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
  30 #include "drivers/sensor.h"
  31 #include "drivers/accgyro.h"
  32 #include "drivers/compass.h"
  33 #include "drivers/system.h"
  34 #include "drivers/gpio.h"
  35 #include "drivers/timer.h"
  36 #include "drivers/pwm_rx.h"
  37 #include "drivers/serial.h"
  38
  39 #include "sensors/sensors.h"
  40 #include "sensors/gyro.h"
  41 #include "sensors/compass.h"
  42 #include "sensors/acceleration.h"
  43 #include "sensors/barometer.h"
  44 #include "sensors/boardalignment.h"
  45 #include "sensors/battery.h"
  46
  47 #include "io/beeper.h"
  48 #include "io/serial.h"
  49 #include "io/gimbal.h"
  50 #include "io/escservo.h"
  51 #include "io/rc_controls.h"
  52 #include "io/rc_curves.h"
  53 #include "io/ledstrip.h"
  54 #include "io/gps.h"
  55
  56 #include "rx/rx.h"
  57
  58 #include "telemetry/telemetry.h"
  59
  60 #include "flight/mixer.h"
  61 #include "flight/pid.h"
  62 #include "flight/imu.h"
  63 #include "flight/failsafe.h"
  64 #include "flight/altitudehold.h"
  65 #include "flight/navigation.h"
  66
  67 #include "config/runtime_config.h"
  68 #include "config/config.h"
  69
  70 #include "config/config_profile.h"
  71 #include "config/config_master.h"
  72
  73 #define BRUSHED_MOTORS_PWM_RATE 16000
  74 #define BRUSHLESS_MOTORS_PWM_RATE 400
  75
  76 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
  77
  78 #if !defined(FLASH_SIZE)
  79 #error "Flash size not defined for target. (specify in KB)"
  80 #endif
  81
  82
  83 #ifndef FLASH_PAGE_SIZE
  84     #ifdef STM32F303xC
  85         #define FLASH_PAGE_SIZE                 ((uint16_t)0x800)
  86     #endif
  87
  88     #ifdef STM32F10X_MD
  89         #define FLASH_PAGE_SIZE                 ((uint16_t)0x400)
  90     #endif
  91
  92     #ifdef STM32F10X_HD
  93         #define FLASH_PAGE_SIZE                 ((uint16_t)0x800)
  94     #endif
  95 #endif
  96
  97 #if !defined(FLASH_SIZE) && !defined(FLASH_PAGE_COUNT)
  98     #ifdef STM32F10X_MD
  99         #define FLASH_PAGE_COUNT 128
 100     #endif
 101
 102     #ifdef STM32F10X_HD
 103         #define FLASH_PAGE_COUNT 128
 104     #endif
 105 #endif
 106
 107 #if defined(FLASH_SIZE)
 108 #define FLASH_PAGE_COUNT ((FLASH_SIZE * 0x400) / FLASH_PAGE_SIZE)
 109 #endif
 110
 111 #if !defined(FLASH_PAGE_SIZE)
 112 #error "Flash page size not defined for target."
 113 #endif
 114
 115 #if !defined(FLASH_PAGE_COUNT)
 116 #error "Flash page count not defined for target."
 117 #endif
 118
 119 #if FLASH_SIZE <= 128
 120 #define FLASH_TO_RESERVE_FOR_CONFIG 0x800
 121 #else
 122 #define FLASH_TO_RESERVE_FOR_CONFIG 0x1000
 123 #endif
 124
 125 // use the last flash pages for storage
 126 #define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
 127
 128 master_t masterConfig;                 // master config struct with data independent from profiles
 129 profile_t *currentProfile;
 130 static uint32_t activeFeaturesLatch = 0;
 131
 132 static uint8_t currentControlRateProfileIndex = 0;
 133 controlRateConfig_t *currentControlRateProfile;
 134
 135 static const uint8_t EEPROM_CONF_VERSION = 112;
 136
 137 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 138 {
 139     accelerometerTrims->values.pitch = 0;
 140     accelerometerTrims->values.roll = 0;
 141     accelerometerTrims->values.yaw = 0;
 142 }
 143
 144 static void resetPidProfile(pidProfile_t *pidProfile)
 145 {
 146     pidProfile->pidController = 1;
 147
 148     pidProfile->P8[ROLL] = 40;
 149     pidProfile->I8[ROLL] = 30;
 150     pidProfile->D8[ROLL] = 18;
 151     pidProfile->P8[PITCH] = 40;
 152     pidProfile->I8[PITCH] = 30;
 153     pidProfile->D8[PITCH] = 18;
 154     pidProfile->P8[YAW] = 95;
 155     pidProfile->I8[YAW] = 50;
 156     pidProfile->D8[YAW] = 10;
 157     pidProfile->P8[PIDALT] = 50;
 158     pidProfile->I8[PIDALT] = 0;
 159     pidProfile->D8[PIDALT] = 0;
 160     pidProfile->P8[PIDPOS] = 15; // POSHOLD_P * 100;
 161     pidProfile->I8[PIDPOS] = 0; // POSHOLD_I * 100;
 162     pidProfile->D8[PIDPOS] = 0;
 163     pidProfile->P8[PIDPOSR] = 34; // POSHOLD_RATE_P * 10;
 164     pidProfile->I8[PIDPOSR] = 14; // POSHOLD_RATE_I * 100;
 165     pidProfile->D8[PIDPOSR] = 53; // POSHOLD_RATE_D * 1000;
 166     pidProfile->P8[PIDNAVR] = 25; // NAV_P * 10;
 167     pidProfile->I8[PIDNAVR] = 33; // NAV_I * 100;
 168     pidProfile->D8[PIDNAVR] = 83; // NAV_D * 1000;
 169     pidProfile->P8[PIDLEVEL] = 90;
 170     pidProfile->I8[PIDLEVEL] = 10;
 171     pidProfile->D8[PIDLEVEL] = 100;
 172     pidProfile->P8[PIDMAG] = 40;
 173     pidProfile->P8[PIDVEL] = 120;
 174     pidProfile->I8[PIDVEL] = 45;
 175     pidProfile->D8[PIDVEL] = 1;
 176
 177     pidProfile->dterm_cut_hz = 40;
 178
 179     pidProfile->P_f[ROLL] = 1.5f;     // new PID with preliminary defaults test carefully
 180     pidProfile->I_f[ROLL] = 0.4f;
 181     pidProfile->D_f[ROLL] = 0.02f;
 182     pidProfile->P_f[PITCH] = 1.5f;
 183     pidProfile->I_f[PITCH] = 0.4f;
 184     pidProfile->D_f[PITCH] = 0.02f;
 185     pidProfile->P_f[YAW] = 4.0f;
 186     pidProfile->I_f[YAW] = 0.7f;
 187     pidProfile->D_f[YAW] = 0.00f;
 188     pidProfile->A_level = 6.0f;
 189     pidProfile->H_level = 6.0f;
 190     pidProfile->H_sensitivity = 75;
 191
 192 #ifdef GTUNE
 193     pidProfile->gtune_lolimP[ROLL] = 10;          // [0..200] Lower limit of ROLL P during G tune.
 194     pidProfile->gtune_lolimP[PITCH] = 10;         // [0..200] Lower limit of PITCH P during G tune.
 195     pidProfile->gtune_lolimP[YAW] = 10;           // [0..200] Lower limit of YAW P during G tune.
 196     pidProfile->gtune_hilimP[ROLL] = 100;         // [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axis.
 197     pidProfile->gtune_hilimP[PITCH] = 100;        // [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axis.
 198     pidProfile->gtune_hilimP[YAW] = 100;          // [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axis.
 199     pidProfile->gtune_pwr = 0;                    // [0..10] Strength of adjustment
 200     pidProfile->gtune_settle_time = 450;          // [200..1000] Settle time in ms
 201     pidProfile->gtune_average_cycles = 16;        // [8..128] Number of looptime cycles used for gyro average calculation
 202 #endif
 203 }
 204
 205 #ifdef GPS
 206 void resetGpsProfile(gpsProfile_t *gpsProfile)
 207 {
 208     gpsProfile->gps_wp_radius = 200;
 209     gpsProfile->gps_lpf = 20;
 210     gpsProfile->nav_slew_rate = 30;
 211     gpsProfile->nav_controls_heading = 1;
 212     gpsProfile->nav_speed_min = 100;
 213     gpsProfile->nav_speed_max = 300;
 214     gpsProfile->ap_mode = 40;
 215 }
 216 #endif
 217
 218 void resetBarometerConfig(barometerConfig_t *barometerConfig)
 219 {
 220     barometerConfig->baro_sample_count = 21;
 221     barometerConfig->baro_noise_lpf = 0.6f;
 222     barometerConfig->baro_cf_vel = 0.985f;
 223     barometerConfig->baro_cf_alt = 0.965f;
 224 }
 225
 226 void resetSensorAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
 227 {
 228     sensorAlignmentConfig->gyro_align = ALIGN_DEFAULT;
 229     sensorAlignmentConfig->acc_align = ALIGN_DEFAULT;
 230     sensorAlignmentConfig->mag_align = ALIGN_DEFAULT;
 231 }
 232
 233 void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
 234 {
 235     escAndServoConfig->minthrottle = 1150;
 236     escAndServoConfig->maxthrottle = 1850;
 237     escAndServoConfig->mincommand = 1000;
 238     escAndServoConfig->servoCenterPulse = 1500;
 239 }
 240
 241 void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
 242 {
 243     flight3DConfig->deadband3d_low = 1406;
 244     flight3DConfig->deadband3d_high = 1514;
 245     flight3DConfig->neutral3d = 1460;
 246     flight3DConfig->deadband3d_throttle = 50;
 247 }
 248
 249 void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
 250 {
 251     telemetryConfig->telemetry_inversion = 0;
 252     telemetryConfig->telemetry_switch = 0;
 253     telemetryConfig->gpsNoFixLatitude = 0;
 254     telemetryConfig->gpsNoFixLongitude = 0;
 255     telemetryConfig->frsky_coordinate_format = FRSKY_FORMAT_DMS;
 256     telemetryConfig->frsky_unit = FRSKY_UNIT_METRICS;
 257     telemetryConfig->frsky_vfas_precision = 0;
 258     telemetryConfig->hottAlarmSoundInterval = 5;
 259 }
 260
 261 void resetBatteryConfig(batteryConfig_t *batteryConfig)
 262 {
 263     batteryConfig->vbatscale = VBAT_SCALE_DEFAULT;
 264     batteryConfig->vbatresdivval = VBAT_RESDIVVAL_DEFAULT;
 265     batteryConfig->vbatresdivmultiplier = VBAT_RESDIVMULTIPLIER_DEFAULT;
 266     batteryConfig->vbatmaxcellvoltage = 43;
 267     batteryConfig->vbatmincellvoltage = 33;
 268     batteryConfig->vbatwarningcellvoltage = 35;
 269     batteryConfig->currentMeterOffset = 0;
 270     batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
 271     batteryConfig->batteryCapacity = 0;
 272     batteryConfig->currentMeterType = CURRENT_SENSOR_ADC;
 273 }
 274
 275 #ifdef SWAP_SERIAL_PORT_0_AND_1_DEFAULTS
 276 #define FIRST_PORT_INDEX 1
 277 #define SECOND_PORT_INDEX 0
 278 #else
 279 #define FIRST_PORT_INDEX 0
 280 #define SECOND_PORT_INDEX 1
 281 #endif
 282
 283 void resetSerialConfig(serialConfig_t *serialConfig)
 284 {
 285     uint8_t index;
 286     memset(serialConfig, 0, sizeof(serialConfig_t));
 287
 288     for (index = 0; index < SERIAL_PORT_COUNT; index++) {
 289         serialConfig->portConfigs[index].identifier = serialPortIdentifiers[index];
 290         serialConfig->portConfigs[index].msp_baudrateIndex = BAUD_115200;
 291         serialConfig->portConfigs[index].gps_baudrateIndex = BAUD_57600;
 292         serialConfig->portConfigs[index].telemetry_baudrateIndex = BAUD_AUTO;
 293         serialConfig->portConfigs[index].blackbox_baudrateIndex = BAUD_115200;
 294     }
 295
 296     serialConfig->portConfigs[0].functionMask = FUNCTION_MSP;
 297
 298 #ifdef CC3D
 299     // This allows MSP connection via USART & VCP so the board can be reconfigured.
 300     serialConfig->portConfigs[1].functionMask = FUNCTION_MSP;
 301 #endif
 302
 303     serialConfig->reboot_character = 'R';
 304 }
 305
 306 static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
 307     controlRateConfig->rcRate8 = 100;
 308     controlRateConfig->rcExpo8 = 70;
 309     controlRateConfig->thrMid8 = 50;
 310     controlRateConfig->thrExpo8 = 0;
 311     controlRateConfig->dynThrPID = 0;
 312     controlRateConfig->rcYawExpo8 = 20;
 313     controlRateConfig->tpa_breakpoint = 1500;
 314
 315     for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
 316         controlRateConfig->rates[axis] = 0;
 317     }
 318
 319 }
 320
 321 void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
 322     rcControlsConfig->deadband = 0;
 323     rcControlsConfig->yaw_deadband = 0;
 324     rcControlsConfig->alt_hold_deadband = 40;
 325     rcControlsConfig->alt_hold_fast_change = 1;
 326 }
 327
 328 void resetMixerConfig(mixerConfig_t *mixerConfig) {
 329     mixerConfig->pid_at_min_throttle = 1;
 330     mixerConfig->yaw_motor_direction = 1;
 331     mixerConfig->yaw_jump_prevention_limit = 200;
 332 #ifdef USE_SERVOS
 333     mixerConfig->tri_unarmed_servo = 1;
 334     mixerConfig->servo_lowpass_freq = 400;
 335     mixerConfig->servo_lowpass_enable = 0;
 336 #endif
 337 }
 338
 339 uint8_t getCurrentProfile(void)
 340 {
 341     return masterConfig.current_profile_index;
 342 }
 343
 344 static void setProfile(uint8_t profileIndex)
 345 {
 346     currentProfile = &masterConfig.profile[profileIndex];
 347 }
 348
 349 uint8_t getCurrentControlRateProfile(void)
 350 {
 351     return currentControlRateProfileIndex;
 352 }
 353
 354 controlRateConfig_t *getControlRateConfig(uint8_t profileIndex) {
 355     return &masterConfig.controlRateProfiles[profileIndex];
 356 }
 357
 358 static void setControlRateProfile(uint8_t profileIndex)
 359 {
 360     currentControlRateProfileIndex = profileIndex;
 361     currentControlRateProfile = &masterConfig.controlRateProfiles[profileIndex];
 362 }
 363
 364 uint16_t getCurrentMinthrottle(void)
 365 {
 366     return masterConfig.escAndServoConfig.minthrottle;
 367 }
 368
 369 // Default settings
 370 static void resetConf(void)
 371 {
 372     int i;
 373
 374     // Clear all configuration
 375     memset(&masterConfig, 0, sizeof(master_t));
 376     setProfile(0);
 377     setControlRateProfile(0);
 378
 379     masterConfig.beeper_off.flags = BEEPER_OFF_FLAGS_MIN;
 380     masterConfig.version = EEPROM_CONF_VERSION;
 381     masterConfig.mixerMode = MIXER_QUADX;
 382     featureClearAll();
 383 #if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB)
 384     featureSet(FEATURE_RX_PPM);
 385 #endif
 386
 387 #ifdef BOARD_HAS_VOLTAGE_DIVIDER
 388     // only enable the VBAT feature by default if the board has a voltage divider otherwise
 389     // the user may see incorrect readings and unexpected issues with pin mappings may occur.
 390     featureSet(FEATURE_VBAT);
 391 #endif
 392
 393     featureSet(FEATURE_FAILSAFE);
 394     featureSet(FEATURE_ONESHOT125);
 395
 396     // global settings
 397     masterConfig.current_profile_index = 0;     // default profile
 398     masterConfig.dcm_kp = 25000;                // 1.0 * 10000
 399     masterConfig.dcm_ki = 0;                    // 0.003 * 10000
 400
 401     resetAccelerometerTrims(&masterConfig.accZero);
 402
 403     resetSensorAlignment(&masterConfig.sensorAlignmentConfig);
 404
 405     masterConfig.boardAlignment.rollDegrees = 0;
 406     masterConfig.boardAlignment.pitchDegrees = 0;
 407     masterConfig.boardAlignment.yawDegrees = 0;
 408     masterConfig.acc_hardware = ACC_DEFAULT;     // default/autodetect
 409     masterConfig.max_angle_inclination = 600;    // 50 degrees
 410     masterConfig.yaw_control_direction = 1;
 411     masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
 412
 413     // xxx_hardware: 0:default/autodetect, 1: disable
 414     masterConfig.mag_hardware = 0;
 415
 416     masterConfig.baro_hardware = 0;
 417
 418     resetBatteryConfig(&masterConfig.batteryConfig);
 419
 420     resetTelemetryConfig(&masterConfig.telemetryConfig);
 421
 422     masterConfig.rxConfig.serialrx_provider = 0;
 423     masterConfig.rxConfig.spektrum_sat_bind = 0;
 424     masterConfig.rxConfig.midrc = 1500;
 425     masterConfig.rxConfig.mincheck = 1100;
 426     masterConfig.rxConfig.maxcheck = 1900;
 427     masterConfig.rxConfig.rx_min_usec = 885;          // any of first 4 channels below this value will trigger rx loss detection
 428     masterConfig.rxConfig.rx_max_usec = 2115;         // any of first 4 channels above this value will trigger rx loss detection
 429
 430     for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
 431         rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i];
 432         channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
 433         channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
 434     }
 435
 436     masterConfig.rxConfig.rssi_channel = 0;
 437     masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
 438     masterConfig.rxConfig.rssi_ppm_invert = 0;
 439
 440     resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
 441
 442     masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
 443
 444     masterConfig.retarded_arm = 0;
 445     masterConfig.disarm_kill_switch = 1;
 446     masterConfig.auto_disarm_delay = 5;
 447     masterConfig.small_angle = 25;
 448
 449     resetMixerConfig(&masterConfig.mixerConfig);
 450
 451     masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
 452
 453     // Motor/ESC/Servo
 454     resetEscAndServoConfig(&masterConfig.escAndServoConfig);
 455     resetFlight3DConfig(&masterConfig.flight3DConfig);
 456
 457 #ifdef BRUSHED_MOTORS
 458     masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
 459 #else
 460     masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
 461 #endif
 462     masterConfig.servo_pwm_rate = 50;
 463     masterConfig.use_fast_pwm = 0;
 464
 465 #ifdef GPS
 466     // gps/nav stuff
 467     masterConfig.gpsConfig.provider = GPS_NMEA;
 468     masterConfig.gpsConfig.sbasMode = SBAS_AUTO;
 469     masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
 470     masterConfig.gpsConfig.autoBaud = GPS_AUTOBAUD_OFF;
 471 #endif
 472
 473     resetSerialConfig(&masterConfig.serialConfig);
 474
 475     masterConfig.emf_avoidance = 0;
 476
 477     resetPidProfile(&currentProfile->pidProfile);
 478
 479     resetControlRateConfig(&masterConfig.controlRateProfiles[0]);
 480
 481     // for (i = 0; i < CHECKBOXITEMS; i++)
 482     //     cfg.activate[i] = 0;
 483
 484     resetRollAndPitchTrims(&currentProfile->accelerometerTrims);
 485
 486     currentProfile->mag_declination = 0;
 487     currentProfile->acc_cut_hz = 15;
 488     currentProfile->accz_lpf_cutoff = 5.0f;
 489     currentProfile->accDeadband.xy = 40;
 490     currentProfile->accDeadband.z = 40;
 491     currentProfile->acc_unarmedcal = 1;
 492
 493     resetBarometerConfig(&currentProfile->barometerConfig);
 494
 495     // Radio
 496     parseRcChannels("AETR1234", &masterConfig.rxConfig);
 497
 498     resetRcControlsConfig(&currentProfile->rcControlsConfig);
 499
 500     currentProfile->throttle_correction_value = 0;      // could 10 with althold or 40 for fpv
 501     currentProfile->throttle_correction_angle = 800;    // could be 80.0 deg with atlhold or 45.0 for fpv
 502
 503     // Failsafe Variables
 504     masterConfig.failsafeConfig.failsafe_delay = 10;              // 1sec
 505     masterConfig.failsafeConfig.failsafe_off_delay = 10;          // 1sec
 506     masterConfig.failsafeConfig.failsafe_throttle = 1000;         // default throttle off.
 507     masterConfig.failsafeConfig.failsafe_kill_switch = 0;         // default failsafe switch action is identical to rc link loss
 508     masterConfig.failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
 509
 510 #ifdef USE_SERVOS
 511     // servos
 512     for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
 513         currentProfile->servoConf[i].min = DEFAULT_SERVO_MIN;
 514         currentProfile->servoConf[i].max = DEFAULT_SERVO_MAX;
 515         currentProfile->servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
 516         currentProfile->servoConf[i].rate = 100;
 517         currentProfile->servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
 518         currentProfile->servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
 519         currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
 520     }
 521
 522     // gimbal
 523     currentProfile->gimbalConfig.mode = GIMBAL_MODE_NORMAL;
 524 #endif
 525
 526 #ifdef GPS
 527     resetGpsProfile(&currentProfile->gpsProfile);
 528 #endif
 529
 530     // custom mixer. clear by defaults.
 531     for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
 532         masterConfig.customMotorMixer[i].throttle = 0.0f;
 533
 534 #ifdef LED_STRIP
 535     applyDefaultColors(masterConfig.colors, CONFIGURABLE_COLOR_COUNT);
 536     applyDefaultLedStripConfig(masterConfig.ledConfigs);
 537 #endif
 538
 539 #ifdef BLACKBOX
 540 #ifdef SPRACINGF3
 541     featureSet(FEATURE_BLACKBOX);
 542     masterConfig.blackbox_device = 1;
 543 #else
 544     masterConfig.blackbox_device = 0;
 545 #endif
 546     masterConfig.blackbox_rate_num = 1;
 547     masterConfig.blackbox_rate_denom = 1;
 548 #endif
 549
 550     // alternative defaults settings for ALIENWIIF1 and ALIENWIIF3 targets
 551 #ifdef ALIENWII32
 552     featureSet(FEATURE_RX_SERIAL);
 553     featureSet(FEATURE_MOTOR_STOP);
 554 #ifdef ALIENWIIF3
 555     masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
 556     masterConfig.batteryConfig.vbatscale = 20;
 557 #else
 558     masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
 559 #endif
 560     masterConfig.rxConfig.serialrx_provider = 1;
 561     masterConfig.rxConfig.spektrum_sat_bind = 5;
 562     masterConfig.escAndServoConfig.minthrottle = 1000;
 563     masterConfig.escAndServoConfig.maxthrottle = 2000;
 564     masterConfig.motor_pwm_rate = 32000;
 565     currentProfile->pidProfile.pidController = 3;
 566     currentProfile->pidProfile.P8[ROLL] = 36;
 567     currentProfile->pidProfile.P8[PITCH] = 36;
 568     masterConfig.failsafeConfig.failsafe_delay = 2;
 569     masterConfig.failsafeConfig.failsafe_off_delay = 0;
 570     currentControlRateProfile->rcRate8 = 130;
 571     currentControlRateProfile->rates[FD_PITCH] = 20;
 572     currentControlRateProfile->rates[FD_ROLL] = 20;
 573     currentControlRateProfile->rates[FD_YAW] = 100;
 574     parseRcChannels("TAER1234", &masterConfig.rxConfig);
 575
 576     //  { 1.0f, -0.414178f,  1.0f, -1.0f },          // REAR_R
 577     masterConfig.customMotorMixer[0].throttle = 1.0f;
 578     masterConfig.customMotorMixer[0].roll = -0.414178f;
 579     masterConfig.customMotorMixer[0].pitch = 1.0f;
 580     masterConfig.customMotorMixer[0].yaw = -1.0f;
 581
 582     //  { 1.0f, -0.414178f, -1.0f,  1.0f },          // FRONT_R
 583     masterConfig.customMotorMixer[1].throttle = 1.0f;
 584     masterConfig.customMotorMixer[1].roll = -0.414178f;
 585     masterConfig.customMotorMixer[1].pitch = -1.0f;
 586     masterConfig.customMotorMixer[1].yaw = 1.0f;
 587
 588     //  { 1.0f,  0.414178f,  1.0f,  1.0f },          // REAR_L
 589     masterConfig.customMotorMixer[2].throttle = 1.0f;
 590     masterConfig.customMotorMixer[2].roll = 0.414178f;
 591     masterConfig.customMotorMixer[2].pitch = 1.0f;
 592     masterConfig.customMotorMixer[2].yaw = 1.0f;
 593
 594     //  { 1.0f,  0.414178f, -1.0f, -1.0f },          // FRONT_L
 595     masterConfig.customMotorMixer[3].throttle = 1.0f;
 596     masterConfig.customMotorMixer[3].roll = 0.414178f;
 597     masterConfig.customMotorMixer[3].pitch = -1.0f;
 598     masterConfig.customMotorMixer[3].yaw = -1.0f;
 599
 600     //  { 1.0f, -1.0f, -0.414178f, -1.0f },          // MIDFRONT_R
 601     masterConfig.customMotorMixer[4].throttle = 1.0f;
 602     masterConfig.customMotorMixer[4].roll = -1.0f;
 603     masterConfig.customMotorMixer[4].pitch = -0.414178f;
 604     masterConfig.customMotorMixer[4].yaw = -1.0f;
 605
 606     //  { 1.0f,  1.0f, -0.414178f,  1.0f },          // MIDFRONT_L
 607     masterConfig.customMotorMixer[5].throttle = 1.0f;
 608     masterConfig.customMotorMixer[5].roll = 1.0f;
 609     masterConfig.customMotorMixer[5].pitch = -0.414178f;
 610     masterConfig.customMotorMixer[5].yaw = 1.0f;
 611
 612     //  { 1.0f, -1.0f,  0.414178f,  1.0f },          // MIDREAR_R
 613     masterConfig.customMotorMixer[6].throttle = 1.0f;
 614     masterConfig.customMotorMixer[6].roll = -1.0f;
 615     masterConfig.customMotorMixer[6].pitch = 0.414178f;
 616     masterConfig.customMotorMixer[6].yaw = 1.0f;
 617
 618     //  { 1.0f,  1.0f,  0.414178f, -1.0f },          // MIDREAR_L
 619     masterConfig.customMotorMixer[7].throttle = 1.0f;
 620     masterConfig.customMotorMixer[7].roll = 1.0f;
 621     masterConfig.customMotorMixer[7].pitch = 0.414178f;
 622     masterConfig.customMotorMixer[7].yaw = -1.0f;
 623 #endif
 624
 625     // copy first profile into remaining profile
 626     for (i = 1; i < MAX_PROFILE_COUNT; i++) {
 627         memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
 628     }
 629
 630     // copy first control rate config into remaining profile
 631     for (i = 1; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) {
 632         memcpy(&masterConfig.controlRateProfiles[i], currentControlRateProfile, sizeof(controlRateConfig_t));
 633     }
 634
 635     for (i = 1; i < MAX_PROFILE_COUNT; i++) {
 636         masterConfig.profile[i].defaultRateProfileIndex = i % MAX_CONTROL_RATE_PROFILE_COUNT;
 637     }
 638 }
 639
 640 static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
 641 {
 642     uint8_t checksum = 0;
 643     const uint8_t *byteOffset;
 644
 645     for (byteOffset = data; byteOffset < (data + length); byteOffset++)
 646         checksum ^= *byteOffset;
 647     return checksum;
 648 }
 649
 650 static bool isEEPROMContentValid(void)
 651 {
 652     const master_t *temp = (const master_t *) CONFIG_START_FLASH_ADDRESS;
 653     uint8_t checksum = 0;
 654
 655     // check version number
 656     if (EEPROM_CONF_VERSION != temp->version)
 657         return false;
 658
 659     // check size and magic numbers
 660     if (temp->size != sizeof(master_t) || temp->magic_be != 0xBE || temp->magic_ef != 0xEF)
 661         return false;
 662
 663     // verify integrity of temporary copy
 664     checksum = calculateChecksum((const uint8_t *) temp, sizeof(master_t));
 665     if (checksum != 0)
 666         return false;
 667
 668     // looks good, let's roll!
 669     return true;
 670 }
 671
 672 void activateControlRateConfig(void)
 673 {
 674     generatePitchRollCurve(currentControlRateProfile);
 675     generateYawCurve(currentControlRateProfile);
 676     generateThrottleCurve(currentControlRateProfile, &masterConfig.escAndServoConfig);
 677 }
 678
 679 void activateConfig(void)
 680 {
 681     static imuRuntimeConfig_t imuRuntimeConfig;
 682
 683     activateControlRateConfig();
 684
 685     resetAdjustmentStates();
 686
 687     useRcControlsConfig(
 688         currentProfile->modeActivationConditions,
 689         &masterConfig.escAndServoConfig,
 690         &currentProfile->pidProfile
 691     );
 692
 693     useGyroConfig(&masterConfig.gyroConfig);
 694
 695 #ifdef TELEMETRY
 696     telemetryUseConfig(&masterConfig.telemetryConfig);
 697 #endif
 698
 699     pidSetController(currentProfile->pidProfile.pidController);
 700
 701 #ifdef GPS
 702     gpsUseProfile(&currentProfile->gpsProfile);
 703     gpsUsePIDs(&currentProfile->pidProfile);
 704 #endif
 705
 706     useFailsafeConfig(&masterConfig.failsafeConfig);
 707     setAccelerationTrims(&masterConfig.accZero);
 708
 709     mixerUseConfigs(
 710 #ifdef USE_SERVOS
 711         currentProfile->servoConf,
 712         &currentProfile->gimbalConfig,
 713 #endif
 714         &masterConfig.flight3DConfig,
 715         &masterConfig.escAndServoConfig,
 716         &masterConfig.mixerConfig,
 717         &masterConfig.airplaneConfig,
 718         &masterConfig.rxConfig
 719     );
 720
 721     imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f;
 722     imuRuntimeConfig.dcm_ki = masterConfig.dcm_ki / 10000.0f;
 723     imuRuntimeConfig.acc_cut_hz = currentProfile->acc_cut_hz;
 724     imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal;
 725     imuRuntimeConfig.small_angle = masterConfig.small_angle;
 726
 727     imuConfigure(
 728         &imuRuntimeConfig,
 729         &currentProfile->pidProfile,
 730         &currentProfile->accDeadband,
 731         currentProfile->accz_lpf_cutoff,
 732         currentProfile->throttle_correction_angle
 733     );
 734
 735     configureAltitudeHold(
 736         &currentProfile->pidProfile,
 737         &currentProfile->barometerConfig,
 738         &currentProfile->rcControlsConfig,
 739         &masterConfig.escAndServoConfig
 740     );
 741
 742 #ifdef BARO
 743     useBarometerConfig(&currentProfile->barometerConfig);
 744 #endif
 745 }
 746
 747 void validateAndFixConfig(void)
 748 {
 749     if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP))) {
 750         featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM
 751     }
 752
 753     if (featureConfigured(FEATURE_RX_PPM)) {
 754         featureClear(FEATURE_RX_PARALLEL_PWM);
 755     }
 756
 757     if (featureConfigured(FEATURE_RX_MSP)) {
 758         featureClear(FEATURE_RX_SERIAL);
 759         featureClear(FEATURE_RX_PARALLEL_PWM);
 760         featureClear(FEATURE_RX_PPM);
 761     }
 762
 763     if (featureConfigured(FEATURE_RX_SERIAL)) {
 764         featureClear(FEATURE_RX_PARALLEL_PWM);
 765         featureClear(FEATURE_RX_PPM);
 766     }
 767
 768     if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
 769 #if defined(STM32F10X)
 770         // rssi adc needs the same ports
 771         featureClear(FEATURE_RSSI_ADC);
 772         // current meter needs the same ports
 773         if (masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
 774             featureClear(FEATURE_CURRENT_METER);
 775         }
 776 #endif
 777
 778 #if defined(STM32F10X) || defined(CHEBUZZ) || defined(STM32F3DISCOVERY)
 779         // led strip needs the same ports
 780         featureClear(FEATURE_LED_STRIP);
 781 #endif
 782
 783         // software serial needs free PWM ports
 784         featureClear(FEATURE_SOFTSERIAL);
 785     }
 786
 787
 788 #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2))
 789     if (featureConfigured(FEATURE_SOFTSERIAL) && (
 790             0
 791 #ifdef USE_SOFTSERIAL1
 792             || (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER)
 793 #endif
 794 #ifdef USE_SOFTSERIAL2
 795             || (LED_STRIP_TIMER == SOFTSERIAL_2_TIMER)
 796 #endif
 797     )) {
 798         // led strip needs the same timer as softserial
 799         featureClear(FEATURE_LED_STRIP);
 800     }
 801 #endif
 802
 803 #if defined(NAZE) && defined(SONAR)
 804     if (featureConfigured(FEATURE_RX_PARALLEL_PWM) && featureConfigured(FEATURE_SONAR) && featureConfigured(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
 805         featureClear(FEATURE_CURRENT_METER);
 806     }
 807 #endif
 808
 809 #if defined(OLIMEXINO) && defined(SONAR)
 810     if (feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
 811         featureClear(FEATURE_CURRENT_METER);
 812     }
 813 #endif
 814
 815 #if defined(CC3D) && defined(DISPLAY) && defined(USE_USART3)
 816     if (doesConfigurationUsePort(SERIAL_PORT_USART3) && feature(FEATURE_DISPLAY)) {
 817         featureClear(FEATURE_DISPLAY);
 818     }
 819 #endif
 820
 821 #ifdef STM32F303xC
 822     // hardware supports serial port inversion, make users life easier for those that want to connect SBus RX's
 823     masterConfig.telemetryConfig.telemetry_inversion = 1;
 824 #endif
 825
 826     /*
 827      * The retarded_arm setting is incompatible with pid_at_min_throttle because full roll causes the craft to roll over on the ground.
 828      * The pid_at_min_throttle implementation ignores yaw on the ground, but doesn't currently ignore roll when retarded_arm is enabled.
 829      */
 830     if (masterConfig.retarded_arm && masterConfig.mixerConfig.pid_at_min_throttle) {
 831         masterConfig.mixerConfig.pid_at_min_throttle = 0;
 832     }
 833
 834 #if defined(CC3D) && defined(SONAR) && defined(USE_SOFTSERIAL1)
 835     if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
 836         featureClear(FEATURE_SONAR);
 837     }
 838 #endif
 839
 840     useRxConfig(&masterConfig.rxConfig);
 841
 842     serialConfig_t *serialConfig = &masterConfig.serialConfig;
 843
 844     if (!isSerialConfigValid(serialConfig)) {
 845         resetSerialConfig(serialConfig);
 846     }
 847 }
 848
 849 void initEEPROM(void)
 850 {
 851 }
 852
 853 void readEEPROM(void)
 854 {
 855     // Sanity check
 856     if (!isEEPROMContentValid())
 857         failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
 858
 859     suspendRxSignal();
 860
 861     // Read flash
 862     memcpy(&masterConfig, (char *) CONFIG_START_FLASH_ADDRESS, sizeof(master_t));
 863
 864     if (masterConfig.current_profile_index > MAX_PROFILE_COUNT - 1) // sanity check
 865         masterConfig.current_profile_index = 0;
 866
 867     setProfile(masterConfig.current_profile_index);
 868
 869     if (currentProfile->defaultRateProfileIndex > MAX_CONTROL_RATE_PROFILE_COUNT - 1) // sanity check
 870         currentProfile->defaultRateProfileIndex = 0;
 871
 872     setControlRateProfile(currentProfile->defaultRateProfileIndex);
 873
 874     validateAndFixConfig();
 875     activateConfig();
 876
 877     resumeRxSignal();
 878 }
 879
 880 void readEEPROMAndNotify(void)
 881 {
 882     // re-read written data
 883     readEEPROM();
 884     beeperConfirmationBeeps(1);
 885 }
 886
 887 void writeEEPROM(void)
 888 {
 889     // Generate compile time error if the config does not fit in the reserved area of flash.
 890     BUILD_BUG_ON(sizeof(master_t) > FLASH_TO_RESERVE_FOR_CONFIG);
 891
 892     FLASH_Status status = 0;
 893     uint32_t wordOffset;
 894     int8_t attemptsRemaining = 3;
 895
 896     suspendRxSignal();
 897
 898     // prepare checksum/version constants
 899     masterConfig.version = EEPROM_CONF_VERSION;
 900     masterConfig.size = sizeof(master_t);
 901     masterConfig.magic_be = 0xBE;
 902     masterConfig.magic_ef = 0xEF;
 903     masterConfig.chk = 0; // erase checksum before recalculating
 904     masterConfig.chk = calculateChecksum((const uint8_t *) &masterConfig, sizeof(master_t));
 905
 906     // write it
 907     FLASH_Unlock();
 908     while (attemptsRemaining--) {
 909 #ifdef STM32F303
 910         FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPERR);
 911 #endif
 912 #ifdef STM32F10X
 913         FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
 914 #endif
 915         for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {
 916             if (wordOffset % FLASH_PAGE_SIZE == 0) {
 917                 status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
 918                 if (status != FLASH_COMPLETE) {
 919                     break;
 920                 }
 921             }
 922
 923             status = FLASH_ProgramWord(CONFIG_START_FLASH_ADDRESS + wordOffset,
 924                     *(uint32_t *) ((char *) &masterConfig + wordOffset));
 925             if (status != FLASH_COMPLETE) {
 926                 break;
 927             }
 928         }
 929         if (status == FLASH_COMPLETE) {
 930             break;
 931         }
 932     }
 933     FLASH_Lock();
 934
 935     // Flash write failed - just die now
 936     if (status != FLASH_COMPLETE || !isEEPROMContentValid()) {
 937         failureMode(FAILURE_FLASH_WRITE_FAILED);
 938     }
 939
 940     resumeRxSignal();
 941 }
 942
 943 void ensureEEPROMContainsValidData(void)
 944 {
 945     if (isEEPROMContentValid()) {
 946         return;
 947     }
 948
 949     resetEEPROM();
 950 }
 951
 952 void resetEEPROM(void)
 953 {
 954     resetConf();
 955     writeEEPROM();
 956 }
 957
 958 void saveConfigAndNotify(void)
 959 {
 960     writeEEPROM();
 961     readEEPROMAndNotify();
 962 }
 963
 964 void changeProfile(uint8_t profileIndex)
 965 {
 966     masterConfig.current_profile_index = profileIndex;
 967     writeEEPROM();
 968     readEEPROM();
 969     beeperConfirmationBeeps(profileIndex + 1);
 970 }
 971
 972 void changeControlRateProfile(uint8_t profileIndex)
 973 {
 974     if (profileIndex > MAX_CONTROL_RATE_PROFILE_COUNT) {
 975         profileIndex = MAX_CONTROL_RATE_PROFILE_COUNT - 1;
 976     }
 977     setControlRateProfile(profileIndex);
 978     activateControlRateConfig();
 979 }
 980
 981 void handleOneshotFeatureChangeOnRestart(void)
 982 {
 983     // Shutdown PWM on all motors prior to soft restart
 984     StopPwmAllMotors();
 985     delay(50);
 986     // Apply additional delay when OneShot125 feature changed from on to off state
 987     if (feature(FEATURE_ONESHOT125) && !featureConfigured(FEATURE_ONESHOT125)) {
 988         delay(ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS);
 989     }
 990 }
 991
 992 void latchActiveFeatures()
 993 {
 994     activeFeaturesLatch = masterConfig.enabledFeatures;
 995 }
 996
 997 bool featureConfigured(uint32_t mask)
 998 {
 999     return masterConfig.enabledFeatures & mask;
1000 }
1001
1002 bool feature(uint32_t mask)
1003 {
1004     return activeFeaturesLatch & mask;
1005 }
1006
1007 void featureSet(uint32_t mask)
1008 {
1009     masterConfig.enabledFeatures |= mask;
1010 }
1011
1012 void featureClear(uint32_t mask)
1013 {
1014     masterConfig.enabledFeatures &= ~(mask);
1015 }
1016
1017 void featureClearAll()
1018 {
1019     masterConfig.enabledFeatures = 0;
1020 }
1021
1022 uint32_t featureMask(void)
1023 {
1024     return masterConfig.enabledFeatures;
1025 }