Subversion Repositories FlightCtrl

#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;

// values above 250 representing poti1 to poti4
typedef struct {
  // Global bitflags
  uint8_t bitConfig;  // see upper defines for bitcoding
 
  // IMU
  uint8_t gyroQuadrant;
  uint8_t accQuadrant;
  uint8_t imuReversedFlags;
 
  uint8_t gyroPIDFilterConstant;
  uint8_t gyroATTFilterConstant;
  uint8_t gyroDFilterConstant;
  uint8_t accFilterConstant;

  uint8_t zerothOrderCorrection;
  uint8_t zerothOrderCorrectionAccTolerance;
  uint8_t zerothOrderCorrectionControlTolerance;

  uint8_t maxControlActivity; // old version for comparison.
  uint8_t maxAccVector;

  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 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 dAirpressureWindowLength; // values 1..5 are legal.
  uint8_t airpressureAccZCorrection;
  uint8_t heightP;
  uint8_t heightI;
  uint8_t heightD;
  uint8_t heightSetting;
  uint8_t heightControlMaxIntegral;
  uint8_t heightControlMaxThrottleChange;
  uint8_t heightSlewRate;

  // 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;

  // 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_GPS_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 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);

uint8_t getCPUType(void);
uint8_t getBoardRelease(void);

// Called after a change in configuration parameters, as a hook for modules to take over changes.
void configuration_paramSetDidChange(void);
#endif // _CONFIGURATION_H