syouichi imamori / Mbed OS MulticopterQuadX

Quad X Type Multicopter

Dependencies:   IAP

config.h@0:cca1c4e84da4, 2013-07-11 (annotated)

Committer:
komaida424
Date:
Thu Jul 11 19:18:44 2013 +0000
Revision:
0:cca1c4e84da4
Child:
2:59ac9df97701
version1.03

Who changed what in which revision?

UserRevisionLine numberNew contents of line
komaida424 0:cca1c4e84da4 1 #ifndef CONFIG_H
komaida424 0:cca1c4e84da4 2 #define CONFIG_H
komaida424 0:cca1c4e84da4 3
komaida424 0:cca1c4e84da4 4 #define SERIAL_LCD
komaida424 0:cca1c4e84da4 5 //#define LPCXpresso
komaida424 0:cca1c4e84da4 6 //#define LocalFileOut
komaida424 0:cca1c4e84da4 7
komaida424 0:cca1c4e84da4 8 #define TX_TYPE 0 // 0:FM 1:IR
komaida424 0:cca1c4e84da4 9 #define Thro_Min 25
komaida424 0:cca1c4e84da4 10 #define Thro_Lo 75
komaida424 0:cca1c4e84da4 11 #define Thro_Hi 950
komaida424 0:cca1c4e84da4 12 #define Pulse_Min 1000
komaida424 0:cca1c4e84da4 13 #define Pulse_Max 2000
komaida424 0:cca1c4e84da4 14 #define Stick_Limit 150
komaida424 0:cca1c4e84da4 15 #define M1 M[0]
komaida424 0:cca1c4e84da4 16 #define M2 M[1]
komaida424 0:cca1c4e84da4 17 #define M3 M[2]
komaida424 0:cca1c4e84da4 18 #define M4 M[3]
komaida424 0:cca1c4e84da4 19 #define M5 M[4]
komaida424 0:cca1c4e84da4 20 #define M6 M[5]
komaida424 0:cca1c4e84da4 21 #define THR CH[0]
komaida424 0:cca1c4e84da4 22 #define AIL CH[1]
komaida424 0:cca1c4e84da4 23 #define ELE CH[2]
komaida424 0:cca1c4e84da4 24 #define RUD CH[3]
komaida424 0:cca1c4e84da4 25 #define AUX CH[4]
komaida424 0:cca1c4e84da4 26 #define _ITG3200 0x00
komaida424 0:cca1c4e84da4 27 #define _L3GD20 0x01
komaida424 0:cca1c4e84da4 28
komaida424 0:cca1c4e84da4 29 //enum PortNum{Port_THR=1,Port_AIL=3,Port_ELE=5,Port_RUD=7,Port_AUX=6};
komaida424 0:cca1c4e84da4 30 enum IRNum{IR_THR=1,IR_AIL,IR_ELE,IR_RUD,IR_AUX}; //Input Pulse Sequence
komaida424 0:cca1c4e84da4 31 enum channel{ROL=0,PIT,YAW,COL,GAIN};
komaida424 0:cca1c4e84da4 32
komaida424 0:cca1c4e84da4 33
komaida424 0:cca1c4e84da4 34 struct config {
komaida424 0:cca1c4e84da4 35 float Revision;
komaida424 0:cca1c4e84da4 36 int Struct_Size;
komaida424 0:cca1c4e84da4 37 int Stick_Ref[5]; //Stick Neutral Position
komaida424 0:cca1c4e84da4 38 float Stick_Mix[3]; //Mixing ratio of stick operation
komaida424 0:cca1c4e84da4 39 signed char Gyro_Dir[4];
komaida424 0:cca1c4e84da4 40 float Gyro_Gain[6];
komaida424 0:cca1c4e84da4 41 signed char Accel_Dir[4];
komaida424 0:cca1c4e84da4 42 float Accel_Gain[3];
komaida424 0:cca1c4e84da4 43 int Gyro_Gain_Setting;
komaida424 0:cca1c4e84da4 44 int Gyro_Divider;
komaida424 0:cca1c4e84da4 45 int Gyro_LPF_Value;
komaida424 0:cca1c4e84da4 46 int Gyro_SamplRate_Divider;
komaida424 0:cca1c4e84da4 47 int LCD_Contrast;
komaida424 0:cca1c4e84da4 48 int PWM_Mode;
komaida424 0:cca1c4e84da4 49 float Gyro_Stick_offset_effect;
komaida424 0:cca1c4e84da4 50 int PWM_Interval;
komaida424 0:cca1c4e84da4 51 // int Accel_Rang;
komaida424 0:cca1c4e84da4 52 // int Accel_Rate;
komaida424 0:cca1c4e84da4 53 // int PWM_Resolution;
komaida424 0:cca1c4e84da4 54 char StartMode;
komaida424 0:cca1c4e84da4 55 char Gyro_Type;
komaida424 0:cca1c4e84da4 56 public:
komaida424 0:cca1c4e84da4 57 config() {
komaida424 0:cca1c4e84da4 58 Revision = 1.03;
komaida424 0:cca1c4e84da4 59 Struct_Size = sizeof(config);
komaida424 0:cca1c4e84da4 60 Stick_Ref[0] = 1500;
komaida424 0:cca1c4e84da4 61 Stick_Ref[1] = 1500;
komaida424 0:cca1c4e84da4 62 Stick_Ref[2] = 1500;
komaida424 0:cca1c4e84da4 63 Stick_Ref[3] = 1100;
komaida424 0:cca1c4e84da4 64 Stick_Ref[4] = 1500;
komaida424 0:cca1c4e84da4 65 Stick_Mix[0] = 0.5;
komaida424 0:cca1c4e84da4 66 Stick_Mix[1] = 0.5;
komaida424 0:cca1c4e84da4 67 Stick_Mix[2] = 1.0;
komaida424 0:cca1c4e84da4 68 Gyro_Dir[0] = 1;
komaida424 0:cca1c4e84da4 69 Gyro_Dir[1] = 1;
komaida424 0:cca1c4e84da4 70 Gyro_Dir[2] = 1;
komaida424 0:cca1c4e84da4 71 Gyro_Dir[3] = -1;
komaida424 0:cca1c4e84da4 72 Gyro_Gain[0] = 0.40;
komaida424 0:cca1c4e84da4 73 Gyro_Gain[1] = 0.40;
komaida424 0:cca1c4e84da4 74 Gyro_Gain[2] = 0.40;
komaida424 0:cca1c4e84da4 75 Gyro_Gain[3] = 0.00;
komaida424 0:cca1c4e84da4 76 Gyro_Gain[4] = 0.00;
komaida424 0:cca1c4e84da4 77 Gyro_Gain[5] = 0.00;
komaida424 0:cca1c4e84da4 78 Accel_Dir[0] = 1;
komaida424 0:cca1c4e84da4 79 Accel_Dir[1] = 1;
komaida424 0:cca1c4e84da4 80 Accel_Dir[2] = 1;
komaida424 0:cca1c4e84da4 81 Accel_Dir[3] = 1;
komaida424 0:cca1c4e84da4 82 Accel_Gain[0] = 0.50;
komaida424 0:cca1c4e84da4 83 Accel_Gain[1] = 0.50;
komaida424 0:cca1c4e84da4 84 Accel_Gain[2] = 0.50;
komaida424 0:cca1c4e84da4 85 Gyro_Gain_Setting = -1;
komaida424 0:cca1c4e84da4 86 Gyro_Divider=7;
komaida424 0:cca1c4e84da4 87 Gyro_LPF_Value=0;
komaida424 0:cca1c4e84da4 88 Gyro_SamplRate_Divider=1;
komaida424 0:cca1c4e84da4 89 LCD_Contrast = 60;
komaida424 0:cca1c4e84da4 90 PWM_Mode = 1;
komaida424 0:cca1c4e84da4 91 Gyro_Stick_offset_effect = 0.00;
komaida424 0:cca1c4e84da4 92 PWM_Interval = 3000;
komaida424 0:cca1c4e84da4 93 // Accel_Rang = 2;
komaida424 0:cca1c4e84da4 94 // Accel_Rate = 14;
komaida424 0:cca1c4e84da4 95 // PWM_Resolution = 0;
komaida424 0:cca1c4e84da4 96 StartMode = 'C';
komaida424 0:cca1c4e84da4 97 Gyro_Type = _ITG3200;
komaida424 0:cca1c4e84da4 98 }
komaida424 0:cca1c4e84da4 99 };
komaida424 0:cca1c4e84da4 100 #endif
komaida424 0:cca1c4e84da4 101
komaida424 0:cca1c4e84da4 102
komaida424 0:cca1c4e84da4 103
komaida424 0:cca1c4e84da4 104
komaida424 0:cca1c4e84da4 105
komaida424 0:cca1c4e84da4 106