#ifndef DEF_H_ #define DEF_H_ /**************************************************************************************/ /*************** test configurations ********************/ /**************************************************************************************/ #if COPTERTEST == 1 #define QUADP #define WMP #elif COPTERTEST == 2 #define FLYING_WING #define WMP #define BMA020 #define FAILSAFE #define LCD_CONF #define LCD_TEXTSTAR #define VBAT #define POWERMETER_SOFT #elif COPTERTEST == 3 #define TRI #define FREEIMUv035_MS #define BUZZER #define VBAT #define POWERMETER_HARD #define LCD_CONF #define LCD_CONF_AUX #define LCD_VT100 #define LCD_TELEMETRY #define LCD_TELEMETRY_STEP "01245" #define LOG_VALUES 1 #define SUPPRESS_BARO_ALTHOLD #define VARIOMETER 12 #elif COPTERTEST == 4 #define QUADX #define CRIUS_SE #define SPEKTRUM 2048 #define LED_RING #define GPS_SERIAL 2 #define NMEA #define LOG_VALUES 2 #define LOG_PERMANENT #define LOG_PERMANENT_SERVICE_LIFETIME 36000 #elif COPTERTEST == 5 #define HELI_120_CCPM #define CRIUS_LITE #undef DISABLE_POWER_PIN #define RCAUXPIN8 #define OLED_I2C_128x64 #define LCD_TELEMETRY #define LOG_VALUES 3 #define DEBUG #undef SERVO_RFR_50HZ #define SERVO_RFR_160HZ #define VBAT #define POWERMETER_SOFT #define MMGYRO 10 #define MMGYROVECTORLENGTH 15 #define GYRO_SMOOTHING {45, 45, 50} #define INFLIGHT_ACC_CALIBRATION #define LOG_PERMANENT #define LOG_PERMANENT_SHOW_AT_STARTUP #define LOG_PERMANENT_SHOW_AT_L #define LOG_PERMANENT_SERVICE_LIFETIME 36000 #define GOVERNOR_P 0 #define GOVERNOR_D 10 #define YAW_COLL_PRECOMP 15 #define YAW_COLL_PRECOMP_DEADBAND 130 #define VOLTAGEDROP_COMPENSATION #elif COPTERTEST == 6 #define HEX6H #define DIYFLYING_MAGE_V1 #define BUZZER #define RCOPTIONSBEEP // ca. 80byte #define ARMEDTIMEWARNING 480 // 8 min = 480seconds #define VBAT #define VOLTAGEDROP_COMPENSATION #define MEGA_HW_PWM_SERVOS #define SERVO_RFR_RATE 300 // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode #define LOG_VALUES 1 #define DEBUG #define MULTIPLE_CONFIGURATION_PROFILES #define DISPLAY_FONT_DSIZE #define OLED_DIGOLE #define LCD_CONF #elif COPTERTEST == 7 #define HELI_120_CCPM #define YAW_COLL_PRECOMP 15 #define YAW_COLL_PRECOMP_DEADBAND 130 #define NANOWII #define FORCE_ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = X; imu.accADC[PITCH] = Y; imu.accADC[YAW] = Z;} #define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = -Z;} #define A32U4_4_HW_PWM_SERVOS #define SERVO_RFR_RATE 200 // 200 for graupner is ok #define SERVO_PIN5_RFR_RATE 165 // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for mega and 32u4 #define SPEKTRUM 1024 #define BUZZER #define RCOPTIONSBEEP // ca. 80byte #define VBAT #define LOG_VALUES 1 #define DISPLAY_FONT_DSIZE #define OLED_DIGOLE #define LCD_CONF #define LCD_TELEMETRY #define LCD_TELEMETRY_AUTO "1" #define LCD_TELEMETRY_STEP "F14$5R" #define LOG_PERMANENT #define LOG_PERMANENT_SHOW_AFTER_CONFIG #define SUPPRESS_OTHER_SERIAL_COMMANDS #define SUPPRESS_DEFAULTS_FROM_GUI #define NO_FLASH_CHECK #define DEBUG_FREE #elif COPTERTEST == 8 #define BI #define ITG3200 #define PID_CONTROLLER 2 #define ESC_CALIB_CANNOT_FLY #elif COPTERTEST == 9 #define AIRPLANE #define FREEIMUv035 #define POWERMETER_HARD #define WATTS #define VBAT #define VBAT_CELLS #define VBAT_CELLS_NUM 3 #define VBAT_CELLS_PINS {A0, A1, A2 } #define VBAT_CELLS_OFFSETS {0, 50, 83 } #define VBAT_CELLS_DIVS { 75, 122, 98 } #elif COPTERTEST == 10 #define Y6 #define CRIUS_AIO_PRO #define LCD_LCD03S #define SERIAL0_COM_SPEED 9600 #define LCD_CONF #elif defined(COPTERTEST) #error "*** this test is not yet defined" #endif /**************************************************************************************/ /*************** Proc specific definitions ********************/ /**************************************************************************************/ // Proc auto detection #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) #define PROMINI #endif #if defined(__AVR_ATmega32U4__) || defined(TEENSY20) #define PROMICRO #endif #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__) #define MEGA #endif /**************************************************************************************/ /*************** motor and servo numbers ********************/ /**************************************************************************************/ #define SERVO_RATES {30,30,100,100,100,100,100,100} #if defined (AIRPLANE) || defined(FLYING_WING) #define FIXEDWING #endif #if defined(HELI_120_CCPM) || defined(HELI_90_DEG) #define HELICOPTER #endif #if defined(BI) || defined(TRI) || defined(FIXEDWING) || defined(HELICOPTER) || defined(SINGLECOPTER)|| defined(DUALCOPTER) #define COPTER_WITH_SERVO #endif #if defined(COPTER_WITH_SERVO) || defined(SERVO_TILT) || defined(GIMBAL) || defined(CAMTRIG) || defined(SERVO_MIX_TILT) #define SERVO #endif #if defined(DYNBALANCE) #define DYNBAL 1 #else #define DYNBAL 0 #endif #if defined(FLAPS) #define FLAP 1 #else #define FLAP 0 #endif #if defined(MEGA) && defined(MEGA_HW_PWM_SERVOS) #define TRI_SERVO 4 #else #define TRI_SERVO 6 #endif #if defined(GIMBAL) #define NUMBER_MOTOR 0 #define PRI_SERVO_FROM 1 // use servo from 1 to 2 #define PRI_SERVO_TO 2 #elif defined(FLYING_WING) #define PRI_SERVO_FROM 4 #if defined (USE_THROTTLESERVO) #define NUMBER_MOTOR 0 #define PRI_SERVO_TO 8 // use servo from 4,5 and 8 #else #define NUMBER_MOTOR 1 #define PRI_SERVO_TO 5 // use servo from 4 to 5 #endif #elif defined(SINGLECOPTER) #define NUMBER_MOTOR 1 #define PRI_SERVO_FROM 4 // use servo from 4 to 7 #define PRI_SERVO_TO 7 #elif defined(DUALCOPTER) #define NUMBER_MOTOR 2 #define PRI_SERVO_FROM 5 // use servo from 5 to 6 #define PRI_SERVO_TO 6 #elif defined(AIRPLANE) #if defined (USE_THROTTLESERVO) #define NUMBER_MOTOR 0 #define PRI_SERVO_TO 8 #else #define NUMBER_MOTOR 1 #define PRI_SERVO_TO 7 #endif #if defined(FLAPS) #define PRI_SERVO_FROM 3 // use servo from 3 to 8 #undef CAMTRIG // Disable Camtrig on A2 #else #define PRI_SERVO_FROM 4 // use servo from 4 to 8 #endif #elif defined(BI) #define NUMBER_MOTOR 2 #define PRI_SERVO_FROM 5 // use servo from 5 to 6 #define PRI_SERVO_TO 6 #elif defined(TRI) #define NUMBER_MOTOR 3 #define PRI_SERVO_FROM TRI_SERVO // use only servo 6 (or 4 with Mega HW PWM) #define PRI_SERVO_TO TRI_SERVO #elif defined(QUADP) || defined(QUADX) || defined(Y4)|| defined(VTAIL4) #define NUMBER_MOTOR 4 #elif defined(Y6) || defined(HEX6) || defined(HEX6X) || defined(HEX6H) #define NUMBER_MOTOR 6 #elif defined(OCTOX8) || defined(OCTOFLATP) || defined(OCTOFLATX) #define NUMBER_MOTOR 8 #elif defined(HELICOPTER) #define PRI_SERVO_FROM 4 #ifdef HELI_USE_SERVO_FOR_THROTTLE #define NUMBER_MOTOR 0 // use servo to drive throttle output #define PRI_SERVO_TO 8 // use servo from 4 to 8 #else #define NUMBER_MOTOR 1 // use motor1 for throttle, DO NOT SET TO 2, OR IT WILL BURN/DESTROY SERVO7 USED FOR SWASH #define PRI_SERVO_TO 7 // use servo from 4 to 7 #endif #endif #if (defined(SERVO_TILT)|| defined(SERVO_MIX_TILT))&& defined(CAMTRIG) #define SEC_SERVO_FROM 1 // use servo from 1 to 3 #define SEC_SERVO_TO 3 #else #if defined(SERVO_TILT)|| defined(SERVO_MIX_TILT) // if A0 and A1 is taken by motors, we can use A2 and 12 for Servo tilt #if defined(A0_A1_PIN_HEX) && (NUMBER_MOTOR == 6) && defined(PROMINI) #define SEC_SERVO_FROM 3 // use servo from 3 to 4 #define SEC_SERVO_TO 4 #else #define SEC_SERVO_FROM 1 // use servo from 1 to 2 #define SEC_SERVO_TO 2 #endif #endif #if defined(CAMTRIG) #define SEC_SERVO_FROM 3 // use servo 3 #define SEC_SERVO_TO 3 #endif #endif #if defined(SIRIUS_AIR) || defined(SIRIUS_AIR_GPS) #define RCAUX2PIND17 #endif /************************** atmega328P (Promini) ************************************/ #if defined(PROMINI) #if !defined(MONGOOSE1_0) #define LEDPIN_PINMODE pinMode (13, OUTPUT); #define LEDPIN_TOGGLE PINB |= 1<<5; //switch LEDPIN state (digital PIN 13) #define LEDPIN_OFF PORTB &= ~(1<<5); #define LEDPIN_ON PORTB |= (1<<5); #endif #if !defined(RCAUXPIN8) #if !defined(MONGOOSE1_0) #define BUZZERPIN_PINMODE pinMode (8, OUTPUT); #if NUMBER_MOTOR >4 #undef PILOTLAMP #endif #if defined PILOTLAMP && NUMBER_MOTOR <5 #define PL_PIN_ON PORTB |= 1; #define PL_PIN_OFF PORTB &= ~1; #else #define BUZZERPIN_ON PORTB |= 1; #define BUZZERPIN_OFF PORTB &= ~1; #endif #endif #else #define BUZZERPIN_PINMODE ; #define BUZZERPIN_ON ; #define BUZZERPIN_OFF ; #define RCAUXPIN #endif #if !defined(RCAUXPIN12) && !defined(DISABLE_POWER_PIN) #define POWERPIN_PINMODE pinMode (12, OUTPUT); #define POWERPIN_ON PORTB |= 1<<4; #define POWERPIN_OFF PORTB &= ~(1<<4); //switch OFF WMP, digital PIN 12 #else #define POWERPIN_PINMODE ; #define POWERPIN_ON ; #define POWERPIN_OFF ; #endif #if defined(RCAUXPIN12) #define RCAUXPIN #endif #define I2C_PULLUPS_ENABLE PORTC |= 1<<4; PORTC |= 1<<5; // PIN A4&A5 (SDA&SCL) #define I2C_PULLUPS_DISABLE PORTC &= ~(1<<4); PORTC &= ~(1<<5); #if !defined(MONGOOSE1_0) #define PINMODE_LCD pinMode(0, OUTPUT); #define LCDPIN_OFF PORTD &= ~1; //switch OFF digital PIN 0 #define LCDPIN_ON PORTD |= 1; #define STABLEPIN_PINMODE ; #define STABLEPIN_ON ; #define STABLEPIN_OFF ; #endif #define PPM_PIN_INTERRUPT attachInterrupt(0, rxInt, RISING); //PIN 0 #define RX_SERIAL_PORT 0 //RX PIN assignment inside the port //for PORTD #define THROTTLEPIN 2 #define ROLLPIN 4 #define PITCHPIN 5 #define YAWPIN 6 #define AUX1PIN 7 #define AUX2PIN 0 // optional PIN 8 or PIN 12 #define AUX3PIN 1 // unused #define AUX4PIN 3 // unused #define PCINT_PIN_COUNT 5 #define PCINT_RX_BITS (1<<2),(1<<4),(1<<5),(1<<6),(1<<7) #define PCINT_RX_PORT PORTD #define PCINT_RX_MASK PCMSK2 #define PCIR_PORT_BIT (1<<2) #define RX_PC_INTERRUPT PCINT2_vect #define RX_PCINT_PIN_PORT PIND #define V_BATPIN A3 // Analog PIN 3 #define PSENSORPIN A2 // Analog PIN 2 #if defined(A0_A1_PIN_HEX) || (NUMBER_MOTOR > 6) #define SOFT_PWM_1_PIN_HIGH PORTC |= 1<<0; #define SOFT_PWM_1_PIN_LOW PORTC &= ~(1<<0); #define SOFT_PWM_2_PIN_HIGH PORTC |= 1<<1; #define SOFT_PWM_2_PIN_LOW PORTC &= ~(1<<1); #else #define SOFT_PWM_1_PIN_HIGH PORTD |= 1<<5; #define SOFT_PWM_1_PIN_LOW PORTD &= ~(1<<5); #define SOFT_PWM_2_PIN_HIGH PORTD |= 1<<6; #define SOFT_PWM_2_PIN_LOW PORTD &= ~(1<<6); #endif #define SOFT_PWM_3_PIN_HIGH PORTC |= 1<<2; #define SOFT_PWM_3_PIN_LOW PORTC &= ~(1<<2); #define SOFT_PWM_4_PIN_HIGH PORTB |= 1<<4; #define SOFT_PWM_4_PIN_LOW PORTB &= ~(1<<4); #define SERVO_1_PINMODE pinMode(A0,OUTPUT); // TILT_PITCH - WING left #define SERVO_1_PIN_HIGH PORTC |= 1<<0; #define SERVO_1_PIN_LOW PORTC &= ~(1<<0); #define SERVO_2_PINMODE pinMode(A1,OUTPUT); // TILT_ROLL - WING right #define SERVO_2_PIN_HIGH PORTC |= 1<<1; #define SERVO_2_PIN_LOW PORTC &= ~(1<<1); #define SERVO_3_PINMODE pinMode(A2,OUTPUT); // CAM TRIG - alt TILT_PITCH #define SERVO_3_PIN_HIGH PORTC |= 1<<2; #define SERVO_3_PIN_LOW PORTC &= ~(1<<2); #if !defined(MONGOOSE1_0) #define SERVO_4_PINMODE pinMode(12,OUTPUT); // new - alt TILT_ROLL #define SERVO_4_PIN_HIGH PORTB |= 1<<4; #define SERVO_4_PIN_LOW PORTB &= ~(1<<4); #endif #define SERVO_5_PINMODE pinMode(11,OUTPUT); // BI LEFT #define SERVO_5_PIN_HIGH PORTB |= 1<<3; #define SERVO_5_PIN_LOW PORTB &= ~(1<<3); #define SERVO_6_PINMODE pinMode(3,OUTPUT); // TRI REAR - BI RIGHT #define SERVO_6_PIN_HIGH PORTD|= 1<<3; #define SERVO_6_PIN_LOW PORTD &= ~(1<<3); #define SERVO_7_PINMODE pinMode(10,OUTPUT); // new #define SERVO_7_PIN_HIGH PORTB |= 1<<2; #define SERVO_7_PIN_LOW PORTB &= ~(1<<2); #define SERVO_8_PINMODE pinMode(9,OUTPUT); // new #define SERVO_8_PIN_HIGH PORTB |= 1<<1; #define SERVO_8_PIN_LOW PORTB &= ~(1<<1); #endif /************************** atmega32u4 (Promicro) ***********************************/ #if defined(PROMICRO) #if defined(MICROWII) #define A32U4ALLPINS #endif #if !defined(TEENSY20) #define LEDPIN_PINMODE // #define LEDPIN_TOGGLE PIND |= 1<<5; //switch LEDPIN state (Port D5) #if !defined(PROMICRO10) #define LEDPIN_OFF PORTD |= (1<<5); #define LEDPIN_ON PORTD &= ~(1<<5); #else #define LEDPIN_OFF PORTD &= ~(1<<5); #define LEDPIN_ON PORTD |= (1<<5); #endif #else #define LEDPIN_PINMODE DDRD |= (1<<6); #define LEDPIN_OFF PORTD &= ~(1<<6); #define LEDPIN_ON PORTD |= (1<<6); #define LEDPIN_TOGGLE PIND |= 1<<6; //switch LEDPIN state (Port D6) #endif #if defined(D8BUZZER) #define BUZZERPIN_PINMODE DDRB |= (1<<4); #if defined PILOTLAMP #define PL_PIN_ON PORTB |= 1<<4; #define PL_PIN_OFF PORTB &= ~(1<<4); #else #define BUZZERPIN_ON PORTB |= 1<<4; #define BUZZERPIN_OFF PORTB &= ~(1<<4); #endif #elif defined(A32U4ALLPINS) #define BUZZERPIN_PINMODE DDRD |= (1<<4); #if defined PILOTLAMP #define PL_PIN_ON PORTD |= 1<<4; #define PL_PIN_OFF PORTD &= ~(1<<4); #else #define BUZZERPIN_ON PORTD |= 1<<4; #define BUZZERPIN_OFF PORTD &= ~(1<<4); #endif #else #define BUZZERPIN_PINMODE DDRD |= (1<<3); #if defined PILOTLAMP #define PL_PIN_ON PORTD |= 1<<3; #define PL_PIN_OFF PORTD &= ~(1<<3); #else #define BUZZERPIN_ON PORTD |= 1<<3; #define BUZZERPIN_OFF PORTD &= ~(1<<3); #endif #endif #define POWERPIN_PINMODE // #define POWERPIN_ON // #define POWERPIN_OFF // #define I2C_PULLUPS_ENABLE PORTD |= 1<<0; PORTD |= 1<<1; // PIN 2&3 (SDA&SCL) #define I2C_PULLUPS_DISABLE PORTD &= ~(1<<0); PORTD &= ~(1<<1); #define PINMODE_LCD DDRD |= (1<<2); #define LCDPIN_OFF PORTD &= ~1; #define LCDPIN_ON PORTD |= 1; #define STABLEPIN_PINMODE ; #define STABLEPIN_ON ; #define STABLEPIN_OFF ; #define PPM_PIN_INTERRUPT DDRE &= ~(1 << 6);PORTE |= (1 << 6); EICRB |= (1 << ISC61)|(1 << ISC60); EIMSK |= (1 << INT6); #if !defined(RX_SERIAL_PORT) #define RX_SERIAL_PORT 1 #endif #define USB_CDC_TX 3 #define USB_CDC_RX 2 //soft PWM Pins #define SOFT_PWM_1_PIN_HIGH PORTD |= 1<<4; #define SOFT_PWM_1_PIN_LOW PORTD &= ~(1<<4); #define SOFT_PWM_2_PIN_HIGH PORTF |= 1<<5; #define SOFT_PWM_2_PIN_LOW PORTF &= ~(1<<5); #if !defined(A32U4ALLPINS) #define SOFT_PWM_3_PIN_HIGH PORTF |= 1<<7; #define SOFT_PWM_3_PIN_LOW PORTF &= ~(1<<7); #define SOFT_PWM_4_PIN_HIGH PORTF |= 1<<6; #define SOFT_PWM_4_PIN_LOW PORTF &= ~(1<<6); #define SW_PWM_P3 A1 #define SW_PWM_P4 A0 #else #define SOFT_PWM_3_PIN_HIGH PORTF |= 1<<4; #define SOFT_PWM_3_PIN_LOW PORTF &= ~(1<<4); #define SOFT_PWM_4_PIN_HIGH PORTF |= 1<<5; #define SOFT_PWM_4_PIN_LOW PORTF &= ~(1<<5); #define SW_PWM_P3 A2 #define SW_PWM_P4 A3 #endif // Servos #define SERVO_1_PINMODE DDRF |= (1<<7); // A0 #define SERVO_1_PIN_HIGH PORTF|= 1<<7; #define SERVO_1_PIN_LOW PORTF &= ~(1<<7); #define SERVO_2_PINMODE DDRF |= (1<<6); // A1 #define SERVO_2_PIN_HIGH PORTF |= 1<<6; #define SERVO_2_PIN_LOW PORTF &= ~(1<<6); #define SERVO_3_PINMODE DDRF |= (1<<5); // A2 #define SERVO_3_PIN_HIGH PORTF |= 1<<5; #define SERVO_3_PIN_LOW PORTF &= ~(1<<5); #if !defined(A32U4ALLPINS) #define SERVO_4_PINMODE DDRD |= (1<<4); // 4 #define SERVO_4_PIN_HIGH PORTD |= 1<<4; #define SERVO_4_PIN_LOW PORTD &= ~(1<<4); #else #define SERVO_4_PINMODE DDRF |= (1<<4); // A3 #define SERVO_4_PIN_HIGH PORTF |= 1<<4; #define SERVO_4_PIN_LOW PORTF &= ~(1<<4); #endif #define SERVO_5_PINMODE DDRC |= (1<<6); // 5 #define SERVO_5_PIN_HIGH PORTC|= 1<<6; #define SERVO_5_PIN_LOW PORTC &= ~(1<<6); #define SERVO_6_PINMODE DDRD |= (1<<7); // 6 #define SERVO_6_PIN_HIGH PORTD |= 1<<7; #define SERVO_6_PIN_LOW PORTD &= ~(1<<7); #define SERVO_7_PINMODE DDRB |= (1<<6); // 10 #define SERVO_7_PIN_HIGH PORTB |= 1<<6; #define SERVO_7_PIN_LOW PORTB &= ~(1<<6); #define SERVO_8_PINMODE DDRB |= (1<<5); // 9 #define SERVO_8_PIN_HIGH PORTB |= 1<<5; #define SERVO_8_PIN_LOW PORTB &= ~(1<<5); //Standart RX #define THROTTLEPIN 3 #if defined(A32U4ALLPINS) #define ROLLPIN 6 #define PITCHPIN 2 #define YAWPIN 4 #define AUX1PIN 5 #else #define ROLLPIN 4 #define PITCHPIN 5 #define YAWPIN 2 #define AUX1PIN 6 #endif #define AUX2PIN 7 #define AUX3PIN 1 // unused #define AUX4PIN 0 // unused #if !defined(RCAUX2PIND17) #define PCINT_PIN_COUNT 4 #define PCINT_RX_BITS (1<<1),(1<<2),(1<<3),(1<<4) #else #define PCINT_PIN_COUNT 5 // one more bit (PB0) is added in RX code #define PCINT_RX_BITS (1<<1),(1<<2),(1<<3),(1<<4),(1<<0) #endif #define PCINT_RX_PORT PORTB #define PCINT_RX_MASK PCMSK0 #define PCIR_PORT_BIT (1<<0) #define RX_PC_INTERRUPT PCINT0_vect #define RX_PCINT_PIN_PORT PINB #if !defined(A32U4ALLPINS) && !defined(TEENSY20) #define V_BATPIN A3 // Analog PIN 3 #elif defined(A32U4ALLPINS) #define V_BATPIN A4 // Analog PIN 4 #else #define V_BATPIN A2 // Analog PIN 3 #endif #if !defined(TEENSY20) #define PSENSORPIN A2 // Analog PIN 2 #else #define PSENSORPIN A2 // Analog PIN 2 #endif #endif /************************** all the Mega types ***********************************/ #if defined(MEGA) #define LEDPIN_PINMODE pinMode (13, OUTPUT);pinMode (30, OUTPUT); #define LEDPIN_TOGGLE PINB |= (1<<7); PINC |= (1<<7); #define LEDPIN_ON PORTB |= (1<<7); PORTC |= (1<<7); #define LEDPIN_OFF PORTB &= ~(1<<7);PORTC &= ~(1<<7); #define BUZZERPIN_PINMODE pinMode (32, OUTPUT); #if defined PILOTLAMP #define PL_PIN_ON PORTC |= 1<<5; #define PL_PIN_OFF PORTC &= ~(1<<5); #else #define BUZZERPIN_ON PORTC |= 1<<5; #define BUZZERPIN_OFF PORTC &= ~(1<<5); #endif #if !defined(DISABLE_POWER_PIN) #define POWERPIN_PINMODE pinMode (37, OUTPUT); #define POWERPIN_ON PORTC |= 1<<0; #define POWERPIN_OFF PORTC &= ~(1<<0); #else #define POWERPIN_PINMODE ; #define POWERPIN_ON ; #define POWERPIN_OFF ; #endif #define I2C_PULLUPS_ENABLE PORTD |= 1<<0; PORTD |= 1<<1; // PIN 20&21 (SDA&SCL) #define I2C_PULLUPS_DISABLE PORTD &= ~(1<<0); PORTD &= ~(1<<1); #define PINMODE_LCD pinMode(0, OUTPUT); #define LCDPIN_OFF PORTE &= ~1; //switch OFF digital PIN 0 #define LCDPIN_ON PORTE |= 1; #define STABLEPIN_PINMODE pinMode (31, OUTPUT); #define STABLEPIN_ON PORTC |= 1<<6; #define STABLEPIN_OFF PORTC &= ~(1<<6); #if defined(PPM_ON_THROTTLE) //configure THROTTLE PIN (A8 pin) as input witch pullup and enabled PCINT interrupt #define PPM_PIN_INTERRUPT DDRK &= ~(1<<0); PORTK |= (1<<0); PCICR |= (1<<2); PCMSK2 |= (1<<0); #else #define PPM_PIN_INTERRUPT attachInterrupt(4, rxInt, RISING); //PIN 19, also used for Spektrum satellite option #endif #if !defined(RX_SERIAL_PORT) #define RX_SERIAL_PORT 1 #endif //RX PIN assignment inside the port //for PORTK #define THROTTLEPIN 0 //PIN 62 = PIN A8 #define ROLLPIN 1 //PIN 63 = PIN A9 #define PITCHPIN 2 //PIN 64 = PIN A10 #define YAWPIN 3 //PIN 65 = PIN A11 #define AUX1PIN 4 //PIN 66 = PIN A12 #define AUX2PIN 5 //PIN 67 = PIN A13 #define AUX3PIN 6 //PIN 68 = PIN A14 #define AUX4PIN 7 //PIN 69 = PIN A15 #define V_BATPIN A0 // Analog PIN 0 #define PSENSORPIN A2 // Analog PIN 2 #define PCINT_PIN_COUNT 8 #define PCINT_RX_BITS (1<<2),(1<<4),(1<<5),(1<<6),(1<<7),(1<<0),(1<<1),(1<<3) #define PCINT_RX_PORT PORTK #define PCINT_RX_MASK PCMSK2 #define PCIR_PORT_BIT (1<<2) #define RX_PC_INTERRUPT PCINT2_vect #define RX_PCINT_PIN_PORT PINK #define SERVO_1_PINMODE pinMode(34,OUTPUT);pinMode(44,OUTPUT); // TILT_PITCH - WING left #define SERVO_1_PIN_HIGH PORTC |= 1<<3;PORTL |= 1<<5; #define SERVO_1_PIN_LOW PORTC &= ~(1<<3);PORTL &= ~(1<<5); #define SERVO_2_PINMODE pinMode(35,OUTPUT);pinMode(45,OUTPUT); // TILT_ROLL - WING right #define SERVO_2_PIN_HIGH PORTC |= 1<<2;PORTL |= 1<<4; #define SERVO_2_PIN_LOW PORTC &= ~(1<<2);PORTL &= ~(1<<4); #define SERVO_3_PINMODE pinMode(33,OUTPUT); pinMode(46,OUTPUT); // CAM TRIG - alt TILT_PITCH #define SERVO_3_PIN_HIGH PORTC |= 1<<4;PORTL |= 1<<3; #define SERVO_3_PIN_LOW PORTC &= ~(1<<4);PORTL &= ~(1<<3); #define SERVO_4_PINMODE pinMode (37, OUTPUT);pinMode(7,OUTPUT); // new - alt TILT_ROLL #define SERVO_4_PIN_HIGH PORTC |= 1<<0; PORTH |= 1<<4; #define SERVO_4_PIN_LOW PORTC &= ~(1<<0);PORTH &= ~(1<<4); #define SERVO_5_PINMODE pinMode(6,OUTPUT); // BI LEFT #define SERVO_5_PIN_HIGH PORTH |= 1<<3; #define SERVO_5_PIN_LOW PORTH &= ~(1<<3); #define SERVO_6_PINMODE pinMode(2,OUTPUT); // TRI REAR - BI RIGHT #define SERVO_6_PIN_HIGH PORTE |= 1<<4; #define SERVO_6_PIN_LOW PORTE &= ~(1<<4); #define SERVO_7_PINMODE pinMode(5,OUTPUT); // new #define SERVO_7_PIN_HIGH PORTE |= 1<<3; #define SERVO_7_PIN_LOW PORTE &= ~(1<<3); #define SERVO_8_PINMODE pinMode(3,OUTPUT); // new #define SERVO_8_PIN_HIGH PORTE |= 1<<5; #define SERVO_8_PIN_LOW PORTE &= ~(1<<5); #endif // special defines for the Mongose IMU board // note: that may be moved to the IMU Orientations because this are board defines .. not Proc #if defined(MONGOOSE1_0) // basically it's a PROMINI without some PINS => same code as a PROMINI board except PIN definition // note: to avoid too much dubble code there are now just the differencies // http://www.multiwii.com/forum/viewtopic.php?f=6&t=627 #define LEDPIN_PINMODE pinMode (4, OUTPUT); #define LEDPIN_TOGGLE PIND |= 1<<4; //switch LEDPIN state (digital PIN 13) #define LEDPIN_OFF PORTD &= ~(1<<4); #define LEDPIN_ON PORTD |= (1<<4); #define SPEK_BAUD_SET UCSR0A = (1<> 8; UBRR0L = ((F_CPU / 4 / 115200 -1) / 2); #define RX_SERIAL_PORT 0 /* Unavailable pins on MONGOOSE1_0 */ #define BUZZERPIN_PINMODE ; // D8 #define BUZZERPIN_ON ; #define BUZZERPIN_OFF ; #define POWERPIN_PINMODE ; // D12 #define POWERPIN_ON ; #define POWERPIN_OFF ; #define STABLEPIN_PINMODE ; // #define STABLEPIN_ON ; #define STABLEPIN_OFF ; #define PINMODE_LCD ; // #define LCDPIN_OFF ; #define LCDPIN_ON ; #define SERVO_4_PINMODE ; // Not available #define SERVO_4_PIN_HIGH ; #define SERVO_4_PIN_LOW ; #endif /********************** Sort the Servos for the most ideal SW PWM ************************/ // this define block sorts the above slected servos to be in a simple order from 1 - (count of total servos) // its pretty fat but its the best way i found to get less compiled code and max speed in the ISR without loosing its flexibility #if (PRI_SERVO_FROM == 1) || (SEC_SERVO_FROM == 1) #define LAST_LOW SERVO_1_PIN_LOW #define SERVO_1_HIGH SERVO_1_PIN_HIGH #define SERVO_1_LOW SERVO_1_PIN_LOW #define SERVO_1_ARR_POS 0 #endif #if (PRI_SERVO_FROM <= 2 && PRI_SERVO_TO >= 2) || (SEC_SERVO_FROM <= 2 && SEC_SERVO_TO >= 2) #undef LAST_LOW #define LAST_LOW SERVO_2_PIN_LOW #if !defined(SERVO_1_HIGH) #define SERVO_1_HIGH SERVO_2_PIN_HIGH #define SERVO_1_LOW SERVO_2_PIN_LOW #define SERVO_1_ARR_POS 1 #else #define SERVO_2_HIGH SERVO_2_PIN_HIGH #define SERVO_2_LOW SERVO_2_PIN_LOW #define SERVO_2_ARR_POS 1 #endif #endif #if (PRI_SERVO_FROM <= 3 && PRI_SERVO_TO >= 3) || (SEC_SERVO_FROM <= 3 && SEC_SERVO_TO >= 3) #undef LAST_LOW #define LAST_LOW SERVO_3_PIN_LOW #if !defined(SERVO_1_HIGH) #define SERVO_1_HIGH SERVO_3_PIN_HIGH #define SERVO_1_LOW SERVO_3_PIN_LOW #define SERVO_1_ARR_POS 2 #elif !defined(SERVO_2_HIGH) #define SERVO_2_HIGH SERVO_3_PIN_HIGH #define SERVO_2_LOW SERVO_3_PIN_LOW #define SERVO_2_ARR_POS 2 #else #define SERVO_3_HIGH SERVO_3_PIN_HIGH #define SERVO_3_LOW SERVO_3_PIN_LOW #define SERVO_3_ARR_POS 2 #endif #endif #if (PRI_SERVO_FROM <= 4 && PRI_SERVO_TO >= 4) || (SEC_SERVO_FROM <= 4 && SEC_SERVO_TO >= 4) #undef LAST_LOW #define LAST_LOW SERVO_4_PIN_LOW #if !defined(SERVO_1_HIGH) #define SERVO_1_HIGH SERVO_4_PIN_HIGH #define SERVO_1_LOW SERVO_4_PIN_LOW #define SERVO_1_ARR_POS 3 #elif !defined(SERVO_2_HIGH) #define SERVO_2_HIGH SERVO_4_PIN_HIGH #define SERVO_2_LOW SERVO_4_PIN_LOW #define SERVO_2_ARR_POS 3 #elif !defined(SERVO_3_HIGH) #define SERVO_3_HIGH SERVO_4_PIN_HIGH #define SERVO_3_LOW SERVO_4_PIN_LOW #define SERVO_3_ARR_POS 3 #else #define SERVO_4_HIGH SERVO_4_PIN_HIGH #define SERVO_4_LOW SERVO_4_PIN_LOW #define SERVO_4_ARR_POS 3 #endif #endif #if (PRI_SERVO_FROM <= 5 && PRI_SERVO_TO >= 5) || (SEC_SERVO_FROM <= 5 && SEC_SERVO_TO >= 5) #undef LAST_LOW #define LAST_LOW SERVO_5_PIN_LOW #if !defined(SERVO_1_HIGH) #define SERVO_1_HIGH SERVO_5_PIN_HIGH #define SERVO_1_LOW SERVO_5_PIN_LOW #define SERVO_1_ARR_POS 4 #elif !defined(SERVO_2_HIGH) #define SERVO_2_HIGH SERVO_5_PIN_HIGH #define SERVO_2_LOW SERVO_5_PIN_LOW #define SERVO_2_ARR_POS 4 #elif !defined(SERVO_3_HIGH) #define SERVO_3_HIGH SERVO_5_PIN_HIGH #define SERVO_3_LOW SERVO_5_PIN_LOW #define SERVO_3_ARR_POS 4 #elif !defined(SERVO_4_HIGH) #define SERVO_4_HIGH SERVO_5_PIN_HIGH #define SERVO_4_LOW SERVO_5_PIN_LOW #define SERVO_4_ARR_POS 4 #else #define SERVO_5_HIGH SERVO_5_PIN_HIGH #define SERVO_5_LOW SERVO_5_PIN_LOW #define SERVO_5_ARR_POS 4 #endif #endif #if (PRI_SERVO_FROM <= 6 && PRI_SERVO_TO >= 6) || (SEC_SERVO_FROM <= 6 && SEC_SERVO_TO >= 6) #undef LAST_LOW #define LAST_LOW SERVO_6_PIN_LOW #if !defined(SERVO_1_HIGH) #define SERVO_1_HIGH SERVO_6_PIN_HIGH #define SERVO_1_LOW SERVO_6_PIN_LOW #define SERVO_1_ARR_POS 5 #elif !defined(SERVO_2_HIGH) #define SERVO_2_HIGH SERVO_6_PIN_HIGH #define SERVO_2_LOW SERVO_6_PIN_LOW #define SERVO_2_ARR_POS 5 #elif !defined(SERVO_3_HIGH) #define SERVO_3_HIGH SERVO_6_PIN_HIGH #define SERVO_3_LOW SERVO_6_PIN_LOW #define SERVO_3_ARR_POS 5 #elif !defined(SERVO_4_HIGH) #define SERVO_4_HIGH SERVO_6_PIN_HIGH #define SERVO_4_LOW SERVO_6_PIN_LOW #define SERVO_4_ARR_POS 5 #elif !defined(SERVO_5_HIGH) #define SERVO_5_HIGH SERVO_6_PIN_HIGH #define SERVO_5_LOW SERVO_6_PIN_LOW #define SERVO_5_ARR_POS 5 #else #define SERVO_6_HIGH SERVO_6_PIN_HIGH #define SERVO_6_LOW SERVO_6_PIN_LOW #define SERVO_6_ARR_POS 5 #endif #endif #if (PRI_SERVO_FROM <= 7 && PRI_SERVO_TO >= 7) || (SEC_SERVO_FROM <= 7 && SEC_SERVO_TO >= 7) #undef LAST_LOW #define LAST_LOW SERVO_7_PIN_LOW #if !defined(SERVO_1_HIGH) #define SERVO_1_HIGH SERVO_7_PIN_HIGH #define SERVO_1_LOW SERVO_7_PIN_LOW #define SERVO_1_ARR_POS 6 #elif !defined(SERVO_2_HIGH) #define SERVO_2_HIGH SERVO_7_PIN_HIGH #define SERVO_2_LOW SERVO_7_PIN_LOW #define SERVO_2_ARR_POS 6 #elif !defined(SERVO_3_HIGH) #define SERVO_3_HIGH SERVO_7_PIN_HIGH #define SERVO_3_LOW SERVO_7_PIN_LOW #define SERVO_3_ARR_POS 6 #elif !defined(SERVO_4_HIGH) #define SERVO_4_HIGH SERVO_7_PIN_HIGH #define SERVO_4_LOW SERVO_7_PIN_LOW #define SERVO_4_ARR_POS 6 #elif !defined(SERVO_5_HIGH) #define SERVO_5_HIGH SERVO_7_PIN_HIGH #define SERVO_5_LOW SERVO_7_PIN_LOW #define SERVO_5_ARR_POS 6 #elif !defined(SERVO_6_HIGH) #define SERVO_6_HIGH SERVO_7_PIN_HIGH #define SERVO_6_LOW SERVO_7_PIN_LOW #define SERVO_6_ARR_POS 6 #else #define SERVO_7_HIGH SERVO_7_PIN_HIGH #define SERVO_7_LOW SERVO_7_PIN_LOW #define SERVO_7_ARR_POS 6 #endif #endif #if (PRI_SERVO_FROM <= 8 && PRI_SERVO_TO >= 8) || (SEC_SERVO_FROM <= 8 && SEC_SERVO_TO >= 8) #undef LAST_LOW #define LAST_LOW SERVO_8_PIN_LOW #if !defined(SERVO_1_HIGH) #define SERVO_1_HIGH SERVO_8_PIN_HIGH #define SERVO_1_LOW SERVO_8_PIN_LOW #define SERVO_1_ARR_POS 7 #elif !defined(SERVO_2_HIGH) #define SERVO_2_HIGH SERVO_8_PIN_HIGH #define SERVO_2_LOW SERVO_8_PIN_LOW #define SERVO_2_ARR_POS 7 #elif !defined(SERVO_3_HIGH) #define SERVO_3_HIGH SERVO_8_PIN_HIGH #define SERVO_3_LOW SERVO_8_PIN_LOW #define SERVO_3_ARR_POS 7 #elif !defined(SERVO_4_HIGH) #define SERVO_4_HIGH SERVO_8_PIN_HIGH #define SERVO_4_LOW SERVO_8_PIN_LOW #define SERVO_4_ARR_POS 7 #elif !defined(SERVO_5_HIGH) #define SERVO_5_HIGH SERVO_8_PIN_HIGH #define SERVO_5_LOW SERVO_8_PIN_LOW #define SERVO_5_ARR_POS 7 #elif !defined(SERVO_6_HIGH) #define SERVO_6_HIGH SERVO_8_PIN_HIGH #define SERVO_6_LOW SERVO_8_PIN_LOW #define SERVO_6_ARR_POS 7 #elif !defined(SERVO_7_HIGH) #define SERVO_7_HIGH SERVO_8_PIN_HIGH #define SERVO_7_LOW SERVO_8_PIN_LOW #define SERVO_7_ARR_POS 7 #else #define SERVO_8_HIGH SERVO_8_PIN_HIGH #define SERVO_8_LOW SERVO_8_PIN_LOW #define SERVO_8_ARR_POS 7 #endif #endif #if ( defined(MEGA) && defined(MEGA_HW_PWM_SERVOS) ) || (defined(PROMICRO) && defined(A32U4_4_HW_PWM_SERVOS)) #undef SERVO_1_HIGH // No software PWM's if we use hardware MEGA PWM or promicro hardware pwm #define HW_PWM_SERVOS #endif /**************************************************************************************/ /*************** IMU Orientations and Sensor definitions ********************/ /**************************************************************************************/ //please submit any correction to this list. #if defined(FFIMUv1) #define ITG3200 #define BMA180 #define BMP085 #define HMC5843 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #endif #if defined(FFIMUv2) #define ITG3200 #define BMA180 #define BMP085 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = Y; imu.magADC[PITCH] = -X; imu.magADC[YAW] = -Z;} #endif #if defined(FREEIMUv1) #define ITG3200 #define ADXL345 #define HMC5843 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define ADXL345_ADDRESS 0x53 #undef INTERNAL_I2C_PULLUPS #endif #if defined(FREEIMUv03) #define ITG3200 #define ADXL345 // this is actually an ADXL346 but that's just the same as ADXL345 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define ADXL345_ADDRESS 0x53 #undef INTERNAL_I2C_PULLUPS #endif #if defined(FREEIMUv035) || defined(FREEIMUv035_MS) || defined(FREEIMUv035_BMP) #define ITG3200 #define BMA180 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #if defined(FREEIMUv035_MS) #define MS561101BA #elif defined(FREEIMUv035_BMP) #define BMP085 #endif #endif #if defined(FREEIMUv04) #define FREEIMUv043 #endif #if defined(MultiWiiMega) #define FREEIMUv043 #endif #if defined(FREEIMUv043) || defined(MICROWII) #define MPU6050 #define HMC5883 #define MS561101BA #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050 #undef INTERNAL_I2C_PULLUPS #endif #if defined(NANOWII) #define MPU6050 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -Y; imu.accADC[PITCH] = X; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS // move motor 7 & 8 to pin 4 & A2 #undef SOFT_PWM_3_PIN_HIGH #undef SOFT_PWM_3_PIN_LOW #undef SOFT_PWM_4_PIN_HIGH #undef SOFT_PWM_4_PIN_LOW #undef SW_PWM_P3 #undef SW_PWM_P4 #define SOFT_PWM_3_PIN_HIGH PORTD |= 1<<4; #define SOFT_PWM_3_PIN_LOW PORTD &= ~(1<<4); #define SOFT_PWM_4_PIN_HIGH PORTF |= 1<<5; #define SOFT_PWM_4_PIN_LOW PORTF &= ~(1<<5); #define SW_PWM_P3 4 #define SW_PWM_P4 A2 #define HWPWM6 // move servo 3 & 4 to pin 13 & 11 #undef SERVO_3_PINMODE #undef SERVO_3_PIN_HIGH #undef SERVO_3_PIN_LOW #undef SERVO_4_PINMODE #undef SERVO_4_PIN_HIGH #undef SERVO_4_PIN_LOW #define SERVO_3_PINMODE DDRC |= (1<<7); // 13 #define SERVO_3_PIN_HIGH PORTC |= 1<<7; #define SERVO_3_PIN_LOW PORTC &= ~(1<<7); #define SERVO_4_PINMODE DDRB |= (1<<7); // 11 #define SERVO_4_PIN_HIGH PORTB |= 1<<7; #define SERVO_4_PIN_LOW PORTB &= ~(1<<7); // use pin 4 as status LED output if we have no octo #if !defined(OCTOX8) && !defined(OCTOFLATP) && !defined(OCTOFLATX) #undef LEDPIN_PINMODE #undef LEDPIN_TOGGLE #undef LEDPIN_OFF #undef LEDPIN_ON #define LEDPIN_PINMODE DDRD |= (1<<4); //D4 to output #define LEDPIN_TOGGLE PIND |= (1<<5)|(1<<4); //switch LEDPIN state (Port D5) & pin D4 #define LEDPIN_OFF PORTD |= (1<<5); PORTD &= ~(1<<4); #define LEDPIN_ON PORTD &= ~(1<<5); PORTD |= (1<<4); #endif #endif #if defined(PIPO) #define L3G4200D #define ADXL345 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = Y; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = Y; imu.magADC[PITCH] = -X; imu.magADC[YAW] = Z;} #define ADXL345_ADDRESS 0x53 #endif #if defined(QUADRINO) #define ITG3200 #define BMA180 #define BMP085 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #endif #if defined(QUADRINO_ZOOM) #define ITG3200 #define BMA180 #define BMP085 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define STABLEPIN_PINMODE pinMode (A2, OUTPUT); #define STABLEPIN_ON PORTC |= (1<<2); #define STABLEPIN_OFF PORTC &= ~(1<<2); #endif #if defined(QUADRINO_ZOOM_MS) #define ITG3200 #define BMA180 #define MS561101BA #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define STABLEPIN_PINMODE pinMode (A2, OUTPUT); #define STABLEPIN_ON PORTC |= (1<<2); #define STABLEPIN_OFF PORTC &= ~(1<<2); #endif #if defined(ALLINONE) #define ITG3200 #define BMA180 #define BMP085 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define BMA180_ADDRESS 0x41 #endif #if defined(AEROQUADSHIELDv2) // to confirm #define ITG3200 #define BMA180 #define BMP085 #define HMC5843 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = Y; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define GYRO_ADDRESS 0X69 #endif #if defined(ATAVRSBIN1) #define ITG3200 #define BMA020 //Actually it's a BMA150, but this is a drop in replacement for the discountinued BMA020 #define AK8975 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = Y; imu.accADC[PITCH] = -X; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = Y; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = -Y; imu.magADC[PITCH] = -X; imu.magADC[YAW] = Z;} #endif #if defined(SIRIUS) #define ITG3200 #define BMA180 #define BMP085 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #endif #if defined(SIRIUSGPS) #define ITG3200 #define BMA180 #define BMP085 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = -X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;} #endif #if defined(SIRIUS600) #define WMP #define BMA180 #define BMP085 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #endif #if defined(SIRIUS_AIR) #define MPU6050 #define BMP085 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = X; imu.accADC[PITCH] = Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #define HWPWM6 #endif #if defined(SIRIUS_AIR_GPS) #define MPU6050 #define BMP085 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = X; imu.accADC[PITCH] = Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = -X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;} //normal Sirius MAG on top is X Y -Z #undef INTERNAL_I2C_PULLUPS #define HWPWM6 #endif #if defined(SIRIUS_MEGAv5_OSD) #define ITG3050 #define BMA280 #define MS561101BA #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = Y; imu.magADC[PITCH] = -X; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(MINIWII) #define ITG3200 #define BMA180 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #endif #if defined(CITRUSv2_1) #define ITG3200 #define ADXL345 #define BMP085 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(CHERRY6DOFv1_0) #define MPU6050 #define ACC_ORIENTATION(Y, X, Z) {imu.accADC[ROLL] = -Y; imu.accADC[PITCH] = -X; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(Y, X, Z) {imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(DROTEK_10DOF) || defined(DROTEK_10DOF_MS) #define ITG3200 #define BMA180 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define GYRO_ADDRESS 0X69 #if defined(DROTEK_10DOF_MS) #define MS561101BA #elif defined(DROTEK_10DOF) #define BMP085 #endif #endif #if defined(DROTEK_6DOFv2) #define ITG3200 #define BMA180 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -Y; imu.accADC[PITCH] = X; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;} #define GYRO_ADDRESS 0X69 #endif #if defined(DROTEK_6DOF_MPU) #define MPU6050 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -Y; imu.accADC[PITCH] = X; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;} #define MPU6050_ADDRESS 0x69 #undef INTERNAL_I2C_PULLUPS #endif #if defined(DROTEK_10DOF_MPU) #define MPU6050 #define HMC5883 #define MS561101BA #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = Y; imu.accADC[PITCH] = -X; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = Y; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = -Y; imu.magADC[PITCH] = X; imu.magADC[YAW] = -Z;} #define MPU6050_ADDRESS 0X69 #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050 #undef INTERNAL_I2C_PULLUPS #endif #if defined(FLYDUINO_MPU) #define MPU6050 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = X; imu.accADC[PITCH] = Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = -Z;} #endif #if defined(MONGOOSE1_0) #define ITG3200 #define ADXL345 #define BMP085 #define HMC5883 #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = -Z;} #define ACC_ORIENTATION(Y, X, Z) {imu.accADC[ROLL] = Y; imu.accADC[PITCH] = X; imu.accADC[YAW] = Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = -X; imu.magADC[PITCH] = -Y; imu.magADC[YAW] = -Z;} #define ADXL345_ADDRESS 0x53 #undef INTERNAL_I2C_PULLUPS #endif #if defined(CRIUS_LITE) #define ITG3200 #define ADXL345 #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #endif #if defined(CRIUS_SE) #define ITG3200 #define BMA180 #define HMC5883 #define BMP085 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #endif #if defined(CRIUS_SE_v2_0) #define MPU6050 #define HMC5883 #define BMP085 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #endif #if defined(BOARD_PROTO_1) #define MPU6050 #define HMC5883 #define MS561101BA #define ACC_ORIENTATION(Y, X, Z) {imu.accADC[ROLL] = -Y; imu.accADC[PITCH] = -X; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(Y, X, Z) {imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define MS561101BA_ADDRESS 0x76 #define STABLEPIN_PINMODE pinMode (A2, OUTPUT); #define STABLEPIN_ON PORTC |= (1<<2); #define STABLEPIN_OFF PORTC &= ~(1<<2); #endif #if defined(BOARD_PROTO_2) #define MPU6050 #define MAG3110 #define MS561101BA #define ACC_ORIENTATION(Y, X, Z) {imu.accADC[ROLL] = -Y; imu.accADC[PITCH] = -X; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(Y, X, Z) {imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;} #define MPU6050_I2C_AUX_MASTER #define MS561101BA_ADDRESS 0x76 #define STABLEPIN_PINMODE pinMode (A2, OUTPUT); #define STABLEPIN_ON PORTC |= (1<<2); #define STABLEPIN_OFF PORTC &= ~(1<<2); #endif #if defined(GY_80) #define L3G4200D #define ADXL345 #define HMC5883 #define BMP085 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #define ADXL345_ADDRESS 0x53 #endif #if defined(GY_85) #define ITG3200 #define ADXL345 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #define ADXL345_ADDRESS 0x53 #endif #if defined(GY_86) #define MPU6050 #define HMC5883 #define MS561101BA #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050 #undef INTERNAL_I2C_PULLUPS #endif #if defined(GY_88) #define MPU6050 #define HMC5883 #define BMP085 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050 #undef INTERNAL_I2C_PULLUPS #endif #if defined(GY_521) #define MPU6050 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(INNOVWORKS_10DOF) #define ITG3200 #define BMA180 #define BMP085 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.imu.[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(INNOVWORKS_6DOF) #define ITG3200 #define BMA180 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(PROTO_DIY) #define ITG3200 #define BMA180 #define HMC5883 #define MS561101BA #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = X; imu.accADC[PITCH] = Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = Y; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #define STABLEPIN_ON PORTC &= ~(1<<6); #define STABLEPIN_OFF PORTC |= 1<<6; #endif #if defined(IOI_MINI_MULTIWII) #define ITG3200 #define BMA180 #define HMC5883 #define BMP085 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = -Y; imu.magADC[PITCH] = X; imu.magADC[YAW] = -Z;} #endif #if defined(Bobs_6DOF_V1) #define ITG3200 #define BMA180 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = Y; imu.magADC[PITCH] = -X; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(Bobs_9DOF_V1) #define ITG3200 #define BMA180 #define BMP085 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = Y; imu.magADC[PITCH] = -X; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(Bobs_10DOF_BMP_V1) #define ITG3200 #define BMA180 #define BMP085 // Bobs 10DOF uses the BMP180 - BMP085 and BMP180 are software compatible #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = Y; imu.magADC[PITCH] = -X; imu.magADC[YAW] = -Z;} #undef INTERNAL_IC2_PULLUPS #endif #if defined(HK_MultiWii_SE_V2 ) #define MPU6050 #define HMC5883 #define BMP085 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z){imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define MPU6050_EN_I2C_BYPASS // MAG connected to the AUX I2C bus of MPU6050 #undef INTERNAL_I2C_PULLUPS #endif #if defined(HK_MultiWii_328P ) #define ITG3200 #define BMA180 #define HMC5883 #define BMP085 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z){imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(CRIUS_AIO_PRO) #define MPU6050 #define HMC5883 #define MS561101BA #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050 #undef INTERNAL_I2C_PULLUPS #define I2C_SPEED 400000L //400kHz fast mode //servo pins on AIO board is at pins 44,45,46, then release pins 33,34,35 for other usage //eg. pin 33 on AIO can be used for LEDFLASHER output #define SERVO_1_PINMODE pinMode(44,OUTPUT); // TILT_PITCH #define SERVO_1_PIN_HIGH PORTL |= 1<<5; #define SERVO_1_PIN_LOW PORTL &= ~(1<<5); #define SERVO_2_PINMODE pinMode(45,OUTPUT); // TILT_ROLL #define SERVO_2_PIN_HIGH PORTL |= 1<<4; #define SERVO_2_PIN_LOW PORTL &= ~(1<<4); #define SERVO_3_PINMODE pinMode(46,OUTPUT); // CAM TRIG #define SERVO_3_PIN_HIGH PORTL |= 1<<3; #define SERVO_3_PIN_LOW PORTL &= ~(1<<3); #endif #if defined(LADYBIRD) #define MPU6050 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #define MINTHROTTLE 1050 #define MAXTHROTTLE 2000 #define EXT_MOTOR_32KHZ #define VBAT #define VBATSCALE 54 #define VBATLEVEL_WARN1 10 #define VBATLEVEL_WARN2 10 #define VBATLEVEL_CRIT 10 #define NO_VBAT 10 #define MOTOR_STOP #endif #if defined(MEGAWAP_V2_STD) #define ITG3200 #define BMA180 #define HMC5883 #define BMP085 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #endif #if defined(MEGAWAP_V2_ADV) #define MPU6050 #define HMC5883 #define MS561101BA #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define MPU6050_EN_I2C_BYPASS // MAG connected to the AUX I2C bus of MPU6050 #undef INTERNAL_I2C_PULLUPS #endif #if defined(RCNet_FC_GPS) #define RCNet_FC #define HMC5883 #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = -X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;} #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050 #undef INTERNAL_I2C_PULLUPS #define GPS_SERIAL 2 #define GPS_BAUD 115200 #define UBLOX #endif #if defined(RCNet_FC) #define MPU6050 #define MS561101BA #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS //servo pins on RCNet FC board are at pins 38,39,40 #define SERVO_1_PINMODE pinMode(40,OUTPUT); // TILT_PITCH #define SERVO_1_PIN_HIGH PORTL |= 1<<5; #define SERVO_1_PIN_LOW PORTL &= ~(1<<5); #define SERVO_2_PINMODE pinMode(39,OUTPUT); // TILT_ROLL #define SERVO_2_PIN_HIGH PORTL |= 1<<4; #define SERVO_2_PIN_LOW PORTL &= ~(1<<4); #define SERVO_3_PINMODE pinMode(38,OUTPUT); // CAM TRIG #define SERVO_3_PIN_HIGH PORTL |= 1<<3; #define SERVO_3_PIN_LOW PORTL &= ~(1<<3); #endif #if defined(FLYDU_ULTRA) #define ITG3200 #define MMA8451Q #define MS561101BA #define MAG3110 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = X; imu.accADC[PITCH] = Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = -Y; imu.magADC[PITCH] = X; imu.magADC[YAW] = Z;} #define GPS_SERIAL 2 #define GPS_BAUD 57600 #define MTK_BINARY19 #define INIT_MTK_GPS #endif #if defined(MultiWii_32U4_SE) #define MPU6050 #define HMC5883 #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050 #define MS561101BA #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(MultiWii_32U4_SE_no_baro) #define MPU6050 #define HMC5883 #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(Flyduino9DOF) #define MPU6050 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #define MPU6050_EN_I2C_BYPASS // MAG connected to the AUX I2C bus of MPU6050 #undef INTERNAL_I2C_PULLUPS #endif #if defined(Nano_Plane) #define LSM330 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(OPENLRSv2MULTI) #define ITG3200 #define ADXL345 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define ADXL345_ADDRESS 0x53 #define SDO_pin A0 #define SDI_pin A1 #define SCLK_pin A2 #define IRQ_pin 2 #define nSel_pin 4 #define IRQ_interrupt 0 #define nIRQ_1 (PIND & 0x04)==0x04 //D2 #define nIRQ_0 (PIND & 0x04)==0x00 //D2 #define nSEL_on PORTD |= 0x10 //D4 #define nSEL_off PORTD &= 0xEF //D4 #define SCK_on PORTC |= 0x04 //C2 #define SCK_off PORTC &= 0xFB //C2 #define SDI_on PORTC |= 0x02 //C1 #define SDI_off PORTC &= 0xFD //C1 #define SDO_1 (PINC & 0x01) == 0x01 //C0 #define SDO_0 (PINC & 0x01) == 0x00 //C0 //#### Other interface pinouts ### #define GREEN_LED_pin 13 #define RED_LED_pin A3 #define Red_LED_ON PORTC |= _BV(3); #define Red_LED_OFF PORTC &= ~_BV(3); #define Green_LED_ON PORTB |= _BV(5); #define Green_LED_OFF PORTB &= ~_BV(5); #define NOP() __asm__ __volatile__("nop") #define RF22B_PWRSTATE_READY 01 #define RF22B_PWRSTATE_TX 0x09 #define RF22B_PWRSTATE_RX 05 #define RF22B_Rx_packet_received_interrupt 0x02 #define RF22B_PACKET_SENT_INTERRUPT 04 #define RF22B_PWRSTATE_POWERDOWN 00 #endif #if defined(DESQUARED6DOFV2GO) #define ITG3200 #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(DESQUARED6DOFV4) #define MPU6050 #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(OSEPPGYRO) #define MPU3050 #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif #if defined(DIYFLYING_MAGE_V1) #define MPU6050 // gyro+acc #define BMP085 // baro #define HMC5883 // mag #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;} #undef INTERNAL_I2C_PULLUPS #endif /**************************************************************************************/ /*************** Sensor Type definitions ********************/ /**************************************************************************************/ #if defined(ADXL345) || defined(BMA020) || defined(BMA180) || defined(BMA280) || defined(MMA7455) || defined(ADCACC) || defined(LIS3LV02) || defined(LSM303DLx_ACC) || defined(MPU6050) || defined(LSM330) || defined(MMA8451Q) #define ACC 1 #else #define ACC 0 #endif #if defined(HMC5883) || defined(HMC5843) || defined(AK8975) || defined(MAG3110) #define MAG 1 #else #define MAG 0 #endif #if defined(ITG3200) || defined(ITG3050) || defined(L3G4200D) || defined(MPU6050) || defined(LSM330) || defined(MPU3050) || defined(WMP) #define GYRO 1 #else #define GYRO 0 #endif #if defined(BMP085) || defined(MS561101BA) #define BARO 1 #else #define BARO 0 #endif #if defined(GPS_SERIAL) || defined(I2C_GPS) #define GPS 1 #else #define GPS 0 #endif #if defined(USE_MSP_WP) #define NAVCAP 1 #else #define NAVCAP 0 #endif #if defined(SRF02) || defined(SRF08) || defined(SRF10) || defined(SRC235) || defined(I2C_GPS_SONAR) #define SONAR 1 #else #define SONAR 0 #endif #if defined(EXTENDED_AUX_STATES) #define EXTAUX 1 #else #define EXTAUX 0 #endif #if defined(RX_RSSI_CHAN) #define RX_RSSI #endif /**************************************************************************************/ /*************** Multitype decleration for the GUI's ********************/ /**************************************************************************************/ #if defined(TRI) #define MULTITYPE 1 #elif defined(QUADP) #define MULTITYPE 2 #elif defined(QUADX) #define MULTITYPE 3 #elif defined(BI) #define MULTITYPE 4 #define SERVO_RATES {30,30,100,100,0,1,100,100} #elif defined(GIMBAL) #define MULTITYPE 5 #elif defined(Y6) #define MULTITYPE 6 #elif defined(HEX6) #define MULTITYPE 7 #elif defined(FLYING_WING) #define MULTITYPE 8 #define SERVO_RATES {30,30,100,0,1,100,100,100} #elif defined(Y4) #define MULTITYPE 9 #elif defined(HEX6X) #define MULTITYPE 10 #elif defined(OCTOX8) #define MULTITYPE 11 //the JAVA GUI is the same for all 8 motor configs #elif defined(OCTOFLATP) #define MULTITYPE 12 //12 for MultiWinGui #elif defined(OCTOFLATX) #define MULTITYPE 13 //13 for MultiWinGui #elif defined(AIRPLANE) #define MULTITYPE 14 #define SERVO_RATES {30,30,100,100,-100,100,100,100} #elif defined (HELI_120_CCPM) #define MULTITYPE 15 #elif defined (HELI_90_DEG) #define MULTITYPE 16 #define SERVO_RATES {30,30,100,-100,-100,100,100,100} #elif defined(VTAIL4) #define MULTITYPE 17 #elif defined(HEX6H) #define MULTITYPE 18 #elif defined(SINGLECOPTER) #define MULTITYPE 21 #define SERVO_RATES {30,30,100,0,1,0,1,100} #elif defined(DUALCOPTER) #define MULTITYPE 20 #endif /**************************************************************************************/ /*************** Some unsorted "chain" defines ********************/ /**************************************************************************************/ #if defined (AIRPLANE) || defined(HELICOPTER)|| defined(SINGLECOPTER)|| defined(DUALCOPTER) && defined(PROMINI) #if defined(D12_POWER) #define SERVO_4_PINMODE ; // D12 #define SERVO_4_PIN_HIGH ; #define SERVO_4_PIN_LOW ; #else #undef POWERPIN_PINMODE #undef POWERPIN_ON #undef POWERPIN_OFF #define POWERPIN_PINMODE ; #define POWERPIN_ON ; #define POWERPIN_OFF ; #endif #endif #if defined(POWERMETER_HARD) || defined(POWERMETER_SOFT) #define POWERMETER #define PLEVELSCALE 50 // step size you can use to set alarm #define PLEVELDIVSOFT 100000 #define PLEVELDIV 36000 #endif #if defined PILOTLAMP #define PL_CHANNEL OCR0B //use B since A can be used by camstab #define PL_ISR TIMER0_COMPB_vect #define PL_INIT TCCR0A=0;TIMSK0|=(1<> 1 // Assumes 11 bit frames, that is 2048 mode. #define SPEK_BIND_PULSES 5 #endif #if defined(SPEK_BIND) #define BIND_CAPABLE 1 #if !defined(SPEK_BIND_GROUND) #define SPEK_BIND_GROUND 4 #endif #if !defined(SPEK_BIND_POWER) #define SPEK_BIND_POWER 5 #endif #if !defined(SPEK_BIND_DATA) #define SPEK_BIND_DATA 6 #endif #endif #endif #if defined(SBUS) #define RC_CHANS 18 #elif defined(SPEKTRUM) || defined(SERIAL_SUM_PPM) #define RC_CHANS 12 #else #define RC_CHANS 8 #endif #if !(defined(DISPLAY_2LINES)) && !(defined(DISPLAY_MULTILINE)) #if (defined(LCD_VT100)) || (defined(OLED_I2C_128x64) || defined(OLED_DIGOLE) ) #define DISPLAY_MULTILINE #else #define DISPLAY_2LINES #endif #endif #if (defined(LCD_VT100)) #if !(defined(MULTILINE_PRE)) #define MULTILINE_PRE 6 #endif #if !(defined(MULTILINE_POST)) #define MULTILINE_POST 9 #endif #if !(defined(DISPLAY_COLUMNS)) #define DISPLAY_COLUMNS 40 #endif #elif (defined(OLED_I2C_128x64) && defined(DISPLAY_FONT_DSIZE)) #if !(defined(MULTILINE_PRE)) #define MULTILINE_PRE 1 #endif #if !(defined(MULTILINE_POST)) #define MULTILINE_POST 3 #endif #if !(defined(DISPLAY_COLUMNS)) #define DISPLAY_COLUMNS 21 #endif #elif (defined(OLED_I2C_128x64)) #if !(defined(MULTILINE_PRE)) #define MULTILINE_PRE 3 #endif #if !(defined(MULTILINE_POST)) #define MULTILINE_POST 5 #endif #if !(defined(DISPLAY_COLUMNS)) #define DISPLAY_COLUMNS 21 #endif #elif (defined(OLED_DIGOLE) && defined(DISPLAY_FONT_DSIZE)) #if !(defined(MULTILINE_PRE)) #define MULTILINE_PRE 2 #endif #if !(defined(MULTILINE_POST)) #define MULTILINE_POST 3 #endif #elif (defined(OLED_DIGOLE)) #if !(defined(MULTILINE_PRE)) #define MULTILINE_PRE 3 #endif #if !(defined(MULTILINE_POST)) #define MULTILINE_POST 4 #endif #if !(defined(DISPLAY_COLUMNS)) #define DISPLAY_COLUMNS 21 #endif #endif #if !(defined(DISPLAY_COLUMNS)) #define DISPLAY_COLUMNS 16 #endif /**************************************************************************************/ /*************** override defaults ********************/ /**************************************************************************************/ /*************** pin assignments ? ********************/ #ifdef OVERRIDE_V_BATPIN #undef V_BATPIN #define V_BATPIN OVERRIDE_V_BATPIN #endif #ifdef OVERRIDE_PSENSORPIN #undef PSENSORPIN #define PSENSORPIN OVERRIDE_PSENSORPIN #endif #ifdef OVERRIDE_LEDPIN_PINMODE #undef LEDPIN_PINMODE #undef LEDPIN_TOGGLE #undef LEDPIN_OFF #undef LEDPIN_ON #define LEDPIN_PINMODE OVERRIDE_LEDPIN_PINMODE #define LEDPIN_TOGGLE OVERRIDE_LEDPIN_TOGGLE #define LEDPIN_OFF OVERRIDE_LEDPIN_OFF #define LEDPIN_ON OVERRIDE_LEDPIN_ON #endif #ifdef OVERRIDE_BUZZERPIN_PINMODE #undef BUZZERPIN_PINMODE #undef BUZZERPIN_ON #undef BUZZERPIN_OFF #define BUZZERPIN_PINMODE OVERRIDE_BUZZERPIN_PINMODE #define BUZZERPIN_ON OVERRIDE_BUZZERPIN_ON #define BUZZERPIN_OFF OVERRIDE_BUZZERPIN_OFF #endif /********* sensors orientation - possibly overriding board defaults *****/ #ifdef FORCE_GYRO_ORIENTATION #undef GYRO_ORIENTATION #define GYRO_ORIENTATION FORCE_GYRO_ORIENTATION #endif #ifdef FORCE_ACC_ORIENTATION #undef ACC_ORIENTATION #define ACC_ORIENTATION FORCE_ACC_ORIENTATION #endif #ifdef FORCE_MAG_ORIENTATION #undef MAG_ORIENTATION #define MAG_ORIENTATION FORCE_MAG_ORIENTATION #endif /********* servo rates *****/ #ifdef FORCE_SERVO_RATES #undef SERVO_RATES #define SERVO_RATES FORCE_SERVO_RATES #endif /**************************************************************************************/ /*************** Error Checking Section ********************/ /**************************************************************************************/ #ifndef NUMBER_MOTOR #error "NUMBER_MOTOR is not set, most likely you have not defined any type of multicopter" #endif #if (defined(LCD_DUMMY) || defined(LCD_SERIAL3W) || defined(LCD_TEXTSTAR) || defined(LCD_VT100) || defined(LCD_TTY) || defined(LCD_ETPP) || defined(LCD_LCD03) || defined(LCD_LCD03S) || defined(OLED_I2C_128x64) ) || defined(OLED_DIGOLE) #define HAS_LCD #endif #if (defined(LCD_CONF) || defined(LCD_TELEMETRY)) && !(defined(HAS_LCD) ) #error "LCD_CONF or LCD_TELEMETRY defined, and choice of LCD not defined. Uncomment one of LCD_SERIAL3W, LCD_TEXTSTAR, LCD_VT100, LCD_TTY or LCD_ETPP, LCD_LCD03, LCD_LCD03S, OLED_I2C_128x64, OLED_DIGOLE" #endif #if defined(POWERMETER_SOFT) && !(defined(VBAT)) #error "to use powermeter, you must also define and configure VBAT" #endif #if defined(WATTS) && !(defined(POWERMETER_HARD)) && !(defined(VBAT)) #error "to compute WATTS, you must also define and configure both POWERMETER_HARD and VBAT" #endif #if defined(LCD_TELEMETRY_AUTO) && !(defined(LCD_TELEMETRY)) #error "to use automatic telemetry, you MUST also define and configure LCD_TELEMETRY" #endif #if defined(LCD_TELEMETRY_STEP) && !(defined(LCD_TELEMETRY)) #error "to use single step telemetry, you MUST also define and configure LCD_TELEMETRY" #endif #if defined(A32U4_4_HW_PWM_SERVOS) && !(defined(HELI_120_CCPM)) #error "for your protection: A32U4_4_HW_PWM_SERVOS was not tested with your coptertype" #endif #if GPS && !defined(NMEA) && !defined(UBLOX) && !defined(MTK_BINARY16) && !defined(MTK_BINARY19) && !defined(INIT_MTK_GPS) && !defined(I2C_GPS) #error "when using GPS you must specify the protocol NMEA, UBLOX..." #endif #if defined(NUNCHUK) || \ defined( MPU6050_LPF_256HZ) || defined(MPU6050_LPF_188HZ) || defined( MPU6050_LPF_98HZ) || defined( MPU6050_LPF_42HZ) || \ defined( MPU6050_LPF_20HZ) || defined( MPU6050_LPF_10HZ) || defined( MPU6050_LPF_5HZ) || \ defined( ITG3200_LPF_256HZ) || defined( ITG3200_LPF_188HZ) || defined( ITG3200_LPF_98HZ) || defined( ITG3200_LPF_42HZ) || \ defined( ITG3200_LPF_20HZ) || defined( ITG3200_LPF_10HZ) #error "you use one feature that is no longer supported or has undergone a name change" #endif #endif /* DEF_H_ */