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#ifndef _CONFIGURATION_H
#define _CONFIGURATION_H
#include <inttypes.h>
#include <avr/io.h>
typedef struct {
uint8_t HeightD;
uint8_t MaxHeight;
uint8_t HeightP;
uint8_t Height_ACC_Effect;
uint8_t CompassYawEffect;
uint8_t GyroD;
uint8_t GyroP;
uint8_t GyroI;
uint8_t StickYawP;
uint8_t IFactor;
uint8_t UserParams[8];
/*
uint8_t UserParam2;
uint8_t UserParam3;
uint8_t UserParam4;
uint8_t UserParam5;
uint8_t UserParam6;
uint8_t UserParam7;
uint8_t UserParam8;
*/
uint8_t ServoPitchControl;
uint8_t LoopGasLimit;
uint8_t AxisCoupling1;
uint8_t AxisCoupling2;
uint8_t AxisCouplingYawCorrection;
uint8_t DynamicStability;
uint8_t ExternalControl;
uint8_t J16Timing;
uint8_t J17Timing;
#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
uint8_t NaviGpsModeControl;
uint8_t NaviGpsGain;
uint8_t NaviGpsP;
uint8_t NaviGpsI;
uint8_t NaviGpsD;
uint8_t NaviGpsACC;
uint8_t NaviOperatingRadius;
uint8_t NaviWindCorrection;
uint8_t NaviSpeedCompensation;
#endif
int8_t KalmanK;
int8_t KalmanMaxDrift;
int8_t KalmanMaxFusion;
} fc_param_t;
extern fc_param_t dynamicParams;
// 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 GasMin; // Value : 0-32
uint8_t GasMax; // 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 Empängsverlust
uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen
uint8_t UfoArrangement; // x oder + Formation
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
*/
uint8_t ServoPitchControl; // Value : 0-250 // Stellung des Servos
uint8_t ServoPitchComp; // Value : 0-250 // Einfluss Gyro/Servo
uint8_t ServoPitchMin; // Value : 0-250 // Anschlag
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 während 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 AngleTurnOverPitch; // Value: 0-250 180°-Punkt
uint8_t AngleTurnOverRoll; // Value: 0-250 180°-Punkt
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 Reserved[4];
int8_t Name[12];
} paramset_t;
#define PARAMSET_STRUCT_LEN sizeof(paramset_t)
extern paramset_t staticParams;
typedef struct {
uint8_t Revision;
int8_t Name[12];
int8_t Motor[16][4];
} __attribute__((packed)) MixerTable_t;
extern MixerTable_t Mixer;
// 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_RESERVE1 (1<<5)
#define MKFLAG_RESERVE2 (1<<6)
#define MKFLAG_RESERVE3 (1<<7)
// bit mask for staticParams.GlobalConfig
#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 CFG_AXIS_COUPLING_ACTIVE (1<<6)
#define CFG_ROTARY_RATE_LIMITER (1<<7)
// bit mask for ParamSet.BitConfig
#define CFG_LOOP_UP (1<<0)
#define CFG_LOOP_DOWN (1<<1)
#define CFG_LOOP_LEFT (1<<2)
#define CFG_LOOP_RIGHT (1<<3)
#define CFG_HEIGHT_3SWITCH (1<<4)
#define ATMEGA644 0
#define ATMEGA644P 1
#define SYSCLK F_CPU
// Not really a part of configuration, but heck, LEDs and beepers now have a home.
#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
extern volatile uint8_t MKFlags;
extern int16_t variables[8];
extern uint8_t BoardRelease;
extern uint8_t CPUType;
void configuration_applyVariablesToParams(void);
uint8_t getCPUType(void);
uint8_t getBoardRelease(void);
// Not really a part of configuration, but heck, LEDs and beepers now have a home.
void beep(uint16_t millis);
void beepNumber(uint8_t numbeeps);
void beepRCAlarm(void);
void beepI2CAlarm(void);
void beepBatteryAlarm(void);
#endif // _CONFIGURATION_H