WebSVN - FlightCtrl - Diff - Rev 1908 and 1960 - /branches/dongfang_FC

 #define _CONFIGURATION_H
 #include <inttypes.h>
+#include <avr/io.h>
+#define MAX_CHANNELS 10
-#include <avr/io.h>
+#define MAX_MOTORS 12
-typedef struct {
-  /*PMM*/uint8_t HeightD;
+typedef struct {
-  /* P */uint8_t MaxHeight;
-  /*PMM*/uint8_t HeightP;
-  /* P */uint8_t Height_ACC_Effect;
+  // IMU
-  /* P */uint8_t CompassYawEffect;
-  /* P */uint8_t GyroD;
+  /*PMM*/uint8_t gyroP;
-  /*PMM*/uint8_t GyroP;
-  /* P */uint8_t GyroI;
+  /* P */uint8_t gyroD;
-  /* Never used */uint8_t StickYawP;
+  /* P */uint8_t gyroI;
   /* P */uint8_t IFactor;
+  uint8_t yawIFactor;
+  /* P */uint8_t compassYawEffect;
-  /* P */uint8_t UserParams[8];
+  // Control
-  /* P */uint8_t ServoPitchControl;
+  /* P */uint8_t externalControl;
-  /* P */uint8_t LoopGasLimit;
-  /* P */uint8_t AxisCoupling1;
+  /* P */uint8_t axisCoupling1;
-  /* P */uint8_t AxisCoupling2;
+  /* P */uint8_t axisCoupling2;
-  /* P */uint8_t AxisCouplingYawCorrection;
+  /* P */uint8_t axisCouplingYawCorrection;
+  /* P */uint8_t dynamicStability;
-  /* P */uint8_t DynamicStability;
+  uint8_t maxControlActivityForAcc;
-  /* P */uint8_t ExternalControl;
-  /*PMM*/uint8_t J16Timing;
+  // Height control
-  /*PMM*/uint8_t J17Timing;
+  /*PMM*/uint8_t heightP;
-  /* P */uint8_t NaviGpsModeControl;
+  /*PMM*/uint8_t heightD;
+  /* P */uint8_t heightSetting;
-  /* P */uint8_t NaviGpsGain;
+  /* P */uint8_t heightACCEffect;
-  /* P */uint8_t NaviGpsP;
+  uint8_t attitudeControl;
-  /* P */uint8_t NaviGpsI;
-  /* P */uint8_t NaviGpsD;
+  // The rest...
-  /* P */uint8_t NaviGpsACC;
+  /* P */uint8_t userParams[8];
-  /*PMM*/uint8_t NaviOperatingRadius;
-  /* P */uint8_t NaviWindCorrection;
+  /*PMM*/uint8_t output0Timing;
-  /* P */uint8_t NaviSpeedCompensation;
+  /*PMM*/uint8_t output1Timing;
-  int8_t KalmanK;
+  uint8_t servoManualControl[2];
   int8_t KalmanMaxDrift;
+  uint8_t motorSmoothing;
-  int8_t KalmanMaxFusion;
+} dynamicParam_t;
 } dynamicParam_t;
 extern dynamicParam_t dynamicParams;
 typedef struct {
   uint8_t sourceIdx, targetIdx;
-} XLATION;
 } XLATION;
-// values above 250 representing poti1 to poti4
-typedef struct {
-  uint8_t ChannelAssignment[8]; // see upper defines for details
-  uint8_t GlobalConfig; // see upper defines for bitcoding
-  uint8_t HeightMinGas; // Value : 0-100
-  uint8_t HeightD; // Value : 0-250
-  uint8_t MaxHeight; // Value : 0-32
-  uint8_t HeightP; // Value : 0-32
-  uint8_t Height_Gain; // Value : 0-50
-  uint8_t Height_ACC_Effect; // Value : 0-250
-  uint8_t StickP; // Value : 1-6
-  uint8_t StickD; // Value : 0-64
-  uint8_t StickYawP; // Value : 1-20
-  uint8_t MinThrottle; // Value : 0-32
-  uint8_t MaxThrottle; // Value : 33-250
-  uint8_t GyroAccFactor; // Value : 1-64
-  uint8_t CompassYawEffect; // Value : 0-32
-  uint8_t GyroP; // Value : 10-250
-  uint8_t GyroI; // Value : 0-250
-  uint8_t GyroD; // Value : 0-250
-  uint8_t LowVoltageWarning; // Value : 0-250
-  uint8_t EmergencyGas; // Value : 0-250     //Gaswert bei Empüngsverlust
-  uint8_t EmergencyGasDuration; // Value : 0-250     // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen
-  uint8_t Unused0; //
-  uint8_t IFactor; // Value : 0-250
-  uint8_t UserParams1[4]; // Value : 0-250
-  /*
-   uint8_t UserParam2;             // Value : 0-250
-   uint8_t UserParam3;             // Value : 0-250
-   uint8_t UserParam4;             // Value : 0-250
-   */
+typedef struct {
-  uint8_t ServoPitchControl;
+  uint8_t checksum;
-  uint8_t ServoPitchComp;
-  uint8_t ServoPitchMin;
-  uint8_t ServoPitchMax; // Value : 0-250     // Anschlag
-  uint8_t ServoRefresh; // Value: 0-250      // Refreshrate of servo pwm output
-  uint8_t LoopGasLimit; // Value: 0-250  max. Gas wührend Looping
-  uint8_t LoopThreshold; // Value: 0-250  Schwelle für Stickausschlag
-  uint8_t LoopHysteresis; // Value: 0-250  Hysterese für Stickausschlag
-  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 revisionNumber;
-  uint8_t unused0;
-  uint8_t unused1;
-  uint8_t GyroAccTrim; // 1/k  (Koppel_ACC_Wirkung)
-  uint8_t DriftComp; // limit for gyrodrift compensation
-  uint8_t DynamicStability; // PID limit for Attitude controller
-  uint8_t UserParams2[4]; // Value : 0-250
-  /*
-   uint8_t UserParam6;             // Value : 0-250
-   uint8_t UserParam7;             // Value : 0-250
-   uint8_t UserParam8;             // Value : 0-250
-   */
-  uint8_t J16Bitmask; // for the J16 Output
-  uint8_t J16Timing; // for the J16 Output
-  uint8_t J17Bitmask; // for the J17 Output
-  uint8_t J17Timing; // for the J17 Output
-  uint8_t NaviGpsModeControl; // Parameters for the Naviboard
-  uint8_t NaviGpsGain; // overall gain for GPS-PID controller
-  uint8_t NaviGpsP; // P gain for GPS-PID controller
-  uint8_t NaviGpsI; // I gain for GPS-PID controller
-  uint8_t NaviGpsD; // D gain for GPS-PID controller
-  uint8_t NaviGpsPLimit; // P limit for GPS-PID controller
-  uint8_t NaviGpsILimit; // I limit for GPS-PID controller
-  uint8_t NaviGpsDLimit; // D limit for GPS-PID controller
-  uint8_t NaviGpsACC; // ACC gain for GPS-PID controller
-  uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions
-  uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements
-  uint8_t NaviWindCorrection; // streng of wind course correction
-  uint8_t NaviSpeedCompensation; // D gain fefore position hold login
-  uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights
-  uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm
-  uint8_t NaviPHLoginTime; // position hold logintimeout
-  uint8_t ExternalControl; // for serial Control
-  uint8_t BitConfig; // see upper defines for bitcoding
-  uint8_t ServoPitchCompInvert; // Value : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
+  uint8_t channels[MAX_CHANNELS];
-  uint8_t Reserved[4];
+} channelMap_t;
+extern channelMap_t channelMap;
+typedef struct {
+  uint8_t checksum;
-  int8_t Name[12];
+  uint8_t revision;
+  int8_t name[12];
+  int8_t motor[MAX_MOTORS][4];
+}__attribute__((packed)) mixerMatrix_t;
-} paramset_t;
+extern mixerMatrix_t mixerMatrix;
+typedef struct {
+  uint8_t manualControl;
+  uint8_t compensationFactor;
+  uint8_t minValue;
+  uint8_t maxValue;
+  uint8_t flags;
+} servo_t;
+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
+  uint8_t bitConfig2; // see upper defines for bitcoding
+  // Height Control
+  uint8_t heightP; // Value : 0-32
+  uint8_t heightD; // Value : 0-250
+  uint8_t heightSetting; // Value : 0-32
-#define  PARAMSET_STRUCT_LEN  sizeof(paramset_t)
+  uint8_t heightMaxThrottleChange; // Value : 0-100
+  uint8_t heightSlewRate; // Value : 0-50
+  uint8_t heightACCEffect; // Value : 0-250
+  // Attitude Control
+  uint8_t attitudeControl;
+  // Control
+  uint8_t stickP; // Value : 1-6
+  uint8_t stickD; // Value : 0-64
+  uint8_t stickYawP; // Value : 1-20
+  uint8_t stickThrottleD;
+  uint8_t minThrottle; // Value : 0-32
+  uint8_t maxThrottle; // Value : 33-250
+  uint8_t externalControl; // for serial Control
-extern paramset_t staticParams;
+  uint8_t maxControlActivityForAcc;
+  // IMU
+  uint8_t gyroPIDFilterConstant;
+  uint8_t gyroATTFilterConstant;
+  uint8_t gyroDFilterConstant;
+  uint8_t accFilterConstant;
+  uint8_t gyroP; // Value : 10-250
+  uint8_t gyroI; // Value : 0-250
+  uint8_t gyroD; // Value : 0-250
+  uint8_t zerothOrderCorrection; // Value : 1-64
+  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 yawIFactor;
+  uint8_t compassYawEffect; // Value : 0-32
+  // Servos
+  servo_t servoConfigurations[2]; // [PITCH, ROLL]
+  uint8_t servoCount;
+  // Battery warning and emergency flight
+  uint8_t batteryVoltageWarning; // Value : 0-250
+  uint8_t emergencyThrottle; // Value : 0-250     //Gaswert bei Empüngsverlust  /*
+  uint8_t emergencyFlightDuration; // Value : 0-250     // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen
+  // Outputs
+  output_flash_t outputFlash[2];
+  uint8_t outputDebugMask;
+  // bit0: Test all OFF
+  // bit1: Test all ON
+  // bit2: flash when beeping
+  uint8_t outputFlags;
-typedef struct {
+  // User params
-  uint8_t Revision;
+  uint8_t userParams[8]; // Value : 0-250
   int8_t Name[12];
-  int8_t Motor[16][4];
+  // Name
-}__attribute__((packed)) MixerTable_t;
+  uint8_t name[12];
 } paramset_t;
-extern MixerTable_t Mixer;
+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_LANDING (1<<4)
+#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.GlobalConfig
+// bit mask for staticParams.bitConfig
 #define CFG_HEIGHT_CONTROL      (1<<0)
 #define CFG_HEIGHT_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 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_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_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_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_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 MIX_YAW         3
+extern volatile uint8_t MKFlags;
-extern volatile uint8_t MKFlags;
+extern uint8_t requiredMotors;
+extern int16_t variables[8]; // The "Poti"s.
+extern uint8_t boardRelease;
+extern uint8_t CPUType;
-extern int16_t variables[8]; // The "Poti"s.
+void channelMap_default(void);
-extern uint8_t BoardRelease;
+void paramSet_default(uint8_t setnumber);
-extern uint8_t CPUType;
+void mixerMatrix_default(void);

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.h @ 2762 - Rev 1908 → 1960