// Default settings STATIC_UNIT_TESTED void resetConf(void) { pgResetAll(MAX_PROFILE_COUNT); setProfile(0); pgActivateProfile(0); setControlRateProfile(0); featureClearAll(); featureSet(DEFAULT_RX_FEATURE); #ifdef BOARD_HAS_VOLTAGE_DIVIDER // only enable the VBAT feature by default if the board has a voltage divider otherwise // the user may see incorrect readings and unexpected issues with pin mappings may occur. featureSet(FEATURE_VBAT); #endif featureSet(FEATURE_FAILSAFE); parseRcChannels("AETR1234", rxConfig()); featureSet(FEATURE_BLACKBOX); #if defined(COLIBRI_RACE) // alternative defaults settings for COLIBRI RACE targets imuConfig()->looptime = 1000; featureSet(FEATURE_ONESHOT125); featureSet(FEATURE_LED_STRIP); #endif #ifdef SPRACINGF3EVO featureSet(FEATURE_TRANSPONDER); featureSet(FEATURE_RSSI_ADC); featureSet(FEATURE_CURRENT_METER); featureSet(FEATURE_TELEMETRY); #endif // alternative defaults settings for ALIENWIIF1 and ALIENWIIF3 targets #ifdef ALIENWII32 featureSet(FEATURE_RX_SERIAL); featureSet(FEATURE_MOTOR_STOP); # ifdef ALIENWIIF3 serialConfig()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL; batteryConfig()->vbatscale = 20; # else serialConfig()->portConfigs[1].functionMask = FUNCTION_RX_SERIAL; # endif rxConfig()->serialrx_provider = SERIALRX_SPEKTRUM2048; rxConfig()->spektrum_sat_bind = 5; motorAndServoConfig()->minthrottle = 1000; motorAndServoConfig()->maxthrottle = 2000; motorAndServoConfig()->motor_pwm_rate = 32000; imuConfig()->looptime = 2000; pidProfile()->pidController = 3; pidProfile()->P8[PIDROLL] = 36; pidProfile()->P8[PIDPITCH] = 36; failsafeConfig()->failsafe_delay = 2; failsafeConfig()->failsafe_off_delay = 0; currentControlRateProfile->rcRate8 = 130; currentControlRateProfile->rates[ROLL] = 20; currentControlRateProfile->rates[PITCH] = 20; currentControlRateProfile->rates[YAW] = 100; parseRcChannels("TAER1234", rxConfig()); *customMotorMixer(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R *customMotorMixer(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R *customMotorMixer(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L *customMotorMixer(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L *customMotorMixer(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R *customMotorMixer(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L *customMotorMixer(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R *customMotorMixer(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L #endif // copy first profile into remaining profile PG_FOREACH_PROFILE(reg) { for (int i = 1; i < MAX_PROFILE_COUNT; i++) { memcpy(reg->address + i * pgSize(reg), reg->address, pgSize(reg)); } } for (int i = 1; i < MAX_PROFILE_COUNT; i++) { configureRateProfileSelection(i, i % MAX_CONTROL_RATE_PROFILE_COUNT); } }
// Default settings STATIC_UNIT_TESTED void resetConf(void) { pgResetAll(MAX_PROFILE_COUNT); setProfile(0); pgActivateProfile(0); setControlRateProfile(0); parseRcChannels("AETR1234", rxConfig()); featureClearAll(); featureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE | FEATURE_BLACKBOX); #ifdef DEFAULT_FEATURES featureSet(DEFAULT_FEATURES); #endif #ifdef BOARD_HAS_VOLTAGE_DIVIDER // only enable the feature by default if the board has supporting hardware featureSet(FEATURE_VBAT); #endif #ifdef BOARD_HAS_AMPERAGE_METER // only enable the feature by default if the board has supporting hardware featureSet(FEATURE_AMPERAGE_METER); batteryConfig()->amperageMeterSource = AMPERAGE_METER_ADC; #endif // alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets #ifdef ALIENFLIGHT #ifdef ALIENFLIGHTF3 serialConfig()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL; getVoltageMeterConfig(ADC_BATTERY)->vbatscale = 20; sensorSelectionConfig()->mag_hardware = MAG_NONE; // disabled by default # else serialConfig()->portConfigs[1].functionMask = FUNCTION_RX_SERIAL; # endif rxConfig()->serialrx_provider = SERIALRX_SPEKTRUM2048; rxConfig()->spektrum_sat_bind = 5; motorConfig()->minthrottle = 1000; motorConfig()->maxthrottle = 2000; motorConfig()->motor_pwm_rate = 32000; failsafeConfig()->failsafe_delay = 2; failsafeConfig()->failsafe_off_delay = 0; mixerConfig()->yaw_jump_prevention_limit = YAW_JUMP_PREVENTION_LIMIT_HIGH; currentControlRateProfile->rcRate8 = 100; currentControlRateProfile->rates[PITCH] = 20; currentControlRateProfile->rates[ROLL] = 20; currentControlRateProfile->rates[YAW] = 20; parseRcChannels("TAER1234", rxConfig()); *customMotorMixer(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R *customMotorMixer(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R *customMotorMixer(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L *customMotorMixer(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L *customMotorMixer(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R *customMotorMixer(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L *customMotorMixer(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R *customMotorMixer(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L #endif // copy first profile into remaining profile PG_FOREACH_PROFILE(reg) { for (int i = 1; i < MAX_PROFILE_COUNT; i++) { memcpy(reg->address + i * pgSize(reg), reg->address, pgSize(reg)); } } for (int i = 1; i < MAX_PROFILE_COUNT; i++) { configureRateProfileSelection(i, i % MAX_CONTROL_RATE_PROFILE_COUNT); } }
static bool writeSettingsToEEPROM(void) { config_streamer_t streamer; config_streamer_init(&streamer); config_streamer_start(&streamer, (uintptr_t)&__config_start, &__config_end - &__config_start); uint8_t chk = 0; configHeader_t header = { .eepromConfigVersion = EEPROM_CONF_VERSION, .boardIdentifier = TARGET_BOARD_IDENTIFIER, }; config_streamer_write(&streamer, (uint8_t *)&header, sizeof(header)); chk = updateChecksum(chk, (uint8_t *)&header, sizeof(header)); // write the transitional masterConfig record config_streamer_write(&streamer, (uint8_t *)&masterConfig, sizeof(masterConfig)); chk = updateChecksum(chk, (uint8_t *)&masterConfig, sizeof(masterConfig)); PG_FOREACH(reg) { const uint16_t regSize = pgSize(reg); configRecord_t record = { .size = sizeof(configRecord_t) + regSize, .pgn = pgN(reg), .version = pgVersion(reg), .flags = 0 }; if (pgIsSystem(reg)) { // write the only instance record.flags |= CR_CLASSICATION_SYSTEM; config_streamer_write(&streamer, (uint8_t *)&record, sizeof(record)); chk = updateChecksum(chk, (uint8_t *)&record, sizeof(record)); config_streamer_write(&streamer, reg->address, regSize); chk = updateChecksum(chk, reg->address, regSize); } else { // write one instance for each profile for (uint8_t profileIndex = 0; profileIndex < MAX_PROFILE_COUNT; profileIndex++) { record.flags = 0; record.flags |= ((profileIndex + 1) & CR_CLASSIFICATION_MASK); config_streamer_write(&streamer, (uint8_t *)&record, sizeof(record)); chk = updateChecksum(chk, (uint8_t *)&record, sizeof(record)); const uint8_t *address = reg->address + (regSize * profileIndex); config_streamer_write(&streamer, address, regSize); chk = updateChecksum(chk, address, regSize); } } } configFooter_t footer = { .terminator = 0, }; config_streamer_write(&streamer, (uint8_t *)&footer, sizeof(footer)); chk = updateChecksum(chk, (uint8_t *)&footer, sizeof(footer)); // append checksum now chk = ~chk; config_streamer_write(&streamer, &chk, sizeof(chk)); config_streamer_flush(&streamer); bool success = config_streamer_finish(&streamer) == 0; return success; } void writeConfigToEEPROM(void) { bool success = false; // write it for (int attempt = 0; attempt < 3 && !success; attempt++) { if (writeSettingsToEEPROM()) { success = true; } } if (success && isEEPROMContentValid()) { return; } // Flash write failed - just die now failureMode(FAILURE_FLASH_WRITE_FAILED); }