERSE 1	111	#define SERVO_STABILIZATION_REVERSE 1
112		112
113	typedef struct {	113	typedef struct {
114	uint8_t bitmask;	114	uint8_t bitmask;
115	uint8_t timing;	115	uint8_t timing;
116	} output_flash_t;	116	} output_flash_t;
117		117
118	// values above 250 representing poti1 to poti4	118	// values above 250 representing poti1 to poti4
119	typedef struct {	119	typedef struct {
120	// Global bitflags	120	// Global bitflags
121	uint8_t bitConfig; // see upper defines for bitcoding	121	uint8_t bitConfig; // see upper defines for bitcoding
122		122
123	// Height Control	123	// Height Control
124	uint8_t airpressureFilter;	124	uint8_t airpressureFilter;
-		125	uint8_t airpressureAccZCorrection;
125	uint8_t heightP;	126	uint8_t heightP;
126	uint8_t heightD;	127	uint8_t heightD;
127	uint8_t heightSetting;	128	uint8_t heightSetting;
128	uint8_t heightControlMaxThrottleChange;	129	uint8_t heightControlMaxThrottleChange;
129	uint8_t heightSlewRate;	130	uint8_t heightSlewRate;
130		131
131	// Attitude Control	132	// Attitude Control
132	uint8_t attitudeControl;	133	uint8_t attitudeControl;
133		134
134	// Control	135	// Control
135	uint8_t stickP;	136	uint8_t stickP;
136	uint8_t stickD;	137	uint8_t stickD;
137	uint8_t stickYawP;	138	uint8_t stickYawP;
138	uint8_t stickThrottleD;	139	uint8_t stickThrottleD;
139	uint8_t minThrottle;	140	uint8_t minThrottle;
140	uint8_t maxThrottle;	141	uint8_t maxThrottle;
141	uint8_t externalControl; // for serial Control	142	uint8_t externalControl; // for serial Control
142	uint8_t maxAccVector;	143	uint8_t maxAccVector;
143	uint8_t maxControlActivity;	144	uint8_t maxControlActivity;
144	uint8_t motorSmoothing;	145	uint8_t motorSmoothing;
145		146
146	// IMU	147	// IMU
147	uint8_t gyroQuadrant;	148	uint8_t gyroQuadrant;
148	uint8_t accQuadrant;	149	uint8_t accQuadrant;
149	uint8_t imuReversedFlags;	150	uint8_t imuReversedFlags;
150		151
151	uint8_t gyroPIDFilterConstant;	152	uint8_t gyroPIDFilterConstant;
152	uint8_t gyroATTFilterConstant;	153	uint8_t gyroATTFilterConstant;
153	uint8_t gyroDFilterConstant;	154	uint8_t gyroDFilterConstant;
154	uint8_t accFilterConstant;	155	uint8_t accFilterConstant;
155		156
156	uint8_t gyroP;	157	uint8_t gyroP;
157	uint8_t gyroI;	158	uint8_t gyroI;
158	uint8_t gyroD;	159	uint8_t gyroD;
159		160
160	uint8_t zerothOrderCorrection;	161	uint8_t zerothOrderCorrection;
161	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	162	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
162	uint8_t driftCompLimit; // limit for gyrodrift compensation	163	uint8_t driftCompLimit; // limit for gyrodrift compensation
163		164
164	uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)	165	uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
165	uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	166	uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
166	uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	167	uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
167		168
168	uint8_t dynamicStability; // PID limit for Attitude controller	169	uint8_t dynamicStability; // PID limit for Attitude controller
169	uint8_t IFactor;	170	uint8_t IFactor;
170	uint8_t yawIFactor;	171	uint8_t yawIFactor;
171	uint8_t compassYawEffect;	172	uint8_t compassYawEffect;
172	uint8_t levelCorrection[2];	173	uint8_t levelCorrection[2];
173		174
174	// Servos	175	// Servos
175	uint8_t servoCount;	176	uint8_t servoCount;
176	uint8_t servoManualMaxSpeed;	177	uint8_t servoManualMaxSpeed;
177	servo_t servoConfigurations[2]; // [PITCH, ROLL]	178	servo_t servoConfigurations[2]; // [PITCH, ROLL]
178		179
179	// Battery warning and emergency flight	180	// Battery warning and emergency flight
180	uint8_t batteryVoltageWarning;	181	uint8_t batteryVoltageWarning;
181	uint8_t emergencyThrottle;	182	uint8_t emergencyThrottle;
182	uint8_t emergencyFlightDuration;	183	uint8_t emergencyFlightDuration;
183		184
184	// Outputs	185	// Outputs
185	output_flash_t outputFlash[2];	186	output_flash_t outputFlash[2];
186	uint8_t outputDebugMask;	187	uint8_t outputDebugMask;
187	uint8_t outputFlags;	188	uint8_t outputFlags;
188		189
189	// User params	190	// User params
190	uint8_t userParams[8];	191	uint8_t userParams[8];
191		192
192	// Name	193	// Name
193	char name[12];	194	char name[12];
194	} paramset_t;	195	} paramset_t;
195	extern paramset_t staticParams;	196	extern paramset_t staticParams;
196		197
197	// MKFlags	198	// MKFlags
198	#define MKFLAG_MOTOR_RUN (1<<0)	199	#define MKFLAG_MOTOR_RUN (1<<0)
199	#define MKFLAG_FLY (1<<1)	200	#define MKFLAG_FLY (1<<1)
200	#define MKFLAG_CALIBRATE (1<<2)	201	#define MKFLAG_CALIBRATE (1<<2)
201	#define MKFLAG_START (1<<3)	202	#define MKFLAG_START (1<<3)
202	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)	203	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
203	#define MKFLAG_RESERVE1 (1<<5)	204	#define MKFLAG_RESERVE1 (1<<5)
204	#define MKFLAG_RESERVE2 (1<<6)	205	#define MKFLAG_RESERVE2 (1<<6)
205	#define MKFLAG_RESERVE3 (1<<7)	206	#define MKFLAG_RESERVE3 (1<<7)
206		207
207	// bit mask for staticParams.bitConfig	208	// bit mask for staticParams.bitConfig
208	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)	209	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)
209	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)	210	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)
210	#define CFG_HEADING_HOLD (1<<2)	211	#define CFG_HEADING_HOLD (1<<2)
211	#define CFG_COMPASS_ACTIVE (1<<3)	212	#define CFG_COMPASS_ACTIVE (1<<3)
212	#define CFG_COMPASS_FIX (1<<4)	213	#define CFG_COMPASS_FIX (1<<4)
213	#define CFG_GPS_ACTIVE (1<<5)	214	#define CFG_GPS_ACTIVE (1<<5)
214	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)	215	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
215	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)	216	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)
216		217
217	#define IMU_REVERSE_GYRO_PR (1<<0)	218	#define IMU_REVERSE_GYRO_PR (1<<0)
218	#define IMU_REVERSE_GYRO_YAW (1<<1)	219	#define IMU_REVERSE_GYRO_YAW (1<<1)
219	#define IMU_REVERSE_ACC_XY (1<<2)	220	#define IMU_REVERSE_ACC_XY (1<<2)
220	#define IMU_REVERSE_ACC_Z (1<<3)	221	#define IMU_REVERSE_ACC_Z (1<<3)
221		222
222	#define ATMEGA644 0	223	#define ATMEGA644 0
223	#define ATMEGA644P 1	224	#define ATMEGA644P 1
224	#define SYSCLK F_CPU	225	#define SYSCLK F_CPU
225		226
226	// Not really a part of configuration, but LEDs and HW version test are the same.	227	// Not really a part of configuration, but LEDs and HW version test are the same.
227	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	228	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
228	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	229	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
229	#define RED_FLASH PORTB ^= (1<<PORTB0)	230	#define RED_FLASH PORTB ^= (1<<PORTB0)
230	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	231	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
231	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	232	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
232	#define GRN_FLASH PORTB ^= (1<<PORTB1)	233	#define GRN_FLASH PORTB ^= (1<<PORTB1)
233		234
234	// Mixer table	235	// Mixer table
235	#define MIX_THROTTLE 0	236	#define MIX_THROTTLE 0
236	#define MIX_PITCH 1	237	#define MIX_PITCH 1
237	#define MIX_ROLL 2	238	#define MIX_ROLL 2
238	#define MIX_YAW 3	239	#define MIX_YAW 3
239		240
240	#define VARIABLE_COUNT 8	241	#define VARIABLE_COUNT 8
241		242
242	extern volatile uint8_t MKFlags;	243	extern volatile uint8_t MKFlags;
243	extern uint8_t requiredMotors;	244	extern uint8_t requiredMotors;
244	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	245	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
245	extern uint8_t boardRelease;	246	extern uint8_t boardRelease;
246	extern uint8_t CPUType;	247	extern uint8_t CPUType;
247		248
248	extern volatile uint8_t MKFlags;	249	extern volatile uint8_t MKFlags;
249	extern uint16_t isFlying;	250	extern uint16_t isFlying;
250		251
251	void channelMap_default(void);	252	void channelMap_default(void);
252	void paramSet_default(uint8_t setnumber);	253	void paramSet_default(uint8_t setnumber);
253	void mixerMatrix_default(void);	254	void mixerMatrix_default(void);
254		255
255	void configuration_applyVariablesToParams(void);	256	void configuration_applyVariablesToParams(void);
256	uint8_t getCPUType(void);	257	uint8_t getCPUType(void);
257	uint8_t getBoardRelease(void);	258	uint8_t getBoardRelease(void);
258		259
259	#endif // _CONFIGURATION_H	260	#endif // _CONFIGURATION_H
260		261

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.h - Rev 2020 → 2026