autodrone32.h

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#ifndef __AUTODRONE32_H__
#define __AUTODRONE32_H__
 
#ifndef PI
#define PI  3.14159265358979f
#endif
 
#define TWO_PI (2.0f * PI)
 
#define D2R  (PI / 180.0f)
 
#define R2D  (180.0f / PI)
 
#define KNOTS2MPS 0.51444444f
 
#define EARTH_RADIUS 6371000f
 
#define SQR(x)  ((x) * (x))
 
#define CUBE(x) ((x) * (x) * (x))
 
 
#define ROLL     0
#define PITCH    1
#define YAW      2
#define THROTTLE 3
#define AUX1     4
#define AUX2     5
#define AUX3     6
#define AUX4     7
#define AUX5     8
#define AUX6     9
#define AUX7     10
#define AUX8     11
 
#define XAXIS    0
#define YAXIS    1
#define ZAXIS    2
 
#define MINCOMMAND  2000
#define MIDCOMMAND  3000
#define MAXCOMMAND  4000
 
// Misc Type Definitions
 
typedef union {
    int16_t value;
    uint8_t bytes[2];
} int16andUint8_t;
 
typedef union {
    int32_t value;
    uint8_t bytes[4];
} int32andUint8_t;
 
typedef union {
    uint16_t value;
    uint8_t bytes[2];
} uint16andUint8_t;
 
typedef union {
    uint32_t value;
    uint8_t bytes[4];
} uint32andUint8_t;
 
 
typedef volatile uint8_t semaphore_t;
 
// Sensor Variables
 
typedef struct sensors_t
{
    float   accel500Hz[3];
    float   accel100Hz[3];
    float   attitude500Hz[3];
    float   gyro500Hz[3];
    float   attDeg500Hz[3];
} sensors_t;
 
extern sensors_t sensors;
 
// PID Definitions
 
#define NUMBER_OF_PIDS      6
 
#define ROLL_RATE_PID       0
#define PITCH_RATE_PID      1
#define YAW_RATE_PID        2
 
#define ROLL_ATT_PID        3
#define PITCH_ATT_PID       4
#define HEADING_PID         5
 
// Flight Modes
 
typedef enum
{
    TRANS_FLIGHT,
    FLIGHT,
    TRANS_ROVER,
    ROVER
}modes_e;
 
typedef enum
{
    RATE,
    ANGLE
}flightModes_e;
 
// MPU6000 DLPF Configurations
 
enum { DLPF_256HZ, DLPF_188HZ, DLPF_98HZ, DLPF_42HZ };
 
// EEPROM
 
typedef struct eepromConfig_t
{
 
    uint8_t version;
 
    float accelBiasMPU[3];          // Bias for MPU60x0 Accel
    float accelScaleFactorMPU[3];   // Scale factor for MPU60x0 Accel
 
    float accelTCBiasSlope[3];
    float accelTCBiasIntercept[3];
 
    float gyroTCBiasSlope[3];
    float gyroTCBiasIntercept[3];
 
    float accelCutoff;
 
    float KpAcc;
 
    float KiAcc;
 
    uint8_t dlpfSetting;
 
    uint8_t sensorOrientation;
 
 
    double rateCoeffAlpha;
    float rateCoeffBravo;
    float yawRateScaling;
 
    float attitudeScaling;
 
 
    float midCommand;
    float minCheck;
    float maxCheck;
    float minThrottle;
    float maxThrottle;
 
 
    PIDdata_t PID[NUMBER_OF_PIDS];
 
 
    uint16_t activeTelemetry;
 
 
    float yawDirection;
 
 
} eepromConfig_t;
 
enum crcFlags { CRC_HistoryBad = 1 };
 
extern eepromConfig_t eepromConfig;
 
 
#endif /* __AUTODRONE32_H__ */