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
  58 #include "io/beeper.h"
  59 #include "io/gps.h"
  60 #include "io/ledstrip.h"
  61 #include "io/serial.h"
  62 #include "io/vtx.h"
  63
  64 #include "msp/msp_box.h"
  65
  66 #include "osd/osd.h"
  67
  68 #include "pg/adc.h"
  69 #include "pg/beeper.h"
  70 #include "pg/beeper_dev.h"
  71 #include "pg/displayport_profiles.h"
  72 #include "pg/gyrodev.h"
  73 #include "pg/motor.h"
  74 #include "pg/pg.h"
  75 #include "pg/pg_ids.h"
  76 #include "pg/rx.h"
  77 #include "pg/rx_spi.h"
  78 #include "pg/sdcard.h"
  79 #include "pg/vtx_table.h"
  80
  81 #include "rx/rx.h"
  82 #include "rx/rx_spi.h"
  83
  84 #include "scheduler/scheduler.h"
  85
  86 #include "sensors/acceleration.h"
  87 #include "sensors/battery.h"
  88 #include "sensors/compass.h"
  89 #include "sensors/gyro.h"
  90
  91 #include "config.h"
  92
  93 #include "drivers/dshot.h"
  94
  95 static bool configIsDirty; /* someone indicated that the config is modified and it is not yet saved */
  96
  97 static bool rebootRequired = false;  // set if a config change requires a reboot to take effect
  98
  99 pidProfile_t *currentPidProfile;
 100
 101 #ifndef RX_SPI_DEFAULT_PROTOCOL
 102 #define RX_SPI_DEFAULT_PROTOCOL 0
 103 #endif
 104
 105 #define DYNAMIC_FILTER_MAX_SUPPORTED_LOOP_TIME HZ_TO_INTERVAL_US(2000)
 106
 107 PG_REGISTER_WITH_RESET_TEMPLATE(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 1);
 108
 109 PG_RESET_TEMPLATE(pilotConfig_t, pilotConfig,
 110     .name = { 0 },
 111     .displayName = { 0 },
 112 );
 113
 114 PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 2);
 115
 116 PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
 117     .pidProfileIndex = 0,
 118     .activeRateProfile = 0,
 119     .debug_mode = DEBUG_MODE,
 120     .task_statistics = true,
 121     .rateProfile6PosSwitch = false,
 122     .cpu_overclock = DEFAULT_CPU_OVERCLOCK,
 123     .powerOnArmingGraceTime = 5,
 124     .boardIdentifier = TARGET_BOARD_IDENTIFIER,
 125     .hseMhz = SYSTEM_HSE_VALUE,  // Only used for F4 and G4 targets
 126     .configurationState = CONFIGURATION_STATE_DEFAULTS_BARE,
 127     .schedulerOptimizeRate = SCHEDULER_OPTIMIZE_RATE_AUTO,
 128     .enableStickArming = false,
 129 );
 130
 131 uint8_t getCurrentPidProfileIndex(void)
 132 {
 133     return systemConfig()->pidProfileIndex;
 134 }
 135
 136 static void loadPidProfile(void)
 137 {
 138     currentPidProfile = pidProfilesMutable(systemConfig()->pidProfileIndex);
 139 }
 140
 141 uint8_t getCurrentControlRateProfileIndex(void)
 142 {
 143     return systemConfig()->activeRateProfile;
 144 }
 145
 146 uint16_t getCurrentMinthrottle(void)
 147 {
 148     return motorConfig()->minthrottle;
 149 }
 150
 151 void resetConfig(void)
 152 {
 153     pgResetAll();
 154
 155 #if defined(USE_TARGET_CONFIG)
 156     targetConfiguration();
 157 #endif
 158 }
 159
 160 static void activateConfig(void)
 161 {
 162     schedulerOptimizeRate(systemConfig()->schedulerOptimizeRate == SCHEDULER_OPTIMIZE_RATE_ON || (systemConfig()->schedulerOptimizeRate == SCHEDULER_OPTIMIZE_RATE_AUTO && motorConfig()->dev.useDshotTelemetry));
 163     loadPidProfile();
 164     loadControlRateProfile();
 165
 166     initRcProcessing();
 167
 168     activeAdjustmentRangeReset();
 169
 170     pidInit(currentPidProfile);
 171
 172     rcControlsInit();
 173
 174     failsafeReset();
 175 #ifdef USE_ACC
 176     setAccelerationTrims(&accelerometerConfigMutable()->accZero);
 177     accInitFilters();
 178 #endif
 179
 180     imuConfigure(throttleCorrectionConfig()->throttle_correction_angle, throttleCorrectionConfig()->throttle_correction_value);
 181
 182 #if defined(USE_LED_STRIP_STATUS_MODE)
 183     reevaluateLedConfig();
 184 #endif
 185
 186     initActiveBoxIds();
 187 }
 188
 189 static void adjustFilterLimit(uint16_t *parm, uint16_t resetValue)
 190 {
 191     if (*parm > LPF_MAX_HZ) {
 192         *parm = resetValue;
 193     }
 194 }
 195
 196 static void validateAndFixRatesSettings(void)
 197 {
 198     for (unsigned profileIndex = 0; profileIndex < CONTROL_RATE_PROFILE_COUNT; profileIndex++) {
 199         const ratesType_e ratesType = controlRateProfilesMutable(profileIndex)->rates_type;
 200         for (unsigned axis = FD_ROLL; axis <= FD_YAW; axis++) {
 201             controlRateProfilesMutable(profileIndex)->rcRates[axis] = constrain(controlRateProfilesMutable(profileIndex)->rcRates[axis], 0, ratesSettingLimits[ratesType].rc_rate_limit);
 202             controlRateProfilesMutable(profileIndex)->rates[axis] = constrain(controlRateProfilesMutable(profileIndex)->rates[axis], 0, ratesSettingLimits[ratesType].srate_limit);
 203             controlRateProfilesMutable(profileIndex)->rcExpo[axis] = constrain(controlRateProfilesMutable(profileIndex)->rcExpo[axis], 0, ratesSettingLimits[ratesType].expo_limit);
 204         }
 205     }
 206 }
 207
 208 static void validateAndFixConfig(void)
 209 {
 210 #if !defined(USE_QUAD_MIXER_ONLY)
 211     // Reset unsupported mixer mode to default.
 212     // This check will be gone when motor/servo mixers are loaded dynamically
 213     // by configurator as a part of configuration procedure.
 214
 215     mixerMode_e mixerMode = mixerConfigMutable()->mixerMode;
 216
 217     if (!(mixerMode == MIXER_CUSTOM || mixerMode == MIXER_CUSTOM_AIRPLANE || mixerMode == MIXER_CUSTOM_TRI)) {
 218         if (mixers[mixerMode].motorCount && mixers[mixerMode].motor == NULL)
 219             mixerConfigMutable()->mixerMode = MIXER_CUSTOM;
 220 #ifdef USE_SERVOS
 221         if (mixers[mixerMode].useServo && servoMixers[mixerMode].servoRuleCount == 0)
 222             mixerConfigMutable()->mixerMode = MIXER_CUSTOM_AIRPLANE;
 223 #endif
 224     }
 225 #endif
 226
 227     if (!isSerialConfigValid(serialConfig())) {
 228         pgResetFn_serialConfig(serialConfigMutable());
 229     }
 230
 231 #if defined(USE_GPS)
 232     const serialPortConfig_t *gpsSerial = findSerialPortConfig(FUNCTION_GPS);
 233     if (gpsConfig()->provider == GPS_MSP && gpsSerial) {
 234         serialRemovePort(gpsSerial->identifier);
 235     }
 236 #endif
 237     if (
 238 #if defined(USE_GPS)
 239         gpsConfig()->provider != GPS_MSP && !gpsSerial &&
 240 #endif
 241         true) {
 242         featureDisableImmediate(FEATURE_GPS);
 243     }
 244
 245     for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
 246         // Fix filter settings to handle cases where an older configurator was used that
 247         // allowed higher cutoff limits from previous firmware versions.
 248         adjustFilterLimit(&pidProfilesMutable(i)->dterm_lpf1_static_hz, LPF_MAX_HZ);
 249         adjustFilterLimit(&pidProfilesMutable(i)->dterm_lpf2_static_hz, LPF_MAX_HZ);
 250         adjustFilterLimit(&pidProfilesMutable(i)->dterm_notch_hz, LPF_MAX_HZ);
 251         adjustFilterLimit(&pidProfilesMutable(i)->dterm_notch_cutoff, 0);
 252
 253         // Prevent invalid notch cutoff
 254         if (pidProfilesMutable(i)->dterm_notch_cutoff >= pidProfilesMutable(i)->dterm_notch_hz) {
 255             pidProfilesMutable(i)->dterm_notch_hz = 0;
 256         }
 257
 258 #ifdef USE_DYN_LPF
 259         //Prevent invalid dynamic lowpass
 260         if (pidProfilesMutable(i)->dterm_lpf1_dyn_min_hz > pidProfilesMutable(i)->dterm_lpf1_dyn_max_hz) {
 261             pidProfilesMutable(i)->dterm_lpf1_dyn_min_hz = 0;
 262         }
 263 #endif
 264
 265         if (pidProfilesMutable(i)->motor_output_limit > 100 || pidProfilesMutable(i)->motor_output_limit == 0) {
 266             pidProfilesMutable(i)->motor_output_limit = 100;
 267         }
 268
 269         if (pidProfilesMutable(i)->auto_profile_cell_count > MAX_AUTO_DETECT_CELL_COUNT || pidProfilesMutable(i)->auto_profile_cell_count < AUTO_PROFILE_CELL_COUNT_CHANGE) {
 270             pidProfilesMutable(i)->auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY;
 271         }
 272
 273         // If the d_min value for any axis is >= the D gain then reset d_min to 0 for consistent Configurator behavior
 274         for (unsigned axis = 0; axis <= FD_YAW; axis++) {
 275             if (pidProfilesMutable(i)->d_min[axis] > pidProfilesMutable(i)->pid[axis].D) {
 276                 pidProfilesMutable(i)->d_min[axis] = 0;
 277             }
 278         }
 279
 280 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
 281         if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_ADC) {
 282             pidProfilesMutable(i)->vbat_sag_compensation = 0;
 283         }
 284 #endif
 285     }
 286
 287     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
 288         featureDisableImmediate(FEATURE_3D);
 289
 290         if (motorConfig()->mincommand < 1000) {
 291             motorConfigMutable()->mincommand = 1000;
 292         }
 293     }
 294
 295     if ((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
 296         motorConfigMutable()->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
 297     }
 298
 299     validateAndFixGyroConfig();
 300
 301 #if defined(USE_MAG)
 302     buildAlignmentFromStandardAlignment(&compassConfigMutable()->mag_customAlignment, compassConfig()->mag_alignment);
 303 #endif
 304     buildAlignmentFromStandardAlignment(&gyroDeviceConfigMutable(0)->customAlignment, gyroDeviceConfig(0)->alignment);
 305 #if defined(USE_MULTI_GYRO)
 306     buildAlignmentFromStandardAlignment(&gyroDeviceConfigMutable(1)->customAlignment, gyroDeviceConfig(1)->alignment);
 307 #endif
 308
 309 #ifdef USE_ACC
 310     if (accelerometerConfig()->accZero.values.roll != 0 ||
 311         accelerometerConfig()->accZero.values.pitch != 0 ||
 312         accelerometerConfig()->accZero.values.yaw != 0) {
 313         accelerometerConfigMutable()->accZero.values.calibrationCompleted = 1;
 314     }
 315 #endif // USE_ACC
 316
 317     if (!(featureIsConfigured(FEATURE_RX_PARALLEL_PWM) || featureIsConfigured(FEATURE_RX_PPM) || featureIsConfigured(FEATURE_RX_SERIAL) || featureIsConfigured(FEATURE_RX_MSP) || featureIsConfigured(FEATURE_RX_SPI))) {
 318         featureEnableImmediate(DEFAULT_RX_FEATURE);
 319     }
 320
 321     if (featureIsConfigured(FEATURE_RX_PPM)) {
 322         featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_SPI);
 323     }
 324
 325     if (featureIsConfigured(FEATURE_RX_MSP)) {
 326         featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_SPI);
 327     }
 328
 329     if (featureIsConfigured(FEATURE_RX_SERIAL)) {
 330         featureDisableImmediate(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
 331     }
 332
 333 #ifdef USE_RX_SPI
 334     if (featureIsConfigured(FEATURE_RX_SPI)) {
 335         featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP);
 336     }
 337 #endif // USE_RX_SPI
 338
 339     if (featureIsConfigured(FEATURE_RX_PARALLEL_PWM)) {
 340         featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
 341     }
 342
 343 #if defined(USE_ADC)
 344     if (featureIsConfigured(FEATURE_RSSI_ADC)) {
 345         rxConfigMutable()->rssi_channel = 0;
 346         rxConfigMutable()->rssi_src_frame_errors = false;
 347     } else
 348 #endif
 349     if (rxConfigMutable()->rssi_channel
 350 #if defined(USE_PWM) || defined(USE_PPM)
 351         || featureIsConfigured(FEATURE_RX_PPM) || featureIsConfigured(FEATURE_RX_PARALLEL_PWM)
 352 #endif
 353         ) {
 354         rxConfigMutable()->rssi_src_frame_errors = false;
 355     }
 356
 357     if (
 358         featureIsConfigured(FEATURE_3D) || !featureIsConfigured(FEATURE_GPS) || mixerModeIsFixedWing(mixerConfig()->mixerMode)
 359 #if !defined(USE_GPS) || !defined(USE_GPS_RESCUE)
 360         || true
 361 #endif
 362         ) {
 363
 364 #ifdef USE_GPS_RESCUE
 365         if (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE) {
 366             failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;
 367         }
 368 #endif
 369
 370         if (isModeActivationConditionPresent(BOXGPSRESCUE)) {
 371             removeModeActivationCondition(BOXGPSRESCUE);
 372         }
 373     }
 374
 375 #if defined(USE_ESC_SENSOR)
 376     if (!findSerialPortConfig(FUNCTION_ESC_SENSOR)) {
 377         featureDisableImmediate(FEATURE_ESC_SENSOR);
 378     }
 379 #endif
 380
 381     for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
 382         const modeActivationCondition_t *mac = modeActivationConditions(i);
 383
 384         if (mac->linkedTo) {
 385             if (mac->modeId == BOXARM || isModeActivationConditionLinked(mac->linkedTo)) {
 386                 removeModeActivationCondition(mac->modeId);
 387             }
 388         }
 389     }
 390
 391 #if defined(USE_DSHOT_TELEMETRY) && defined(USE_DSHOT_BITBANG)
 392     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_PROSHOT1000 && motorConfig()->dev.useDshotTelemetry &&
 393         motorConfig()->dev.useDshotBitbang == DSHOT_BITBANG_ON) {
 394         motorConfigMutable()->dev.useDshotBitbang = DSHOT_BITBANG_AUTO;
 395     }
 396 #endif
 397
 398 #ifdef USE_ADC
 399     adcConfigMutable()->vbat.enabled = (batteryConfig()->voltageMeterSource == VOLTAGE_METER_ADC);
 400     adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
 401
 402     // The FrSky D SPI RX sends RSSI_ADC_PIN (if configured) as A2
 403     adcConfigMutable()->rssi.enabled = featureIsEnabled(FEATURE_RSSI_ADC);
 404 #ifdef USE_RX_SPI
 405     adcConfigMutable()->rssi.enabled |= (featureIsEnabled(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
 406 #endif
 407 #endif // USE_ADC
 408
 409
 410 // clear features that are not supported.
 411 // I have kept them all here in one place, some could be moved to sections of code above.
 412
 413 #ifndef USE_PPM
 414     featureDisableImmediate(FEATURE_RX_PPM);
 415 #endif
 416
 417 #ifndef USE_SERIAL_RX
 418     featureDisableImmediate(FEATURE_RX_SERIAL);
 419 #endif
 420
 421 #if !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL2)
 422     featureDisableImmediate(FEATURE_SOFTSERIAL);
 423 #endif
 424
 425 #ifndef USE_RANGEFINDER
 426     featureDisableImmediate(FEATURE_RANGEFINDER);
 427 #endif
 428
 429 #ifndef USE_TELEMETRY
 430     featureDisableImmediate(FEATURE_TELEMETRY);
 431 #endif
 432
 433 #ifndef USE_PWM
 434     featureDisableImmediate(FEATURE_RX_PARALLEL_PWM);
 435 #endif
 436
 437 #ifndef USE_RX_MSP
 438     featureDisableImmediate(FEATURE_RX_MSP);
 439 #endif
 440
 441 #ifndef USE_LED_STRIP
 442     featureDisableImmediate(FEATURE_LED_STRIP);
 443 #endif
 444
 445 #ifndef USE_DASHBOARD
 446     featureDisableImmediate(FEATURE_DASHBOARD);
 447 #endif
 448
 449 #ifndef USE_OSD
 450     featureDisableImmediate(FEATURE_OSD);
 451 #endif
 452
 453 #ifndef USE_SERVOS
 454     featureDisableImmediate(FEATURE_SERVO_TILT | FEATURE_CHANNEL_FORWARDING);
 455 #endif
 456
 457 #ifndef USE_TRANSPONDER
 458     featureDisableImmediate(FEATURE_TRANSPONDER);
 459 #endif
 460
 461 #ifndef USE_RX_SPI
 462     featureDisableImmediate(FEATURE_RX_SPI);
 463 #endif
 464
 465 #ifndef USE_ESC_SENSOR
 466     featureDisableImmediate(FEATURE_ESC_SENSOR);
 467 #endif
 468
 469 #ifndef USE_DYN_NOTCH_FILTER
 470     featureDisableImmediate(FEATURE_DYNAMIC_FILTER);
 471 #endif
 472
 473 #if !defined(USE_ADC)
 474     featureDisableImmediate(FEATURE_RSSI_ADC);
 475 #endif
 476
 477 #if defined(USE_BEEPER)
 478 #ifdef USE_TIMER
 479     if (beeperDevConfig()->frequency && !timerGetConfiguredByTag(beeperDevConfig()->ioTag)) {
 480         beeperDevConfigMutable()->frequency = 0;
 481     }
 482 #endif
 483
 484     if (beeperConfig()->beeper_off_flags & ~BEEPER_ALLOWED_MODES) {
 485         beeperConfigMutable()->beeper_off_flags = 0;
 486     }
 487
 488 #ifdef USE_DSHOT
 489     if (beeperConfig()->dshotBeaconOffFlags & ~DSHOT_BEACON_ALLOWED_MODES) {
 490         beeperConfigMutable()->dshotBeaconOffFlags = 0;
 491     }
 492
 493     if (beeperConfig()->dshotBeaconTone < DSHOT_CMD_BEACON1
 494         || beeperConfig()->dshotBeaconTone > DSHOT_CMD_BEACON5) {
 495         beeperConfigMutable()->dshotBeaconTone = DSHOT_CMD_BEACON1;
 496     }
 497 #endif
 498 #endif
 499
 500     bool configuredMotorProtocolDshot = false;
 501     checkMotorProtocolEnabled(&motorConfig()->dev, &configuredMotorProtocolDshot);
 502 #if defined(USE_DSHOT)
 503     // If using DSHOT protocol disable unsynched PWM as it's meaningless
 504     if (configuredMotorProtocolDshot) {
 505         motorConfigMutable()->dev.useUnsyncedPwm = false;
 506     }
 507
 508 #if defined(USE_DSHOT_TELEMETRY)
 509     bool nChannelTimerUsed = false;
 510     for (unsigned i = 0; i < getMotorCount(); i++) {
 511         const ioTag_t tag = motorConfig()->dev.ioTags[i];
 512         if (tag) {
 513             const timerHardware_t *timer = timerGetConfiguredByTag(tag);
 514             if (timer && timer->output & TIMER_OUTPUT_N_CHANNEL) {
 515                 nChannelTimerUsed = true;
 516
 517                 break;
 518             }
 519         }
 520     }
 521
 522     if ((!configuredMotorProtocolDshot || (motorConfig()->dev.useDshotBitbang == DSHOT_BITBANG_OFF && (motorConfig()->dev.useBurstDshot == DSHOT_DMAR_ON || nChannelTimerUsed)) || systemConfig()->schedulerOptimizeRate == SCHEDULER_OPTIMIZE_RATE_OFF) && motorConfig()->dev.useDshotTelemetry) {
 523         motorConfigMutable()->dev.useDshotTelemetry = false;
 524     }
 525
 526 #if defined(USE_DYN_IDLE)
 527     if (!isRpmFilterEnabled()) {
 528         for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
 529             pidProfilesMutable(i)->dyn_idle_min_rpm = 0;
 530         }
 531     }
 532 #endif // USE_DYN_IDLE
 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
 607 void validateAndFixGyroConfig(void)
 608 {
 609     // Fix gyro filter settings to handle cases where an older configurator was used that
 610     // allowed higher cutoff limits from previous firmware versions.
 611     adjustFilterLimit(&gyroConfigMutable()->gyro_lpf1_static_hz, LPF_MAX_HZ);
 612     adjustFilterLimit(&gyroConfigMutable()->gyro_lpf2_static_hz, LPF_MAX_HZ);
 613     adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_hz_1, LPF_MAX_HZ);
 614     adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_cutoff_1, 0);
 615     adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_hz_2, LPF_MAX_HZ);
 616     adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_cutoff_2, 0);
 617
 618     // Prevent invalid notch cutoff
 619     if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
 620         gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
 621     }
 622     if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
 623         gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
 624     }
 625 #ifdef USE_DYN_LPF
 626     //Prevent invalid dynamic lowpass filter
 627     if (gyroConfig()->gyro_lpf1_dyn_min_hz > gyroConfig()->gyro_lpf1_dyn_max_hz) {
 628         gyroConfigMutable()->gyro_lpf1_dyn_min_hz = 0;
 629     }
 630 #endif
 631
 632     if (gyro.sampleRateHz > 0) {
 633         float samplingTime = 1.0f / gyro.sampleRateHz;
 634
 635         // check for looptime restrictions based on motor protocol. Motor times have safety margin
 636         float motorUpdateRestriction;
 637         switch (motorConfig()->dev.motorPwmProtocol) {
 638         case PWM_TYPE_STANDARD:
 639                 motorUpdateRestriction = 1.0f / BRUSHLESS_MOTORS_PWM_RATE;
 640                 break;
 641         case PWM_TYPE_ONESHOT125:
 642                 motorUpdateRestriction = 0.0005f;
 643                 break;
 644         case PWM_TYPE_ONESHOT42:
 645                 motorUpdateRestriction = 0.0001f;
 646                 break;
 647 #ifdef USE_DSHOT
 648         case PWM_TYPE_DSHOT150:
 649                 motorUpdateRestriction = 0.000250f;
 650                 break;
 651         case PWM_TYPE_DSHOT300:
 652                 motorUpdateRestriction = 0.0001f;
 653                 break;
 654 #endif
 655         default:
 656             motorUpdateRestriction = 0.00003125f;
 657             break;
 658         }
 659
 660         if (motorConfig()->dev.useUnsyncedPwm) {
 661             bool configuredMotorProtocolDshot = false;
 662             checkMotorProtocolEnabled(&motorConfig()->dev, &configuredMotorProtocolDshot);
 663             // Prevent overriding the max rate of motors
 664             if (!configuredMotorProtocolDshot && motorConfig()->dev.motorPwmProtocol != PWM_TYPE_STANDARD) {
 665                 const uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
 666                 motorConfigMutable()->dev.motorPwmRate = MIN(motorConfig()->dev.motorPwmRate, maxEscRate);
 667             }
 668         } else {
 669             const float pidLooptime = samplingTime * pidConfig()->pid_process_denom;
 670             if (motorConfig()->dev.useDshotTelemetry) {
 671                 motorUpdateRestriction *= 2;
 672             }
 673             if (pidLooptime < motorUpdateRestriction) {
 674                 uint8_t minPidProcessDenom = motorUpdateRestriction / samplingTime;
 675                 if (motorUpdateRestriction / samplingTime > minPidProcessDenom) {
 676                     // if any fractional part then round up
 677                     minPidProcessDenom++;
 678                 }
 679                 minPidProcessDenom = constrain(minPidProcessDenom, 1, MAX_PID_PROCESS_DENOM);
 680                 pidConfigMutable()->pid_process_denom = MAX(pidConfigMutable()->pid_process_denom, minPidProcessDenom);
 681             }
 682         }
 683     }
 684
 685 #ifdef USE_DYN_NOTCH_FILTER
 686     // Disable dynamic filter if gyro loop is less than 2KHz
 687     const uint32_t configuredLooptime = (gyro.sampleRateHz > 0) ? (pidConfig()->pid_process_denom * 1e6 / gyro.sampleRateHz) : 0;
 688     if (configuredLooptime > DYNAMIC_FILTER_MAX_SUPPORTED_LOOP_TIME) {
 689         featureDisableImmediate(FEATURE_DYNAMIC_FILTER);
 690     }
 691 #endif
 692
 693 #ifdef USE_BLACKBOX
 694 #ifndef USE_FLASHFS
 695     if (blackboxConfig()->device == BLACKBOX_DEVICE_FLASH) {
 696         blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
 697     }
 698 #endif // USE_FLASHFS
 699
 700     if (blackboxConfig()->device == BLACKBOX_DEVICE_SDCARD) {
 701 #if defined(USE_SDCARD)
 702         if (!sdcardConfig()->mode)
 703 #endif
 704         {
 705             blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
 706         }
 707     }
 708 #endif // USE_BLACKBOX
 709
 710     if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {
 711         systemConfigMutable()->activeRateProfile = 0;
 712     }
 713     loadControlRateProfile();
 714
 715     if (systemConfig()->pidProfileIndex >= PID_PROFILE_COUNT) {
 716         systemConfigMutable()->pidProfileIndex = 0;
 717     }
 718     loadPidProfile();
 719 }
 720
 721 bool readEEPROM(void)
 722 {
 723     suspendRxPwmPpmSignal();
 724
 725     // Sanity check, read flash
 726     bool success = loadEEPROM();
 727
 728     featureInit();
 729
 730     validateAndFixConfig();
 731
 732     activateConfig();
 733
 734     resumeRxPwmPpmSignal();
 735
 736     return success;
 737 }
 738
 739 void writeUnmodifiedConfigToEEPROM(void)
 740 {
 741     validateAndFixConfig();
 742
 743     suspendRxPwmPpmSignal();
 744
 745     writeConfigToEEPROM();
 746
 747     resumeRxPwmPpmSignal();
 748     configIsDirty = false;
 749 }
 750
 751 void writeEEPROM(void)
 752 {
 753     systemConfigMutable()->configurationState = CONFIGURATION_STATE_CONFIGURED;
 754
 755     writeUnmodifiedConfigToEEPROM();
 756 }
 757
 758 bool resetEEPROM(bool useCustomDefaults)
 759 {
 760 #if !defined(USE_CUSTOM_DEFAULTS)
 761     UNUSED(useCustomDefaults);
 762 #else
 763     if (useCustomDefaults) {
 764         if (!resetConfigToCustomDefaults()) {
 765             return false;
 766         }
 767     } else
 768 #endif
 769     {
 770         resetConfig();
 771     }
 772
 773     writeUnmodifiedConfigToEEPROM();
 774
 775     return true;
 776 }
 777
 778 void ensureEEPROMStructureIsValid(void)
 779 {
 780     if (isEEPROMStructureValid()) {
 781         return;
 782     }
 783     resetEEPROM(false);
 784 }
 785
 786 void saveConfigAndNotify(void)
 787 {
 788     writeEEPROM();
 789     readEEPROM();
 790     beeperConfirmationBeeps(1);
 791 }
 792
 793 void setConfigDirty(void)
 794 {
 795     configIsDirty = true;
 796 }
 797
 798 bool isConfigDirty(void)
 799 {
 800     return configIsDirty;
 801 }
 802
 803 void changePidProfileFromCellCount(uint8_t cellCount)
 804 {
 805     if (currentPidProfile->auto_profile_cell_count == cellCount || currentPidProfile->auto_profile_cell_count == AUTO_PROFILE_CELL_COUNT_STAY) {
 806         return;
 807     }
 808
 809     unsigned profileIndex = (systemConfig()->pidProfileIndex + 1) % PID_PROFILE_COUNT;
 810     int matchingProfileIndex = -1;
 811     while (profileIndex != systemConfig()->pidProfileIndex) {
 812         if (pidProfiles(profileIndex)->auto_profile_cell_count == cellCount) {
 813             matchingProfileIndex = profileIndex;
 814
 815             break;
 816         } else if (matchingProfileIndex < 0 && pidProfiles(profileIndex)->auto_profile_cell_count == AUTO_PROFILE_CELL_COUNT_STAY) {
 817             matchingProfileIndex = profileIndex;
 818         }
 819
 820         profileIndex = (profileIndex + 1) % PID_PROFILE_COUNT;
 821     }
 822
 823     if (matchingProfileIndex >= 0) {
 824         changePidProfile(matchingProfileIndex);
 825     }
 826 }
 827
 828 void changePidProfile(uint8_t pidProfileIndex)
 829 {
 830     if (pidProfileIndex < PID_PROFILE_COUNT) {
 831         systemConfigMutable()->pidProfileIndex = pidProfileIndex;
 832         loadPidProfile();
 833
 834         pidInit(currentPidProfile);
 835         initEscEndpoints();
 836         mixerInitProfile();
 837     }
 838
 839     beeperConfirmationBeeps(pidProfileIndex + 1);
 840 }
 841
 842 bool isSystemConfigured(void)
 843 {
 844     return systemConfig()->configurationState == CONFIGURATION_STATE_CONFIGURED;
 845 }
 846
 847 void setRebootRequired(void)
 848 {
 849     rebootRequired = true;
 850     setArmingDisabled(ARMING_DISABLED_REBOOT_REQUIRED);
 851 }
 852
 853 bool getRebootRequired(void)
 854 {
 855     return rebootRequired;
 856 }