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 = 123;
 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] = 13;
 153     pidProfile->P8[PITCH] = 54;
 154     pidProfile->I8[PITCH] = 40;
 155     pidProfile->D8[PITCH] = 18;
 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 = 3;
 181     pidProfile->dterm_lpf_hz = 0;    // filtering ON by default
 182     pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
 183     pidProfile->airModeInsaneAcrobilityFactor = 0;
 184
 185     pidProfile->P_f[ROLL] = 1.1f;
 186     pidProfile->I_f[ROLL] = 0.4f;
 187     pidProfile->D_f[ROLL] = 0.01f;
 188     pidProfile->P_f[PITCH] = 1.4f;
 189     pidProfile->I_f[PITCH] = 0.4f;
 190     pidProfile->D_f[PITCH] = 0.01f;
 191     pidProfile->P_f[YAW] = 4.0f;
 192     pidProfile->I_f[YAW] = 0.4f;
 193     pidProfile->D_f[YAW] = 0.00f;
 194     pidProfile->A_level = 4.0f;
 195     pidProfile->H_level = 4.0f;
 196     pidProfile->H_sensitivity = 75;
 197
 198 #ifdef GTUNE
 199     pidProfile->gtune_lolimP[ROLL] = 10;          // [0..200] Lower limit of ROLL P during G tune.
 200     pidProfile->gtune_lolimP[PITCH] = 10;         // [0..200] Lower limit of PITCH P during G tune.
 201     pidProfile->gtune_lolimP[YAW] = 10;           // [0..200] Lower limit of YAW P during G tune.
 202     pidProfile->gtune_hilimP[ROLL] = 100;         // [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axis.
 203     pidProfile->gtune_hilimP[PITCH] = 100;        // [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axis.
 204     pidProfile->gtune_hilimP[YAW] = 100;          // [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axis.
 205     pidProfile->gtune_pwr = 0;                    // [0..10] Strength of adjustment
 206     pidProfile->gtune_settle_time = 450;          // [200..1000] Settle time in ms
 207     pidProfile->gtune_average_cycles = 16;        // [8..128] Number of looptime cycles used for gyro average calculation
 208 #endif
 209 }
 210
 211 #ifdef GPS
 212 void resetGpsProfile(gpsProfile_t *gpsProfile)
 213 {
 214     gpsProfile->gps_wp_radius = 200;
 215     gpsProfile->gps_lpf = 20;
 216     gpsProfile->nav_slew_rate = 30;
 217     gpsProfile->nav_controls_heading = 1;
 218     gpsProfile->nav_speed_min = 100;
 219     gpsProfile->nav_speed_max = 300;
 220     gpsProfile->ap_mode = 40;
 221 }
 222 #endif
 223
 224 void resetBarometerConfig(barometerConfig_t *barometerConfig)
 225 {
 226     barometerConfig->baro_sample_count = 21;
 227     barometerConfig->baro_noise_lpf = 0.6f;
 228     barometerConfig->baro_cf_vel = 0.985f;
 229     barometerConfig->baro_cf_alt = 0.965f;
 230 }
 231
 232 void resetSensorAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
 233 {
 234     sensorAlignmentConfig->gyro_align = ALIGN_DEFAULT;
 235     sensorAlignmentConfig->acc_align = ALIGN_DEFAULT;
 236     sensorAlignmentConfig->mag_align = ALIGN_DEFAULT;
 237 }
 238
 239 void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
 240 {
 241     escAndServoConfig->minthrottle = 1150;
 242     escAndServoConfig->maxthrottle = 1850;
 243     escAndServoConfig->mincommand = 1000;
 244     escAndServoConfig->servoCenterPulse = 1500;
 245 }
 246
 247 void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
 248 {
 249     flight3DConfig->deadband3d_low = 1406;
 250     flight3DConfig->deadband3d_high = 1514;
 251     flight3DConfig->neutral3d = 1460;
 252     flight3DConfig->deadband3d_throttle = 50;
 253 }
 254
 255 void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
 256 {
 257     telemetryConfig->telemetry_inversion = 0;
 258     telemetryConfig->telemetry_switch = 0;
 259     telemetryConfig->gpsNoFixLatitude = 0;
 260     telemetryConfig->gpsNoFixLongitude = 0;
 261     telemetryConfig->frsky_coordinate_format = FRSKY_FORMAT_DMS;
 262     telemetryConfig->frsky_unit = FRSKY_UNIT_METRICS;
 263     telemetryConfig->frsky_vfas_precision = 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->airmode_saturation_limit = 50;
 338     mixerConfig->yaw_jump_prevention_limit = 200;
 339 #ifdef USE_SERVOS
 340     mixerConfig->tri_unarmed_servo = 1;
 341     mixerConfig->servo_lowpass_freq = 400;
 342     mixerConfig->servo_lowpass_enable = 0;
 343 #endif
 344 }
 345
 346 uint8_t getCurrentProfile(void)
 347 {
 348     return masterConfig.current_profile_index;
 349 }
 350
 351 static void setProfile(uint8_t profileIndex)
 352 {
 353     currentProfile = &masterConfig.profile[profileIndex];
 354     currentControlRateProfile = &currentProfile->controlRateProfile;
 355 }
 356
 357 uint8_t getCurrentControlRateProfile(void)
 358 {
 359     return currentControlRateProfileIndex;
 360 }
 361
 362 controlRateConfig_t *getControlRateConfig(uint8_t profileIndex) {
 363     return &masterConfig.profile[profileIndex].controlRateProfile;
 364 }
 365
 366 uint16_t getCurrentMinthrottle(void)
 367 {
 368     return masterConfig.escAndServoConfig.minthrottle;
 369 }
 370
 371 // Default settings
 372 static void resetConf(void)
 373 {
 374     int i;
 375
 376     // Clear all configuration
 377     memset(&masterConfig, 0, sizeof(master_t));
 378     setProfile(0);
 379
 380     masterConfig.beeper_off.flags = BEEPER_OFF_FLAGS_MIN;
 381     masterConfig.version = EEPROM_CONF_VERSION;
 382     masterConfig.mixerMode = MIXER_QUADX;
 383     featureClearAll();
 384 #if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE)
 385     featureSet(FEATURE_RX_PPM);
 386 #endif
 387
 388 //#if defined(SPRACINGF3MINI)
 389 //    featureSet(FEATURE_DISPLAY);
 390 //#endif
 391
 392 #ifdef BOARD_HAS_VOLTAGE_DIVIDER
 393     // only enable the VBAT feature by default if the board has a voltage divider otherwise
 394     // the user may see incorrect readings and unexpected issues with pin mappings may occur.
 395     featureSet(FEATURE_VBAT);
 396 #endif
 397
 398     featureSet(FEATURE_FAILSAFE);
 399     featureSet(FEATURE_ONESHOT125);
 400
 401     // global settings
 402     masterConfig.current_profile_index = 0;     // default profile
 403     masterConfig.dcm_kp = 2500;                // 1.0 * 10000
 404     masterConfig.dcm_ki = 0;                    // 0.003 * 10000
 405     masterConfig.gyro_lpf = 1;                 // 188HZ
 406     masterConfig.gyro_sync_denom = 1;
 407     masterConfig.gyro_soft_lpf_hz = 60;
 408
 409     resetAccelerometerTrims(&masterConfig.accZero);
 410
 411     resetSensorAlignment(&masterConfig.sensorAlignmentConfig);
 412
 413     masterConfig.boardAlignment.rollDegrees = 0;
 414     masterConfig.boardAlignment.pitchDegrees = 0;
 415     masterConfig.boardAlignment.yawDegrees = 0;
 416     masterConfig.acc_hardware = ACC_DEFAULT;     // default/autodetect
 417     masterConfig.max_angle_inclination = 700;    // 70 degrees
 418     masterConfig.yaw_control_direction = 1;
 419     masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
 420
 421     // xxx_hardware: 0:default/autodetect, 1: disable
 422     masterConfig.mag_hardware = 0;
 423
 424     masterConfig.baro_hardware = 0;
 425
 426     resetBatteryConfig(&masterConfig.batteryConfig);
 427
 428     resetTelemetryConfig(&masterConfig.telemetryConfig);
 429
 430     masterConfig.rxConfig.serialrx_provider = 0;
 431     masterConfig.rxConfig.spektrum_sat_bind = 0;
 432     masterConfig.rxConfig.midrc = 1500;
 433     masterConfig.rxConfig.mincheck = 1100;
 434     masterConfig.rxConfig.maxcheck = 1900;
 435     masterConfig.rxConfig.rx_min_usec = 885;          // any of first 4 channels below this value will trigger rx loss detection
 436     masterConfig.rxConfig.rx_max_usec = 2115;         // any of first 4 channels above this value will trigger rx loss detection
 437
 438     for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
 439         rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i];
 440         channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
 441         channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
 442     }
 443
 444     masterConfig.rxConfig.rssi_channel = 0;
 445     masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
 446     masterConfig.rxConfig.rssi_ppm_invert = 0;
 447     masterConfig.rxConfig.rcSmoothing = 0;
 448     masterConfig.rxConfig.fpvCamAngleDegrees = 0;
 449     masterConfig.rxConfig.max_aux_channel = 4;
 450
 451     resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
 452
 453     masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
 454
 455     masterConfig.retarded_arm = 0;  // TODO - Cleanup retarded arm support
 456     masterConfig.disarm_kill_switch = 1;
 457     masterConfig.auto_disarm_delay = 5;
 458     masterConfig.small_angle = 25;
 459
 460     resetMixerConfig(&masterConfig.mixerConfig);
 461
 462     masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
 463
 464     // Motor/ESC/Servo
 465     resetEscAndServoConfig(&masterConfig.escAndServoConfig);
 466     resetFlight3DConfig(&masterConfig.flight3DConfig);
 467
 468 #ifdef BRUSHED_MOTORS
 469     masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
 470 #else
 471     masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
 472 #endif
 473     masterConfig.servo_pwm_rate = 50;
 474     masterConfig.use_fast_pwm = 0;
 475 #ifdef CC3D
 476     masterConfig.use_buzzer_p6 = 0;
 477 #endif
 478
 479 #ifdef GPS
 480     // gps/nav stuff
 481     masterConfig.gpsConfig.provider = GPS_NMEA;
 482     masterConfig.gpsConfig.sbasMode = SBAS_AUTO;
 483     masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
 484     masterConfig.gpsConfig.autoBaud = GPS_AUTOBAUD_OFF;
 485 #endif
 486
 487     resetSerialConfig(&masterConfig.serialConfig);
 488
 489     masterConfig.emf_avoidance = 0;
 490
 491     resetPidProfile(&currentProfile->pidProfile);
 492
 493     resetControlRateConfig(&masterConfig.profile[0].controlRateProfile);
 494
 495     resetRollAndPitchTrims(&masterConfig.accelerometerTrims);
 496
 497     masterConfig.mag_declination = 0;
 498     masterConfig.acc_lpf_hz = 10.0f;
 499     masterConfig.accDeadband.xy = 40;
 500     masterConfig.accDeadband.z = 40;
 501     masterConfig.acc_unarmedcal = 1;
 502
 503     resetBarometerConfig(&masterConfig.barometerConfig);
 504
 505     // Radio
 506     parseRcChannels("AETR1234", &masterConfig.rxConfig);
 507
 508     resetRcControlsConfig(&masterConfig.rcControlsConfig);
 509
 510     masterConfig.throttle_correction_value = 0;      // could 10 with althold or 40 for fpv
 511     masterConfig.throttle_correction_angle = 800;    // could be 80.0 deg with atlhold or 45.0 for fpv
 512
 513     // Failsafe Variables
 514     masterConfig.failsafeConfig.failsafe_delay = 10;              // 1sec
 515     masterConfig.failsafeConfig.failsafe_off_delay = 10;          // 1sec
 516     masterConfig.failsafeConfig.failsafe_throttle = 1000;         // default throttle off.
 517     masterConfig.failsafeConfig.failsafe_kill_switch = 0;         // default failsafe switch action is identical to rc link loss
 518     masterConfig.failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
 519     masterConfig.failsafeConfig.failsafe_procedure = 0;           // default full failsafe procedure is 0: auto-landing
 520
 521 #ifdef USE_SERVOS
 522     // servos
 523     for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
 524         masterConfig.servoConf[i].min = DEFAULT_SERVO_MIN;
 525         masterConfig.servoConf[i].max = DEFAULT_SERVO_MAX;
 526         masterConfig.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
 527         masterConfig.servoConf[i].rate = 100;
 528         masterConfig.servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
 529         masterConfig.servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
 530         masterConfig.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
 531     }
 532
 533     // gimbal
 534     masterConfig.gimbalConfig.mode = GIMBAL_MODE_NORMAL;
 535 #endif
 536
 537 #ifdef GPS
 538     resetGpsProfile(&masterConfig.gpsProfile);
 539 #endif
 540
 541     // custom mixer. clear by defaults.
 542     for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
 543         masterConfig.customMotorMixer[i].throttle = 0.0f;
 544
 545 #ifdef LED_STRIP
 546     applyDefaultColors(masterConfig.colors, CONFIGURABLE_COLOR_COUNT);
 547     applyDefaultLedStripConfig(masterConfig.ledConfigs);
 548 #endif
 549
 550 #ifdef SPRACINGF3
 551     featureSet(FEATURE_BLACKBOX);
 552     masterConfig.blackbox_device = 1;
 553 #ifdef TRANSPONDER
 554     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
 555
 556     memcpy(masterConfig.transponderData, &defaultTransponderData, sizeof(defaultTransponderData));
 557 #endif
 558
 559 #if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
 560     featureSet(FEATURE_BLACKBOX);
 561     masterConfig.blackbox_device = BLACKBOX_DEVICE_FLASH;
 562 #elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
 563     featureSet(FEATURE_BLACKBOX);
 564     masterConfig.blackbox_device = BLACKBOX_DEVICE_SDCARD;
 565 #else
 566     masterConfig.blackbox_device = 0;
 567 #endif
 568
 569     masterConfig.blackbox_rate_num = 1;
 570     masterConfig.blackbox_rate_denom = 1;
 571 #endif
 572
 573     // alternative defaults settings for COLIBRI RACE targets
 574 #if defined(COLIBRI_RACE)
 575     masterConfig.escAndServoConfig.minthrottle = 1025;
 576     masterConfig.escAndServoConfig.maxthrottle = 1980;
 577     masterConfig.batteryConfig.vbatmaxcellvoltage = 45;
 578     masterConfig.batteryConfig.vbatmincellvoltage = 30;
 579
 580     featureSet(FEATURE_VBAT);
 581     featureSet(FEATURE_FAILSAFE);
 582 #endif
 583
 584     // alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets
 585 #ifdef ALIENFLIGHT
 586     featureSet(FEATURE_RX_SERIAL);
 587     featureSet(FEATURE_MOTOR_STOP);
 588     featureClear(FEATURE_ONESHOT125);
 589 #ifdef ALIENFLIGHTF3
 590     masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
 591     masterConfig.batteryConfig.vbatscale = 20;
 592     masterConfig.mag_hardware = MAG_NONE;            // disabled by default
 593 #else
 594     masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
 595 #endif
 596     masterConfig.rxConfig.serialrx_provider = 1;
 597     masterConfig.rxConfig.spektrum_sat_bind = 5;
 598     masterConfig.escAndServoConfig.minthrottle = 1000;
 599     masterConfig.escAndServoConfig.maxthrottle = 2000;
 600     masterConfig.motor_pwm_rate = 32000;
 601     currentProfile->pidProfile.pidController = 2;
 602     masterConfig.failsafeConfig.failsafe_delay = 2;
 603     masterConfig.failsafeConfig.failsafe_off_delay = 0;
 604     masterConfig.mixerConfig.yaw_jump_prevention_limit = 500;
 605     currentControlRateProfile->rcRate8 = 100;
 606     currentControlRateProfile->rates[FD_PITCH] = 20;
 607     currentControlRateProfile->rates[FD_ROLL] = 20;
 608     currentControlRateProfile->rates[FD_YAW] = 20;
 609     parseRcChannels("TAER1234", &masterConfig.rxConfig);
 610
 611     //  { 1.0f, -0.414178f,  1.0f, -1.0f },          // REAR_R
 612     masterConfig.customMotorMixer[0].throttle = 1.0f;
 613     masterConfig.customMotorMixer[0].roll = -0.414178f;
 614     masterConfig.customMotorMixer[0].pitch = 1.0f;
 615     masterConfig.customMotorMixer[0].yaw = -1.0f;
 616
 617     //  { 1.0f, -0.414178f, -1.0f,  1.0f },          // FRONT_R
 618     masterConfig.customMotorMixer[1].throttle = 1.0f;
 619     masterConfig.customMotorMixer[1].roll = -0.414178f;
 620     masterConfig.customMotorMixer[1].pitch = -1.0f;
 621     masterConfig.customMotorMixer[1].yaw = 1.0f;
 622
 623     //  { 1.0f,  0.414178f,  1.0f,  1.0f },          // REAR_L
 624     masterConfig.customMotorMixer[2].throttle = 1.0f;
 625     masterConfig.customMotorMixer[2].roll = 0.414178f;
 626     masterConfig.customMotorMixer[2].pitch = 1.0f;
 627     masterConfig.customMotorMixer[2].yaw = 1.0f;
 628
 629     //  { 1.0f,  0.414178f, -1.0f, -1.0f },          // FRONT_L
 630     masterConfig.customMotorMixer[3].throttle = 1.0f;
 631     masterConfig.customMotorMixer[3].roll = 0.414178f;
 632     masterConfig.customMotorMixer[3].pitch = -1.0f;
 633     masterConfig.customMotorMixer[3].yaw = -1.0f;
 634
 635     //  { 1.0f, -1.0f, -0.414178f, -1.0f },          // MIDFRONT_R
 636     masterConfig.customMotorMixer[4].throttle = 1.0f;
 637     masterConfig.customMotorMixer[4].roll = -1.0f;
 638     masterConfig.customMotorMixer[4].pitch = -0.414178f;
 639     masterConfig.customMotorMixer[4].yaw = -1.0f;
 640
 641     //  { 1.0f,  1.0f, -0.414178f,  1.0f },          // MIDFRONT_L
 642     masterConfig.customMotorMixer[5].throttle = 1.0f;
 643     masterConfig.customMotorMixer[5].roll = 1.0f;
 644     masterConfig.customMotorMixer[5].pitch = -0.414178f;
 645     masterConfig.customMotorMixer[5].yaw = 1.0f;
 646
 647     //  { 1.0f, -1.0f,  0.414178f,  1.0f },          // MIDREAR_R
 648     masterConfig.customMotorMixer[6].throttle = 1.0f;
 649     masterConfig.customMotorMixer[6].roll = -1.0f;
 650     masterConfig.customMotorMixer[6].pitch = 0.414178f;
 651     masterConfig.customMotorMixer[6].yaw = 1.0f;
 652
 653     //  { 1.0f,  1.0f,  0.414178f, -1.0f },          // MIDREAR_L
 654     masterConfig.customMotorMixer[7].throttle = 1.0f;
 655     masterConfig.customMotorMixer[7].roll = 1.0f;
 656     masterConfig.customMotorMixer[7].pitch = 0.414178f;
 657     masterConfig.customMotorMixer[7].yaw = -1.0f;
 658 #endif
 659
 660     // copy first profile into remaining profile
 661     for (i = 1; i < MAX_PROFILE_COUNT; i++) {
 662         memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
 663     }
 664
 665 }
 666
 667 static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
 668 {
 669     uint8_t checksum = 0;
 670     const uint8_t *byteOffset;
 671
 672     for (byteOffset = data; byteOffset < (data + length); byteOffset++)
 673         checksum ^= *byteOffset;
 674     return checksum;
 675 }
 676
 677 static bool isEEPROMContentValid(void)
 678 {
 679     const master_t *temp = (const master_t *) CONFIG_START_FLASH_ADDRESS;
 680     uint8_t checksum = 0;
 681
 682     // check version number
 683     if (EEPROM_CONF_VERSION != temp->version)
 684         return false;
 685
 686     // check size and magic numbers
 687     if (temp->size != sizeof(master_t) || temp->magic_be != 0xBE || temp->magic_ef != 0xEF)
 688         return false;
 689
 690     // verify integrity of temporary copy
 691     checksum = calculateChecksum((const uint8_t *) temp, sizeof(master_t));
 692     if (checksum != 0)
 693         return false;
 694
 695     // looks good, let's roll!
 696     return true;
 697 }
 698
 699 void activateControlRateConfig(void)
 700 {
 701     generatePitchRollCurve(currentControlRateProfile);
 702     generateYawCurve(currentControlRateProfile);
 703     generateThrottleCurve(currentControlRateProfile, &masterConfig.escAndServoConfig);
 704 }
 705
 706 void activateConfig(void)
 707 {
 708     static imuRuntimeConfig_t imuRuntimeConfig;
 709
 710     activateControlRateConfig();
 711
 712     resetAdjustmentStates();
 713
 714     useRcControlsConfig(
 715         masterConfig.modeActivationConditions,
 716         &masterConfig.escAndServoConfig,
 717         &currentProfile->pidProfile
 718     );
 719
 720     useGyroConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz);
 721
 722 #ifdef TELEMETRY
 723     telemetryUseConfig(&masterConfig.telemetryConfig);
 724 #endif
 725     pidSetController(currentProfile->pidProfile.pidController);
 726
 727 #ifdef GPS
 728     gpsUseProfile(&masterConfig.gpsProfile);
 729     gpsUsePIDs(&currentProfile->pidProfile);
 730 #endif
 731
 732     useFailsafeConfig(&masterConfig.failsafeConfig);
 733     setAccelerationTrims(&masterConfig.accZero);
 734     setAccelerationFilter(masterConfig.acc_lpf_hz);
 735
 736     mixerUseConfigs(
 737 #ifdef USE_SERVOS
 738         masterConfig.servoConf,
 739         &masterConfig.gimbalConfig,
 740 #endif
 741         &masterConfig.flight3DConfig,
 742         &masterConfig.escAndServoConfig,
 743         &masterConfig.mixerConfig,
 744         &masterConfig.airplaneConfig,
 745         &masterConfig.rxConfig
 746     );
 747
 748     imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f;
 749     imuRuntimeConfig.dcm_ki = masterConfig.dcm_ki / 10000.0f;
 750     imuRuntimeConfig.acc_unarmedcal = masterConfig.acc_unarmedcal;
 751     imuRuntimeConfig.small_angle = masterConfig.small_angle;
 752
 753     imuConfigure(
 754         &imuRuntimeConfig,
 755         &currentProfile->pidProfile,
 756         &masterConfig.accDeadband,
 757         masterConfig.throttle_correction_angle
 758     );
 759
 760     configureAltitudeHold(
 761         &currentProfile->pidProfile,
 762         &masterConfig.barometerConfig,
 763         &masterConfig.rcControlsConfig,
 764         &masterConfig.escAndServoConfig
 765     );
 766
 767 #ifdef BARO
 768     useBarometerConfig(&masterConfig.barometerConfig);
 769 #endif
 770 }
 771
 772 void validateAndFixConfig(void)
 773 {
 774     if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP))) {
 775         featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM
 776     }
 777
 778     if (featureConfigured(FEATURE_RX_PPM)) {
 779         featureClear(FEATURE_RX_PARALLEL_PWM);
 780     }
 781
 782     if (featureConfigured(FEATURE_RX_MSP)) {
 783         featureClear(FEATURE_RX_SERIAL);
 784         featureClear(FEATURE_RX_PARALLEL_PWM);
 785         featureClear(FEATURE_RX_PPM);
 786     }
 787
 788     if (featureConfigured(FEATURE_RX_SERIAL)) {
 789         featureClear(FEATURE_RX_PARALLEL_PWM);
 790         featureClear(FEATURE_RX_PPM);
 791     }
 792
 793     if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
 794 #if defined(STM32F10X)
 795         // rssi adc needs the same ports
 796         featureClear(FEATURE_RSSI_ADC);
 797         // current meter needs the same ports
 798         if (masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
 799             featureClear(FEATURE_CURRENT_METER);
 800         }
 801 #endif
 802
 803 #if defined(STM32F10X) || defined(CHEBUZZ) || defined(STM32F3DISCOVERY)
 804         // led strip needs the same ports
 805         featureClear(FEATURE_LED_STRIP);
 806 #endif
 807
 808         // software serial needs free PWM ports
 809         featureClear(FEATURE_SOFTSERIAL);
 810     }
 811
 812
 813 #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2))
 814     if (featureConfigured(FEATURE_SOFTSERIAL) && (
 815             0
 816 #ifdef USE_SOFTSERIAL1
 817             || (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER)
 818 #endif
 819 #ifdef USE_SOFTSERIAL2
 820             || (LED_STRIP_TIMER == SOFTSERIAL_2_TIMER)
 821 #endif
 822     )) {
 823         // led strip needs the same timer as softserial
 824         featureClear(FEATURE_LED_STRIP);
 825     }
 826 #endif
 827
 828 #if defined(NAZE) && defined(SONAR)
 829     if (featureConfigured(FEATURE_RX_PARALLEL_PWM) && featureConfigured(FEATURE_SONAR) && featureConfigured(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
 830         featureClear(FEATURE_CURRENT_METER);
 831     }
 832 #endif
 833
 834 #if defined(OLIMEXINO) && defined(SONAR)
 835     if (feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
 836         featureClear(FEATURE_CURRENT_METER);
 837     }
 838 #endif
 839
 840 #if defined(CC3D) && defined(DISPLAY) && defined(USE_USART3)
 841     if (doesConfigurationUsePort(SERIAL_PORT_USART3) && feature(FEATURE_DISPLAY)) {
 842         featureClear(FEATURE_DISPLAY);
 843     }
 844 #endif
 845
 846 #ifdef STM32F303xC
 847     // hardware supports serial port inversion, make users life easier for those that want to connect SBus RX's
 848     masterConfig.telemetryConfig.telemetry_inversion = 1;
 849 #endif
 850
 851
 852 /*#if defined(LED_STRIP) && defined(TRANSPONDER) // TODO - Add transponder feature
 853     if ((WS2811_DMA_TC_FLAG == TRANSPONDER_DMA_TC_FLAG) && featureConfigured(FEATURE_TRANSPONDER) && featureConfigured(FEATURE_LED_STRIP)) {
 854         featureClear(FEATURE_LED_STRIP);
 855     }
 856 #endif
 857 */
 858
 859 #if defined(CC3D) && defined(SONAR) && defined(USE_SOFTSERIAL1) && defined(RSSI_ADC_GPIO)
 860     // shared pin
 861     if ((featureConfigured(FEATURE_SONAR) + featureConfigured(FEATURE_SOFTSERIAL) + featureConfigured(FEATURE_RSSI_ADC)) > 1) {
 862         featureClear(FEATURE_SONAR);
 863         featureClear(FEATURE_SOFTSERIAL);
 864         featureClear(FEATURE_RSSI_ADC);
 865     }
 866 #endif
 867
 868 #if defined(COLIBRI_RACE)
 869     masterConfig.serialConfig.portConfigs[0].functionMask = FUNCTION_MSP;
 870     if(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_MSP)) {
 871             featureClear(FEATURE_RX_PARALLEL_PWM);
 872             featureClear(FEATURE_RX_MSP);
 873             featureSet(FEATURE_RX_PPM);
 874     }
 875     if(featureConfigured(FEATURE_RX_SERIAL)) {
 876             masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
 877             //masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
 878     }
 879 #endif
 880
 881     useRxConfig(&masterConfig.rxConfig);
 882
 883     serialConfig_t *serialConfig = &masterConfig.serialConfig;
 884
 885     if (!isSerialConfigValid(serialConfig)) {
 886         resetSerialConfig(serialConfig);
 887     }
 888 }
 889
 890 void initEEPROM(void)
 891 {
 892 }
 893
 894 void readEEPROM(void)
 895 {
 896     // Sanity check
 897     if (!isEEPROMContentValid())
 898         failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
 899
 900     suspendRxSignal();
 901
 902     // Read flash
 903     memcpy(&masterConfig, (char *) CONFIG_START_FLASH_ADDRESS, sizeof(master_t));
 904
 905     if (masterConfig.current_profile_index > MAX_PROFILE_COUNT - 1) // sanity check
 906         masterConfig.current_profile_index = 0;
 907
 908     setProfile(masterConfig.current_profile_index);
 909
 910     validateAndFixConfig();
 911     activateConfig();
 912
 913     resumeRxSignal();
 914 }
 915
 916 void readEEPROMAndNotify(void)
 917 {
 918     // re-read written data
 919     readEEPROM();
 920     beeperConfirmationBeeps(1);
 921 }
 922
 923 void writeEEPROM(void)
 924 {
 925     // Generate compile time error if the config does not fit in the reserved area of flash.
 926     BUILD_BUG_ON(sizeof(master_t) > FLASH_TO_RESERVE_FOR_CONFIG);
 927
 928     FLASH_Status status = 0;
 929     uint32_t wordOffset;
 930     int8_t attemptsRemaining = 3;
 931
 932     suspendRxSignal();
 933
 934     // prepare checksum/version constants
 935     masterConfig.version = EEPROM_CONF_VERSION;
 936     masterConfig.size = sizeof(master_t);
 937     masterConfig.magic_be = 0xBE;
 938     masterConfig.magic_ef = 0xEF;
 939     masterConfig.chk = 0; // erase checksum before recalculating
 940     masterConfig.chk = calculateChecksum((const uint8_t *) &masterConfig, sizeof(master_t));
 941
 942     // write it
 943     FLASH_Unlock();
 944     while (attemptsRemaining--) {
 945 #ifdef STM32F303
 946         FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPERR);
 947 #endif
 948 #ifdef STM32F10X
 949         FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
 950 #endif
 951         for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {
 952             if (wordOffset % FLASH_PAGE_SIZE == 0) {
 953                 status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
 954                 if (status != FLASH_COMPLETE) {
 955                     break;
 956                 }
 957             }
 958
 959             status = FLASH_ProgramWord(CONFIG_START_FLASH_ADDRESS + wordOffset,
 960                     *(uint32_t *) ((char *) &masterConfig + wordOffset));
 961             if (status != FLASH_COMPLETE) {
 962                 break;
 963             }
 964         }
 965         if (status == FLASH_COMPLETE) {
 966             break;
 967         }
 968     }
 969     FLASH_Lock();
 970
 971     // Flash write failed - just die now
 972     if (status != FLASH_COMPLETE || !isEEPROMContentValid()) {
 973         failureMode(FAILURE_FLASH_WRITE_FAILED);
 974     }
 975
 976     resumeRxSignal();
 977 }
 978
 979 void ensureEEPROMContainsValidData(void)
 980 {
 981     if (isEEPROMContentValid()) {
 982         return;
 983     }
 984
 985     resetEEPROM();
 986 }
 987
 988 void resetEEPROM(void)
 989 {
 990     resetConf();
 991     writeEEPROM();
 992 }
 993
 994 void saveConfigAndNotify(void)
 995 {
 996     writeEEPROM();
 997     readEEPROMAndNotify();
 998 }
 999
1000 void changeProfile(uint8_t profileIndex)
1001 {
1002     masterConfig.current_profile_index = profileIndex;
1003     writeEEPROM();
1004     readEEPROM();
1005     beeperConfirmationBeeps(profileIndex + 1);
1006 }
1007
1008 void handleOneshotFeatureChangeOnRestart(void)
1009 {
1010     // Shutdown PWM on all motors prior to soft restart
1011     StopPwmAllMotors();
1012     delay(50);
1013     // Apply additional delay when OneShot125 feature changed from on to off state
1014     if (feature(FEATURE_ONESHOT125) && !featureConfigured(FEATURE_ONESHOT125)) {
1015         delay(ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS);
1016     }
1017 }
1018
1019 void latchActiveFeatures()
1020 {
1021     activeFeaturesLatch = masterConfig.enabledFeatures;
1022 }
1023
1024 bool featureConfigured(uint32_t mask)
1025 {
1026     return masterConfig.enabledFeatures & mask;
1027 }
1028
1029 bool feature(uint32_t mask)
1030 {
1031     return activeFeaturesLatch & mask;
1032 }
1033
1034 void featureSet(uint32_t mask)
1035 {
1036     masterConfig.enabledFeatures |= mask;
1037 }
1038
1039 void featureClear(uint32_t mask)
1040 {
1041     masterConfig.enabledFeatures &= ~(mask);
1042 }
1043
1044 void featureClearAll()
1045 {
1046     masterConfig.enabledFeatures = 0;
1047 }
1048
1049 uint32_t featureMask(void)
1050 {
1051     return masterConfig.enabledFeatures;
1052 }