Various default settings. More...

Files
file	config.h
	Various default settings.

Macros
#define	ORIENTATION_FILTER FILTER_KALMAN
	Filter Implementation to be used. More...

#define	COMPLEMENTARY_TAU 0.5
	Time Contant for Low and High Pass Filter in the Complementary Filter. More...

#define	SOFTWARELOWPASS 1
	Software Low-Pass on Gyro and ACC. More...

#define	ACCFILTERFACTOR SOFTWARELOWPASS
	Accelerometer Low Pass Factor. More...

#define	GYROFILTERFACTOR SOFTWARELOWPASS
	Gyroscope Low Pass Factor. More...

#define	PID_OUTMAX 256
	Maximum PID Output. More...

#define	PID_OUTMIN -256
	Minimum PID Output. More...

#define	PID_INTMAX PID_OUTMAX
	Maximum PID Integral Sum. More...

#define	PID_INTMIN PID_OUTMIN
	Minimal PID Integral Sum. More...

#define	DT 0.01f
	Time Constant. More...

#define	Q1 5.0f
	Q Matrix Diagonal Element 1. More...

#define	Q2 100.0f
	Q Matrix Diagonal Element 2. More...

#define	Q3 0.01f
	Q Matrix Diagonal Element 3. More...

#define	R1 1000.0f
	R Matrix Diagonal Element 1. More...

#define	R2 1000.0f
	R Matrix Diagonal Element 2. More...

#define	SET_ROLLPLUS 1
	Second Motor at the Right. More...

#define	SET_ROLLMINUS 3
	Fourth Motor at the Left. More...

#define	SET_PITCHPLUS 0
	First Motor at the Top. More...

#define	SET_PITCHMINUS 2
	Third Motor at the Bottom. More...

#define	PID_P 5.0
	Default PID P Constant. More...

#define	PID_I 0.03
	Default PID I Constant. More...

#define	PID_D -13.0
	Default PID D Constant. More...

#define	MOTORCOUNT 4
	Amount of motors. More...

#define	BATT_MAX 15
	Battery Voltage Reference (ADC 5V) More...

#define	BATT_CHANNEL 0
	ADC Channel for Battery. More...

#define	ACC_ADDRESS 0x32
	Accelerometer Address (0011001r) More...

#define	GYRO_ADDRESS 0xD6
	Gyroscope Address (110101xr, x = 1) More...

#define	MAG_ADDRESS 0x3C
	Magnetometer Address. More...

#define	MOTOR_BASEADDRESS 0x52
	Address of first motor controller. More...

#define	LED0PORT PORTL
	First LED Port. More...

#define	LED0DDR DDRL
	First LED Data Direction Register. More...

#define	LED0PIN PL6
	First LED Pin. More...

#define	LED1PORT PORTL
	Second LED Port. More...

#define	LED1DDR DDRL
	Second LED Data Direction Register. More...

#define	LED1PIN PL7
	Second LED Pin. More...

#define	LED2PORT PORTG
	Third LED Port. More...

#define	LED2DDR DDRG
	Third LED Data Direction Register. More...

#define	LED2PIN PG5
	Third LED Pin. More...

#define	LED3PORT PORTE
	Fourth LED Port. More...

#define	LED3DDR DDRE
	Fourth LED Data Direction Register. More...

#define	LED3PIN PE2
	Fourth LED Pin. More...

#define	BANK0PORT PORTG
	First Bank Selection Port. More...

#define	BANK0DDR DDRG
	First Bank Selection Data Direction Register. More...

#define	BANK0PIN PG3
	First Bank Selection Pin. More...

#define	BANK1PORT PORTG
	Second Bank Selection Port. More...

#define	BANK1DDR DDRG
	Second Bank Selection Data Direction Register. More...

#define	BANK1PIN PG4
	Second Bank Selection Pin. More...

#define	BANK2PORT PORTL
	Third Bank Selection Port. More...

#define	BANK2DDR DDRL
	Third Bank Selection Data Direction Register. More...

#define	BANK2PIN PL5
	Third Bank Selection Pin. More...

#define	SPISS PB0
	SPI Slave Select Pin. More...

#define	RX_BUFFER_SIZE 64
	UART Receive Buffer Size. More...

#define	TX_BUFFER_SIZE 64
	UART Transmit Buffer Size. More...

Detailed Description

Various default settings.

Macro Definition Documentation

#define ACC_ADDRESS 0x32

Accelerometer Address (0011001r)

Definition at line 117 of file config.h.

Referenced by accRead().

#define ACCFILTERFACTOR SOFTWARELOWPASS

Accelerometer Low Pass Factor.

Definition at line 59 of file config.h.

Referenced by accRead().

#define BANK0DDR DDRG

First Bank Selection Data Direction Register.

Definition at line 144 of file config.h.

Referenced by xmemInit().

#define BANK0PIN PG3

First Bank Selection Pin.

Definition at line 145 of file config.h.

Referenced by xmemInit(), and xmemSetBank().

#define BANK0PORT PORTG

First Bank Selection Port.

Definition at line 143 of file config.h.

Referenced by xmemInit(), and xmemSetBank().

#define BANK1DDR DDRG

Second Bank Selection Data Direction Register.

Definition at line 147 of file config.h.

Referenced by xmemInit().

#define BANK1PIN PG4

Second Bank Selection Pin.

Definition at line 148 of file config.h.

Referenced by xmemInit(), and xmemSetBank().

#define BANK1PORT PORTG

Second Bank Selection Port.

Definition at line 146 of file config.h.

Referenced by xmemInit(), and xmemSetBank().

#define BANK2DDR DDRL

Third Bank Selection Data Direction Register.

Definition at line 150 of file config.h.

Referenced by xmemInit().

#define BANK2PIN PL5

Third Bank Selection Pin.

Definition at line 151 of file config.h.

Referenced by xmemInit(), and xmemSetBank().

#define BANK2PORT PORTL

Third Bank Selection Port.

Definition at line 149 of file config.h.

Referenced by xmemInit(), and xmemSetBank().

#define BATT_CHANNEL 0

ADC Channel for Battery.

Definition at line 111 of file config.h.

Referenced by getVoltage().

#define BATT_MAX 15

Battery Voltage Reference (ADC 5V)

Definition at line 110 of file config.h.

Referenced by getVoltage().

#define COMPLEMENTARY_TAU 0.5

Time Contant for Low and High Pass Filter in the Complementary Filter.

In essence, time periods shorter than TAU come from gyro data, longer time periods come from the Accelerometer data. In seconds!

Definition at line 55 of file config.h.

Referenced by complementaryExecute().

#define DT 0.01f

Time Constant.

Definition at line 72 of file config.h.

Referenced by kalmanInnovate().

#define GYRO_ADDRESS 0xD6

Gyroscope Address (110101xr, x = 1)

Definition at line 118 of file config.h.

Referenced by gyroRead().

#define GYROFILTERFACTOR SOFTWARELOWPASS

Gyroscope Low Pass Factor.

Definition at line 60 of file config.h.

Referenced by gyroRead().

#define LED0DDR DDRL

First LED Data Direction Register.

Definition at line 127 of file config.h.

Referenced by xyInit().

#define LED0PIN PL6

First LED Pin.

Definition at line 128 of file config.h.

Referenced by xyInit().

#define LED0PORT PORTL

First LED Port.

Definition at line 126 of file config.h.

#define LED1DDR DDRL

Second LED Data Direction Register.

Definition at line 130 of file config.h.

Referenced by xyInit().

#define LED1PIN PL7

Second LED Pin.

Definition at line 131 of file config.h.

Referenced by xyInit().

#define LED1PORT PORTL

Second LED Port.

Definition at line 129 of file config.h.

#define LED2DDR DDRG

Third LED Data Direction Register.

Definition at line 133 of file config.h.

Referenced by xyInit().

#define LED2PIN PG5

Third LED Pin.

Definition at line 134 of file config.h.

Referenced by xyInit().

#define LED2PORT PORTG

Third LED Port.

Definition at line 132 of file config.h.

#define LED3DDR DDRE

Fourth LED Data Direction Register.

Definition at line 136 of file config.h.

Referenced by xyInit().

#define LED3PIN PE2

Fourth LED Pin.

Definition at line 137 of file config.h.

Referenced by xyInit().

#define LED3PORT PORTE

Fourth LED Port.

Definition at line 135 of file config.h.

#define MAG_ADDRESS 0x3C

Magnetometer Address.

Definition at line 119 of file config.h.

Referenced by magRead(), and magWriteRegister().

#define MOTOR_BASEADDRESS 0x52

Address of first motor controller.

Definition at line 120 of file config.h.

Referenced by motorTask().

#define MOTORCOUNT 4

Amount of motors.

Definition at line 104 of file config.h.

Referenced by motorInit(), motorSet(), and motorTask().

#define ORIENTATION_FILTER FILTER_KALMAN

Filter Implementation to be used.

Definition at line 48 of file config.h.

#define PID_D -13.0

Default PID D Constant.

Definition at line 98 of file config.h.

Referenced by pidInit().

#define PID_I 0.03

Default PID I Constant.

Definition at line 97 of file config.h.

Referenced by pidInit().

#define PID_INTMAX PID_OUTMAX

Maximum PID Integral Sum.

Definition at line 64 of file config.h.

Referenced by pidInit().

#define PID_INTMIN PID_OUTMIN

Minimal PID Integral Sum.

Definition at line 65 of file config.h.

Referenced by pidInit().

#define PID_OUTMAX 256

Maximum PID Output.

Definition at line 62 of file config.h.

Referenced by pidInit().

#define PID_OUTMIN -256

Minimum PID Output.

Definition at line 63 of file config.h.

Referenced by pidInit().

#define PID_P 5.0

Default PID P Constant.

Definition at line 96 of file config.h.

Referenced by pidInit().

#define Q1 5.0f

Q Matrix Diagonal Element 1.

Definition at line 75 of file config.h.

Referenced by kalmanInnovate().

#define Q2 100.0f

Q Matrix Diagonal Element 2.

Definition at line 76 of file config.h.

Referenced by kalmanInnovate().

#define Q3 0.01f

Q Matrix Diagonal Element 3.

Definition at line 77 of file config.h.

Referenced by kalmanInnovate().

#define R1 1000.0f

R Matrix Diagonal Element 1.

Definition at line 80 of file config.h.

Referenced by kalmanInnovate().

#define R2 1000.0f

R Matrix Diagonal Element 2.

Definition at line 81 of file config.h.

Referenced by kalmanInnovate().

#define RX_BUFFER_SIZE 64

UART Receive Buffer Size.

Definition at line 166 of file config.h.

#define SET_PITCHMINUS 2

Third Motor at the Bottom.

Definition at line 90 of file config.h.

Referenced by setMotorSpeeds().

#define SET_PITCHPLUS 0

First Motor at the Top.

Definition at line 89 of file config.h.

Referenced by setMotorSpeeds().

#define SET_ROLLMINUS 3

Fourth Motor at the Left.

Definition at line 88 of file config.h.

Referenced by setMotorSpeeds().

#define SET_ROLLPLUS 1

Second Motor at the Right.

Definition at line 87 of file config.h.

Referenced by setMotorSpeeds().

#define SOFTWARELOWPASS 1

Software Low-Pass on Gyro and ACC.

Definition at line 58 of file config.h.

#define SPISS PB0

SPI Slave Select Pin.

Definition at line 160 of file config.h.

#define TX_BUFFER_SIZE 64

UART Transmit Buffer Size.

Definition at line 167 of file config.h.

Files

Macros

Detailed Description

Macro Definition Documentation