src/main/config/config.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24 #include <math.h>
  25
  26 #include "platform.h"
  27
  28 #include "blackbox/blackbox.h"
  29
  30 #include "build/debug.h"
  31
  32 #include "cli/cli.h"
  33
  34 #include "common/sensor_alignment.h"
  35
  36 #include "config/config_eeprom.h"
  37 #include "config/feature.h"
  38
  39 #include "drivers/dshot_command.h"
  40 #include "drivers/motor.h"
  41 #include "drivers/system.h"
  42
  43 #include "fc/controlrate_profile.h"
  44 #include "fc/core.h"
  45 #include "fc/rc.h"
  46 #include "fc/rc_adjustments.h"
  47 #include "fc/rc_controls.h"
  48 #include "fc/runtime_config.h"
  49
  50 #include "flight/failsafe.h"
  51 #include "flight/imu.h"
  52 #include "flight/mixer.h"
  53 #include "flight/pid.h"
  54 #include "flight/pid_init.h"
  55 #include "flight/rpm_filter.h"
  56 #include "flight/servos.h"
  57 #include "flight/position.h"
  58
  59 #include "io/beeper.h"
  60 #include "io/gps.h"
  61 #include "io/ledstrip.h"
  62 #include "io/serial.h"
  63 #include "io/vtx.h"
  64
  65 #include "msp/msp_box.h"
  66
  67 #include "osd/osd.h"
  68
  69 #include "pg/adc.h"
  70 #include "pg/beeper.h"
  71 #include "pg/beeper_dev.h"
  72 #include "pg/displayport_profiles.h"
  73 #include "pg/gyrodev.h"
  74 #include "pg/motor.h"
  75 #include "pg/pg.h"
  76 #include "pg/pg_ids.h"
  77 #include "pg/rx.h"
  78 #include "pg/rx_spi.h"
  79 #include "pg/sdcard.h"
  80 #include "pg/vtx_table.h"
  81
  82 #include "rx/rx.h"
  83 #include "rx/rx_spi.h"
  84
  85 #include "scheduler/scheduler.h"
  86
  87 #include "sensors/acceleration.h"
  88 #include "sensors/battery.h"
  89 #include "sensors/compass.h"
  90 #include "sensors/gyro.h"
  91
  92 #include "config.h"
  93
  94 #include "drivers/dshot.h"
  95
  96 static bool configIsDirty; /* someone indicated that the config is modified and it is not yet saved */
  97
  98 static bool rebootRequired = false;  // set if a config change requires a reboot to take effect
  99
 100 static bool eepromWriteInProgress = false;
 101
 102 pidProfile_t *currentPidProfile;
 103
 104 #ifndef RX_SPI_DEFAULT_PROTOCOL
 105 #define RX_SPI_DEFAULT_PROTOCOL 0
 106 #endif
 107
 108 PG_REGISTER_WITH_RESET_TEMPLATE(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 1);
 109
 110 PG_RESET_TEMPLATE(pilotConfig_t, pilotConfig,
 111     .name = { 0 },
 112     .displayName = { 0 },
 113 );
 114
 115 PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 3);
 116
 117 PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
 118     .pidProfileIndex = 0,
 119     .activeRateProfile = 0,
 120     .debug_mode = DEBUG_MODE,
 121     .task_statistics = true,
 122     .rateProfile6PosSwitch = false,
 123     .cpu_overclock = DEFAULT_CPU_OVERCLOCK,
 124     .powerOnArmingGraceTime = 5,
 125     .boardIdentifier = TARGET_BOARD_IDENTIFIER,
 126     .hseMhz = SYSTEM_HSE_VALUE,  // Only used for F4 and G4 targets
 127     .configurationState = CONFIGURATION_STATE_DEFAULTS_BARE,
 128     .enableStickArming = false,
 129 );
 130
 131 bool isEepromWriteInProgress(void)
 132 {
 133     return eepromWriteInProgress;
 134 }
 135
 136 uint8_t getCurrentPidProfileIndex(void)
 137 {
 138     return systemConfig()->pidProfileIndex;
 139 }
 140
 141 static void loadPidProfile(void)
 142 {
 143     currentPidProfile = pidProfilesMutable(systemConfig()->pidProfileIndex);
 144 }
 145
 146 uint8_t getCurrentControlRateProfileIndex(void)
 147 {
 148     return systemConfig()->activeRateProfile;
 149 }
 150
 151 uint16_t getCurrentMinthrottle(void)
 152 {
 153     return motorConfig()->minthrottle;
 154 }
 155
 156 void resetConfig(void)
 157 {
 158     pgResetAll();
 159
 160 #if defined(USE_TARGET_CONFIG)
 161     targetConfiguration();
 162 #endif
 163 }
 164
 165 static void activateConfig(void)
 166 {
 167     loadPidProfile();
 168     loadControlRateProfile();
 169
 170     initRcProcessing();
 171
 172     activeAdjustmentRangeReset();
 173
 174     pidInit(currentPidProfile);
 175
 176     rcControlsInit();
 177
 178     failsafeReset();
 179 #ifdef USE_ACC
 180     setAccelerationTrims(&accelerometerConfigMutable()->accZero);
 181     accInitFilters();
 182 #endif
 183
 184     imuConfigure(throttleCorrectionConfig()->throttle_correction_angle, throttleCorrectionConfig()->throttle_correction_value);
 185
 186 #if defined(USE_LED_STRIP_STATUS_MODE)
 187     reevaluateLedConfig();
 188 #endif
 189
 190     initActiveBoxIds();
 191 }
 192
 193 static void adjustFilterLimit(uint16_t *parm, uint16_t resetValue)
 194 {
 195     if (*parm > LPF_MAX_HZ) {
 196         *parm = resetValue;
 197     }
 198 }
 199
 200 static void validateAndFixRatesSettings(void)
 201 {
 202     for (unsigned profileIndex = 0; profileIndex < CONTROL_RATE_PROFILE_COUNT; profileIndex++) {
 203         const ratesType_e ratesType = controlRateProfilesMutable(profileIndex)->rates_type;
 204         for (unsigned axis = FD_ROLL; axis <= FD_YAW; axis++) {
 205             controlRateProfilesMutable(profileIndex)->rcRates[axis] = constrain(controlRateProfilesMutable(profileIndex)->rcRates[axis], 0, ratesSettingLimits[ratesType].rc_rate_limit);
 206             controlRateProfilesMutable(profileIndex)->rates[axis] = constrain(controlRateProfilesMutable(profileIndex)->rates[axis], 0, ratesSettingLimits[ratesType].srate_limit);
 207             controlRateProfilesMutable(profileIndex)->rcExpo[axis] = constrain(controlRateProfilesMutable(profileIndex)->rcExpo[axis], 0, ratesSettingLimits[ratesType].expo_limit);
 208         }
 209     }
 210 }
 211
 212 static void validateAndFixMinSatsGpsConfig(void)
 213 {
 214     if (gpsConfig()->gpsMinimumSats >= gpsConfig()->gpsRequiredSats) {
 215         gpsConfigMutable()->gpsRequiredSats = GPS_REQUIRED_SAT_COUNT;
 216         gpsConfigMutable()->gpsMinimumSats = GPS_MINIMUM_SAT_COUNT;
 217     }
 218 }
 219
 220 static void validateAndFixConfig(void)
 221 {
 222 #if !defined(USE_QUAD_MIXER_ONLY)
 223     // Reset unsupported mixer mode to default.
 224     // This check will be gone when motor/servo mixers are loaded dynamically
 225     // by configurator as a part of configuration procedure.
 226
 227     mixerMode_e mixerMode = mixerConfigMutable()->mixerMode;
 228
 229     if (!(mixerMode == MIXER_CUSTOM || mixerMode == MIXER_CUSTOM_AIRPLANE || mixerMode == MIXER_CUSTOM_TRI)) {
 230         if (mixers[mixerMode].motorCount && mixers[mixerMode].motor == NULL)
 231             mixerConfigMutable()->mixerMode = MIXER_CUSTOM;
 232 #ifdef USE_SERVOS
 233         if (mixers[mixerMode].useServo && servoMixers[mixerMode].servoRuleCount == 0)
 234             mixerConfigMutable()->mixerMode = MIXER_CUSTOM_AIRPLANE;
 235 #endif
 236     }
 237 #endif
 238
 239     if (!isSerialConfigValid(serialConfig())) {
 240         pgResetFn_serialConfig(serialConfigMutable());
 241     }
 242
 243 #if defined(USE_GPS)
 244     const serialPortConfig_t *gpsSerial = findSerialPortConfig(FUNCTION_GPS);
 245     if (gpsConfig()->provider == GPS_MSP && gpsSerial) {
 246         serialRemovePort(gpsSerial->identifier);
 247     }
 248 #endif
 249     if (
 250 #if defined(USE_GPS)
 251         gpsConfig()->provider != GPS_MSP && !gpsSerial &&
 252 #endif
 253         true) {
 254         featureDisableImmediate(FEATURE_GPS);
 255     }
 256
 257     for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
 258         // Fix filter settings to handle cases where an older configurator was used that
 259         // allowed higher cutoff limits from previous firmware versions.
 260         adjustFilterLimit(&pidProfilesMutable(i)->dterm_lpf1_static_hz, LPF_MAX_HZ);
 261         adjustFilterLimit(&pidProfilesMutable(i)->dterm_lpf2_static_hz, LPF_MAX_HZ);
 262         adjustFilterLimit(&pidProfilesMutable(i)->dterm_notch_hz, LPF_MAX_HZ);
 263         adjustFilterLimit(&pidProfilesMutable(i)->dterm_notch_cutoff, 0);
 264
 265         // Prevent invalid notch cutoff
 266         if (pidProfilesMutable(i)->dterm_notch_cutoff >= pidProfilesMutable(i)->dterm_notch_hz) {
 267             pidProfilesMutable(i)->dterm_notch_hz = 0;
 268         }
 269
 270 #ifdef USE_DYN_LPF
 271         //Prevent invalid dynamic lowpass
 272         if (pidProfilesMutable(i)->dterm_lpf1_dyn_min_hz > pidProfilesMutable(i)->dterm_lpf1_dyn_max_hz) {
 273             pidProfilesMutable(i)->dterm_lpf1_dyn_min_hz = 0;
 274         }
 275 #endif
 276
 277         if (pidProfilesMutable(i)->motor_output_limit > 100 || pidProfilesMutable(i)->motor_output_limit == 0) {
 278             pidProfilesMutable(i)->motor_output_limit = 100;
 279         }
 280
 281         if (pidProfilesMutable(i)->auto_profile_cell_count > MAX_AUTO_DETECT_CELL_COUNT || pidProfilesMutable(i)->auto_profile_cell_count < AUTO_PROFILE_CELL_COUNT_CHANGE) {
 282             pidProfilesMutable(i)->auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY;
 283         }
 284
 285         // If the d_min value for any axis is >= the D gain then reset d_min to 0 for consistent Configurator behavior
 286         for (unsigned axis = 0; axis <= FD_YAW; axis++) {
 287             if (pidProfilesMutable(i)->d_min[axis] > pidProfilesMutable(i)->pid[axis].D) {
 288                 pidProfilesMutable(i)->d_min[axis] = 0;
 289             }
 290         }
 291
 292 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
 293         if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_ADC) {
 294             pidProfilesMutable(i)->vbat_sag_compensation = 0;
 295         }
 296 #endif
 297     }
 298
 299     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
 300         featureDisableImmediate(FEATURE_3D);
 301
 302         if (motorConfig()->mincommand < 1000) {
 303             motorConfigMutable()->mincommand = 1000;
 304         }
 305     }
 306
 307     if ((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
 308         motorConfigMutable()->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
 309     }
 310
 311     validateAndFixGyroConfig();
 312
 313 #if defined(USE_MAG)
 314     buildAlignmentFromStandardAlignment(&compassConfigMutable()->mag_customAlignment, compassConfig()->mag_alignment);
 315 #endif
 316     buildAlignmentFromStandardAlignment(&gyroDeviceConfigMutable(0)->customAlignment, gyroDeviceConfig(0)->alignment);
 317 #if defined(USE_MULTI_GYRO)
 318     buildAlignmentFromStandardAlignment(&gyroDeviceConfigMutable(1)->customAlignment, gyroDeviceConfig(1)->alignment);
 319 #endif
 320
 321 #ifdef USE_ACC
 322     if (accelerometerConfig()->accZero.values.roll != 0 ||
 323         accelerometerConfig()->accZero.values.pitch != 0 ||
 324         accelerometerConfig()->accZero.values.yaw != 0) {
 325         accelerometerConfigMutable()->accZero.values.calibrationCompleted = 1;
 326     }
 327 #endif // USE_ACC
 328
 329     if (!(featureIsConfigured(FEATURE_RX_PARALLEL_PWM) || featureIsConfigured(FEATURE_RX_PPM) || featureIsConfigured(FEATURE_RX_SERIAL) || featureIsConfigured(FEATURE_RX_MSP) || featureIsConfigured(FEATURE_RX_SPI))) {
 330         featureEnableImmediate(DEFAULT_RX_FEATURE);
 331     }
 332
 333     if (featureIsConfigured(FEATURE_RX_PPM)) {
 334         featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_SPI);
 335     }
 336
 337     if (featureIsConfigured(FEATURE_RX_MSP)) {
 338         featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_SPI);
 339     }
 340
 341     if (featureIsConfigured(FEATURE_RX_SERIAL)) {
 342         featureDisableImmediate(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
 343     }
 344
 345 #ifdef USE_RX_SPI
 346     if (featureIsConfigured(FEATURE_RX_SPI)) {
 347         featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP);
 348     }
 349 #endif // USE_RX_SPI
 350
 351     if (featureIsConfigured(FEATURE_RX_PARALLEL_PWM)) {
 352         featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
 353     }
 354
 355 #if defined(USE_ADC)
 356     if (featureIsConfigured(FEATURE_RSSI_ADC)) {
 357         rxConfigMutable()->rssi_channel = 0;
 358         rxConfigMutable()->rssi_src_frame_errors = false;
 359     } else
 360 #endif
 361     if (rxConfigMutable()->rssi_channel
 362 #if defined(USE_PWM) || defined(USE_PPM)
 363         || featureIsConfigured(FEATURE_RX_PPM) || featureIsConfigured(FEATURE_RX_PARALLEL_PWM)
 364 #endif
 365         ) {
 366         rxConfigMutable()->rssi_src_frame_errors = false;
 367     }
 368
 369     if (
 370         featureIsConfigured(FEATURE_3D) || !featureIsConfigured(FEATURE_GPS) || mixerModeIsFixedWing(mixerConfig()->mixerMode)
 371 #if !defined(USE_GPS) || !defined(USE_GPS_RESCUE)
 372         || true
 373 #endif
 374         ) {
 375
 376 #ifdef USE_GPS_RESCUE
 377         if (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE) {
 378             failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;
 379         }
 380 #endif
 381
 382         if (isModeActivationConditionPresent(BOXGPSRESCUE)) {
 383             removeModeActivationCondition(BOXGPSRESCUE);
 384         }
 385     }
 386
 387 #if defined(USE_ESC_SENSOR)
 388     if (!findSerialPortConfig(FUNCTION_ESC_SENSOR)) {
 389         featureDisableImmediate(FEATURE_ESC_SENSOR);
 390     }
 391 #endif
 392
 393     for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
 394         const modeActivationCondition_t *mac = modeActivationConditions(i);
 395
 396         if (mac->linkedTo) {
 397             if (mac->modeId == BOXARM || isModeActivationConditionLinked(mac->linkedTo)) {
 398                 removeModeActivationCondition(mac->modeId);
 399             }
 400         }
 401     }
 402
 403 #if defined(USE_DSHOT_TELEMETRY) && defined(USE_DSHOT_BITBANG)
 404     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_PROSHOT1000 && motorConfig()->dev.useDshotTelemetry &&
 405         motorConfig()->dev.useDshotBitbang == DSHOT_BITBANG_ON) {
 406         motorConfigMutable()->dev.useDshotBitbang = DSHOT_BITBANG_AUTO;
 407     }
 408 #endif
 409
 410 #ifdef USE_ADC
 411     adcConfigMutable()->vbat.enabled = (batteryConfig()->voltageMeterSource == VOLTAGE_METER_ADC);
 412     adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
 413
 414     // The FrSky D SPI RX sends RSSI_ADC_PIN (if configured) as A2
 415     adcConfigMutable()->rssi.enabled = featureIsEnabled(FEATURE_RSSI_ADC);
 416 #ifdef USE_RX_SPI
 417     adcConfigMutable()->rssi.enabled |= (featureIsEnabled(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
 418 #endif
 419 #endif // USE_ADC
 420
 421
 422 // clear features that are not supported.
 423 // I have kept them all here in one place, some could be moved to sections of code above.
 424
 425 #ifndef USE_PPM
 426     featureDisableImmediate(FEATURE_RX_PPM);
 427 #endif
 428
 429 #ifndef USE_SERIAL_RX
 430     featureDisableImmediate(FEATURE_RX_SERIAL);
 431 #endif
 432
 433 #if !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL2)
 434     featureDisableImmediate(FEATURE_SOFTSERIAL);
 435 #endif
 436
 437 #ifndef USE_RANGEFINDER
 438     featureDisableImmediate(FEATURE_RANGEFINDER);
 439 #endif
 440
 441 #ifndef USE_TELEMETRY
 442     featureDisableImmediate(FEATURE_TELEMETRY);
 443 #endif
 444
 445 #ifndef USE_PWM
 446     featureDisableImmediate(FEATURE_RX_PARALLEL_PWM);
 447 #endif
 448
 449 #ifndef USE_RX_MSP
 450     featureDisableImmediate(FEATURE_RX_MSP);
 451 #endif
 452
 453 #ifndef USE_LED_STRIP
 454     featureDisableImmediate(FEATURE_LED_STRIP);
 455 #endif
 456
 457 #ifndef USE_DASHBOARD
 458     featureDisableImmediate(FEATURE_DASHBOARD);
 459 #endif
 460
 461 #ifndef USE_OSD
 462     featureDisableImmediate(FEATURE_OSD);
 463 #endif
 464
 465 #ifndef USE_SERVOS
 466     featureDisableImmediate(FEATURE_SERVO_TILT | FEATURE_CHANNEL_FORWARDING);
 467 #endif
 468
 469 #ifndef USE_TRANSPONDER
 470     featureDisableImmediate(FEATURE_TRANSPONDER);
 471 #endif
 472
 473 #ifndef USE_RX_SPI
 474     featureDisableImmediate(FEATURE_RX_SPI);
 475 #endif
 476
 477 #ifndef USE_ESC_SENSOR
 478     featureDisableImmediate(FEATURE_ESC_SENSOR);
 479 #endif
 480
 481 #if !defined(USE_ADC)
 482     featureDisableImmediate(FEATURE_RSSI_ADC);
 483 #endif
 484
 485 #if defined(USE_BEEPER)
 486 #ifdef USE_TIMER
 487     if (beeperDevConfig()->frequency && !timerGetConfiguredByTag(beeperDevConfig()->ioTag)) {
 488         beeperDevConfigMutable()->frequency = 0;
 489     }
 490 #endif
 491
 492     if (beeperConfig()->beeper_off_flags & ~BEEPER_ALLOWED_MODES) {
 493         beeperConfigMutable()->beeper_off_flags = 0;
 494     }
 495
 496 #ifdef USE_DSHOT
 497     if (beeperConfig()->dshotBeaconOffFlags & ~DSHOT_BEACON_ALLOWED_MODES) {
 498         beeperConfigMutable()->dshotBeaconOffFlags = 0;
 499     }
 500
 501     if (beeperConfig()->dshotBeaconTone < DSHOT_CMD_BEACON1
 502         || beeperConfig()->dshotBeaconTone > DSHOT_CMD_BEACON5) {
 503         beeperConfigMutable()->dshotBeaconTone = DSHOT_CMD_BEACON1;
 504     }
 505 #endif
 506 #endif
 507
 508     bool configuredMotorProtocolDshot = false;
 509     checkMotorProtocolEnabled(&motorConfig()->dev, &configuredMotorProtocolDshot);
 510 #if defined(USE_DSHOT)
 511     // If using DSHOT protocol disable unsynched PWM as it's meaningless
 512     if (configuredMotorProtocolDshot) {
 513         motorConfigMutable()->dev.useUnsyncedPwm = false;
 514     }
 515
 516 #if defined(USE_DSHOT_TELEMETRY)
 517     bool nChannelTimerUsed = false;
 518     for (unsigned i = 0; i < getMotorCount(); i++) {
 519         const ioTag_t tag = motorConfig()->dev.ioTags[i];
 520         if (tag) {
 521             const timerHardware_t *timer = timerGetConfiguredByTag(tag);
 522             if (timer && timer->output & TIMER_OUTPUT_N_CHANNEL) {
 523                 nChannelTimerUsed = true;
 524
 525                 break;
 526             }
 527         }
 528     }
 529
 530     if ((!configuredMotorProtocolDshot || (motorConfig()->dev.useDshotBitbang == DSHOT_BITBANG_OFF && (motorConfig()->dev.useBurstDshot == DSHOT_DMAR_ON || nChannelTimerUsed))) && motorConfig()->dev.useDshotTelemetry) {
 531         motorConfigMutable()->dev.useDshotTelemetry = false;
 532     }
 533 #endif // USE_DSHOT_TELEMETRY
 534 #endif // USE_DSHOT
 535
 536 #if defined(USE_OSD)
 537     for (int i = 0; i < OSD_TIMER_COUNT; i++) {
 538          const uint16_t t = osdConfig()->timers[i];
 539          if (OSD_TIMER_SRC(t) >= OSD_TIMER_SRC_COUNT ||
 540                  OSD_TIMER_PRECISION(t) >= OSD_TIMER_PREC_COUNT) {
 541              osdConfigMutable()->timers[i] = osdTimerDefault[i];
 542          }
 543      }
 544 #endif
 545
 546 #if defined(USE_VTX_COMMON) && defined(USE_VTX_TABLE)
 547     // reset vtx band, channel, power if outside range specified by vtxtable
 548     if (vtxSettingsConfig()->channel > vtxTableConfig()->channels) {
 549         vtxSettingsConfigMutable()->channel = 0;
 550         if (vtxSettingsConfig()->band > 0) {
 551             vtxSettingsConfigMutable()->freq = 0; // band/channel determined frequency can't be valid anymore
 552         }
 553     }
 554     if (vtxSettingsConfig()->band > vtxTableConfig()->bands) {
 555         vtxSettingsConfigMutable()->band = 0;
 556         vtxSettingsConfigMutable()->freq = 0; // band/channel determined frequency can't be valid anymore
 557     }
 558     if (vtxSettingsConfig()->power > vtxTableConfig()->powerLevels) {
 559         vtxSettingsConfigMutable()->power = 0;
 560     }
 561 #endif
 562
 563     validateAndFixRatesSettings();  // constrain the various rates settings to limits imposed by the rates type
 564
 565 #if defined(USE_RX_MSP_OVERRIDE)
 566     if (!rxConfig()->msp_override_channels_mask) {
 567         removeModeActivationCondition(BOXMSPOVERRIDE);
 568     }
 569
 570     for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
 571         const modeActivationCondition_t *mac = modeActivationConditions(i);
 572         if (mac->modeId == BOXMSPOVERRIDE && ((1 << (mac->auxChannelIndex) & (rxConfig()->msp_override_channels_mask)))) {
 573             rxConfigMutable()->msp_override_channels_mask &= ~(1 << (mac->auxChannelIndex + NON_AUX_CHANNEL_COUNT));
 574         }
 575     }
 576 #endif
 577
 578     validateAndfixMotorOutputReordering(motorConfigMutable()->dev.motorOutputReordering, MAX_SUPPORTED_MOTORS);
 579
 580     // validate that the minimum battery cell voltage is less than the maximum cell voltage
 581     // reset to defaults if not
 582     if (batteryConfig()->vbatmincellvoltage >=  batteryConfig()->vbatmaxcellvoltage) {
 583         batteryConfigMutable()->vbatmincellvoltage = VBAT_CELL_VOLTAGE_DEFAULT_MIN;
 584         batteryConfigMutable()->vbatmaxcellvoltage = VBAT_CELL_VOLTAGE_DEFAULT_MAX;
 585     }
 586
 587 #ifdef USE_MSP_DISPLAYPORT
 588     // validate that displayport_msp_serial is referencing a valid UART that actually has MSP enabled
 589     if (displayPortProfileMsp()->displayPortSerial != SERIAL_PORT_NONE) {
 590         const serialPortConfig_t *portConfig = serialFindPortConfiguration(displayPortProfileMsp()->displayPortSerial);
 591         if (!portConfig || !(portConfig->functionMask & FUNCTION_MSP)
 592 #ifndef USE_MSP_PUSH_OVER_VCP
 593             || (portConfig->identifier == SERIAL_PORT_USB_VCP)
 594 #endif
 595             ) {
 596             displayPortProfileMspMutable()->displayPortSerial = SERIAL_PORT_NONE;
 597         }
 598     }
 599 #endif
 600
 601 #if defined(TARGET_VALIDATECONFIG)
 602     // This should be done at the end of the validation
 603     targetValidateConfiguration();
 604 #endif
 605
 606     validateAndFixMinSatsGpsConfig();
 607 }
 608
 609 void validateAndFixGyroConfig(void)
 610 {
 611     // Fix gyro filter settings to handle cases where an older configurator was used that
 612     // allowed higher cutoff limits from previous firmware versions.
 613     adjustFilterLimit(&gyroConfigMutable()->gyro_lpf1_static_hz, LPF_MAX_HZ);
 614     adjustFilterLimit(&gyroConfigMutable()->gyro_lpf2_static_hz, LPF_MAX_HZ);
 615     adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_hz_1, LPF_MAX_HZ);
 616     adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_cutoff_1, 0);
 617     adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_hz_2, LPF_MAX_HZ);
 618     adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_cutoff_2, 0);
 619
 620     // Prevent invalid notch cutoff
 621     if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
 622         gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
 623     }
 624     if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
 625         gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
 626     }
 627 #ifdef USE_DYN_LPF
 628     //Prevent invalid dynamic lowpass filter
 629     if (gyroConfig()->gyro_lpf1_dyn_min_hz > gyroConfig()->gyro_lpf1_dyn_max_hz) {
 630         gyroConfigMutable()->gyro_lpf1_dyn_min_hz = 0;
 631     }
 632 #endif
 633
 634     if (gyro.sampleRateHz > 0) {
 635         float samplingTime = 1.0f / gyro.sampleRateHz;
 636
 637         // check for looptime restrictions based on motor protocol. Motor times have safety margin
 638         float motorUpdateRestriction;
 639
 640 #if defined(STM32F411xE)
 641         /* If bidirectional DSHOT is being used on an F411 then force DSHOT300. The motor update restrictions then applied
 642          * will automatically consider the loop time and adjust pid_process_denom appropriately
 643          */
 644         if (motorConfig()->dev.useDshotTelemetry && (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_DSHOT600)) {
 645             motorConfigMutable()->dev.motorPwmProtocol = PWM_TYPE_DSHOT300;
 646         }
 647 #endif
 648
 649         switch (motorConfig()->dev.motorPwmProtocol) {
 650         case PWM_TYPE_STANDARD:
 651                 motorUpdateRestriction = 1.0f / BRUSHLESS_MOTORS_PWM_RATE;
 652                 break;
 653         case PWM_TYPE_ONESHOT125:
 654                 motorUpdateRestriction = 0.0005f;
 655                 break;
 656         case PWM_TYPE_ONESHOT42:
 657                 motorUpdateRestriction = 0.0001f;
 658                 break;
 659 #ifdef USE_DSHOT
 660         case PWM_TYPE_DSHOT150:
 661                 motorUpdateRestriction = 0.000250f;
 662                 break;
 663         case PWM_TYPE_DSHOT300:
 664                 motorUpdateRestriction = 0.0001f;
 665                 break;
 666 #endif
 667         default:
 668             motorUpdateRestriction = 0.00003125f;
 669             break;
 670         }
 671
 672         if (motorConfig()->dev.useUnsyncedPwm) {
 673             bool configuredMotorProtocolDshot = false;
 674             checkMotorProtocolEnabled(&motorConfig()->dev, &configuredMotorProtocolDshot);
 675             // Prevent overriding the max rate of motors
 676             if (!configuredMotorProtocolDshot && motorConfig()->dev.motorPwmProtocol != PWM_TYPE_STANDARD) {
 677                 const uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
 678                 motorConfigMutable()->dev.motorPwmRate = MIN(motorConfig()->dev.motorPwmRate, maxEscRate);
 679             }
 680         } else {
 681             const float pidLooptime = samplingTime * pidConfig()->pid_process_denom;
 682             if (motorConfig()->dev.useDshotTelemetry) {
 683                 motorUpdateRestriction *= 2;
 684             }
 685             if (pidLooptime < motorUpdateRestriction) {
 686                 uint8_t minPidProcessDenom = motorUpdateRestriction / samplingTime;
 687                 if (motorUpdateRestriction / samplingTime > minPidProcessDenom) {
 688                     // if any fractional part then round up
 689                     minPidProcessDenom++;
 690                 }
 691                 minPidProcessDenom = constrain(minPidProcessDenom, 1, MAX_PID_PROCESS_DENOM);
 692                 pidConfigMutable()->pid_process_denom = MAX(pidConfigMutable()->pid_process_denom, minPidProcessDenom);
 693             }
 694         }
 695     }
 696
 697 #ifdef USE_BLACKBOX
 698 #ifndef USE_FLASHFS
 699     if (blackboxConfig()->device == BLACKBOX_DEVICE_FLASH) {
 700         blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
 701     }
 702 #endif // USE_FLASHFS
 703
 704     if (blackboxConfig()->device == BLACKBOX_DEVICE_SDCARD) {
 705 #if defined(USE_SDCARD)
 706         if (!sdcardConfig()->mode)
 707 #endif
 708         {
 709             blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
 710         }
 711     }
 712 #endif // USE_BLACKBOX
 713
 714     if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {
 715         systemConfigMutable()->activeRateProfile = 0;
 716     }
 717     loadControlRateProfile();
 718
 719     if (systemConfig()->pidProfileIndex >= PID_PROFILE_COUNT) {
 720         systemConfigMutable()->pidProfileIndex = 0;
 721     }
 722     loadPidProfile();
 723 }
 724
 725 bool readEEPROM(void)
 726 {
 727     suspendRxSignal();
 728
 729     // Sanity check, read flash
 730     bool success = loadEEPROM();
 731
 732     featureInit();
 733
 734     validateAndFixConfig();
 735
 736     activateConfig();
 737
 738     resumeRxSignal();
 739
 740     return success;
 741 }
 742
 743 void writeUnmodifiedConfigToEEPROM(void)
 744 {
 745     validateAndFixConfig();
 746
 747     suspendRxSignal();
 748     eepromWriteInProgress = true;
 749     writeConfigToEEPROM();
 750     eepromWriteInProgress = false;
 751     resumeRxSignal();
 752     configIsDirty = false;
 753 }
 754
 755 void writeEEPROM(void)
 756 {
 757 #ifdef USE_RX_SPI
 758     rxSpiStop(); // some rx spi protocols use hardware timer, which needs to be stopped before writing to eeprom
 759 #endif
 760     systemConfigMutable()->configurationState = CONFIGURATION_STATE_CONFIGURED;
 761
 762     writeUnmodifiedConfigToEEPROM();
 763 }
 764
 765 bool resetEEPROM(bool useCustomDefaults)
 766 {
 767 #if !defined(USE_CUSTOM_DEFAULTS)
 768     UNUSED(useCustomDefaults);
 769 #else
 770     if (useCustomDefaults) {
 771         if (!resetConfigToCustomDefaults()) {
 772             return false;
 773         }
 774     } else
 775 #endif
 776     {
 777         resetConfig();
 778     }
 779
 780     writeUnmodifiedConfigToEEPROM();
 781
 782     return true;
 783 }
 784
 785 void ensureEEPROMStructureIsValid(void)
 786 {
 787     if (isEEPROMStructureValid()) {
 788         return;
 789     }
 790     resetEEPROM(false);
 791 }
 792
 793 void saveConfigAndNotify(void)
 794 {
 795     // The write to EEPROM will cause a big delay in the current task, so ignore
 796     schedulerIgnoreTaskExecTime();
 797
 798     writeEEPROM();
 799     readEEPROM();
 800     beeperConfirmationBeeps(1);
 801 }
 802
 803 void setConfigDirty(void)
 804 {
 805     configIsDirty = true;
 806 }
 807
 808 bool isConfigDirty(void)
 809 {
 810     return configIsDirty;
 811 }
 812
 813 void changePidProfileFromCellCount(uint8_t cellCount)
 814 {
 815     if (currentPidProfile->auto_profile_cell_count == cellCount || currentPidProfile->auto_profile_cell_count == AUTO_PROFILE_CELL_COUNT_STAY) {
 816         return;
 817     }
 818
 819     unsigned profileIndex = (systemConfig()->pidProfileIndex + 1) % PID_PROFILE_COUNT;
 820     int matchingProfileIndex = -1;
 821     while (profileIndex != systemConfig()->pidProfileIndex) {
 822         if (pidProfiles(profileIndex)->auto_profile_cell_count == cellCount) {
 823             matchingProfileIndex = profileIndex;
 824
 825             break;
 826         } else if (matchingProfileIndex < 0 && pidProfiles(profileIndex)->auto_profile_cell_count == AUTO_PROFILE_CELL_COUNT_STAY) {
 827             matchingProfileIndex = profileIndex;
 828         }
 829
 830         profileIndex = (profileIndex + 1) % PID_PROFILE_COUNT;
 831     }
 832
 833     if (matchingProfileIndex >= 0) {
 834         changePidProfile(matchingProfileIndex);
 835     }
 836 }
 837
 838 void changePidProfile(uint8_t pidProfileIndex)
 839 {
 840     // The config switch will cause a big enough delay in the current task to upset the scheduler
 841     schedulerIgnoreTaskExecTime();
 842
 843     if (pidProfileIndex < PID_PROFILE_COUNT) {
 844         systemConfigMutable()->pidProfileIndex = pidProfileIndex;
 845         loadPidProfile();
 846
 847         pidInit(currentPidProfile);
 848         initEscEndpoints();
 849         mixerInitProfile();
 850     }
 851
 852     beeperConfirmationBeeps(pidProfileIndex + 1);
 853 }
 854
 855 bool isSystemConfigured(void)
 856 {
 857     return systemConfig()->configurationState == CONFIGURATION_STATE_CONFIGURED;
 858 }
 859
 860 void setRebootRequired(void)
 861 {
 862     rebootRequired = true;
 863     setArmingDisabled(ARMING_DISABLED_REBOOT_REQUIRED);
 864 }
 865
 866 bool getRebootRequired(void)
 867 {
 868     return rebootRequired;
 869 }