Initial check in for v3

AeroQuad/AeroQuad.h

@@ -0,0 +1,252 @@
+/*
+  AeroQuad v3.0 - April 2011
+  www.AeroQuad.com
+  Copyright (c) 2011 Ted Carancho.  All rights reserved.
+  An Open Source Arduino based multicopter.
+ 
+  This program is free software: you can redistribute it and/or modify 
+  it under the terms of the GNU General Public License as published by 
+  the Free Software Foundation, either version 3 of the License, or 
+  (at your option) any later version. 
+
+  This program is distributed in the hope that it will be useful, 
+  but WITHOUT ANY WARRANTY; without even the implied warranty of 
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+  GNU General Public License for more details. 
+
+  You should have received a copy of the GNU General Public License 
+  along with this program. If not, see <http://www.gnu.org/licenses/>. 
+*/
+
+#ifndef _AQ_GLOBAL_HEADER_DEFINITION_H_
+#define _AQ_GLOBAL_HEADER_DEFINITION_H_
+
+
+#include <stdlib.h>
+#include <math.h>
+#include "Arduino.h"
+#include "pins_arduino.h"
+
+// Flight Software Version
+#define SOFTWARE_VERSION 3.0
+
+#define BAUD 115200
+//#define BAUD 111111 // use this to be compatible with USB and XBee connections
+//#define BAUD 57600
+
+// Analog Reference Value
+// This value provided from Configurator
+// Use a DMM to measure the voltage between AREF and GND
+// Enter the measured voltage below to define your value for aref
+// If you don't have a DMM use the following:
+// AeroQuad Shield v1.7, aref = 3.0
+// AeroQuad Shield v1.6 or below, aref = 2.8
+float aref; // Read in from EEPROM
+//////////////////////////////////////////////////////
+
+/**
+ * Heading and heading hold global declaration section
+ */
+byte  headingHoldConfig   = 0;
+float headingHold         = 0; // calculated adjustment for quad to go to heading (PID output)
+float heading             = 0; // measured heading from yaw gyro (process variable)
+float relativeHeading     = 0; // current heading the quad is set to (set point)
+byte  headingHoldState    = OFF;
+//////////////////////////////////////////////////////
+
+/**
+ * battery monitor and battery monitor throttle correction global declaration section
+ */
+int batteyMonitorThrottleCorrection = 0;
+#if defined (BattMonitor)
+  #define BattMonitorAlarmVoltage 10.0  // required by battery monitor macro, this is overriden by readEEPROM()
+  float batteryMonitorAlarmVoltage = 10.0;
+  int batteryMonitorStartThrottle = 0;
+  int batteryMonitorThrottleTarget = 1450;
+  unsigned long batteryMonitorStartTime = 0;
+  unsigned long batteryMonitorGoinDownTime = 60000; 
+
+  #if defined BattMonitorAutoDescent
+    int batteryMonitorAlarmCounter = 0;
+    #define BATTERY_MONITOR_MAX_ALARM_COUNT 50
+  #endif
+#endif
+//////////////////////////////////////////////////////
+
+/**
+ * ESC calibration process global declaration
+ */
+byte calibrateESC = 0;
+int testCommand = 1000;
+//////////////////////////////////////////////////////
+
+/**
+ * Flight control global declaration
+ */
+#define RATE_FLIGHT_MODE 0
+#define ATTITUDE_FLIGHT_MODE 1
+byte flightMode = RATE_FLIGHT_MODE;
+unsigned long frameCounter = 0; // main loop executive frame counter
+int minArmedThrottle = MIN_ARMED_THROTTLE; // Read in from EEPROM, defines min throttle during flips
+
+float G_Dt = 0.002; 
+int throttle = 1000;
+byte motorArmed = OFF;
+byte safetyCheck = OFF;
+// main loop time variable
+unsigned long previousTime = 0;
+unsigned long currentTime = 0;
+unsigned long deltaTime = 0;
+// sub loop time variable
+unsigned long tenHZpreviousTime = 0;
+unsigned long fiftyHZpreviousTime = 0;
+unsigned long hundredHZpreviousTime = 0;
+
+void readPilotCommands(); 
+void calculateFlightError();
+void processHeading();
+void processAltitudeHold();
+void processCalibrateESC();
+void processFlightControl();
+void processAltitudeHold();
+//////////////////////////////////////////////////////
+
+/**
+ * Altitude control global declaration
+ */
+#if defined AltitudeHoldBaro || defined AltitudeHoldRangeFinder
+ // special state that allows immediate turn off of Altitude hold if large throttle changesa are made at the TX
+  int altitudeHoldBump = 90;
+  int altitudeHoldPanicStickMovement = 250;
+
+  float altitudeToHoldTarget = 0.0;
+  int altitudeHoldThrottle = 1000;
+  boolean isStoreAltitudeNeeded = false;
+  boolean altitudeHoldState = OFF;  // ON, OFF or ALTPANIC
+#endif
+int minThrottleAdjust = -50;
+int maxThrottleAdjust = 50;
+
+float getAltitudeFromSensors();
+//////////////////////////////////////////////////////
+
+
+/**
+ * Serial communication global declaration
+ */
+#define SERIAL_PRINT      SERIAL_PORT.print
+#define SERIAL_PRINTLN    SERIAL_PORT.println
+#define SERIAL_AVAILABLE  SERIAL_PORT.available
+#define SERIAL_READ       SERIAL_PORT.read
+#define SERIAL_FLUSH      SERIAL_PORT.flush
+#define SERIAL_BEGIN      SERIAL_PORT.begin
+
+HardwareSerial *binaryPort;
+
+void readSerialCommand();
+void sendSerialTelemetry();
+void printInt(int data);
+float readFloatSerial();
+void sendBinaryFloat(float);
+void sendBinaryuslong(unsigned long);
+void fastTelemetry();
+void comma();
+void reportVehicleState();
+//////////////////////////////////////////////////////
+
+/**
+ * EEPROM global section
+ */
+typedef struct {
+  float p;
+  float i;
+  float d;
+} t_NVR_PID;
+
+typedef struct {
+  float slope;
+  float offset;
+  float smooth_factor;
+} t_NVR_Receiver;
+
+typedef struct {    
+  t_NVR_PID ROLL_PID_GAIN_ADR;
+  t_NVR_PID LEVELROLL_PID_GAIN_ADR;
+  t_NVR_PID YAW_PID_GAIN_ADR;
+  t_NVR_PID PITCH_PID_GAIN_ADR;
+  t_NVR_PID LEVELPITCH_PID_GAIN_ADR;
+  t_NVR_PID HEADING_PID_GAIN_ADR;
+  t_NVR_PID LEVEL_GYRO_ROLL_PID_GAIN_ADR;
+  t_NVR_PID LEVEL_GYRO_PITCH_PID_GAIN_ADR;
+  t_NVR_PID ALTITUDE_PID_GAIN_ADR;
+  t_NVR_PID ZDAMP_PID_GAIN_ADR;
+  t_NVR_Receiver RECEIVER_DATA[LASTCHANNEL];
+
+  float SOFTWARE_VERSION_ADR;
+  float WINDUPGUARD_ADR;
+  float XMITFACTOR_ADR;
+  float GYROSMOOTH_ADR;
+  float ACCSMOOTH_ADR;
+  float AREF_ADR;
+  float FLIGHTMODE_ADR;
+  float HEADINGHOLD_ADR;
+  float ACCEL_1G_ADR;
+  float ALTITUDE_MAX_THROTTLE_ADR;
+  float ALTITUDE_MIN_THROTTLE_ADR;
+  float ALTITUDE_SMOOTH_ADR;
+  float ALTITUDE_WINDUP_ADR;
+  float ALTITUDE_BUMP_ADR;
+  float ALTITUDE_PANIC_ADR;
+  float SERVOMINPITCH_ADR;
+  float SERVOMINROLL_ADR;
+  float GYRO_ROLL_ZERO_ADR;
+  float GYRO_PITCH_ZERO_ADR;
+  float GYRO_YAW_ZERO_ADR;
+  // Accel Calibration
+  float XAXIS_ACCEL_BIAS_ADR;
+  float XAXIS_ACCEL_SCALE_FACTOR_ADR;
+  float YAXIS_ACCEL_BIAS_ADR;
+  float YAXIS_ACCEL_SCALE_FACTOR_ADR;
+  float ZAXIS_ACCEL_BIAS_ADR;
+  float ZAXIS_ACCEL_SCALE_FACTOR_ADR;
+  // Mag Calibration
+  float XAXIS_MAG_BIAS_ADR;
+  float YAXIS_MAG_BIAS_ADR;
+  float ZAXIS_MAG_BIAS_ADR;
+  // Battery Monitor
+  float BATT_ALARM_VOLTAGE_ADR;
+  float BATT_THROTTLE_TARGET_ADR;
+  float BATT_DOWN_TIME_ADR;
+} t_NVR_Data;  
+
+
+void readEEPROM(); 
+void initSensorsZeroFromEEPROM();
+void storeSensorsZeroToEEPROM();
+void initReceiverFromEEPROM();
+
+float nvrReadFloat(int address); // defined in DataStorage.h
+void nvrWriteFloat(float value, int address); // defined in DataStorage.h
+void nvrReadPID(unsigned char IDPid, unsigned int IDEeprom);
+void nvrWritePID(unsigned char IDPid, unsigned int IDEeprom);
+
+#define GET_NVR_OFFSET(param) ((int)&(((t_NVR_Data*) 0)->param))
+#define readFloat(addr) nvrReadFloat(GET_NVR_OFFSET(addr))
+#define writeFloat(value, addr) nvrWriteFloat(value, GET_NVR_OFFSET(addr))
+#define readPID(IDPid, addr) nvrReadPID(IDPid, GET_NVR_OFFSET(addr))
+#define writePID(IDPid, addr) nvrWritePID(IDPid, GET_NVR_OFFSET(addr))
+
+
+/**
+ * Debug utility global declaration
+ * Debug code should never be part of a release sofware
+ * @see Kenny
+ */
+//#define DEBUG
+byte fastTransfer = OFF; // Used for troubleshooting
+//unsigned long fastTelemetryTime = 0;
+//byte testSignal = LOW;
+//////////////////////////////////////////////////////
+
+#endif // _AQ_GLOBAL_HEADER_DEFINITION_H_
+