From f33a661fa7d257338e6e8c861cde3a8f5f00d333 Mon Sep 17 00:00:00 2001 From: jflyper Date: Mon, 8 May 2017 10:54:45 +0900 Subject: [PATCH] Remove merge artifact --- src/main/fc/config.c.orig | 865 -------------------------------------- 1 file changed, 865 deletions(-) delete mode 100755 src/main/fc/config.c.orig diff --git a/src/main/fc/config.c.orig b/src/main/fc/config.c.orig deleted file mode 100755 index 53b49982b1..0000000000 --- a/src/main/fc/config.c.orig +++ /dev/null @@ -1,865 +0,0 @@ -/* - * This file is part of Cleanflight. - * - * Cleanflight is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * Cleanflight is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with Cleanflight. If not, see . - */ - -#include -#include -#include -#include - -#include "platform.h" - -#include "build/build_config.h" -#include "build/debug.h" - -#include "blackbox/blackbox_io.h" - -#include "cms/cms.h" - -#include "common/axis.h" -#include "common/color.h" -#include "common/filter.h" -#include "common/maths.h" - -#include "config/config_eeprom.h" -#include "config/feature.h" -#include "config/parameter_group.h" -#include "config/parameter_group_ids.h" - -#include "drivers/accgyro/accgyro.h" -#include "drivers/compass/compass.h" -#include "drivers/inverter.h" -#include "drivers/io.h" -#include "drivers/light_led.h" -#include "drivers/light_ws2811strip.h" -#include "drivers/max7456.h" -#include "drivers/pwm_esc_detect.h" -#include "drivers/pwm_output.h" -#include "drivers/rx_pwm.h" -#include "drivers/rx_spi.h" -#include "drivers/sdcard.h" -#include "drivers/sensor.h" -#include "drivers/serial.h" -#include "drivers/sonar_hcsr04.h" -#include "drivers/sound_beeper.h" -#include "drivers/system.h" -#include "drivers/timer.h" -#include "drivers/vcd.h" - -#include "fc/config.h" -#include "fc/controlrate_profile.h" -#include "fc/fc_core.h" -#include "fc/fc_rc.h" -#include "fc/rc_adjustments.h" -#include "fc/rc_controls.h" -#include "fc/runtime_config.h" - -#include "flight/altitude.h" -#include "flight/failsafe.h" -#include "flight/imu.h" -#include "flight/mixer.h" -#include "flight/navigation.h" -#include "flight/pid.h" -#include "flight/servos.h" - -#include "io/beeper.h" -#include "io/gimbal.h" -#include "io/gps.h" -#include "io/ledstrip.h" -#include "io/motors.h" -#include "io/osd.h" -#include "io/serial.h" -#include "io/servos.h" -#include "io/vtx_control.h" - -#include "rx/rx.h" -#include "rx/rx_spi.h" - -#include "sensors/acceleration.h" -#include "sensors/barometer.h" -#include "sensors/battery.h" -#include "sensors/boardalignment.h" -#include "sensors/compass.h" -#include "sensors/gyro.h" -#include "sensors/sensors.h" - -#include "telemetry/telemetry.h" - -#ifndef USE_OSD_SLAVE -pidProfile_t *currentPidProfile; -#endif - -#ifndef DEFAULT_FEATURES -#define DEFAULT_FEATURES 0 -#endif -#ifndef DEFAULT_RX_FEATURE -#define DEFAULT_RX_FEATURE FEATURE_RX_PARALLEL_PWM -#endif -#ifndef RX_SPI_DEFAULT_PROTOCOL -#define RX_SPI_DEFAULT_PROTOCOL 0 -#endif - -PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0); - -PG_RESET_TEMPLATE(featureConfig_t, featureConfig, - .enabledFeatures = DEFAULT_FEATURES | DEFAULT_RX_FEATURE | FEATURE_FAILSAFE -); - -PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0); - -#ifndef USE_OSD_SLAVE -PG_RESET_TEMPLATE(systemConfig_t, systemConfig, - .pidProfileIndex = 0, - .activeRateProfile = 0, - .debug_mode = DEBUG_MODE, - .task_statistics = true, - .name = { 0 } // FIXME misplaced, see PG_PILOT_CONFIG in CF v1.x -); -#endif - -#ifdef USE_OSD_SLAVE -PG_RESET_TEMPLATE(systemConfig_t, systemConfig, - .debug_mode = DEBUG_MODE, - .task_statistics = true -); -#endif - -#ifdef BEEPER -PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0); -#endif -#ifdef USE_ADC -PG_REGISTER_WITH_RESET_FN(adcConfig_t, adcConfig, PG_ADC_CONFIG, 0); -#endif -#ifdef USE_PWM -PG_REGISTER_WITH_RESET_FN(pwmConfig_t, pwmConfig, PG_PWM_CONFIG, 0); -#endif -#ifdef USE_PPM -PG_REGISTER_WITH_RESET_FN(ppmConfig_t, ppmConfig, PG_PPM_CONFIG, 0); -#endif -PG_REGISTER_WITH_RESET_FN(statusLedConfig_t, statusLedConfig, PG_STATUS_LED_CONFIG, 0); -PG_REGISTER_WITH_RESET_FN(serialPinConfig_t, serialPinConfig, PG_SERIAL_PIN_CONFIG, 0); - -#ifdef USE_FLASHFS -PG_REGISTER_WITH_RESET_TEMPLATE(flashConfig_t, flashConfig, PG_FLASH_CONFIG, 0); -#ifdef M25P16_CS_PIN -#define FLASH_CONFIG_CSTAG IO_TAG(M25P16_CS_PIN) -#else -#define FLASH_CONFIG_CSTAG IO_TAG_NONE -#endif - -PG_RESET_TEMPLATE(flashConfig_t, flashConfig, - .csTag = FLASH_CONFIG_CSTAG -); -#endif // USE_FLASH_FS - -#ifdef USE_SDCARD -PG_REGISTER_WITH_RESET_TEMPLATE(sdcardConfig_t, sdcardConfig, PG_SDCARD_CONFIG, 0); -#if defined(SDCARD_DMA_CHANNEL_TX) -#define SDCARD_CONFIG_USE_DMA true -#else -#define SDCARD_CONFIG_USE_DMA false -#endif -PG_RESET_TEMPLATE(sdcardConfig_t, sdcardConfig, - .useDma = SDCARD_CONFIG_USE_DMA -); -#endif - -// no template required since defaults are zero -PG_REGISTER(vcdProfile_t, vcdProfile, PG_VCD_CONFIG, 0); - -#ifdef SONAR -void resetSonarConfig(sonarConfig_t *sonarConfig) -{ -#if defined(SONAR_TRIGGER_PIN) && defined(SONAR_ECHO_PIN) - sonarConfig->triggerTag = IO_TAG(SONAR_TRIGGER_PIN); - sonarConfig->echoTag = IO_TAG(SONAR_ECHO_PIN); -#else -#error Sonar not defined for target -#endif -} -#endif - -#ifdef USE_ADC -void pgResetFn_adcConfig(adcConfig_t *adcConfig) -{ -#ifdef VBAT_ADC_PIN - adcConfig->vbat.enabled = true; - adcConfig->vbat.ioTag = IO_TAG(VBAT_ADC_PIN); -#endif - -#ifdef EXTERNAL1_ADC_PIN - adcConfig->external1.enabled = true; - adcConfig->external1.ioTag = IO_TAG(EXTERNAL1_ADC_PIN); -#endif - -#ifdef CURRENT_METER_ADC_PIN - adcConfig->current.enabled = true; - adcConfig->current.ioTag = IO_TAG(CURRENT_METER_ADC_PIN); -#endif - -#ifdef RSSI_ADC_PIN - adcConfig->rssi.enabled = true; - adcConfig->rssi.ioTag = IO_TAG(RSSI_ADC_PIN); -#endif - -} -#endif // USE_ADC - - -#if defined(USE_PWM) || defined(USE_PPM) -void pgResetFn_ppmConfig(ppmConfig_t *ppmConfig) -{ -#ifdef PPM_PIN - ppmConfig->ioTag = IO_TAG(PPM_PIN); -#else - for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) { - if (timerHardware[i].usageFlags & TIM_USE_PPM) { - ppmConfig->ioTag = timerHardware[i].tag; - return; - } - } - - ppmConfig->ioTag = IO_TAG_NONE; -#endif -} - -void pgResetFn_pwmConfig(pwmConfig_t *pwmConfig) -{ - pwmConfig->inputFilteringMode = INPUT_FILTERING_DISABLED; - int inputIndex = 0; - for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && inputIndex < PWM_INPUT_PORT_COUNT; i++) { - if (timerHardware[i].usageFlags & TIM_USE_PWM) { - pwmConfig->ioTags[inputIndex] = timerHardware[i].tag; - inputIndex++; - } - } -} -#endif - - - - -// Default pin (NONE). -// XXX Does this mess belong here??? -#ifdef USE_UART1 -# if !defined(UART1_RX_PIN) -# define UART1_RX_PIN NONE -# endif -# if !defined(UART1_TX_PIN) -# define UART1_TX_PIN NONE -# endif -#endif - -#ifdef USE_UART2 -# if !defined(UART2_RX_PIN) -# define UART2_RX_PIN NONE -# endif -# if !defined(UART2_TX_PIN) -# define UART2_TX_PIN NONE -# endif -#endif - -#ifdef USE_UART3 -# if !defined(UART3_RX_PIN) -# define UART3_RX_PIN NONE -# endif -# if !defined(UART3_TX_PIN) -# define UART3_TX_PIN NONE -# endif -#endif - -#ifdef USE_UART4 -# if !defined(UART4_RX_PIN) -# define UART4_RX_PIN NONE -# endif -# if !defined(UART4_TX_PIN) -# define UART4_TX_PIN NONE -# endif -#endif - -#ifdef USE_UART5 -# if !defined(UART5_RX_PIN) -# define UART5_RX_PIN NONE -# endif -# if !defined(UART5_TX_PIN) -# define UART5_TX_PIN NONE -# endif -#endif - -#ifdef USE_UART6 -# if !defined(UART6_RX_PIN) -# define UART6_RX_PIN NONE -# endif -# if !defined(UART6_TX_PIN) -# define UART6_TX_PIN NONE -# endif -#endif - -#ifdef USE_UART7 -# if !defined(UART7_RX_PIN) -# define UART7_RX_PIN NONE -# endif -# if !defined(UART7_TX_PIN) -# define UART7_TX_PIN NONE -# endif -#endif - -#ifdef USE_UART8 -# if !defined(UART8_RX_PIN) -# define UART8_RX_PIN NONE -# endif -# if !defined(UART8_TX_PIN) -# define UART8_TX_PIN NONE -# endif -#endif - -#ifdef USE_SOFTSERIAL1 -# if !defined(SOFTSERIAL1_RX_PIN) -# define SOFTSERIAL1_RX_PIN NONE -# endif -# if !defined(SOFTSERIAL1_TX_PIN) -# define SOFTSERIAL1_TX_PIN NONE -# endif -#endif - -#ifdef USE_SOFTSERIAL2 -# if !defined(SOFTSERIAL2_RX_PIN) -# define SOFTSERIAL2_RX_PIN NONE -# endif -# if !defined(SOFTSERIAL2_TX_PIN) -# define SOFTSERIAL2_TX_PIN NONE -# endif -#endif - -void pgResetFn_serialPinConfig(serialPinConfig_t *serialPinConfig) -{ - for (int port = 0 ; port < SERIAL_PORT_MAX_INDEX ; port++) { - serialPinConfig->ioTagRx[port] = IO_TAG(NONE); - serialPinConfig->ioTagTx[port] = IO_TAG(NONE); - } - - for (int index = 0 ; index < SERIAL_PORT_COUNT ; index++) { - switch (serialPortIdentifiers[index]) { - case SERIAL_PORT_USART1: -#ifdef USE_UART1 - serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART1)] = IO_TAG(UART1_RX_PIN); - serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART1)] = IO_TAG(UART1_TX_PIN); -<<<<<<< HEAD -#ifdef INVERTER_PIN_UART1 - serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART1)] = IO_TAG(INVERTER_PIN_UART1); -#endif -======= ->>>>>>> betaflight/master -#endif - break; - case SERIAL_PORT_USART2: -#ifdef USE_UART2 - serialPinConfig->ioTagRx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART2)] = IO_TAG(UART2_RX_PIN); - serialPinConfig->ioTagTx[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART2)] = IO_TAG(UART2_TX_PIN); -<<<<<<< HEAD -#ifdef INVERTER_PIN_UART2 - serialPinConfig->ioTagInverter[SERIAL_PORT_IDENTIFIER_TO_INDEX(SERIAL_PORT_USART2)] = IO_TAG(INVERTER_PIN_UART2); -#endif -======= ->>>>>>> betaflight/master -#endif - break; - case SERIAL_PORT_USART3: -#ifdef USE_UART3 - 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); -<<<<<<< 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 -}