config.h

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/*
 * config.h
 *
 * Copyright (c) 2013, Thomas Buck <xythobuz@me.com>
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * - Redistributions of source code must retain the above copyright notice,
 *   this list of conditions and the following disclaimer.
 *
 * - Redistributions in binary form must reproduce the above copyright
 *   notice, this list of conditions and the following disclaimer in the
 *   documentation and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef _config_h
#define _config_h

//  -----------------
// |    Filtering    |
//  -----------------

#define FILTER_KALMAN 0
#define FILTER_COMPLEMENTARY 1
#define ORIENTATION_FILTER FILTER_KALMAN 
#define COMPLEMENTARY_TAU 0.5

// 1 has no effect, bigger numbers dampen the signal more
#define SOFTWARELOWPASS 1 
#define ACCFILTERFACTOR SOFTWARELOWPASS 
#define GYROFILTERFACTOR SOFTWARELOWPASS 
#define PID_OUTMAX 256 
#define PID_OUTMIN -256 
#define PID_INTMAX PID_OUTMAX 
#define PID_INTMIN PID_OUTMIN 
//  -----------------
// |    Kalman      |
//  -----------------

#define DT 0.01f // 100Hz

// Q (3x3 Matrix) with these elements on diagonal
#define Q1 5.0f 
#define Q2 100.0f 
#define Q3 0.01f 
// R (2x2 Matrix) with these elements on diagonal
#define R1 1000.0f 
#define R2 1000.0f 
//  -----------------
// |       Set       |
//  -----------------

#define SET_ROLLPLUS 1 
#define SET_ROLLMINUS 3 
#define SET_PITCHPLUS 0 
#define SET_PITCHMINUS 2 
//  -----------------
// |       PID       |
//  -----------------

#define PID_P 5.0 
#define PID_I 0.03 
#define PID_D -13.0 
//  -----------------
// |      Motor      |
//  -----------------

#define MOTORCOUNT 4  
//  -----------------
// |       ADC       |
//  -----------------

#define BATT_MAX 15 
#define BATT_CHANNEL 0 
//  -----------------
// |       TWI       |
//  -----------------

#define ACC_ADDRESS 0x32 
#define GYRO_ADDRESS 0xD6 
#define MAG_ADDRESS 0x3C 
#define MOTOR_BASEADDRESS 0x52 
//  -----------------
// |    xyControl    |
//  -----------------

#define LED0PORT PORTL 
#define LED0DDR DDRL 
#define LED0PIN PL6 
#define LED1PORT PORTL 
#define LED1DDR DDRL 
#define LED1PIN PL7 
#define LED2PORT PORTG 
#define LED2DDR DDRG 
#define LED2PIN PG5 
#define LED3PORT PORTE 
#define LED3DDR DDRE 
#define LED3PIN PE2 
//  -----------------
// |      XMEM       |
//  -----------------

#define BANK0PORT PORTG 
#define BANK0DDR DDRG   
#define BANK0PIN PG3    
#define BANK1PORT PORTG 
#define BANK1DDR DDRG   
#define BANK1PIN PG4    
#define BANK2PORT PORTL 
#define BANK2DDR DDRL   
#define BANK2PIN PL5    
//  -----------------
// |       SPI       |
//  -----------------

#define SPIDDR DDRB 
#define SPIMOSI PB2 
#define SPISCK PB1 
#define SPISS PB0 
//  -----------------
// |     Serial      |
//  -----------------

#define RX_BUFFER_SIZE 64 
#define TX_BUFFER_SIZE 64 
#endif