Merge branch 'lock_active_features' of https://github.com/ProDrone/cleanflight into ProDrone-lock_active_features

Conflicts:
	src/test/unit/rc_controls_unittest.cc

src/main/config/config.c

@@ -134,6 +134,7 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
 
 master_t masterConfig;                 // master config struct with data independent from profiles
 profile_t *currentProfile;
+static uint32_t activeFeaturesLatch = 0;
 
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
@@ -725,26 +726,26 @@ void activateConfig(void)
 
 void validateAndFixConfig(void)
 {
-    if (!(feature(FEATURE_RX_PARALLEL_PWM) || feature(FEATURE_RX_PPM) || feature(FEATURE_RX_SERIAL) || feature(FEATURE_RX_MSP))) {
+    if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP))) {
         featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM
     }
 
-    if (feature(FEATURE_RX_PPM)) {
+    if (featureConfigured(FEATURE_RX_PPM)) {
         featureClear(FEATURE_RX_PARALLEL_PWM);
     }
 
-    if (feature(FEATURE_RX_MSP)) {
+    if (featureConfigured(FEATURE_RX_MSP)) {
         featureClear(FEATURE_RX_SERIAL);
         featureClear(FEATURE_RX_PARALLEL_PWM);
         featureClear(FEATURE_RX_PPM);
     }
 
-    if (feature(FEATURE_RX_SERIAL)) {
+    if (featureConfigured(FEATURE_RX_SERIAL)) {
         featureClear(FEATURE_RX_PARALLEL_PWM);
         featureClear(FEATURE_RX_PPM);
     }
 
-    if (feature(FEATURE_RX_PARALLEL_PWM)) {
+    if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
 #if defined(STM32F10X)
         // rssi adc needs the same ports
         featureClear(FEATURE_RSSI_ADC);
@@ -765,7 +766,7 @@ void validateAndFixConfig(void)
 
 
 #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2))
-    if (feature(FEATURE_SOFTSERIAL) && (
+    if (featureConfigured(FEATURE_SOFTSERIAL) && (
             0
 #ifdef USE_SOFTSERIAL1
             || (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER)
@@ -780,7 +781,7 @@ void validateAndFixConfig(void)
 #endif
 
 #if defined(NAZE) && defined(SONAR)
-    if (feature(FEATURE_RX_PARALLEL_PWM) && feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
+    if (featureConfigured(FEATURE_RX_PARALLEL_PWM) && featureConfigured(FEATURE_SONAR) && featureConfigured(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
         featureClear(FEATURE_CURRENT_METER);
     }
 #endif
@@ -944,11 +945,32 @@ void changeControlRateProfile(uint8_t profileIndex)
     activateControlRateConfig();
 }
 
-bool feature(uint32_t mask)
+void handleOneshotFeatureChangeOnRestart(void)
+{
+    // Shutdown PWM on all motors prior to soft restart
+    StopPwmAllMotors();
+    delay(50);
+    // Apply additional delay when OneShot125 feature changed from on to off state
+    if (feature(FEATURE_ONESHOT125) && !featureConfigured(FEATURE_ONESHOT125)) {
+        delay(ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS);
+    }
+}
+
+void latchActiveFeatures()
+{
+    activeFeaturesLatch = masterConfig.enabledFeatures;
+}
+
+bool featureConfigured(uint32_t mask)
 {
     return masterConfig.enabledFeatures & mask;
 }
 
+bool feature(uint32_t mask)
+{
+    return activeFeaturesLatch & mask;
+}
+
 void featureSet(uint32_t mask)
 {
     masterConfig.enabledFeatures |= mask;

src/main/config/config.h

@@ -19,6 +19,7 @@
 
 #define MAX_PROFILE_COUNT 3
 #define MAX_CONTROL_RATE_PROFILE_COUNT 3
+#define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500
 
 
 typedef enum {
@@ -44,6 +45,9 @@ typedef enum {
     FEATURE_BLACKBOX = 1 << 19
 } features_e;
 
+void handleOneshotFeatureChangeOnRestart(void);
+void latchActiveFeatures(void);
+bool featureConfigured(uint32_t mask);
 bool feature(uint32_t mask);
 void featureSet(uint32_t mask);
 void featureClear(uint32_t mask);

src/main/drivers/pwm_mapping.c

@@ -543,7 +543,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
             channelIndex++;
         } else if (type == MAP_TO_MOTOR_OUTPUT) {
             if (init->useOneshot) {
-                pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->idlePulse);
+                pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, 0);
             } else if (init->motorPwmRate > 500) {
                 pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
             } else {

src/main/drivers/pwm_output.c

@@ -142,6 +142,16 @@ void pwmWriteMotor(uint8_t index, uint16_t value)
         motors[index]->pwmWritePtr(index, value);
 }
 
+void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
+{
+    uint8_t index;
+
+    for(index = 0; index < motorCount; index++){
+        // Set the compare register to 0, which stops the output pulsing if the timer overflows
+        *motors[index]->ccr = 0;
+    }
+}
+
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
 {
     uint8_t index;

src/main/drivers/pwm_output.h

@@ -18,6 +18,7 @@
 #pragma once
 
 void pwmWriteMotor(uint8_t index, uint16_t value);
+void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);
 
 void pwmWriteServo(uint8_t index, uint16_t value);

src/main/flight/mixer.c

@@ -513,6 +513,11 @@ void stopMotors(void)
     delay(50); // give the timers and ESCs a chance to react.
 }
 
+void StopPwmAllMotors()
+{
+    pwmShutdownPulsesForAllMotors(motorCount);
+}
+
 #ifndef USE_QUAD_MIXER_ONLY
 static void airplaneMixer(void)
 {

src/main/flight/mixer.h

@@ -115,3 +115,4 @@ void mixerResetMotors(void);
 void mixTable(void);
 void writeMotors(void);
 void stopMotors(void);
+void StopPwmAllMotors(void);

src/main/io/serial_cli.c

@@ -1410,6 +1410,7 @@ static void cliReboot(void) {
     cliPrint("\r\nRebooting");
     waitForSerialPortToFinishTransmitting(cliPort);
     stopMotors();
+    handleOneshotFeatureChangeOnRestart();
     systemReset();
 }
 

src/main/io/serial_msp.c

@@ -1748,6 +1748,7 @@ void mspProcess(void)
                 delay(50);
             }
             stopMotors();
+            handleOneshotFeatureChangeOnRestart();
             systemReset();
         }
     }

src/main/main.c

@@ -91,6 +91,7 @@
 #include "debug.h"
 
 extern uint32_t previousTime;
+extern uint8_t motorControlEnable;
 
 #ifdef SOFTSERIAL_LOOPBACK
 serialPort_t *loopbackPort;
@@ -171,6 +172,9 @@ void init(void)
 
     systemInit();
 
+    // Latch active features to be used for feature() in the remainder of init().
+    latchActiveFeatures();
+
     ledInit();
 
 #ifdef SPEKTRUM_BIND
@@ -256,6 +260,9 @@ void init(void)
 
     mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
 
+    if (!feature(FEATURE_ONESHOT125))
+        motorControlEnable = true;
+
     systemState |= SYSTEM_STATE_MOTORS_READY;
 
 #ifdef BEEPER
@@ -481,6 +488,10 @@ void init(void)
     LED2_ON;
 #endif
 
+    // Latch active features AGAIN since some may be modified by init().
+    latchActiveFeatures();
+    motorControlEnable = true;
+
     systemState |= SYSTEM_STATE_READY;
 }
 

src/main/mw.c

@@ -97,6 +97,8 @@ uint16_t cycleTime = 0;         // this is the number in micro second to achieve
 int16_t magHold;
 int16_t headFreeModeHold;
 
+uint8_t motorControlEnable = false;
+
 int16_t telemTemperature1;      // gyro sensor temperature
 static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
 
@@ -801,7 +803,9 @@ void loop(void)
         writeServos();
 #endif
 
+        if (motorControlEnable) {
             writeMotors();
+        }
 
 #ifdef BLACKBOX
         if (!cliMode && feature(FEATURE_BLACKBOX)) {

src/test/unit/flight_mixer_unittest.cc

@@ -315,6 +315,15 @@ void pwmWriteMotor(uint8_t index, uint16_t value) {
     motors[index].value = value;
 }
 
+void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
+{
+    uint8_t index;
+
+    for(index = 0; index < motorCount; index++){
+        motors[index].value = 0;
+    }
+}
+
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount) {
     lastOneShotUpdateMotorCount = motorCount;
 }