Subversion Repositories FlightCtrl

#ifndef _CONFIGURATION_H
#define _CONFIGURATION_H

#include <inttypes.h>
#include <avr/io.h>

typedef struct {
  /*PMM*/uint8_t HeightD;
  /* P */uint8_t MaxHeight;
  /*PMM*/uint8_t HeightP;
  /* P */uint8_t Height_ACC_Effect;
  /* P */uint8_t CompassYawEffect;
  /* P */uint8_t GyroD;
  /*PMM*/uint8_t GyroP;
  /* P */uint8_t GyroI;
  /* Never used */uint8_t StickYawP;
  /* P */uint8_t IFactor;
  /* P */uint8_t UserParams[8];
  /* P */uint8_t ServoPitchControl;
  /* P */uint8_t LoopGasLimit;
  /* P */uint8_t AxisCoupling1;
  /* P */uint8_t AxisCoupling2;
  /* P */uint8_t AxisCouplingYawCorrection;
  /* P */uint8_t DynamicStability;
  /* P */uint8_t ExternalControl;
  /*PMM*/uint8_t J16Timing;
  /*PMM*/uint8_t J17Timing;
  /* P */uint8_t NaviGpsModeControl;
  /* P */uint8_t NaviGpsGain;
  /* P */uint8_t NaviGpsP;
  /* P */uint8_t NaviGpsI;
  /* P */uint8_t NaviGpsD;
  /* P */uint8_t NaviGpsACC;
  /*PMM*/uint8_t NaviOperatingRadius;
  /* P */uint8_t NaviWindCorrection;
  /* P */uint8_t NaviSpeedCompensation;
  int8_t KalmanK;
  int8_t KalmanMaxDrift;
  int8_t KalmanMaxFusion;
} dynamicParam_t;
extern dynamicParam_t dynamicParams;

typedef struct {
  uint8_t sourceIdx, targetIdx;
  uint8_t min, max;
} MMXLATION;

typedef struct {
  uint8_t sourceIdx, targetIdx;
} 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
   */
  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 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 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 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 staticParams.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]; // The "Poti"s.
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