mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-16 21:05:35 +03:00
Remove merge artifact
This commit is contained in:
jflyper
parent
4b80bceb1f
commit
f33a661fa7
1 changed files with 0 additions and 865 deletions
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@ -1,865 +0,0 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
|
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include <math.h>
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#include "platform.h"
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#include "build/build_config.h"
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#include "build/debug.h"
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#include "blackbox/blackbox_io.h"
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#include "cms/cms.h"
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#include "common/axis.h"
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#include "common/color.h"
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#include "common/filter.h"
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#include "common/maths.h"
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#include "config/config_eeprom.h"
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#include "config/feature.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/compass/compass.h"
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#include "drivers/inverter.h"
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#include "drivers/io.h"
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#include "drivers/light_led.h"
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#include "drivers/light_ws2811strip.h"
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#include "drivers/max7456.h"
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#include "drivers/pwm_esc_detect.h"
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#include "drivers/pwm_output.h"
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#include "drivers/rx_pwm.h"
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#include "drivers/rx_spi.h"
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#include "drivers/sdcard.h"
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#include "drivers/sensor.h"
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#include "drivers/serial.h"
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#include "drivers/sonar_hcsr04.h"
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#include "drivers/sound_beeper.h"
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#include "drivers/system.h"
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#include "drivers/timer.h"
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#include "drivers/vcd.h"
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#include "fc/config.h"
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#include "fc/controlrate_profile.h"
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#include "fc/fc_core.h"
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#include "fc/fc_rc.h"
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#include "fc/rc_adjustments.h"
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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#include "flight/altitude.h"
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#include "flight/failsafe.h"
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#include "flight/imu.h"
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#include "flight/mixer.h"
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#include "flight/navigation.h"
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#include "flight/pid.h"
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#include "flight/servos.h"
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#include "io/beeper.h"
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#include "io/gimbal.h"
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#include "io/gps.h"
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#include "io/ledstrip.h"
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#include "io/motors.h"
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#include "io/osd.h"
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#include "io/serial.h"
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#include "io/servos.h"
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#include "io/vtx_control.h"
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#include "rx/rx.h"
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#include "rx/rx_spi.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "sensors/boardalignment.h"
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#include "sensors/compass.h"
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#include "sensors/gyro.h"
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#include "sensors/sensors.h"
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#include "telemetry/telemetry.h"
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#ifndef USE_OSD_SLAVE
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pidProfile_t *currentPidProfile;
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#endif
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#ifndef DEFAULT_FEATURES
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#define DEFAULT_FEATURES 0
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#endif
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#ifndef DEFAULT_RX_FEATURE
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#define DEFAULT_RX_FEATURE FEATURE_RX_PARALLEL_PWM
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#endif
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#ifndef RX_SPI_DEFAULT_PROTOCOL
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#define RX_SPI_DEFAULT_PROTOCOL 0
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#endif
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PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
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PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
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.enabledFeatures = DEFAULT_FEATURES | DEFAULT_RX_FEATURE | FEATURE_FAILSAFE
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);
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PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
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#ifndef USE_OSD_SLAVE
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PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
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.pidProfileIndex = 0,
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.activeRateProfile = 0,
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.debug_mode = DEBUG_MODE,
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.task_statistics = true,
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.name = { 0 } // FIXME misplaced, see PG_PILOT_CONFIG in CF v1.x
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);
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#endif
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#ifdef USE_OSD_SLAVE
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PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
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.debug_mode = DEBUG_MODE,
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.task_statistics = true
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);
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#endif
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#ifdef BEEPER
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PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0);
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#endif
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#ifdef USE_ADC
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PG_REGISTER_WITH_RESET_FN(adcConfig_t, adcConfig, PG_ADC_CONFIG, 0);
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#endif
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#ifdef USE_PWM
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PG_REGISTER_WITH_RESET_FN(pwmConfig_t, pwmConfig, PG_PWM_CONFIG, 0);
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#endif
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#ifdef USE_PPM
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PG_REGISTER_WITH_RESET_FN(ppmConfig_t, ppmConfig, PG_PPM_CONFIG, 0);
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#endif
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PG_REGISTER_WITH_RESET_FN(statusLedConfig_t, statusLedConfig, PG_STATUS_LED_CONFIG, 0);
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PG_REGISTER_WITH_RESET_FN(serialPinConfig_t, serialPinConfig, PG_SERIAL_PIN_CONFIG, 0);
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#ifdef USE_FLASHFS
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PG_REGISTER_WITH_RESET_TEMPLATE(flashConfig_t, flashConfig, PG_FLASH_CONFIG, 0);
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#ifdef M25P16_CS_PIN
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#define FLASH_CONFIG_CSTAG IO_TAG(M25P16_CS_PIN)
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#else
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#define FLASH_CONFIG_CSTAG IO_TAG_NONE
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#endif
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PG_RESET_TEMPLATE(flashConfig_t, flashConfig,
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.csTag = FLASH_CONFIG_CSTAG
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);
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#endif // USE_FLASH_FS
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#ifdef USE_SDCARD
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PG_REGISTER_WITH_RESET_TEMPLATE(sdcardConfig_t, sdcardConfig, PG_SDCARD_CONFIG, 0);
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#if defined(SDCARD_DMA_CHANNEL_TX)
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#define SDCARD_CONFIG_USE_DMA true
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#else
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#define SDCARD_CONFIG_USE_DMA false
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#endif
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PG_RESET_TEMPLATE(sdcardConfig_t, sdcardConfig,
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.useDma = SDCARD_CONFIG_USE_DMA
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);
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#endif
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// no template required since defaults are zero
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PG_REGISTER(vcdProfile_t, vcdProfile, PG_VCD_CONFIG, 0);
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#ifdef SONAR
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void resetSonarConfig(sonarConfig_t *sonarConfig)
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{
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#if defined(SONAR_TRIGGER_PIN) && defined(SONAR_ECHO_PIN)
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sonarConfig->triggerTag = IO_TAG(SONAR_TRIGGER_PIN);
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sonarConfig->echoTag = IO_TAG(SONAR_ECHO_PIN);
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#else
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#error Sonar not defined for target
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#endif
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}
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#endif
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#ifdef USE_ADC
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void pgResetFn_adcConfig(adcConfig_t *adcConfig)
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{
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#ifdef VBAT_ADC_PIN
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adcConfig->vbat.enabled = true;
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adcConfig->vbat.ioTag = IO_TAG(VBAT_ADC_PIN);
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#endif
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#ifdef EXTERNAL1_ADC_PIN
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adcConfig->external1.enabled = true;
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adcConfig->external1.ioTag = IO_TAG(EXTERNAL1_ADC_PIN);
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#endif
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#ifdef CURRENT_METER_ADC_PIN
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adcConfig->current.enabled = true;
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adcConfig->current.ioTag = IO_TAG(CURRENT_METER_ADC_PIN);
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#endif
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#ifdef RSSI_ADC_PIN
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adcConfig->rssi.enabled = true;
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adcConfig->rssi.ioTag = IO_TAG(RSSI_ADC_PIN);
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#endif
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}
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#endif // USE_ADC
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#if defined(USE_PWM) || defined(USE_PPM)
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void pgResetFn_ppmConfig(ppmConfig_t *ppmConfig)
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{
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#ifdef PPM_PIN
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ppmConfig->ioTag = IO_TAG(PPM_PIN);
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#else
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for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
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if (timerHardware[i].usageFlags & TIM_USE_PPM) {
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ppmConfig->ioTag = timerHardware[i].tag;
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return;
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}
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}
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ppmConfig->ioTag = IO_TAG_NONE;
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#endif
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}
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void pgResetFn_pwmConfig(pwmConfig_t *pwmConfig)
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{
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pwmConfig->inputFilteringMode = INPUT_FILTERING_DISABLED;
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int inputIndex = 0;
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for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && inputIndex < PWM_INPUT_PORT_COUNT; i++) {
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if (timerHardware[i].usageFlags & TIM_USE_PWM) {
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pwmConfig->ioTags[inputIndex] = timerHardware[i].tag;
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inputIndex++;
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}
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}
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}
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#endif
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// Default pin (NONE).
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// XXX Does this mess belong here???
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#ifdef USE_UART1
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# if !defined(UART1_RX_PIN)
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# define UART1_RX_PIN NONE
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# endif
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# if !defined(UART1_TX_PIN)
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# define UART1_TX_PIN NONE
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# endif
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#endif
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#ifdef USE_UART2
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# if !defined(UART2_RX_PIN)
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# define UART2_RX_PIN NONE
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# endif
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# if !defined(UART2_TX_PIN)
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# define UART2_TX_PIN NONE
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# endif
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#endif
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#ifdef USE_UART3
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# if !defined(UART3_RX_PIN)
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# define UART3_RX_PIN NONE
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# endif
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# if !defined(UART3_TX_PIN)
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# define UART3_TX_PIN NONE
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# endif
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#endif
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#ifdef USE_UART4
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# if !defined(UART4_RX_PIN)
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# define UART4_RX_PIN NONE
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# endif
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# if !defined(UART4_TX_PIN)
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# define UART4_TX_PIN NONE
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# endif
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#endif
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#ifdef USE_UART5
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# if !defined(UART5_RX_PIN)
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# define UART5_RX_PIN NONE
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# endif
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# if !defined(UART5_TX_PIN)
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# define UART5_TX_PIN NONE
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# endif
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#endif
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#ifdef USE_UART6
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# if !defined(UART6_RX_PIN)
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# define UART6_RX_PIN NONE
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# endif
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# if !defined(UART6_TX_PIN)
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# define UART6_TX_PIN NONE
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# endif
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#endif
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#ifdef USE_UART7
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# if !defined(UART7_RX_PIN)
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# define UART7_RX_PIN NONE
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# endif
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# if !defined(UART7_TX_PIN)
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# define UART7_TX_PIN NONE
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# endif
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#endif
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#ifdef USE_UART8
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# if !defined(UART8_RX_PIN)
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# define UART8_RX_PIN NONE
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# endif
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# if !defined(UART8_TX_PIN)
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# define UART8_TX_PIN NONE
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# endif
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#endif
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#ifdef USE_SOFTSERIAL1
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# if !defined(SOFTSERIAL1_RX_PIN)
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# define SOFTSERIAL1_RX_PIN NONE
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# endif
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# if !defined(SOFTSERIAL1_TX_PIN)
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# define SOFTSERIAL1_TX_PIN NONE
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# endif
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#endif
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#ifdef USE_SOFTSERIAL2
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# if !defined(SOFTSERIAL2_RX_PIN)
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# define SOFTSERIAL2_RX_PIN NONE
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# endif
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# if !defined(SOFTSERIAL2_TX_PIN)
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# define SOFTSERIAL2_TX_PIN NONE
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# endif
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#endif
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void pgResetFn_serialPinConfig(serialPinConfig_t *serialPinConfig)
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{
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for (int port = 0 ; port < SERIAL_PORT_MAX_INDEX ; port++) {
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serialPinConfig->ioTagRx[port] = IO_TAG(NONE);
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serialPinConfig->ioTagTx[port] = IO_TAG(NONE);
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}
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for (int index = 0 ; index < SERIAL_PORT_COUNT ; index++) {
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switch (serialPortIdentifiers[index]) {
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case SERIAL_PORT_USART1:
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#ifdef USE_UART1
|
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serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART1)] = IO_TAG(UART1_RX_PIN);
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serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART1)] = IO_TAG(UART1_TX_PIN);
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<<<<<<< HEAD
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#ifdef INVERTER_PIN_UART1
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serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART1)] = IO_TAG(INVERTER_PIN_UART1);
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#endif
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=======
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>>>>>>> betaflight/master
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#endif
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break;
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case SERIAL_PORT_USART2:
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#ifdef USE_UART2
|
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serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART2)] = IO_TAG(UART2_RX_PIN);
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serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART2)] = IO_TAG(UART2_TX_PIN);
|
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<<<<<<< HEAD
|
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#ifdef INVERTER_PIN_UART2
|
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serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART2)] = IO_TAG(INVERTER_PIN_UART2);
|
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#endif
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||||
=======
|
||||
>>>>>>> betaflight/master
|
||||
#endif
|
||||
break;
|
||||
case SERIAL_PORT_USART3:
|
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#ifdef USE_UART3
|
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serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART3)] = IO_TAG(UART3_RX_PIN);
|
||||
serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART3)] = IO_TAG(UART3_TX_PIN);
|
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<<<<<<< HEAD
|
||||
#ifdef INVERTER_PIN_UART3
|
||||
serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART3)] = IO_TAG(INVERTER_PIN_UART3);
|
||||
#endif
|
||||
=======
|
||||
>>>>>>> betaflight/master
|
||||
#endif
|
||||
break;
|
||||
case SERIAL_PORT_UART4:
|
||||
#ifdef USE_UART4
|
||||
serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_UART4)] = IO_TAG(UART4_RX_PIN);
|
||||
serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_UART4)] = IO_TAG(UART4_TX_PIN);
|
||||
<<<<<<< HEAD
|
||||
#ifdef INVERTER_PIN_UART4
|
||||
serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART4)] = IO_TAG(INVERTER_PIN_UART4);
|
||||
#endif
|
||||
=======
|
||||
>>>>>>> betaflight/master
|
||||
#endif
|
||||
break;
|
||||
case SERIAL_PORT_UART5:
|
||||
#ifdef USE_UART5
|
||||
serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_UART5)] = IO_TAG(UART5_RX_PIN);
|
||||
serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_UART5)] = IO_TAG(UART5_TX_PIN);
|
||||
<<<<<<< HEAD
|
||||
#ifdef INVERTER_PIN_UART5
|
||||
serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART5)] = IO_TAG(INVERTER_PIN_UART5);
|
||||
#endif
|
||||
=======
|
||||
>>>>>>> betaflight/master
|
||||
#endif
|
||||
break;
|
||||
case SERIAL_PORT_USART6:
|
||||
#ifdef USE_UART6
|
||||
serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART6)] = IO_TAG(UART6_RX_PIN);
|
||||
serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART6)] = IO_TAG(UART6_TX_PIN);
|
||||
<<<<<<< HEAD
|
||||
#ifdef INVERTER_PIN_UART6
|
||||
serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART6)] = IO_TAG(INVERTER_PIN_UART6);
|
||||
#endif
|
||||
=======
|
||||
>>>>>>> betaflight/master
|
||||
#endif
|
||||
break;
|
||||
case SERIAL_PORT_USART7:
|
||||
#ifdef USE_UART7
|
||||
serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART7)] = IO_TAG(UART7_RX_PIN);
|
||||
serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART7)] = IO_TAG(UART7_TX_PIN);
|
||||
#endif
|
||||
break;
|
||||
case SERIAL_PORT_USART8:
|
||||
#ifdef USE_UART8
|
||||
serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART8)] = IO_TAG(UART8_RX_PIN);
|
||||
serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART8)] = IO_TAG(UART8_TX_PIN);
|
||||
#endif
|
||||
break;
|
||||
case SERIAL_PORT_SOFTSERIAL1:
|
||||
#ifdef USE_SOFTSERIAL1
|
||||
serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_SOFTSERIAL1)] = IO_TAG(SOFTSERIAL1_RX_PIN);
|
||||
serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_SOFTSERIAL1)] = IO_TAG(SOFTSERIAL1_TX_PIN);
|
||||
#endif
|
||||
break;
|
||||
case SERIAL_PORT_SOFTSERIAL2:
|
||||
#ifdef USE_SOFTSERIAL2
|
||||
serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_SOFTSERIAL2)] = IO_TAG(SOFTSERIAL2_RX_PIN);
|
||||
serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_SOFTSERIAL2)] = IO_TAG(SOFTSERIAL2_TX_PIN);
|
||||
#endif
|
||||
break;
|
||||
case SERIAL_PORT_USB_VCP:
|
||||
break;
|
||||
case SERIAL_PORT_NONE:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef SWAP_SERIAL_PORT_0_AND_1_DEFAULTS
|
||||
#define FIRST_PORT_INDEX 1
|
||||
#define SECOND_PORT_INDEX 0
|
||||
#else
|
||||
#define FIRST_PORT_INDEX 0
|
||||
#define SECOND_PORT_INDEX 1
|
||||
#endif
|
||||
|
||||
void pgResetFn_statusLedConfig(statusLedConfig_t *statusLedConfig)
|
||||
{
|
||||
for (int i = 0; i < LED_NUMBER; i++) {
|
||||
statusLedConfig->ledTags[i] = IO_TAG_NONE;
|
||||
}
|
||||
|
||||
#ifdef LED0
|
||||
statusLedConfig->ledTags[0] = IO_TAG(LED0);
|
||||
#endif
|
||||
#ifdef LED1
|
||||
statusLedConfig->ledTags[1] = IO_TAG(LED1);
|
||||
#endif
|
||||
#ifdef LED2
|
||||
statusLedConfig->ledTags[2] = IO_TAG(LED2);
|
||||
#endif
|
||||
|
||||
statusLedConfig->polarity = 0
|
||||
#ifdef LED0_INVERTED
|
||||
| BIT(0)
|
||||
#endif
|
||||
#ifdef LED1_INVERTED
|
||||
| BIT(1)
|
||||
#endif
|
||||
#ifdef LED2_INVERTED
|
||||
| BIT(2)
|
||||
#endif
|
||||
;
|
||||
}
|
||||
|
||||
#ifndef USE_OSD_SLAVE
|
||||
uint8_t getCurrentPidProfileIndex(void)
|
||||
{
|
||||
return systemConfig()->pidProfileIndex;
|
||||
}
|
||||
|
||||
static void setPidProfile(uint8_t pidProfileIndex)
|
||||
{
|
||||
if (pidProfileIndex < MAX_PROFILE_COUNT) {
|
||||
systemConfigMutable()->pidProfileIndex = pidProfileIndex;
|
||||
currentPidProfile = pidProfilesMutable(pidProfileIndex);
|
||||
pidInit(currentPidProfile); // re-initialise pid controller to re-initialise filters and config
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t getCurrentControlRateProfileIndex(void)
|
||||
{
|
||||
return systemConfigMutable()->activeRateProfile;
|
||||
}
|
||||
|
||||
uint16_t getCurrentMinthrottle(void)
|
||||
{
|
||||
return motorConfig()->minthrottle;
|
||||
}
|
||||
#endif
|
||||
|
||||
void resetConfigs(void)
|
||||
{
|
||||
pgResetAll(MAX_PROFILE_COUNT);
|
||||
|
||||
#if defined(TARGET_CONFIG)
|
||||
targetConfiguration();
|
||||
#endif
|
||||
|
||||
pgActivateProfile(0);
|
||||
|
||||
#ifndef USE_OSD_SLAVE
|
||||
setPidProfile(0);
|
||||
setControlRateProfile(0);
|
||||
#endif
|
||||
|
||||
#ifdef LED_STRIP
|
||||
reevaluateLedConfig();
|
||||
#endif
|
||||
}
|
||||
|
||||
void activateConfig(void)
|
||||
{
|
||||
#ifndef USE_OSD_SLAVE
|
||||
generateThrottleCurve();
|
||||
|
||||
resetAdjustmentStates();
|
||||
|
||||
useRcControlsConfig(modeActivationConditions(0), currentPidProfile);
|
||||
useAdjustmentConfig(currentPidProfile);
|
||||
|
||||
#ifdef GPS
|
||||
gpsUsePIDs(currentPidProfile);
|
||||
#endif
|
||||
|
||||
failsafeReset();
|
||||
setAccelerationTrims(&accelerometerConfigMutable()->accZero);
|
||||
setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
|
||||
|
||||
imuConfigure(throttleCorrectionConfig()->throttle_correction_angle);
|
||||
#endif
|
||||
}
|
||||
|
||||
void validateAndFixConfig(void)
|
||||
{
|
||||
#ifndef USE_OSD_SLAVE
|
||||
if((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)){
|
||||
motorConfigMutable()->mincommand = 1000;
|
||||
}
|
||||
|
||||
if ((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
|
||||
motorConfigMutable()->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
|
||||
}
|
||||
|
||||
if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP) || featureConfigured(FEATURE_RX_SPI))) {
|
||||
featureSet(DEFAULT_RX_FEATURE);
|
||||
}
|
||||
|
||||
if (featureConfigured(FEATURE_RX_PPM)) {
|
||||
featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_SPI);
|
||||
}
|
||||
|
||||
if (featureConfigured(FEATURE_RX_MSP)) {
|
||||
featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_SPI);
|
||||
}
|
||||
|
||||
if (featureConfigured(FEATURE_RX_SERIAL)) {
|
||||
featureClear(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
|
||||
}
|
||||
|
||||
if (featureConfigured(FEATURE_RX_SPI)) {
|
||||
featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP);
|
||||
}
|
||||
|
||||
if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
|
||||
featureClear(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
|
||||
#if defined(STM32F10X)
|
||||
// rssi adc needs the same ports
|
||||
featureClear(FEATURE_RSSI_ADC);
|
||||
// current meter needs the same ports
|
||||
if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) {
|
||||
batteryConfigMutable()->currentMeterSource = CURRENT_METER_NONE;
|
||||
}
|
||||
#endif
|
||||
// software serial needs free PWM ports
|
||||
featureClear(FEATURE_SOFTSERIAL);
|
||||
}
|
||||
|
||||
#ifdef USE_SOFTSPI
|
||||
if (featureConfigured(FEATURE_SOFTSPI)) {
|
||||
featureClear(FEATURE_RX_PPM | FEATURE_RX_PARALLEL_PWM | FEATURE_SOFTSERIAL);
|
||||
batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_NONE;
|
||||
#if defined(STM32F10X)
|
||||
featureClear(FEATURE_LED_STRIP);
|
||||
// rssi adc needs the same ports
|
||||
featureClear(FEATURE_RSSI_ADC);
|
||||
// current meter needs the same ports
|
||||
if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) {
|
||||
batteryConfigMutable()->currentMeterSource = CURRENT_METER_NONE;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
// Prevent invalid notch cutoff
|
||||
if (currentPidProfile->dterm_notch_cutoff >= currentPidProfile->dterm_notch_hz) {
|
||||
currentPidProfile->dterm_notch_hz = 0;
|
||||
}
|
||||
|
||||
validateAndFixGyroConfig();
|
||||
#endif
|
||||
|
||||
if (!isSerialConfigValid(serialConfig())) {
|
||||
pgResetFn_serialConfig(serialConfigMutable());
|
||||
}
|
||||
|
||||
#if defined(TARGET_VALIDATECONFIG)
|
||||
targetValidateConfiguration();
|
||||
#endif
|
||||
}
|
||||
|
||||
#ifndef USE_OSD_SLAVE
|
||||
void validateAndFixGyroConfig(void)
|
||||
{
|
||||
// Prevent invalid notch cutoff
|
||||
if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
|
||||
gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
|
||||
}
|
||||
if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
|
||||
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
|
||||
}
|
||||
|
||||
float samplingTime = 0.000125f;
|
||||
|
||||
if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
|
||||
pidConfigMutable()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
|
||||
gyroConfigMutable()->gyro_sync_denom = 1;
|
||||
gyroConfigMutable()->gyro_use_32khz = false;
|
||||
samplingTime = 0.001f;
|
||||
}
|
||||
|
||||
if (gyroConfig()->gyro_use_32khz) {
|
||||
samplingTime = 0.00003125;
|
||||
// F1 and F3 can't handle high sample speed.
|
||||
#if defined(STM32F1)
|
||||
gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 16);
|
||||
#elif defined(STM32F3)
|
||||
gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
|
||||
#endif
|
||||
} else {
|
||||
#if defined(STM32F1)
|
||||
gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 3);
|
||||
#endif
|
||||
}
|
||||
|
||||
#if !defined(GYRO_USES_SPI) || !defined(USE_MPU_DATA_READY_SIGNAL)
|
||||
gyroConfigMutable()->gyro_isr_update = false;
|
||||
#endif
|
||||
|
||||
// check for looptime restrictions based on motor protocol. Motor times have safety margin
|
||||
const float pidLooptime = samplingTime * gyroConfig()->gyro_sync_denom * pidConfig()->pid_process_denom;
|
||||
float motorUpdateRestriction;
|
||||
switch(motorConfig()->dev.motorPwmProtocol) {
|
||||
case (PWM_TYPE_STANDARD):
|
||||
motorUpdateRestriction = 1.0f/BRUSHLESS_MOTORS_PWM_RATE;
|
||||
break;
|
||||
case (PWM_TYPE_ONESHOT125):
|
||||
motorUpdateRestriction = 0.0005f;
|
||||
break;
|
||||
case (PWM_TYPE_ONESHOT42):
|
||||
motorUpdateRestriction = 0.0001f;
|
||||
break;
|
||||
#ifdef USE_DSHOT
|
||||
case (PWM_TYPE_DSHOT150):
|
||||
motorUpdateRestriction = 0.000250f;
|
||||
break;
|
||||
case (PWM_TYPE_DSHOT300):
|
||||
motorUpdateRestriction = 0.0001f;
|
||||
break;
|
||||
#endif
|
||||
default:
|
||||
motorUpdateRestriction = 0.00003125f;
|
||||
}
|
||||
|
||||
if (pidLooptime < motorUpdateRestriction) {
|
||||
const uint8_t maxPidProcessDenom = constrain(motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom), 1, MAX_PID_PROCESS_DENOM);
|
||||
pidConfigMutable()->pid_process_denom = MIN(pidConfigMutable()->pid_process_denom, maxPidProcessDenom);
|
||||
}
|
||||
|
||||
// Prevent overriding the max rate of motors
|
||||
if (motorConfig()->dev.useUnsyncedPwm && (motorConfig()->dev.motorPwmProtocol <= PWM_TYPE_BRUSHED) && motorConfig()->dev.motorPwmProtocol != PWM_TYPE_STANDARD) {
|
||||
uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
|
||||
|
||||
if(motorConfig()->dev.motorPwmRate > maxEscRate)
|
||||
motorConfigMutable()->dev.motorPwmRate = maxEscRate;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
void readEEPROM(void)
|
||||
{
|
||||
#ifndef USE_OSD_SLAVE
|
||||
suspendRxSignal();
|
||||
#endif
|
||||
|
||||
// Sanity check, read flash
|
||||
if (!loadEEPROM()) {
|
||||
failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
|
||||
}
|
||||
#ifndef USE_OSD_SLAVE
|
||||
if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {// sanity check
|
||||
systemConfigMutable()->activeRateProfile = 0;
|
||||
}
|
||||
setControlRateProfile(systemConfig()->activeRateProfile);
|
||||
|
||||
if (systemConfig()->pidProfileIndex >= MAX_PROFILE_COUNT) {// sanity check
|
||||
systemConfigMutable()->pidProfileIndex = 0;
|
||||
}
|
||||
setPidProfile(systemConfig()->pidProfileIndex);
|
||||
#endif
|
||||
|
||||
validateAndFixConfig();
|
||||
activateConfig();
|
||||
|
||||
#ifndef USE_OSD_SLAVE
|
||||
resumeRxSignal();
|
||||
#endif
|
||||
}
|
||||
|
||||
void writeEEPROM(void)
|
||||
{
|
||||
#ifndef USE_OSD_SLAVE
|
||||
suspendRxSignal();
|
||||
#endif
|
||||
|
||||
writeConfigToEEPROM();
|
||||
|
||||
#ifndef USE_OSD_SLAVE
|
||||
resumeRxSignal();
|
||||
#endif
|
||||
}
|
||||
|
||||
void resetEEPROM(void)
|
||||
{
|
||||
resetConfigs();
|
||||
writeEEPROM();
|
||||
}
|
||||
|
||||
void ensureEEPROMContainsValidData(void)
|
||||
{
|
||||
if (isEEPROMContentValid()) {
|
||||
return;
|
||||
}
|
||||
resetEEPROM();
|
||||
}
|
||||
|
||||
void saveConfigAndNotify(void)
|
||||
{
|
||||
writeEEPROM();
|
||||
readEEPROM();
|
||||
beeperConfirmationBeeps(1);
|
||||
}
|
||||
|
||||
#ifndef USE_OSD_SLAVE
|
||||
void changePidProfile(uint8_t pidProfileIndex)
|
||||
{
|
||||
if (pidProfileIndex >= MAX_PROFILE_COUNT) {
|
||||
pidProfileIndex = MAX_PROFILE_COUNT - 1;
|
||||
}
|
||||
systemConfigMutable()->pidProfileIndex = pidProfileIndex;
|
||||
currentPidProfile = pidProfilesMutable(pidProfileIndex);
|
||||
beeperConfirmationBeeps(pidProfileIndex + 1);
|
||||
}
|
||||
#endif
|
||||
|
||||
void beeperOffSet(uint32_t mask)
|
||||
{
|
||||
#ifdef BEEPER
|
||||
beeperConfigMutable()->beeper_off_flags |= mask;
|
||||
#else
|
||||
UNUSED(mask);
|
||||
#endif
|
||||
}
|
||||
|
||||
void beeperOffSetAll(uint8_t beeperCount)
|
||||
{
|
||||
#ifdef BEEPER
|
||||
beeperConfigMutable()->beeper_off_flags = (1 << beeperCount) -1;
|
||||
#else
|
||||
UNUSED(beeperCount);
|
||||
#endif
|
||||
}
|
||||
|
||||
void beeperOffClear(uint32_t mask)
|
||||
{
|
||||
#ifdef BEEPER
|
||||
beeperConfigMutable()->beeper_off_flags &= ~(mask);
|
||||
#else
|
||||
UNUSED(mask);
|
||||
#endif
|
||||
}
|
||||
|
||||
void beeperOffClearAll(void)
|
||||
{
|
||||
#ifdef BEEPER
|
||||
beeperConfigMutable()->beeper_off_flags = 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
uint32_t getBeeperOffMask(void)
|
||||
{
|
||||
#ifdef BEEPER
|
||||
return beeperConfig()->beeper_off_flags;
|
||||
#else
|
||||
return 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
void setBeeperOffMask(uint32_t mask)
|
||||
{
|
||||
#ifdef BEEPER
|
||||
beeperConfigMutable()->beeper_off_flags = mask;
|
||||
#else
|
||||
UNUSED(mask);
|
||||
#endif
|
||||
}
|
||||
|
||||
uint32_t getPreferredBeeperOffMask(void)
|
||||
{
|
||||
#ifdef BEEPER
|
||||
return beeperConfig()->preferred_beeper_off_flags;
|
||||
#else
|
||||
return 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
void setPreferredBeeperOffMask(uint32_t mask)
|
||||
{
|
||||
#ifdef BEEPER
|
||||
beeperConfigMutable()->preferred_beeper_off_flags = mask;
|
||||
#else
|
||||
UNUSED(mask);
|
||||
#endif
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue