void validateAndFixConfig(void) { if (!(feature(FEATURE_RX_PARALLEL_PWM) || feature(FEATURE_RX_PPM) || feature(FEATURE_RX_SERIAL) || feature(FEATURE_RX_MSP))) { featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM } if (feature(FEATURE_RX_PPM)) { featureClear(FEATURE_RX_PARALLEL_PWM); } if (feature(FEATURE_RX_MSP)) { featureClear(FEATURE_RX_SERIAL); featureClear(FEATURE_RX_PARALLEL_PWM); featureClear(FEATURE_RX_PPM); } if (feature(FEATURE_RX_SERIAL)) { featureClear(FEATURE_RX_PARALLEL_PWM); featureClear(FEATURE_RX_PPM); } if (feature(FEATURE_RX_PARALLEL_PWM)) { #if defined(STM32F10X) // rssi adc needs the same ports featureClear(FEATURE_RSSI_ADC); // current meter needs the same ports if (masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) { featureClear(FEATURE_CURRENT_METER); } #endif #if defined(STM32F10X) || defined(CHEBUZZ) || defined(STM32F3DISCOVERY) // led strip needs the same ports featureClear(FEATURE_LED_STRIP); #endif // software serial needs free PWM ports featureClear(FEATURE_SOFTSERIAL); } #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)) if (feature(FEATURE_SOFTSERIAL) && ( 0 #ifdef USE_SOFTSERIAL1 || (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER) #endif #ifdef USE_SOFTSERIAL2 || (LED_STRIP_TIMER == SOFTSERIAL_2_TIMER) #endif )) { // led strip needs the same timer as softserial featureClear(FEATURE_LED_STRIP); } #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) { featureClear(FEATURE_CURRENT_METER); } #endif #if defined(OLIMEXINO) && defined(SONAR) if (feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) { featureClear(FEATURE_CURRENT_METER); } #endif #if defined(CC3D) && defined(DISPLAY) && defined(USE_USART3) if (doesConfigurationUsePort(SERIAL_PORT_USART3) && feature(FEATURE_DISPLAY)) { featureClear(FEATURE_DISPLAY); } #endif /* * The retarded_arm setting is incompatible with pid_at_min_throttle because full roll causes the craft to roll over on the ground. * The pid_at_min_throttle implementation ignores yaw on the ground, but doesn't currently ignore roll when retarded_arm is enabled. */ if (masterConfig.retarded_arm && masterConfig.mixerConfig.pid_at_min_throttle) { masterConfig.mixerConfig.pid_at_min_throttle = 0; } useRxConfig(&masterConfig.rxConfig); serialConfig_t *serialConfig = &masterConfig.serialConfig; if (!isSerialConfigValid(serialConfig)) { resetSerialConfig(serialConfig); } }
void validateAndFixConfig(void) { if (!(feature(FEATURE_RX_PARALLEL_PWM) || feature(FEATURE_RX_PPM) || feature(FEATURE_RX_SERIAL) || feature(FEATURE_RX_MSP))) { featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM } if (feature(FEATURE_RX_PPM)) { featureClear(FEATURE_RX_PARALLEL_PWM); } if (feature(FEATURE_RX_MSP)) { featureClear(FEATURE_RX_SERIAL); featureClear(FEATURE_RX_PARALLEL_PWM); featureClear(FEATURE_RX_PPM); } if (feature(FEATURE_RX_SERIAL)) { featureClear(FEATURE_RX_PARALLEL_PWM); featureClear(FEATURE_RX_PPM); } if (feature(FEATURE_RX_PARALLEL_PWM)) { #if defined(STM32F10X) // rssi adc needs the same ports featureClear(FEATURE_RSSI_ADC); // current meter needs the same ports featureClear(FEATURE_CURRENT_METER); #endif #if defined(STM32F10X) || defined(CHEBUZZ) || defined(STM32F3DISCOVERY) // led strip needs the same ports featureClear(FEATURE_LED_STRIP); #endif // software serial needs free PWM ports featureClear(FEATURE_SOFTSERIAL); } #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)) if (feature(FEATURE_SOFTSERIAL) && ( #ifdef USE_SOFTSERIAL1 (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER) #else 0 #endif || #ifdef USE_SOFTSERIAL2 (LED_STRIP_TIMER == SOFTSERIAL_2_TIMER) #else 0 #endif )) { // led strip needs the same timer as softserial featureClear(FEATURE_LED_STRIP); } #endif #if defined(NAZE) && defined(SONAR) if (feature(FEATURE_RX_PARALLEL_PWM) && feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER)) { featureClear(FEATURE_CURRENT_METER); } #endif #if defined(OLIMEXINO) && defined(SONAR) if (feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER)) { featureClear(FEATURE_CURRENT_METER); } #endif useRxConfig(&masterConfig.rxConfig); serialConfig_t *serialConfig = &masterConfig.serialConfig; applySerialConfigToPortFunctions(serialConfig); if (!isSerialConfigValid(serialConfig)) { resetSerialConfig(serialConfig); } }
static void validateAndFixConfig(void) { if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP))) { featureSet(DEFAULT_RX_FEATURE); } if (featureConfigured(FEATURE_RX_PPM)) { featureClear(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_SERIAL | FEATURE_RX_MSP); } if (featureConfigured(FEATURE_RX_MSP)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM); } if (featureConfigured(FEATURE_RX_SERIAL)) { featureClear(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM); } if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM); } // The retarded_arm setting is incompatible with pid_at_min_throttle because full roll causes the craft to roll over on the ground. // The pid_at_min_throttle implementation ignores yaw on the ground, but doesn't currently ignore roll when retarded_arm is enabled. if (armingConfig()->retarded_arm && mixerConfig()->pid_at_min_throttle) { mixerConfig()->pid_at_min_throttle = 0; } if (gyroConfig()->gyro_soft_notch_hz < gyroConfig()->gyro_soft_notch_cutoff_hz) { gyroConfig()->gyro_soft_notch_hz = gyroConfig()->gyro_soft_notch_cutoff_hz; } #if defined(LED_STRIP) #if (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)) if (featureConfigured(FEATURE_SOFTSERIAL) && ( 0 #ifdef USE_SOFTSERIAL1 || (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER) #endif #ifdef USE_SOFTSERIAL2 || (LED_STRIP_TIMER == SOFTSERIAL_2_TIMER) #endif )) { // led strip needs the same timer as softserial featureClear(FEATURE_LED_STRIP); } #endif #if defined(TRANSPONDER) && !defined(UNIT_TEST) if ((WS2811_DMA_TC_FLAG == TRANSPONDER_DMA_TC_FLAG) && featureConfigured(FEATURE_TRANSPONDER) && featureConfigured(FEATURE_LED_STRIP)) { featureClear(FEATURE_LED_STRIP); } #endif #endif // LED_STRIP #if defined(CC3D) #if defined(DISPLAY) && defined(USE_UART3) if (featureConfigured(FEATURE_DISPLAY) && doesConfigurationUsePort(SERIAL_PORT_UART3)) { featureClear(FEATURE_DISPLAY); } #endif #if defined(SONAR) && defined(USE_SOFTSERIAL1) if (featureConfigured(FEATURE_SONAR) && featureConfigured(FEATURE_SOFTSERIAL)) { featureClear(FEATURE_SONAR); } #endif #if defined(SONAR) && defined(USE_SOFTSERIAL1) && defined(RSSI_ADC_GPIO) // shared pin if ((featureConfigured(FEATURE_SONAR) + featureConfigured(FEATURE_SOFTSERIAL) + featureConfigured(FEATURE_RSSI_ADC)) > 1) { featureClear(FEATURE_SONAR); featureClear(FEATURE_SOFTSERIAL); featureClear(FEATURE_RSSI_ADC); } #endif #endif // CC3D #if defined(COLIBRI_RACE) serialConfig()->portConfigs[0].functionMask = FUNCTION_MSP_SERVER; if (featureConfigured(FEATURE_RX_SERIAL)) { serialConfig()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL; } #endif #if defined(SPRACINGF3NEO_REV) && (SPRACINGF3NEO_REV < 5) if (featureConfigured(FEATURE_OSD) && featureConfigured(FEATURE_TRANSPONDER)) { featureClear(FEATURE_TRANSPONDER); } if (featureConfigured(FEATURE_OSD) && featureConfigured(FEATURE_LED_STRIP)) { featureClear(FEATURE_LED_STRIP); } #endif if (!isSerialConfigValid(serialConfig())) { PG_RESET_CURRENT(serialConfig); } #if defined(USE_VCP) serialConfig()->portConfigs[0].functionMask = FUNCTION_MSP_SERVER; #endif }
static void validateAndFixConfig(void) { if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP) || featureConfigured(FEATURE_RX_NRF24))) { featureSet(DEFAULT_RX_FEATURE); } if (featureConfigured(FEATURE_RX_PPM)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_NRF24); } if (featureConfigured(FEATURE_RX_MSP)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_NRF24); } if (featureConfigured(FEATURE_RX_SERIAL)) { featureClear(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_NRF24); } if (featureConfigured(FEATURE_RX_NRF24)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP); } #if defined(NAV) // Ensure sane values of navConfig settings validateNavConfig(&masterConfig.navConfig); #endif if (featureConfigured(FEATURE_SOFTSPI)) { featureClear(FEATURE_RX_PPM | FEATURE_RX_PARALLEL_PWM | FEATURE_SOFTSERIAL | FEATURE_VBAT); #if defined(STM32F10X) featureClear(FEATURE_LED_STRIP); // rssi adc needs the same ports featureClear(FEATURE_RSSI_ADC); // current meter needs the same ports if (masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) { featureClear(FEATURE_CURRENT_METER); } #endif } if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_NRF24); #if defined(STM32F10X) // rssi adc needs the same ports featureClear(FEATURE_RSSI_ADC); // current meter needs the same ports if (masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) { featureClear(FEATURE_CURRENT_METER); } #if defined(CC3D) // There is a timer clash between PWM RX pins and motor output pins - this forces us to have same timer tick rate for these timers // which is only possible when using brushless motors w/o oneshot (timer tick rate is PWM_TIMER_MHZ) // On CC3D OneShot is incompatible with PWM RX featureClear(FEATURE_ONESHOT125); // Brushed motors on CC3D are not possible when using PWM RX if (masterConfig.motor_pwm_rate > BRUSHLESS_MOTORS_PWM_RATE) { masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE; } #endif #endif #if defined(STM32F10X) || defined(CHEBUZZ) || defined(STM32F3DISCOVERY) // led strip needs the same ports featureClear(FEATURE_LED_STRIP); #endif // software serial needs free PWM ports featureClear(FEATURE_SOFTSERIAL); } #ifdef STM32F10X // avoid overloading the CPU on F1 targets when using gyro sync and GPS. if (masterConfig.gyroSync && masterConfig.gyroSyncDenominator < 2 && featureConfigured(FEATURE_GPS)) { masterConfig.gyroSyncDenominator = 2; } // avoid overloading the CPU when looptime < 2000 and GPS if (masterConfig.looptime && featureConfigured(FEATURE_GPS)) { masterConfig.looptime = 2000; } #endif #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)) if (featureConfigured(FEATURE_SOFTSERIAL) && ( 0 #ifdef USE_SOFTSERIAL1 || (WS2811_TIMER == SOFTSERIAL_1_TIMER) #endif #ifdef USE_SOFTSERIAL2 || (WS2811_TIMER == SOFTSERIAL_2_TIMER) #endif )) { // led strip needs the same timer as softserial featureClear(FEATURE_LED_STRIP); } #endif #if defined(NAZE) && defined(SONAR) if (featureConfigured(FEATURE_RX_PARALLEL_PWM) && featureConfigured(FEATURE_SONAR) && featureConfigured(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) { featureClear(FEATURE_CURRENT_METER); } #endif #if defined(OLIMEXINO) && defined(SONAR) if (feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) { featureClear(FEATURE_CURRENT_METER); } #endif #if defined(CC3D) && defined(DISPLAY) && defined(USE_USART3) if (doesConfigurationUsePort(SERIAL_PORT_USART3) && feature(FEATURE_DISPLAY)) { featureClear(FEATURE_DISPLAY); } #endif #ifdef STM32F303xC // hardware supports serial port inversion, make users life easier for those that want to connect SBus RX's #ifdef TELEMETRY masterConfig.telemetryConfig.telemetry_inversion = 1; #endif #endif #if defined(CC3D) #if defined(CC3D_PPM1) #if defined(SONAR) && defined(USE_SOFTSERIAL1) if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) { featureClear(FEATURE_SONAR); } #endif #else #if defined(SONAR) && defined(USE_SOFTSERIAL1) && defined(RSSI_ADC_GPIO) // shared pin if ((featureConfigured(FEATURE_SONAR) + featureConfigured(FEATURE_SOFTSERIAL) + featureConfigured(FEATURE_RSSI_ADC)) > 1) { featureClear(FEATURE_SONAR); featureClear(FEATURE_SOFTSERIAL); featureClear(FEATURE_RSSI_ADC); } #endif #endif // CC3D_PPM1 #endif // CC3D #if defined(COLIBRI_RACE) masterConfig.serialConfig.portConfigs[0].functionMask = FUNCTION_MSP; if(featureConfigured(FEATURE_RX_SERIAL)) { masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL; } #endif useRxConfig(&masterConfig.rxConfig); serialConfig_t *serialConfig = &masterConfig.serialConfig; if (!isSerialConfigValid(serialConfig)) { resetSerialConfig(serialConfig); } /* * If provided predefined mixer setup is disabled, fallback to default one */ if (!isMixerEnabled(masterConfig.mixerMode)) { masterConfig.mixerMode = DEFAULT_MIXER; } }
void validateAndFixConfig(void) { if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP))) { featureSet(DEFAULT_RX_FEATURE); } if (featureConfigured(FEATURE_RX_PPM)) { featureClear(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_SERIAL | FEATURE_RX_MSP); } if (featureConfigured(FEATURE_RX_MSP)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM); } if (featureConfigured(FEATURE_RX_SERIAL)) { featureClear(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM); } if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM); } #ifdef STM32F10X // avoid overloading the CPU on F1 targets when using gyro sync and GPS. if (imuConfig()->gyroSync && imuConfig()->gyroSyncDenominator < 2 && featureConfigured(FEATURE_GPS)) { imuConfig()->gyroSyncDenominator = 2; } #endif #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)) if (featureConfigured(FEATURE_SOFTSERIAL) && ( 0 #ifdef USE_SOFTSERIAL1 || (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER) #endif #ifdef USE_SOFTSERIAL2 || (LED_STRIP_TIMER == SOFTSERIAL_2_TIMER) #endif )) { // led strip needs the same timer as softserial featureClear(FEATURE_LED_STRIP); } #endif #if defined(CC3D) && defined(DISPLAY) && defined(USE_UART3) if (doesConfigurationUsePort(SERIAL_PORT_UART3) && featureConfigured(FEATURE_DISPLAY)) { featureClear(FEATURE_DISPLAY); } #endif #ifdef STM32F303xC // hardware supports serial port inversion, make users life easier for those that want to connect SBus RX's #ifdef TELEMETRY telemetryConfig()->telemetry_inversion = 1; #endif #endif /* * The retarded_arm setting is incompatible with pid_at_min_throttle because full roll causes the craft to roll over on the ground. * The pid_at_min_throttle implementation ignores yaw on the ground, but doesn't currently ignore roll when retarded_arm is enabled. */ if (armingConfig()->retarded_arm && mixerConfig()->pid_at_min_throttle) { mixerConfig()->pid_at_min_throttle = 0; } #if defined(LED_STRIP) && defined(TRANSPONDER) && !defined(UNIT_TEST) if ((WS2811_DMA_TC_FLAG == TRANSPONDER_DMA_TC_FLAG) && featureConfigured(FEATURE_TRANSPONDER) && featureConfigured(FEATURE_LED_STRIP)) { featureClear(FEATURE_LED_STRIP); } #endif #if defined(CC3D) && defined(SONAR) && defined(USE_SOFTSERIAL1) && defined(RSSI_ADC_GPIO) // shared pin if ((featureConfigured(FEATURE_SONAR) + featureConfigured(FEATURE_SOFTSERIAL) + featureConfigured(FEATURE_RSSI_ADC)) > 1) { featureClear(FEATURE_SONAR); featureClear(FEATURE_SOFTSERIAL); featureClear(FEATURE_RSSI_ADC); } #endif #if defined(COLIBRI_RACE) serialConfig()->portConfigs[0].functionMask = FUNCTION_MSP; if (featureConfigured(FEATURE_RX_SERIAL)) { serialConfig()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL; } #endif if (!isSerialConfigValid(serialConfig())) { PG_RESET_CURRENT(serialConfig); } #if defined(USE_VCP) serialConfig()->portConfigs[0].functionMask = FUNCTION_MSP; #endif }
void validateAndFixConfig(void) { if (!(feature(FEATURE_RX_PARALLEL_PWM) || feature(FEATURE_RX_PPM) || feature(FEATURE_RX_SERIAL) || feature(FEATURE_RX_MSP))) { featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM } if (feature(FEATURE_RX_PPM)) { featureClear(FEATURE_RX_PARALLEL_PWM); } if (feature(FEATURE_RX_MSP)) { featureClear(FEATURE_RX_SERIAL); featureClear(FEATURE_RX_PARALLEL_PWM); featureClear(FEATURE_RX_PPM); } if (feature(FEATURE_RX_SERIAL)) { featureClear(FEATURE_RX_PARALLEL_PWM); featureClear(FEATURE_RX_PPM); } if (feature(FEATURE_RX_PARALLEL_PWM)) { #if defined(STM32F103_MD) // rssi adc needs the same ports featureClear(FEATURE_RSSI_ADC); // current meter needs the same ports featureClear(FEATURE_CURRENT_METER); #ifdef SONAR // sonar needs a free PWM port featureClear(FEATURE_SONAR); #endif #endif #if defined(STM32F103_MD) || defined(CHEBUZZ) || defined(STM32F3DISCOVERY) // led strip needs the same ports featureClear(FEATURE_LED_STRIP); #endif // software serial needs free PWM ports featureClear(FEATURE_SOFTSERIAL); } #if defined(STM32F103_MD) // led strip needs the same timer as softserial if (feature(FEATURE_SOFTSERIAL)) { featureClear(FEATURE_LED_STRIP); } #endif useRxConfig(&masterConfig.rxConfig); serialConfig_t *serialConfig = &masterConfig.serialConfig; applySerialConfigToPortFunctions(serialConfig); if (!isSerialConfigValid(serialConfig)) { resetSerialConfig(serialConfig); }
static void validateAndFixConfig(void) { #if !defined(USE_QUAD_MIXER_ONLY) && !defined(USE_OSD_SLAVE) // Reset unsupported mixer mode to default. // This check will be gone when motor/servo mixers are loaded dynamically // by configurator as a part of configuration procedure. mixerMode_e mixerMode = mixerConfigMutable()->mixerMode; if (!(mixerMode == MIXER_CUSTOM || mixerMode == MIXER_CUSTOM_AIRPLANE || mixerMode == MIXER_CUSTOM_TRI)) { if (mixers[mixerMode].motorCount && mixers[mixerMode].motor == NULL) mixerConfigMutable()->mixerMode = MIXER_CUSTOM; #ifdef USE_SERVOS if (mixers[mixerMode].useServo && servoMixers[mixerMode].servoRuleCount == 0) mixerConfigMutable()->mixerMode = MIXER_CUSTOM_AIRPLANE; #endif } #endif #ifndef USE_OSD_SLAVE if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) { systemConfigMutable()->activeRateProfile = 0; } setControlRateProfile(systemConfig()->activeRateProfile); if (systemConfig()->pidProfileIndex >= MAX_PROFILE_COUNT) { systemConfigMutable()->pidProfileIndex = 0; } setPidProfile(systemConfig()->pidProfileIndex); // Prevent invalid notch cutoff if (currentPidProfile->dterm_notch_cutoff >= currentPidProfile->dterm_notch_hz) { currentPidProfile->dterm_notch_hz = 0; } 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; } validateAndFixGyroConfig(); 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); } #ifdef USE_RX_SPI if (featureConfigured(FEATURE_RX_SPI)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP); } #endif // USE_RX_SPI 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 // STM32F10X // 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 // STM32F10X } #endif // USE_SOFTSPI #endif // USE_OSD_SLAVE if (!isSerialConfigValid(serialConfig())) { pgResetFn_serialConfig(serialConfigMutable()); } // clear features that are not supported. // I have kept them all here in one place, some could be moved to sections of code above. #ifndef USE_PPM featureClear(FEATURE_RX_PPM); #endif #ifndef USE_SERIAL_RX featureClear(FEATURE_RX_SERIAL); #endif #if !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL2) featureClear(FEATURE_SOFTSERIAL); #endif #ifndef USE_GPS featureClear(FEATURE_GPS); #endif #ifndef USE_RANGEFINDER featureClear(FEATURE_RANGEFINDER); #endif #ifndef USE_TELEMETRY featureClear(FEATURE_TELEMETRY); #endif #ifndef USE_PWM featureClear(FEATURE_RX_PARALLEL_PWM); #endif #ifndef USE_RX_MSP featureClear(FEATURE_RX_MSP); #endif #ifndef USE_LED_STRIP featureClear(FEATURE_LED_STRIP); #endif #ifndef USE_DASHBOARD featureClear(FEATURE_DASHBOARD); #endif #ifndef USE_OSD featureClear(FEATURE_OSD); #endif #ifndef USE_SERVOS featureClear(FEATURE_SERVO_TILT | FEATURE_CHANNEL_FORWARDING); #endif #ifndef USE_TRANSPONDER featureClear(FEATURE_TRANSPONDER); #endif #ifndef USE_RX_SPI featureClear(FEATURE_RX_SPI); #endif #ifndef USE_SOFTSPI featureClear(FEATURE_SOFTSPI); #endif #ifndef USE_ESC_SENSOR featureClear(FEATURE_ESC_SENSOR); #endif #ifndef USE_GYRO_DATA_ANALYSE featureClear(FEATURE_DYNAMIC_FILTER); #endif #if defined(TARGET_VALIDATECONFIG) targetValidateConfiguration(); #endif }
void validateAndFixConfig(void) { if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP))) { featureSet(DEFAULT_RX_FEATURE); } if (featureConfigured(FEATURE_RX_PPM)) { featureClear(FEATURE_RX_PARALLEL_PWM); } if (featureConfigured(FEATURE_RX_MSP)) { featureClear(FEATURE_RX_SERIAL); featureClear(FEATURE_RX_PARALLEL_PWM); featureClear(FEATURE_RX_PPM); } if (featureConfigured(FEATURE_RX_SERIAL)) { featureClear(FEATURE_RX_PARALLEL_PWM); featureClear(FEATURE_RX_PPM); } if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) { #if defined(STM32F10X) // rssi adc needs the same ports featureClear(FEATURE_RSSI_ADC); // current meter needs the same ports if (masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) { featureClear(FEATURE_CURRENT_METER); } #endif #if defined(STM32F10X) || defined(CHEBUZZ) || defined(STM32F3DISCOVERY) // led strip needs the same ports featureClear(FEATURE_LED_STRIP); #endif // software serial needs free PWM ports featureClear(FEATURE_SOFTSERIAL); } #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)) if (featureConfigured(FEATURE_SOFTSERIAL) && ( 0 #ifdef USE_SOFTSERIAL1 || (WS2811_TIMER == SOFTSERIAL_1_TIMER) #endif #ifdef USE_SOFTSERIAL2 || (WS2811_TIMER == SOFTSERIAL_2_TIMER) #endif )) { // led strip needs the same timer as softserial featureClear(FEATURE_LED_STRIP); } #endif #if defined(NAZE) && defined(SONAR) if (featureConfigured(FEATURE_RX_PARALLEL_PWM) && featureConfigured(FEATURE_SONAR) && featureConfigured(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) { featureClear(FEATURE_CURRENT_METER); } #endif #if defined(OLIMEXINO) && defined(SONAR) if (feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) { featureClear(FEATURE_CURRENT_METER); } #endif #if defined(CC3D) && defined(DISPLAY) && defined(USE_UART3) if (doesConfigurationUsePort(SERIAL_PORT_USART3) && feature(FEATURE_DISPLAY)) { featureClear(FEATURE_DISPLAY); } #endif /*#if defined(LED_STRIP) && defined(TRANSPONDER) // TODO - Add transponder feature if ((WS2811_DMA_TC_FLAG == TRANSPONDER_DMA_TC_FLAG) && featureConfigured(FEATURE_TRANSPONDER) && featureConfigured(FEATURE_LED_STRIP)) { featureClear(FEATURE_LED_STRIP); } #endif */ #if defined(CC3D) && defined(SONAR) && defined(USE_SOFTSERIAL1) && defined(RSSI_ADC_GPIO) // shared pin if ((featureConfigured(FEATURE_SONAR) + featureConfigured(FEATURE_SOFTSERIAL) + featureConfigured(FEATURE_RSSI_ADC)) > 1) { featureClear(FEATURE_SONAR); featureClear(FEATURE_SOFTSERIAL); featureClear(FEATURE_RSSI_ADC); } #endif #if defined(COLIBRI_RACE) masterConfig.serialConfig.portConfigs[0].functionMask = FUNCTION_MSP; if (featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_MSP)) { featureClear(FEATURE_RX_PARALLEL_PWM); featureClear(FEATURE_RX_MSP); featureSet(FEATURE_RX_PPM); } #endif useRxConfig(&masterConfig.rxConfig); serialConfig_t *serialConfig = &masterConfig.serialConfig; if (!isSerialConfigValid(serialConfig)) { resetSerialConfig(serialConfig); } }
void validateAndFixConfig(void) { if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP))) { featureSet(DEFAULT_RX_FEATURE); } if (featureConfigured(FEATURE_RX_PPM)) { featureClear(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_SERIAL | FEATURE_RX_MSP); } if (featureConfigured(FEATURE_RX_MSP)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM); } if (featureConfigured(FEATURE_RX_SERIAL)) { featureClear(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM); } if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) { featureClear(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM); } #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)) if (featureConfigured(FEATURE_SOFTSERIAL) && ( 0 #ifdef USE_SOFTSERIAL1 || (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER) #endif #ifdef USE_SOFTSERIAL2 || (LED_STRIP_TIMER == SOFTSERIAL_2_TIMER) #endif )) { // led strip needs the same timer as softserial featureClear(FEATURE_LED_STRIP); } #endif #if defined(CC3D) && defined(DISPLAY) && defined(USE_UART3) if (doesConfigurationUsePort(SERIAL_PORT_UART3) && featureConfigured(FEATURE_DISPLAY)) { featureClear(FEATURE_DISPLAY); } #endif #ifdef STM32F303xC // hardware supports serial port inversion, make users life easier for those that want to connect SBus RX's #ifdef TELEMETRY masterConfig.telemetryConfig.telemetry_inversion = 1; #endif #endif /* * The retarded_arm setting is incompatible with pid_at_min_throttle because full roll causes the craft to roll over on the ground. * The pid_at_min_throttle implementation ignores yaw on the ground, but doesn't currently ignore roll when retarded_arm is enabled. */ if (masterConfig.retarded_arm && masterConfig.mixerConfig.pid_at_min_throttle) { masterConfig.mixerConfig.pid_at_min_throttle = 0; } #if defined(LED_STRIP) && defined(TRANSPONDER) && !defined(UNIT_TEST) if ((WS2811_DMA_TC_FLAG == TRANSPONDER_DMA_TC_FLAG) && featureConfigured(FEATURE_TRANSPONDER) && featureConfigured(FEATURE_LED_STRIP)) { featureClear(FEATURE_LED_STRIP); } #endif #if defined(CC3D) && defined(SONAR) && defined(USE_SOFTSERIAL1) if (featureConfigured(FEATURE_SONAR) && featureConfigured(FEATURE_SOFTSERIAL)) { featureClear(FEATURE_SONAR); } #endif #if defined(COLIBRI_RACE) masterConfig.serialConfig.portConfigs[0].functionMask = FUNCTION_MSP; if(featureConfigured(FEATURE_RX_SERIAL)) { masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL; } #endif useRxConfig(&masterConfig.rxConfig); serialConfig_t *serialConfig = &masterConfig.serialConfig; if (!isSerialConfigValid(serialConfig)) { resetSerialConfig(serialConfig); } }