void validateAndFixConfig(void)
{
if((masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED) && (masterConfig.motorConfig.mincommand < 1000)){
masterConfig.motorConfig.mincommand = 1000;
}
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 (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);
}
#ifdef USE_SOFTSPI
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
}
#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_DASHBOARD)) {
featureClear(FEATURE_DASHBOARD);
}
#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);
}
#if defined(TARGET_VALIDATECONFIG)
targetValidateConfiguration(&masterConfig);
#endif
}
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
}
