src/main/config/config.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20 #include <string.h>
  21
  22 #include "platform.h"
  23
  24 #include "build_config.h"
  25
  26 #include "common/color.h"
  27 #include "common/axis.h"
  28 #include "common/maths.h"
  29 #include "common/filter.h"
  30
  31 #include "drivers/sensor.h"
  32 #include "drivers/accgyro.h"
  33 #include "drivers/compass.h"
  34 #include "drivers/system.h"
  35 #include "drivers/gpio.h"
  36 #include "drivers/timer.h"
  37 #include "drivers/pwm_rx.h"
  38 #include "drivers/serial.h"
  39 #include "drivers/gyro_sync.h"
  40
  41 #include "sensors/sensors.h"
  42 #include "sensors/gyro.h"
  43 #include "sensors/compass.h"
  44 #include "sensors/acceleration.h"
  45 #include "sensors/barometer.h"
  46 #include "sensors/boardalignment.h"
  47 #include "sensors/battery.h"
  48
  49 #include "io/beeper.h"
  50 #include "io/serial.h"
  51 #include "io/gimbal.h"
  52 #include "io/escservo.h"
  53 #include "io/rc_controls.h"
  54 #include "io/rc_curves.h"
  55 #include "io/ledstrip.h"
  56 #include "io/gps.h"
  57
  58 #include "rx/rx.h"
  59
  60 #include "telemetry/telemetry.h"
  61
  62 #include "flight/mixer.h"
  63 #include "flight/pid.h"
  64 #include "flight/imu.h"
  65 #include "flight/failsafe.h"
  66 #include "flight/altitudehold.h"
  67 #include "flight/navigation.h"
  68
  69 #include "config/runtime_config.h"
  70 #include "config/config.h"
  71
  72 #include "config/config_profile.h"
  73 #include "config/config_master.h"
  74
  75 #define BRUSHED_MOTORS_PWM_RATE 16000
  76 #define BRUSHLESS_MOTORS_PWM_RATE 400
  77
  78 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
  79
  80 #if !defined(FLASH_SIZE)
  81 #error "Flash size not defined for target. (specify in KB)"
  82 #endif
  83
  84
  85 #ifndef FLASH_PAGE_SIZE
  86     #ifdef STM32F303xC
  87         #define FLASH_PAGE_SIZE                 ((uint16_t)0x800)
  88     #endif
  89
  90     #ifdef STM32F10X_MD
  91         #define FLASH_PAGE_SIZE                 ((uint16_t)0x400)
  92     #endif
  93
  94     #ifdef STM32F10X_HD
  95         #define FLASH_PAGE_SIZE                 ((uint16_t)0x800)
  96     #endif
  97 #endif
  98
  99 #if !defined(FLASH_SIZE) && !defined(FLASH_PAGE_COUNT)
 100     #ifdef STM32F10X_MD
 101         #define FLASH_PAGE_COUNT 128
 102     #endif
 103
 104     #ifdef STM32F10X_HD
 105         #define FLASH_PAGE_COUNT 128
 106     #endif
 107 #endif
 108
 109 #if defined(FLASH_SIZE)
 110 #define FLASH_PAGE_COUNT ((FLASH_SIZE * 0x400) / FLASH_PAGE_SIZE)
 111 #endif
 112
 113 #if !defined(FLASH_PAGE_SIZE)
 114 #error "Flash page size not defined for target."
 115 #endif
 116
 117 #if !defined(FLASH_PAGE_COUNT)
 118 #error "Flash page count not defined for target."
 119 #endif
 120
 121 #if FLASH_SIZE <= 128
 122 #define FLASH_TO_RESERVE_FOR_CONFIG 0x800
 123 #else
 124 #define FLASH_TO_RESERVE_FOR_CONFIG 0x1000
 125 #endif
 126
 127 // use the last flash pages for storage
 128 #define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
 129
 130 master_t masterConfig;                 // master config struct with data independent from profiles
 131 profile_t *currentProfile;
 132 static uint32_t activeFeaturesLatch = 0;
 133
 134 static uint8_t currentControlRateProfileIndex = 0;
 135 controlRateConfig_t *currentControlRateProfile;
 136
 137 static const uint8_t EEPROM_CONF_VERSION = 129;
 138
 139 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 140 {
 141     accelerometerTrims->values.pitch = 0;
 142     accelerometerTrims->values.roll = 0;
 143     accelerometerTrims->values.yaw = 0;
 144 }
 145
 146 static void resetPidProfile(pidProfile_t *pidProfile)
 147 {
 148     pidProfile->pidController = 1;
 149
 150     pidProfile->P8[ROLL] = 42;
 151     pidProfile->I8[ROLL] = 40;
 152     pidProfile->D8[ROLL] = 18;
 153     pidProfile->P8[PITCH] = 54;
 154     pidProfile->I8[PITCH] = 40;
 155     pidProfile->D8[PITCH] = 22;
 156     pidProfile->P8[YAW] = 90;
 157     pidProfile->I8[YAW] = 50;
 158     pidProfile->D8[YAW] = 0;
 159     pidProfile->P8[PIDALT] = 50;
 160     pidProfile->I8[PIDALT] = 0;
 161     pidProfile->D8[PIDALT] = 0;
 162     pidProfile->P8[PIDPOS] = 15; // POSHOLD_P * 100;
 163     pidProfile->I8[PIDPOS] = 0; // POSHOLD_I * 100;
 164     pidProfile->D8[PIDPOS] = 0;
 165     pidProfile->P8[PIDPOSR] = 34; // POSHOLD_RATE_P * 10;
 166     pidProfile->I8[PIDPOSR] = 14; // POSHOLD_RATE_I * 100;
 167     pidProfile->D8[PIDPOSR] = 53; // POSHOLD_RATE_D * 1000;
 168     pidProfile->P8[PIDNAVR] = 25; // NAV_P * 10;
 169     pidProfile->I8[PIDNAVR] = 33; // NAV_I * 100;
 170     pidProfile->D8[PIDNAVR] = 83; // NAV_D * 1000;
 171     pidProfile->P8[PIDLEVEL] = 30;
 172     pidProfile->I8[PIDLEVEL] = 30;
 173     pidProfile->D8[PIDLEVEL] = 100;
 174     pidProfile->P8[PIDMAG] = 40;
 175     pidProfile->P8[PIDVEL] = 120;
 176     pidProfile->I8[PIDVEL] = 45;
 177     pidProfile->D8[PIDVEL] = 1;
 178
 179     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
 180     pidProfile->dterm_average_count = 4;
 181     pidProfile->dterm_lpf_hz = 0;    // filtering ON by default
 182     pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
 183
 184     pidProfile->P_f[ROLL] = 1.1f;
 185     pidProfile->I_f[ROLL] = 0.4f;
 186     pidProfile->D_f[ROLL] = 0.01f;
 187     pidProfile->P_f[PITCH] = 1.4f;
 188     pidProfile->I_f[PITCH] = 0.4f;
 189     pidProfile->D_f[PITCH] = 0.01f;
 190     pidProfile->P_f[YAW] = 4.0f;
 191     pidProfile->I_f[YAW] = 0.4f;
 192     pidProfile->D_f[YAW] = 0.00f;
 193     pidProfile->A_level = 4.0f;
 194     pidProfile->H_level = 4.0f;
 195     pidProfile->H_sensitivity = 75;
 196
 197 #ifdef GTUNE
 198     pidProfile->gtune_lolimP[ROLL] = 10;          // [0..200] Lower limit of ROLL P during G tune.
 199     pidProfile->gtune_lolimP[PITCH] = 10;         // [0..200] Lower limit of PITCH P during G tune.
 200     pidProfile->gtune_lolimP[YAW] = 10;           // [0..200] Lower limit of YAW P during G tune.
 201     pidProfile->gtune_hilimP[ROLL] = 100;         // [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axis.
 202     pidProfile->gtune_hilimP[PITCH] = 100;        // [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axis.
 203     pidProfile->gtune_hilimP[YAW] = 100;          // [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axis.
 204     pidProfile->gtune_pwr = 0;                    // [0..10] Strength of adjustment
 205     pidProfile->gtune_settle_time = 450;          // [200..1000] Settle time in ms
 206     pidProfile->gtune_average_cycles = 16;        // [8..128] Number of looptime cycles used for gyro average calculation
 207 #endif
 208 }
 209
 210 #ifdef GPS
 211 void resetGpsProfile(gpsProfile_t *gpsProfile)
 212 {
 213     gpsProfile->gps_wp_radius = 200;
 214     gpsProfile->gps_lpf = 20;
 215     gpsProfile->nav_slew_rate = 30;
 216     gpsProfile->nav_controls_heading = 1;
 217     gpsProfile->nav_speed_min = 100;
 218     gpsProfile->nav_speed_max = 300;
 219     gpsProfile->ap_mode = 40;
 220 }
 221 #endif
 222
 223 void resetBarometerConfig(barometerConfig_t *barometerConfig)
 224 {
 225     barometerConfig->baro_sample_count = 21;
 226     barometerConfig->baro_noise_lpf = 0.6f;
 227     barometerConfig->baro_cf_vel = 0.985f;
 228     barometerConfig->baro_cf_alt = 0.965f;
 229 }
 230
 231 void resetSensorAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
 232 {
 233     sensorAlignmentConfig->gyro_align = ALIGN_DEFAULT;
 234     sensorAlignmentConfig->acc_align = ALIGN_DEFAULT;
 235     sensorAlignmentConfig->mag_align = ALIGN_DEFAULT;
 236 }
 237
 238 void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
 239 {
 240     escAndServoConfig->minthrottle = 1150;
 241     escAndServoConfig->maxthrottle = 1850;
 242     escAndServoConfig->mincommand = 1000;
 243     escAndServoConfig->servoCenterPulse = 1500;
 244 }
 245
 246 void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
 247 {
 248     flight3DConfig->deadband3d_low = 1406;
 249     flight3DConfig->deadband3d_high = 1514;
 250     flight3DConfig->neutral3d = 1460;
 251     flight3DConfig->deadband3d_throttle = 50;
 252 }
 253
 254 void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
 255 {
 256     telemetryConfig->telemetry_inversion = 0;
 257     telemetryConfig->telemetry_switch = 0;
 258     telemetryConfig->gpsNoFixLatitude = 0;
 259     telemetryConfig->gpsNoFixLongitude = 0;
 260     telemetryConfig->frsky_coordinate_format = FRSKY_FORMAT_DMS;
 261     telemetryConfig->frsky_unit = FRSKY_UNIT_METRICS;
 262     telemetryConfig->frsky_vfas_precision = 0;
 263     telemetryConfig->frsky_vfas_cell_voltage = 0;
 264     telemetryConfig->hottAlarmSoundInterval = 5;
 265 }
 266
 267 void resetBatteryConfig(batteryConfig_t *batteryConfig)
 268 {
 269     batteryConfig->vbatscale = VBAT_SCALE_DEFAULT;
 270     batteryConfig->vbatresdivval = VBAT_RESDIVVAL_DEFAULT;
 271     batteryConfig->vbatresdivmultiplier = VBAT_RESDIVMULTIPLIER_DEFAULT;
 272     batteryConfig->vbatmaxcellvoltage = 43;
 273     batteryConfig->vbatmincellvoltage = 33;
 274     batteryConfig->vbatwarningcellvoltage = 35;
 275     batteryConfig->vbatPidCompensation = 0;
 276     batteryConfig->currentMeterOffset = 0;
 277     batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
 278     batteryConfig->batteryCapacity = 0;
 279     batteryConfig->currentMeterType = CURRENT_SENSOR_ADC;
 280 }
 281
 282 #ifdef SWAP_SERIAL_PORT_0_AND_1_DEFAULTS
 283 #define FIRST_PORT_INDEX 1
 284 #define SECOND_PORT_INDEX 0
 285 #else
 286 #define FIRST_PORT_INDEX 0
 287 #define SECOND_PORT_INDEX 1
 288 #endif
 289
 290 void resetSerialConfig(serialConfig_t *serialConfig)
 291 {
 292     uint8_t index;
 293     memset(serialConfig, 0, sizeof(serialConfig_t));
 294
 295     for (index = 0; index < SERIAL_PORT_COUNT; index++) {
 296         serialConfig->portConfigs[index].identifier = serialPortIdentifiers[index];
 297         serialConfig->portConfigs[index].msp_baudrateIndex = BAUD_115200;
 298         serialConfig->portConfigs[index].gps_baudrateIndex = BAUD_57600;
 299         serialConfig->portConfigs[index].telemetry_baudrateIndex = BAUD_AUTO;
 300         serialConfig->portConfigs[index].blackbox_baudrateIndex = BAUD_115200;
 301     }
 302
 303     serialConfig->portConfigs[0].functionMask = FUNCTION_MSP;
 304
 305 #if defined(USE_VCP)
 306     // This allows MSP connection via USART & VCP so the board can be reconfigured.
 307     serialConfig->portConfigs[1].functionMask = FUNCTION_MSP;
 308 #endif
 309
 310     serialConfig->reboot_character = 'R';
 311 }
 312
 313 static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
 314     controlRateConfig->rcRate8 = 100;
 315     controlRateConfig->rcExpo8 = 70;
 316     controlRateConfig->thrMid8 = 50;
 317     controlRateConfig->thrExpo8 = 0;
 318     controlRateConfig->dynThrPID = 0;
 319     controlRateConfig->rcYawExpo8 = 20;
 320     controlRateConfig->tpa_breakpoint = 1500;
 321
 322     for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
 323         controlRateConfig->rates[axis] = 0;
 324     }
 325
 326 }
 327
 328 void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
 329     rcControlsConfig->deadband = 0;
 330     rcControlsConfig->yaw_deadband = 0;
 331     rcControlsConfig->alt_hold_deadband = 40;
 332     rcControlsConfig->alt_hold_fast_change = 1;
 333 }
 334
 335 void resetMixerConfig(mixerConfig_t *mixerConfig) {
 336     mixerConfig->yaw_motor_direction = 1;
 337     mixerConfig->yaw_jump_prevention_limit = 200;
 338 #ifdef USE_SERVOS
 339     mixerConfig->tri_unarmed_servo = 1;
 340     mixerConfig->servo_lowpass_freq = 400;
 341     mixerConfig->servo_lowpass_enable = 0;
 342 #endif
 343 }
 344
 345 uint8_t getCurrentProfile(void)
 346 {
 347     return masterConfig.current_profile_index;
 348 }
 349
 350 static void setProfile(uint8_t profileIndex)
 351 {
 352     currentProfile = &masterConfig.profile[profileIndex];
 353     currentControlRateProfileIndex = currentProfile->activeRateProfile;
 354     currentControlRateProfile = &currentProfile->controlRateProfile[currentControlRateProfileIndex];
 355 }
 356
 357 uint8_t getCurrentControlRateProfile(void)
 358 {
 359     return currentControlRateProfileIndex;
 360 }
 361
 362 static void setControlRateProfile(uint8_t profileIndex) {
 363         currentControlRateProfileIndex = profileIndex;
 364         masterConfig.profile[getCurrentProfile()].activeRateProfile = profileIndex;
 365         currentControlRateProfile = &masterConfig.profile[getCurrentProfile()].controlRateProfile[profileIndex];
 366 }
 367
 368
 369 controlRateConfig_t *getControlRateConfig(uint8_t profileIndex) {
 370     return &masterConfig.profile[profileIndex].controlRateProfile[masterConfig.profile[profileIndex].activeRateProfile];
 371 }
 372
 373 uint16_t getCurrentMinthrottle(void)
 374 {
 375     return masterConfig.escAndServoConfig.minthrottle;
 376 }
 377
 378 // Default settings
 379 static void resetConf(void)
 380 {
 381     int i;
 382
 383     // Clear all configuration
 384     memset(&masterConfig, 0, sizeof(master_t));
 385     setProfile(0);
 386
 387     masterConfig.beeper_off.flags = BEEPER_OFF_FLAGS_MIN;
 388     masterConfig.version = EEPROM_CONF_VERSION;
 389     masterConfig.mixerMode = MIXER_QUADX;
 390     featureClearAll();
 391 #if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE)
 392     featureSet(FEATURE_RX_PPM);
 393 #endif
 394
 395 //#if defined(SPRACINGF3MINI)
 396 //    featureSet(FEATURE_DISPLAY);
 397 //#endif
 398
 399 #ifdef BOARD_HAS_VOLTAGE_DIVIDER
 400     // only enable the VBAT feature by default if the board has a voltage divider otherwise
 401     // the user may see incorrect readings and unexpected issues with pin mappings may occur.
 402     featureSet(FEATURE_VBAT);
 403 #endif
 404
 405     featureSet(FEATURE_FAILSAFE);
 406     featureSet(FEATURE_ONESHOT125);
 407
 408     // global settings
 409     masterConfig.current_profile_index = 0;     // default profile
 410     masterConfig.dcm_kp = 2500;                // 1.0 * 10000
 411     masterConfig.dcm_ki = 0;                    // 0.003 * 10000
 412     masterConfig.gyro_lpf = 1;                 // 188HZ
 413     masterConfig.gyro_sync_denom = 4;
 414     masterConfig.gyro_soft_lpf_hz = 60;
 415
 416     masterConfig.pid_process_denom = 1;
 417
 418     masterConfig.debug_mode = 0;
 419
 420     resetAccelerometerTrims(&masterConfig.accZero);
 421
 422     resetSensorAlignment(&masterConfig.sensorAlignmentConfig);
 423
 424     masterConfig.boardAlignment.rollDegrees = 0;
 425     masterConfig.boardAlignment.pitchDegrees = 0;
 426     masterConfig.boardAlignment.yawDegrees = 0;
 427     masterConfig.acc_hardware = ACC_DEFAULT;     // default/autodetect
 428     masterConfig.max_angle_inclination = 700;    // 70 degrees
 429     masterConfig.yaw_control_direction = 1;
 430     masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
 431
 432     // xxx_hardware: 0:default/autodetect, 1: disable
 433     masterConfig.mag_hardware = 0;
 434
 435     masterConfig.baro_hardware = 0;
 436
 437     resetBatteryConfig(&masterConfig.batteryConfig);
 438
 439     resetTelemetryConfig(&masterConfig.telemetryConfig);
 440
 441     masterConfig.rxConfig.serialrx_provider = 0;
 442     masterConfig.rxConfig.sbus_inversion = 1;
 443     masterConfig.rxConfig.spektrum_sat_bind = 0;
 444     masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
 445     masterConfig.rxConfig.midrc = 1500;
 446     masterConfig.rxConfig.mincheck = 1100;
 447     masterConfig.rxConfig.maxcheck = 1900;
 448     masterConfig.rxConfig.rx_min_usec = 885;          // any of first 4 channels below this value will trigger rx loss detection
 449     masterConfig.rxConfig.rx_max_usec = 2115;         // any of first 4 channels above this value will trigger rx loss detection
 450
 451     for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
 452         rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i];
 453         channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
 454         channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
 455     }
 456
 457     masterConfig.rxConfig.rssi_channel = 0;
 458     masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
 459     masterConfig.rxConfig.rssi_ppm_invert = 0;
 460     masterConfig.rxConfig.rcSmoothing = 0;
 461     masterConfig.rxConfig.fpvCamAngleDegrees = 0;
 462     masterConfig.rxConfig.max_aux_channel = 6;
 463     masterConfig.rxConfig.acroPlusFactor = 30;
 464     masterConfig.rxConfig.acroPlusOffset = 40;
 465
 466     resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
 467
 468     masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
 469
 470     masterConfig.retarded_arm = 0;  // TODO - Cleanup retarded arm support
 471     masterConfig.disarm_kill_switch = 1;
 472     masterConfig.auto_disarm_delay = 5;
 473     masterConfig.small_angle = 25;
 474
 475     resetMixerConfig(&masterConfig.mixerConfig);
 476
 477     masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
 478
 479     // Motor/ESC/Servo
 480     resetEscAndServoConfig(&masterConfig.escAndServoConfig);
 481     resetFlight3DConfig(&masterConfig.flight3DConfig);
 482
 483 #ifdef BRUSHED_MOTORS
 484     masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
 485 #else
 486     masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
 487 #endif
 488     masterConfig.servo_pwm_rate = 50;
 489     masterConfig.use_oneshot42 = 0;
 490 #ifdef CC3D
 491     masterConfig.use_buzzer_p6 = 0;
 492 #endif
 493
 494 #ifdef GPS
 495     // gps/nav stuff
 496     masterConfig.gpsConfig.provider = GPS_NMEA;
 497     masterConfig.gpsConfig.sbasMode = SBAS_AUTO;
 498     masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
 499     masterConfig.gpsConfig.autoBaud = GPS_AUTOBAUD_OFF;
 500 #endif
 501
 502     resetSerialConfig(&masterConfig.serialConfig);
 503
 504 #if defined(STM32F10X) && !defined(CC3D)
 505     masterConfig.emf_avoidance = 1;
 506 #else
 507     masterConfig.emf_avoidance = 0;
 508 #endif
 509
 510     resetPidProfile(&currentProfile->pidProfile);
 511
 512         uint8_t rI;
 513         for (rI = 0; rI<MAX_RATEPROFILES; rI++) {
 514                 resetControlRateConfig(&masterConfig.profile[0].controlRateProfile[rI]);
 515         }
 516     resetRollAndPitchTrims(&masterConfig.accelerometerTrims);
 517
 518     masterConfig.mag_declination = 0;
 519     masterConfig.acc_lpf_hz = 10.0f;
 520     masterConfig.accDeadband.xy = 40;
 521     masterConfig.accDeadband.z = 40;
 522     masterConfig.acc_unarmedcal = 1;
 523
 524     resetBarometerConfig(&masterConfig.barometerConfig);
 525
 526     // Radio
 527     parseRcChannels("AETR1234", &masterConfig.rxConfig);
 528
 529     resetRcControlsConfig(&masterConfig.rcControlsConfig);
 530
 531     masterConfig.throttle_correction_value = 0;      // could 10 with althold or 40 for fpv
 532     masterConfig.throttle_correction_angle = 800;    // could be 80.0 deg with atlhold or 45.0 for fpv
 533
 534     // Failsafe Variables
 535     masterConfig.failsafeConfig.failsafe_delay = 10;              // 1sec
 536     masterConfig.failsafeConfig.failsafe_off_delay = 10;          // 1sec
 537     masterConfig.failsafeConfig.failsafe_throttle = 1000;         // default throttle off.
 538     masterConfig.failsafeConfig.failsafe_kill_switch = 0;         // default failsafe switch action is identical to rc link loss
 539     masterConfig.failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
 540     masterConfig.failsafeConfig.failsafe_procedure = 0;           // default full failsafe procedure is 0: auto-landing
 541
 542 #ifdef USE_SERVOS
 543     // servos
 544     for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
 545         masterConfig.servoConf[i].min = DEFAULT_SERVO_MIN;
 546         masterConfig.servoConf[i].max = DEFAULT_SERVO_MAX;
 547         masterConfig.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
 548         masterConfig.servoConf[i].rate = 100;
 549         masterConfig.servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
 550         masterConfig.servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
 551         masterConfig.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
 552     }
 553
 554     // gimbal
 555     masterConfig.gimbalConfig.mode = GIMBAL_MODE_NORMAL;
 556 #endif
 557
 558 #ifdef GPS
 559     resetGpsProfile(&masterConfig.gpsProfile);
 560 #endif
 561
 562     // custom mixer. clear by defaults.
 563     for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
 564         masterConfig.customMotorMixer[i].throttle = 0.0f;
 565
 566 #ifdef LED_STRIP
 567     applyDefaultColors(masterConfig.colors, CONFIGURABLE_COLOR_COUNT);
 568     applyDefaultLedStripConfig(masterConfig.ledConfigs);
 569 #endif
 570
 571 #ifdef SPRACINGF3
 572     featureSet(FEATURE_BLACKBOX);
 573     masterConfig.blackbox_device = 1;
 574 #ifdef TRANSPONDER
 575     static const uint8_t defaultTransponderData[6] = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC }; // Note, this is NOT a valid transponder code, it's just for testing production hardware
 576
 577     memcpy(masterConfig.transponderData, &defaultTransponderData, sizeof(defaultTransponderData));
 578 #endif
 579
 580 #if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
 581     featureSet(FEATURE_BLACKBOX);
 582     masterConfig.blackbox_device = BLACKBOX_DEVICE_FLASH;
 583 #elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
 584     featureSet(FEATURE_BLACKBOX);
 585     masterConfig.blackbox_device = BLACKBOX_DEVICE_SDCARD;
 586 #else
 587     masterConfig.blackbox_device = 0;
 588 #endif
 589
 590     masterConfig.blackbox_rate_num = 1;
 591     masterConfig.blackbox_rate_denom = 1;
 592 #endif
 593
 594     // alternative defaults settings for COLIBRI RACE targets
 595 #if defined(COLIBRI_RACE)
 596     masterConfig.escAndServoConfig.minthrottle = 1025;
 597     masterConfig.escAndServoConfig.maxthrottle = 1980;
 598     masterConfig.batteryConfig.vbatmaxcellvoltage = 45;
 599     masterConfig.batteryConfig.vbatmincellvoltage = 30;
 600
 601     featureSet(FEATURE_VBAT);
 602     featureSet(FEATURE_FAILSAFE);
 603 #endif
 604
 605     // alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets
 606 #ifdef ALIENFLIGHT
 607     featureSet(FEATURE_RX_SERIAL);
 608     featureSet(FEATURE_MOTOR_STOP);
 609     featureClear(FEATURE_ONESHOT125);
 610 #ifdef ALIENFLIGHTF3
 611     masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
 612     masterConfig.batteryConfig.vbatscale = 20;
 613     masterConfig.mag_hardware = MAG_NONE;            // disabled by default
 614 #else
 615     masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
 616 #endif
 617     masterConfig.rxConfig.serialrx_provider = 1;
 618     masterConfig.rxConfig.spektrum_sat_bind = 5;
 619         masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
 620     masterConfig.escAndServoConfig.minthrottle = 1000;
 621     masterConfig.escAndServoConfig.maxthrottle = 2000;
 622     masterConfig.motor_pwm_rate = 32000;
 623     currentProfile->pidProfile.pidController = 2;
 624     masterConfig.failsafeConfig.failsafe_delay = 2;
 625     masterConfig.failsafeConfig.failsafe_off_delay = 0;
 626     masterConfig.mixerConfig.yaw_jump_prevention_limit = 500;
 627     currentControlRateProfile->rcRate8 = 100;
 628     currentControlRateProfile->rates[FD_PITCH] = 20;
 629     currentControlRateProfile->rates[FD_ROLL] = 20;
 630     currentControlRateProfile->rates[FD_YAW] = 20;
 631     parseRcChannels("TAER1234", &masterConfig.rxConfig);
 632
 633     //  { 1.0f, -0.414178f,  1.0f, -1.0f },          // REAR_R
 634     masterConfig.customMotorMixer[0].throttle = 1.0f;
 635     masterConfig.customMotorMixer[0].roll = -0.414178f;
 636     masterConfig.customMotorMixer[0].pitch = 1.0f;
 637     masterConfig.customMotorMixer[0].yaw = -1.0f;
 638
 639     //  { 1.0f, -0.414178f, -1.0f,  1.0f },          // FRONT_R
 640     masterConfig.customMotorMixer[1].throttle = 1.0f;
 641     masterConfig.customMotorMixer[1].roll = -0.414178f;
 642     masterConfig.customMotorMixer[1].pitch = -1.0f;
 643     masterConfig.customMotorMixer[1].yaw = 1.0f;
 644
 645     //  { 1.0f,  0.414178f,  1.0f,  1.0f },          // REAR_L
 646     masterConfig.customMotorMixer[2].throttle = 1.0f;
 647     masterConfig.customMotorMixer[2].roll = 0.414178f;
 648     masterConfig.customMotorMixer[2].pitch = 1.0f;
 649     masterConfig.customMotorMixer[2].yaw = 1.0f;
 650
 651     //  { 1.0f,  0.414178f, -1.0f, -1.0f },          // FRONT_L
 652     masterConfig.customMotorMixer[3].throttle = 1.0f;
 653     masterConfig.customMotorMixer[3].roll = 0.414178f;
 654     masterConfig.customMotorMixer[3].pitch = -1.0f;
 655     masterConfig.customMotorMixer[3].yaw = -1.0f;
 656
 657     //  { 1.0f, -1.0f, -0.414178f, -1.0f },          // MIDFRONT_R
 658     masterConfig.customMotorMixer[4].throttle = 1.0f;
 659     masterConfig.customMotorMixer[4].roll = -1.0f;
 660     masterConfig.customMotorMixer[4].pitch = -0.414178f;
 661     masterConfig.customMotorMixer[4].yaw = -1.0f;
 662
 663     //  { 1.0f,  1.0f, -0.414178f,  1.0f },          // MIDFRONT_L
 664     masterConfig.customMotorMixer[5].throttle = 1.0f;
 665     masterConfig.customMotorMixer[5].roll = 1.0f;
 666     masterConfig.customMotorMixer[5].pitch = -0.414178f;
 667     masterConfig.customMotorMixer[5].yaw = 1.0f;
 668
 669     //  { 1.0f, -1.0f,  0.414178f,  1.0f },          // MIDREAR_R
 670     masterConfig.customMotorMixer[6].throttle = 1.0f;
 671     masterConfig.customMotorMixer[6].roll = -1.0f;
 672     masterConfig.customMotorMixer[6].pitch = 0.414178f;
 673     masterConfig.customMotorMixer[6].yaw = 1.0f;
 674
 675     //  { 1.0f,  1.0f,  0.414178f, -1.0f },          // MIDREAR_L
 676     masterConfig.customMotorMixer[7].throttle = 1.0f;
 677     masterConfig.customMotorMixer[7].roll = 1.0f;
 678     masterConfig.customMotorMixer[7].pitch = 0.414178f;
 679     masterConfig.customMotorMixer[7].yaw = -1.0f;
 680 #endif
 681
 682     // copy first profile into remaining profile
 683     for (i = 1; i < MAX_PROFILE_COUNT; i++) {
 684         memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
 685     }
 686
 687 }
 688
 689 static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
 690 {
 691     uint8_t checksum = 0;
 692     const uint8_t *byteOffset;
 693
 694     for (byteOffset = data; byteOffset < (data + length); byteOffset++)
 695         checksum ^= *byteOffset;
 696     return checksum;
 697 }
 698
 699 static bool isEEPROMContentValid(void)
 700 {
 701     const master_t *temp = (const master_t *) CONFIG_START_FLASH_ADDRESS;
 702     uint8_t checksum = 0;
 703
 704     // check version number
 705     if (EEPROM_CONF_VERSION != temp->version)
 706         return false;
 707
 708     // check size and magic numbers
 709     if (temp->size != sizeof(master_t) || temp->magic_be != 0xBE || temp->magic_ef != 0xEF)
 710         return false;
 711
 712     // verify integrity of temporary copy
 713     checksum = calculateChecksum((const uint8_t *) temp, sizeof(master_t));
 714     if (checksum != 0)
 715         return false;
 716
 717     // looks good, let's roll!
 718     return true;
 719 }
 720
 721 void activateControlRateConfig(void)
 722 {
 723     generatePitchRollCurve(currentControlRateProfile);
 724     generateYawCurve(currentControlRateProfile);
 725     generateThrottleCurve(currentControlRateProfile, &masterConfig.escAndServoConfig);
 726 }
 727
 728 void activateConfig(void)
 729 {
 730     static imuRuntimeConfig_t imuRuntimeConfig;
 731
 732     activateControlRateConfig();
 733
 734     resetAdjustmentStates();
 735
 736     useRcControlsConfig(
 737         masterConfig.modeActivationConditions,
 738         &masterConfig.escAndServoConfig,
 739         &currentProfile->pidProfile
 740     );
 741
 742     useGyroConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz);
 743
 744 #ifdef TELEMETRY
 745     telemetryUseConfig(&masterConfig.telemetryConfig);
 746 #endif
 747     pidSetController(currentProfile->pidProfile.pidController);
 748
 749 #ifdef GPS
 750     gpsUseProfile(&masterConfig.gpsProfile);
 751     gpsUsePIDs(&currentProfile->pidProfile);
 752 #endif
 753
 754     useFailsafeConfig(&masterConfig.failsafeConfig);
 755     setAccelerationTrims(&masterConfig.accZero);
 756     setAccelerationFilter(masterConfig.acc_lpf_hz);
 757
 758     mixerUseConfigs(
 759 #ifdef USE_SERVOS
 760         masterConfig.servoConf,
 761         &masterConfig.gimbalConfig,
 762 #endif
 763         &masterConfig.flight3DConfig,
 764         &masterConfig.escAndServoConfig,
 765         &masterConfig.mixerConfig,
 766         &masterConfig.airplaneConfig,
 767         &masterConfig.rxConfig
 768     );
 769
 770     imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f;
 771     imuRuntimeConfig.dcm_ki = masterConfig.dcm_ki / 10000.0f;
 772     imuRuntimeConfig.acc_unarmedcal = masterConfig.acc_unarmedcal;
 773     imuRuntimeConfig.small_angle = masterConfig.small_angle;
 774
 775     imuConfigure(
 776         &imuRuntimeConfig,
 777         &currentProfile->pidProfile,
 778         &masterConfig.accDeadband,
 779         masterConfig.throttle_correction_angle
 780     );
 781
 782     configureAltitudeHold(
 783         &currentProfile->pidProfile,
 784         &masterConfig.barometerConfig,
 785         &masterConfig.rcControlsConfig,
 786         &masterConfig.escAndServoConfig
 787     );
 788
 789 #ifdef BARO
 790     useBarometerConfig(&masterConfig.barometerConfig);
 791 #endif
 792 }
 793
 794 void validateAndFixConfig(void)
 795 {
 796     if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP))) {
 797         featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM
 798     }
 799
 800     if (featureConfigured(FEATURE_RX_PPM)) {
 801         featureClear(FEATURE_RX_PARALLEL_PWM);
 802     }
 803
 804     if (featureConfigured(FEATURE_RX_MSP)) {
 805         featureClear(FEATURE_RX_SERIAL);
 806         featureClear(FEATURE_RX_PARALLEL_PWM);
 807         featureClear(FEATURE_RX_PPM);
 808     }
 809
 810     if (featureConfigured(FEATURE_RX_SERIAL)) {
 811         featureClear(FEATURE_RX_PARALLEL_PWM);
 812         featureClear(FEATURE_RX_PPM);
 813     }
 814
 815     if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
 816 #if defined(STM32F10X)
 817         // rssi adc needs the same ports
 818         featureClear(FEATURE_RSSI_ADC);
 819         // current meter needs the same ports
 820         if (masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
 821             featureClear(FEATURE_CURRENT_METER);
 822         }
 823 #endif
 824
 825 #if defined(STM32F10X) || defined(CHEBUZZ) || defined(STM32F3DISCOVERY)
 826         // led strip needs the same ports
 827         featureClear(FEATURE_LED_STRIP);
 828 #endif
 829
 830         // software serial needs free PWM ports
 831         featureClear(FEATURE_SOFTSERIAL);
 832     }
 833
 834
 835 #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2))
 836     if (featureConfigured(FEATURE_SOFTSERIAL) && (
 837             0
 838 #ifdef USE_SOFTSERIAL1
 839             || (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER)
 840 #endif
 841 #ifdef USE_SOFTSERIAL2
 842             || (LED_STRIP_TIMER == SOFTSERIAL_2_TIMER)
 843 #endif
 844     )) {
 845         // led strip needs the same timer as softserial
 846         featureClear(FEATURE_LED_STRIP);
 847     }
 848 #endif
 849
 850 #if defined(NAZE) && defined(SONAR)
 851     if (featureConfigured(FEATURE_RX_PARALLEL_PWM) && featureConfigured(FEATURE_SONAR) && featureConfigured(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
 852         featureClear(FEATURE_CURRENT_METER);
 853     }
 854 #endif
 855
 856 #if defined(OLIMEXINO) && defined(SONAR)
 857     if (feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
 858         featureClear(FEATURE_CURRENT_METER);
 859     }
 860 #endif
 861
 862 #if defined(CC3D) && defined(DISPLAY) && defined(USE_USART3)
 863     if (doesConfigurationUsePort(SERIAL_PORT_USART3) && feature(FEATURE_DISPLAY)) {
 864         featureClear(FEATURE_DISPLAY);
 865     }
 866 #endif
 867
 868 #ifdef STM32F303xC
 869     // hardware supports serial port inversion, make users life easier for those that want to connect SBus RX's
 870     masterConfig.telemetryConfig.telemetry_inversion = 1;
 871 #endif
 872
 873
 874 /*#if defined(LED_STRIP) && defined(TRANSPONDER) // TODO - Add transponder feature
 875     if ((WS2811_DMA_TC_FLAG == TRANSPONDER_DMA_TC_FLAG) && featureConfigured(FEATURE_TRANSPONDER) && featureConfigured(FEATURE_LED_STRIP)) {
 876         featureClear(FEATURE_LED_STRIP);
 877     }
 878 #endif
 879 */
 880
 881 #if defined(CC3D) && defined(SONAR) && defined(USE_SOFTSERIAL1) && defined(RSSI_ADC_GPIO)
 882     // shared pin
 883     if ((featureConfigured(FEATURE_SONAR) + featureConfigured(FEATURE_SOFTSERIAL) + featureConfigured(FEATURE_RSSI_ADC)) > 1) {
 884         featureClear(FEATURE_SONAR);
 885         featureClear(FEATURE_SOFTSERIAL);
 886         featureClear(FEATURE_RSSI_ADC);
 887     }
 888 #endif
 889
 890 #if defined(COLIBRI_RACE)
 891     masterConfig.serialConfig.portConfigs[0].functionMask = FUNCTION_MSP;
 892     if(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_MSP)) {
 893             featureClear(FEATURE_RX_PARALLEL_PWM);
 894             featureClear(FEATURE_RX_MSP);
 895             featureSet(FEATURE_RX_PPM);
 896     }
 897     if(featureConfigured(FEATURE_RX_SERIAL)) {
 898             masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
 899             //masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
 900     }
 901 #endif
 902
 903     useRxConfig(&masterConfig.rxConfig);
 904
 905     serialConfig_t *serialConfig = &masterConfig.serialConfig;
 906
 907     if (!isSerialConfigValid(serialConfig)) {
 908         resetSerialConfig(serialConfig);
 909     }
 910 }
 911
 912 void initEEPROM(void)
 913 {
 914 }
 915
 916 void readEEPROM(void)
 917 {
 918     // Sanity check
 919     if (!isEEPROMContentValid())
 920         failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
 921
 922     suspendRxSignal();
 923
 924     // Read flash
 925     memcpy(&masterConfig, (char *) CONFIG_START_FLASH_ADDRESS, sizeof(master_t));
 926
 927     if (masterConfig.current_profile_index > MAX_PROFILE_COUNT - 1) // sanity check
 928         masterConfig.current_profile_index = 0;
 929
 930     setProfile(masterConfig.current_profile_index);
 931
 932     validateAndFixConfig();
 933     activateConfig();
 934
 935     resumeRxSignal();
 936 }
 937
 938 void readEEPROMAndNotify(void)
 939 {
 940     // re-read written data
 941     readEEPROM();
 942     beeperConfirmationBeeps(1);
 943 }
 944
 945 void writeEEPROM(void)
 946 {
 947     // Generate compile time error if the config does not fit in the reserved area of flash.
 948     BUILD_BUG_ON(sizeof(master_t) > FLASH_TO_RESERVE_FOR_CONFIG);
 949
 950     FLASH_Status status = 0;
 951     uint32_t wordOffset;
 952     int8_t attemptsRemaining = 3;
 953
 954     suspendRxSignal();
 955
 956     // prepare checksum/version constants
 957     masterConfig.version = EEPROM_CONF_VERSION;
 958     masterConfig.size = sizeof(master_t);
 959     masterConfig.magic_be = 0xBE;
 960     masterConfig.magic_ef = 0xEF;
 961     masterConfig.chk = 0; // erase checksum before recalculating
 962     masterConfig.chk = calculateChecksum((const uint8_t *) &masterConfig, sizeof(master_t));
 963
 964     // write it
 965     FLASH_Unlock();
 966     while (attemptsRemaining--) {
 967 #ifdef STM32F303
 968         FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPERR);
 969 #endif
 970 #ifdef STM32F10X
 971         FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
 972 #endif
 973         for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {
 974             if (wordOffset % FLASH_PAGE_SIZE == 0) {
 975                 status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
 976                 if (status != FLASH_COMPLETE) {
 977                     break;
 978                 }
 979             }
 980
 981             status = FLASH_ProgramWord(CONFIG_START_FLASH_ADDRESS + wordOffset,
 982                     *(uint32_t *) ((char *) &masterConfig + wordOffset));
 983             if (status != FLASH_COMPLETE) {
 984                 break;
 985             }
 986         }
 987         if (status == FLASH_COMPLETE) {
 988             break;
 989         }
 990     }
 991     FLASH_Lock();
 992
 993     // Flash write failed - just die now
 994     if (status != FLASH_COMPLETE || !isEEPROMContentValid()) {
 995         failureMode(FAILURE_FLASH_WRITE_FAILED);
 996     }
 997
 998     resumeRxSignal();
 999 }
1000
1001 void ensureEEPROMContainsValidData(void)
1002 {
1003     if (isEEPROMContentValid()) {
1004         return;
1005     }
1006
1007     resetEEPROM();
1008 }
1009
1010 void resetEEPROM(void)
1011 {
1012     resetConf();
1013     writeEEPROM();
1014 }
1015
1016 void saveConfigAndNotify(void)
1017 {
1018     writeEEPROM();
1019     readEEPROMAndNotify();
1020 }
1021
1022 void changeProfile(uint8_t profileIndex)
1023 {
1024     masterConfig.current_profile_index = profileIndex;
1025     writeEEPROM();
1026     readEEPROM();
1027     beeperConfirmationBeeps(profileIndex + 1);
1028 }
1029
1030 void changeControlRateProfile(uint8_t profileIndex) {
1031         if (profileIndex > MAX_RATEPROFILES) {
1032                 profileIndex = MAX_RATEPROFILES - 1;
1033         }
1034         setControlRateProfile(profileIndex);
1035         activateControlRateConfig();
1036 }
1037
1038 void handleOneshotFeatureChangeOnRestart(void)
1039 {
1040     // Shutdown PWM on all motors prior to soft restart
1041     StopPwmAllMotors();
1042     delay(50);
1043     // Apply additional delay when OneShot125 feature changed from on to off state
1044     if (feature(FEATURE_ONESHOT125) && !featureConfigured(FEATURE_ONESHOT125)) {
1045         delay(ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS);
1046     }
1047 }
1048
1049 void latchActiveFeatures()
1050 {
1051     activeFeaturesLatch = masterConfig.enabledFeatures;
1052 }
1053
1054 bool featureConfigured(uint32_t mask)
1055 {
1056     return masterConfig.enabledFeatures & mask;
1057 }
1058
1059 bool feature(uint32_t mask)
1060 {
1061     return activeFeaturesLatch & mask;
1062 }
1063
1064 void featureSet(uint32_t mask)
1065 {
1066     masterConfig.enabledFeatures |= mask;
1067 }
1068
1069 void featureClear(uint32_t mask)
1070 {
1071     masterConfig.enabledFeatures &= ~(mask);
1072 }
1073
1074 void featureClearAll()
1075 {
1076     masterConfig.enabledFeatures = 0;
1077 }
1078
1079 uint32_t featureMask(void)
1080 {
1081     return masterConfig.enabledFeatures;
1082 }