src/main/config/config.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24 #include <math.h>
  25
  26 #include "platform.h"
  27
  28 #include "blackbox/blackbox.h"
  29
  30 #include "build/debug.h"
  31
  32 #include "cli/cli.h"
  33
  34 #include "common/sensor_alignment.h"
  35
  36 #include "config/config_eeprom.h"
  37 #include "config/feature.h"
  38
  39 #include "drivers/dshot_command.h"
  40 #include "drivers/motor.h"
  41 #include "drivers/system.h"
  42
  43 #include "fc/controlrate_profile.h"
  44 #include "fc/core.h"
  45 #include "fc/rc.h"
  46 #include "fc/rc_adjustments.h"
  47 #include "fc/rc_controls.h"
  48 #include "fc/runtime_config.h"
  49
  50 #include "flight/failsafe.h"
  51 #include "flight/imu.h"
  52 #include "flight/mixer.h"
  53 #include "flight/pid.h"
  54 #include "flight/pid_init.h"
  55 #include "flight/rpm_filter.h"
  56 #include "flight/servos.h"
  57 #include "flight/position.h"
  58
  59 #include "io/beeper.h"
  60 #include "io/displayport_msp.h"
  61 #include "io/gps.h"
  62 #include "io/ledstrip.h"
  63 #include "io/serial.h"
  64 #include "io/vtx.h"
  65
  66 #include "msp/msp_box.h"
  67
  68 #include "osd/osd.h"
  69
  70 #include "pg/adc.h"
  71 #include "pg/beeper.h"
  72 #include "pg/beeper_dev.h"
  73 #include "pg/displayport_profiles.h"
  74 #include "pg/gyrodev.h"
  75 #include "pg/motor.h"
  76 #include "pg/pg.h"
  77 #include "pg/pg_ids.h"
  78 #include "pg/rx.h"
  79 #include "pg/rx_spi.h"
  80 #include "pg/sdcard.h"
  81 #include "pg/vtx_table.h"
  82
  83 #include "rx/rx.h"
  84 #include "rx/rx_spi.h"
  85
  86 #include "scheduler/scheduler.h"
  87
  88 #include "sensors/acceleration.h"
  89 #include "sensors/battery.h"
  90 #include "sensors/compass.h"
  91 #include "sensors/gyro.h"
  92
  93 #include "config.h"
  94
  95 #include "drivers/dshot.h"
  96
  97 static bool configIsDirty; /* someone indicated that the config is modified and it is not yet saved */
  98
  99 static bool rebootRequired = false;  // set if a config change requires a reboot to take effect
 100
 101 static bool eepromWriteInProgress = false;
 102
 103 pidProfile_t *currentPidProfile;
 104
 105 #ifndef RX_SPI_DEFAULT_PROTOCOL
 106 #define RX_SPI_DEFAULT_PROTOCOL 0
 107 #endif
 108
 109 PG_REGISTER_WITH_RESET_TEMPLATE(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 2);
 110
 111 PG_RESET_TEMPLATE(pilotConfig_t, pilotConfig,
 112     .craftName = { 0 },
 113     .pilotName = { 0 },
 114 );
 115
 116 PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 3);
 117
 118 PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
 119     .pidProfileIndex = 0,
 120     .activeRateProfile = 0,
 121     .debug_mode = DEBUG_MODE,
 122     .task_statistics = true,
 123     .rateProfile6PosSwitch = false,
 124     .cpu_overclock = DEFAULT_CPU_OVERCLOCK,
 125     .powerOnArmingGraceTime = 5,
 126     .boardIdentifier = TARGET_BOARD_IDENTIFIER,
 127     .hseMhz = SYSTEM_HSE_MHZ,  // Only used for F4 and G4 targets
 128     .configurationState = CONFIGURATION_STATE_DEFAULTS_BARE,
 129     .enableStickArming = false,
 130 );
 131
 132 bool isEepromWriteInProgress(void)
 133 {
 134     return eepromWriteInProgress;
 135 }
 136
 137 uint8_t getCurrentPidProfileIndex(void)
 138 {
 139     return systemConfig()->pidProfileIndex;
 140 }
 141
 142 static void loadPidProfile(void)
 143 {
 144     currentPidProfile = pidProfilesMutable(systemConfig()->pidProfileIndex);
 145 }
 146
 147 uint8_t getCurrentControlRateProfileIndex(void)
 148 {
 149     return systemConfig()->activeRateProfile;
 150 }
 151
 152 uint16_t getCurrentMinthrottle(void)
 153 {
 154     return motorConfig()->minthrottle;
 155 }
 156
 157 void resetConfig(void)
 158 {
 159     pgResetAll();
 160
 161 #if defined(USE_TARGET_CONFIG)
 162     targetConfiguration();
 163 #endif
 164 }
 165
 166 static void activateConfig(void)
 167 {
 168     loadPidProfile();
 169     loadControlRateProfile();
 170
 171     initRcProcessing();
 172
 173     activeAdjustmentRangeReset();
 174
 175     pidInit(currentPidProfile);
 176
 177     rcControlsInit();
 178
 179     failsafeReset();
 180 #ifdef USE_ACC
 181     setAccelerationTrims(&accelerometerConfigMutable()->accZero);
 182     accInitFilters();
 183 #endif
 184
 185     imuConfigure(throttleCorrectionConfig()->throttle_correction_angle, throttleCorrectionConfig()->throttle_correction_value);
 186
 187 #if defined(USE_LED_STRIP_STATUS_MODE)
 188     reevaluateLedConfig();
 189 #endif
 190
 191     initActiveBoxIds();
 192 }
 193
 194 static void adjustFilterLimit(uint16_t *parm, uint16_t resetValue)
 195 {
 196     if (*parm > LPF_MAX_HZ) {
 197         *parm = resetValue;
 198     }
 199 }
 200
 201 static void validateAndFixRatesSettings(void)
 202 {
 203     for (unsigned profileIndex = 0; profileIndex < CONTROL_RATE_PROFILE_COUNT; profileIndex++) {
 204         const ratesType_e ratesType = controlRateProfilesMutable(profileIndex)->rates_type;
 205         for (unsigned axis = FD_ROLL; axis <= FD_YAW; axis++) {
 206             controlRateProfilesMutable(profileIndex)->rcRates[axis] = constrain(controlRateProfilesMutable(profileIndex)->rcRates[axis], 0, ratesSettingLimits[ratesType].rc_rate_limit);
 207             controlRateProfilesMutable(profileIndex)->rates[axis] = constrain(controlRateProfilesMutable(profileIndex)->rates[axis], 0, ratesSettingLimits[ratesType].srate_limit);
 208             controlRateProfilesMutable(profileIndex)->rcExpo[axis] = constrain(controlRateProfilesMutable(profileIndex)->rcExpo[axis], 0, ratesSettingLimits[ratesType].expo_limit);
 209         }
 210     }
 211 }
 212
 213 static void validateAndFixConfig(void)
 214 {
 215 #if !defined(USE_QUAD_MIXER_ONLY)
 216     // Reset unsupported mixer mode to default.
 217     // This check will be gone when motor/servo mixers are loaded dynamically
 218     // by configurator as a part of configuration procedure.
 219
 220     mixerMode_e mixerMode = mixerConfigMutable()->mixerMode;
 221
 222     if (!(mixerMode == MIXER_CUSTOM || mixerMode == MIXER_CUSTOM_AIRPLANE || mixerMode == MIXER_CUSTOM_TRI)) {
 223         if (mixers[mixerMode].motorCount && mixers[mixerMode].motor == NULL)
 224             mixerConfigMutable()->mixerMode = MIXER_CUSTOM;
 225 #ifdef USE_SERVOS
 226         if (mixers[mixerMode].useServo && servoMixers[mixerMode].servoRuleCount == 0)
 227             mixerConfigMutable()->mixerMode = MIXER_CUSTOM_AIRPLANE;
 228 #endif
 229     }
 230 #endif
 231
 232     if (!isSerialConfigValid(serialConfig())) {
 233         pgResetFn_serialConfig(serialConfigMutable());
 234     }
 235
 236 #if defined(USE_GPS)
 237     const serialPortConfig_t *gpsSerial = findSerialPortConfig(FUNCTION_GPS);
 238     if (gpsConfig()->provider == GPS_MSP && gpsSerial) {
 239         serialRemovePort(gpsSerial->identifier);
 240     }
 241 #endif
 242     if (
 243 #if defined(USE_GPS)
 244         gpsConfig()->provider != GPS_MSP && !gpsSerial &&
 245 #endif
 246         true) {
 247         featureDisableImmediate(FEATURE_GPS);
 248     }
 249
 250     for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
 251         // Fix filter settings to handle cases where an older configurator was used that
 252         // allowed higher cutoff limits from previous firmware versions.
 253         adjustFilterLimit(&pidProfilesMutable(i)->dterm_lpf1_static_hz, LPF_MAX_HZ);
 254         adjustFilterLimit(&pidProfilesMutable(i)->dterm_lpf2_static_hz, LPF_MAX_HZ);
 255         adjustFilterLimit(&pidProfilesMutable(i)->dterm_notch_hz, LPF_MAX_HZ);
 256         adjustFilterLimit(&pidProfilesMutable(i)->dterm_notch_cutoff, 0);
 257
 258         // Prevent invalid notch cutoff
 259         if (pidProfilesMutable(i)->dterm_notch_cutoff >= pidProfilesMutable(i)->dterm_notch_hz) {
 260             pidProfilesMutable(i)->dterm_notch_hz = 0;
 261         }
 262
 263 #ifdef USE_DYN_LPF
 264         //Prevent invalid dynamic lowpass
 265         if (pidProfilesMutable(i)->dterm_lpf1_dyn_min_hz > pidProfilesMutable(i)->dterm_lpf1_dyn_max_hz) {
 266             pidProfilesMutable(i)->dterm_lpf1_dyn_min_hz = 0;
 267         }
 268 #endif
 269
 270         if (pidProfilesMutable(i)->motor_output_limit > 100 || pidProfilesMutable(i)->motor_output_limit == 0) {
 271             pidProfilesMutable(i)->motor_output_limit = 100;
 272         }
 273
 274         if (pidProfilesMutable(i)->auto_profile_cell_count > MAX_AUTO_DETECT_CELL_COUNT || pidProfilesMutable(i)->auto_profile_cell_count < AUTO_PROFILE_CELL_COUNT_CHANGE) {
 275             pidProfilesMutable(i)->auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY;
 276         }
 277
 278         // If the d_min value for any axis is >= the D gain then reset d_min to 0 for consistent Configurator behavior
 279         for (unsigned axis = 0; axis <= FD_YAW; axis++) {
 280             if (pidProfilesMutable(i)->d_min[axis] > pidProfilesMutable(i)->pid[axis].D) {
 281                 pidProfilesMutable(i)->d_min[axis] = 0;
 282             }
 283         }
 284
 285 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
 286         if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_ADC) {
 287             pidProfilesMutable(i)->vbat_sag_compensation = 0;
 288         }
 289 #endif
 290     }
 291
 292     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
 293         featureDisableImmediate(FEATURE_3D);
 294
 295         if (motorConfig()->mincommand < 1000) {
 296             motorConfigMutable()->mincommand = 1000;
 297         }
 298     }
 299
 300     if ((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
 301         motorConfigMutable()->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
 302     }
 303
 304     validateAndFixGyroConfig();
 305
 306 #if defined(USE_MAG)
 307     buildAlignmentFromStandardAlignment(&compassConfigMutable()->mag_customAlignment, compassConfig()->mag_alignment);
 308 #endif
 309     buildAlignmentFromStandardAlignment(&gyroDeviceConfigMutable(0)->customAlignment, gyroDeviceConfig(0)->alignment);
 310 #if defined(USE_MULTI_GYRO)
 311     buildAlignmentFromStandardAlignment(&gyroDeviceConfigMutable(1)->customAlignment, gyroDeviceConfig(1)->alignment);
 312 #endif
 313
 314 #ifdef USE_ACC
 315     if (accelerometerConfig()->accZero.values.roll != 0 ||
 316         accelerometerConfig()->accZero.values.pitch != 0 ||
 317         accelerometerConfig()->accZero.values.yaw != 0) {
 318         accelerometerConfigMutable()->accZero.values.calibrationCompleted = 1;
 319     }
 320 #endif // USE_ACC
 321
 322     if (!(featureIsConfigured(FEATURE_RX_PARALLEL_PWM) || featureIsConfigured(FEATURE_RX_PPM) || featureIsConfigured(FEATURE_RX_SERIAL) || featureIsConfigured(FEATURE_RX_MSP) || featureIsConfigured(FEATURE_RX_SPI))) {
 323         featureEnableImmediate(DEFAULT_RX_FEATURE);
 324     }
 325
 326     if (featureIsConfigured(FEATURE_RX_PPM)) {
 327         featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_SPI);
 328     }
 329
 330     if (featureIsConfigured(FEATURE_RX_MSP)) {
 331         featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_SPI);
 332     }
 333
 334     if (featureIsConfigured(FEATURE_RX_SERIAL)) {
 335         featureDisableImmediate(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
 336     }
 337
 338 #ifdef USE_RX_SPI
 339     if (featureIsConfigured(FEATURE_RX_SPI)) {
 340         featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP);
 341     }
 342 #endif // USE_RX_SPI
 343
 344     if (featureIsConfigured(FEATURE_RX_PARALLEL_PWM)) {
 345         featureDisableImmediate(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
 346     }
 347
 348 #if defined(USE_ADC)
 349     if (featureIsConfigured(FEATURE_RSSI_ADC)) {
 350         rxConfigMutable()->rssi_channel = 0;
 351         rxConfigMutable()->rssi_src_frame_errors = false;
 352     } else
 353 #endif
 354     if (rxConfigMutable()->rssi_channel
 355 #if defined(USE_RX_PWM) || defined(USE_RX_PPM)
 356         || featureIsConfigured(FEATURE_RX_PPM) || featureIsConfigured(FEATURE_RX_PARALLEL_PWM)
 357 #endif
 358         ) {
 359         rxConfigMutable()->rssi_src_frame_errors = false;
 360     }
 361
 362     if (
 363         featureIsConfigured(FEATURE_3D) || !featureIsConfigured(FEATURE_GPS) || mixerModeIsFixedWing(mixerConfig()->mixerMode)
 364 #if !defined(USE_GPS) || !defined(USE_GPS_RESCUE)
 365         || true
 366 #endif
 367         ) {
 368
 369 #ifdef USE_GPS_RESCUE
 370         if (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE) {
 371             failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;
 372         }
 373 #endif
 374
 375         if (isModeActivationConditionPresent(BOXGPSRESCUE)) {
 376             removeModeActivationCondition(BOXGPSRESCUE);
 377         }
 378     }
 379
 380 #if defined(USE_ESC_SENSOR)
 381     if (!findSerialPortConfig(FUNCTION_ESC_SENSOR)) {
 382         featureDisableImmediate(FEATURE_ESC_SENSOR);
 383     }
 384 #endif
 385
 386     for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
 387         const modeActivationCondition_t *mac = modeActivationConditions(i);
 388
 389         if (mac->linkedTo) {
 390             if (mac->modeId == BOXARM || isModeActivationConditionLinked(mac->linkedTo)) {
 391                 removeModeActivationCondition(mac->modeId);
 392             }
 393         }
 394     }
 395
 396 #if defined(USE_DSHOT_TELEMETRY) && defined(USE_DSHOT_BITBANG)
 397     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_PROSHOT1000 && motorConfig()->dev.useDshotTelemetry &&
 398         motorConfig()->dev.useDshotBitbang == DSHOT_BITBANG_ON) {
 399         motorConfigMutable()->dev.useDshotBitbang = DSHOT_BITBANG_AUTO;
 400     }
 401 #endif
 402
 403 #ifdef USE_ADC
 404     adcConfigMutable()->vbat.enabled = (batteryConfig()->voltageMeterSource == VOLTAGE_METER_ADC);
 405     adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
 406
 407     // The FrSky D SPI RX sends RSSI_ADC_PIN (if configured) as A2
 408     adcConfigMutable()->rssi.enabled = featureIsEnabled(FEATURE_RSSI_ADC);
 409 #ifdef USE_RX_SPI
 410     adcConfigMutable()->rssi.enabled |= (featureIsEnabled(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
 411 #endif
 412 #endif // USE_ADC
 413
 414
 415 // clear features that are not supported.
 416 // I have kept them all here in one place, some could be moved to sections of code above.
 417
 418 #ifndef USE_RX_PPM
 419     featureDisableImmediate(FEATURE_RX_PPM);
 420 #endif
 421
 422 #ifndef USE_SERIALRX
 423     featureDisableImmediate(FEATURE_RX_SERIAL);
 424 #endif
 425
 426 #if !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL2)
 427     featureDisableImmediate(FEATURE_SOFTSERIAL);
 428 #endif
 429
 430 #ifndef USE_RANGEFINDER
 431     featureDisableImmediate(FEATURE_RANGEFINDER);
 432 #endif
 433
 434 #ifndef USE_TELEMETRY
 435     featureDisableImmediate(FEATURE_TELEMETRY);
 436 #endif
 437
 438 #ifndef USE_PWM
 439     featureDisableImmediate(FEATURE_RX_PARALLEL_PWM);
 440 #endif
 441
 442 #ifndef USE_RX_MSP
 443     featureDisableImmediate(FEATURE_RX_MSP);
 444 #endif
 445
 446 #ifndef USE_LED_STRIP
 447     featureDisableImmediate(FEATURE_LED_STRIP);
 448 #endif
 449
 450 #ifndef USE_DASHBOARD
 451     featureDisableImmediate(FEATURE_DASHBOARD);
 452 #endif
 453
 454 #ifndef USE_OSD
 455     featureDisableImmediate(FEATURE_OSD);
 456 #endif
 457
 458 #ifndef USE_SERVOS
 459     featureDisableImmediate(FEATURE_SERVO_TILT | FEATURE_CHANNEL_FORWARDING);
 460 #endif
 461
 462 #ifndef USE_TRANSPONDER
 463     featureDisableImmediate(FEATURE_TRANSPONDER);
 464 #endif
 465
 466 #ifndef USE_RX_SPI
 467     featureDisableImmediate(FEATURE_RX_SPI);
 468 #endif
 469
 470 #ifndef USE_ESC_SENSOR
 471     featureDisableImmediate(FEATURE_ESC_SENSOR);
 472 #endif
 473
 474 #if !defined(USE_ADC)
 475     featureDisableImmediate(FEATURE_RSSI_ADC);
 476 #endif
 477
 478 // Enable features in Cloud Build
 479 #ifdef CLOUD_BUILD
 480
 481 if (systemConfig()->configurationState == CONFIGURATION_STATE_DEFAULTS_BARE) {
 482
 483 #ifdef USE_DASHBOARD
 484     featureEnableImmediate(FEATURE_DASHBOARD);
 485 #endif
 486 #ifdef USE_GPS
 487     featureEnableImmediate(FEATURE_GPS);
 488 #endif
 489 #ifdef USE_LED_STRIP
 490     featureEnableImmediate(FEATURE_LED_STRIP);
 491 #endif
 492 #ifdef USE_OSD
 493     featureEnableImmediate(FEATURE_OSD);
 494 #endif
 495 #ifdef USE_RANGEFINDER
 496     featureEnableImmediate(FEATURE_RANGEFINDER);
 497 #endif
 498 #ifdef USE_SERVOS
 499     featureEnableImmediate(FEATURE_CHANNEL_FORWARDING);
 500     featureEnableImmediate(FEATURE_SERVO_TILT);
 501 #endif
 502 #ifdef USE_TELEMETRY
 503     featureEnableImmediate(FEATURE_TELEMETRY);
 504 #endif
 505 #ifdef USE_TRANSPONDER
 506     featureEnableImmediate(FEATURE_TRANSPONDER);
 507 #endif
 508
 509 }
 510
 511 #endif // CLOUD_BUILD
 512
 513
 514 #if defined(USE_BEEPER)
 515 #ifdef USE_TIMER
 516     if (beeperDevConfig()->frequency && !timerGetConfiguredByTag(beeperDevConfig()->ioTag)) {
 517         beeperDevConfigMutable()->frequency = 0;
 518     }
 519 #endif
 520
 521     if (beeperConfig()->beeper_off_flags & ~BEEPER_ALLOWED_MODES) {
 522         beeperConfigMutable()->beeper_off_flags = 0;
 523     }
 524
 525 #ifdef USE_DSHOT
 526     if (beeperConfig()->dshotBeaconOffFlags & ~DSHOT_BEACON_ALLOWED_MODES) {
 527         beeperConfigMutable()->dshotBeaconOffFlags = 0;
 528     }
 529
 530     if (beeperConfig()->dshotBeaconTone < DSHOT_CMD_BEACON1
 531         || beeperConfig()->dshotBeaconTone > DSHOT_CMD_BEACON5) {
 532         beeperConfigMutable()->dshotBeaconTone = DSHOT_CMD_BEACON1;
 533     }
 534 #endif
 535 #endif
 536
 537     bool configuredMotorProtocolDshot = false;
 538     checkMotorProtocolEnabled(&motorConfig()->dev, &configuredMotorProtocolDshot);
 539 #if defined(USE_DSHOT)
 540     // If using DSHOT protocol disable unsynched PWM as it's meaningless
 541     if (configuredMotorProtocolDshot) {
 542         motorConfigMutable()->dev.useUnsyncedPwm = false;
 543     }
 544
 545 #if defined(USE_DSHOT_TELEMETRY)
 546     bool nChannelTimerUsed = false;
 547     for (unsigned i = 0; i < getMotorCount(); i++) {
 548         const ioTag_t tag = motorConfig()->dev.ioTags[i];
 549         if (tag) {
 550             const timerHardware_t *timer = timerGetConfiguredByTag(tag);
 551             if (timer && timer->output & TIMER_OUTPUT_N_CHANNEL) {
 552                 nChannelTimerUsed = true;
 553
 554                 break;
 555             }
 556         }
 557     }
 558
 559     if ((!configuredMotorProtocolDshot || (motorConfig()->dev.useDshotBitbang == DSHOT_BITBANG_OFF && (motorConfig()->dev.useBurstDshot == DSHOT_DMAR_ON || nChannelTimerUsed))) && motorConfig()->dev.useDshotTelemetry) {
 560         motorConfigMutable()->dev.useDshotTelemetry = false;
 561     }
 562 #endif // USE_DSHOT_TELEMETRY
 563 #endif // USE_DSHOT
 564
 565 #if defined(USE_OSD)
 566     for (int i = 0; i < OSD_TIMER_COUNT; i++) {
 567          const uint16_t t = osdConfig()->timers[i];
 568          if (OSD_TIMER_SRC(t) >= OSD_TIMER_SRC_COUNT ||
 569                  OSD_TIMER_PRECISION(t) >= OSD_TIMER_PREC_COUNT) {
 570              osdConfigMutable()->timers[i] = osdTimerDefault[i];
 571          }
 572      }
 573 #endif
 574
 575 #if defined(USE_VTX_COMMON) && defined(USE_VTX_TABLE)
 576     // reset vtx band, channel, power if outside range specified by vtxtable
 577     if (vtxSettingsConfig()->channel > vtxTableConfig()->channels) {
 578         vtxSettingsConfigMutable()->channel = 0;
 579         if (vtxSettingsConfig()->band > 0) {
 580             vtxSettingsConfigMutable()->freq = 0; // band/channel determined frequency can't be valid anymore
 581         }
 582     }
 583     if (vtxSettingsConfig()->band > vtxTableConfig()->bands) {
 584         vtxSettingsConfigMutable()->band = 0;
 585         vtxSettingsConfigMutable()->freq = 0; // band/channel determined frequency can't be valid anymore
 586     }
 587     if (vtxSettingsConfig()->power > vtxTableConfig()->powerLevels) {
 588         vtxSettingsConfigMutable()->power = 0;
 589     }
 590 #endif
 591
 592     validateAndFixRatesSettings();  // constrain the various rates settings to limits imposed by the rates type
 593
 594 #if defined(USE_RX_MSP_OVERRIDE)
 595     if (!rxConfig()->msp_override_channels_mask) {
 596         removeModeActivationCondition(BOXMSPOVERRIDE);
 597     }
 598
 599     for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
 600         const modeActivationCondition_t *mac = modeActivationConditions(i);
 601         if (mac->modeId == BOXMSPOVERRIDE && ((1 << (mac->auxChannelIndex) & (rxConfig()->msp_override_channels_mask)))) {
 602             rxConfigMutable()->msp_override_channels_mask &= ~(1 << (mac->auxChannelIndex + NON_AUX_CHANNEL_COUNT));
 603         }
 604     }
 605 #endif
 606
 607     validateAndfixMotorOutputReordering(motorConfigMutable()->dev.motorOutputReordering, MAX_SUPPORTED_MOTORS);
 608
 609     // validate that the minimum battery cell voltage is less than the maximum cell voltage
 610     // reset to defaults if not
 611     if (batteryConfig()->vbatmincellvoltage >=  batteryConfig()->vbatmaxcellvoltage) {
 612         batteryConfigMutable()->vbatmincellvoltage = VBAT_CELL_VOLTAGE_DEFAULT_MIN;
 613         batteryConfigMutable()->vbatmaxcellvoltage = VBAT_CELL_VOLTAGE_DEFAULT_MAX;
 614     }
 615
 616 #ifdef USE_MSP_DISPLAYPORT
 617     // Find the first serial port on which MSP Displayport is enabled
 618     displayPortMspSetSerial(SERIAL_PORT_NONE);
 619
 620     for (uint8_t serialPort  = 0; serialPort < SERIAL_PORT_COUNT; serialPort++) {
 621         const serialPortConfig_t *portConfig = &serialConfig()->portConfigs[serialPort];
 622
 623         if (portConfig &&
 624             (portConfig->identifier != SERIAL_PORT_USB_VCP) &&
 625             ((portConfig->functionMask & (FUNCTION_VTX_MSP | FUNCTION_MSP)) == (FUNCTION_VTX_MSP | FUNCTION_MSP))) {
 626             displayPortMspSetSerial(portConfig->identifier);
 627             break;
 628         }
 629     }
 630 #endif
 631
 632 #ifdef USE_BLACKBOX
 633     validateAndFixBlackBox();
 634 #endif // USE_BLACKBOX
 635
 636 #if defined(TARGET_VALIDATECONFIG)
 637     // This should be done at the end of the validation
 638     targetValidateConfiguration();
 639 #endif
 640 }
 641
 642 void validateAndFixGyroConfig(void)
 643 {
 644     // Fix gyro filter settings to handle cases where an older configurator was used that
 645     // allowed higher cutoff limits from previous firmware versions.
 646     adjustFilterLimit(&gyroConfigMutable()->gyro_lpf1_static_hz, LPF_MAX_HZ);
 647     adjustFilterLimit(&gyroConfigMutable()->gyro_lpf2_static_hz, LPF_MAX_HZ);
 648     adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_hz_1, LPF_MAX_HZ);
 649     adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_cutoff_1, 0);
 650     adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_hz_2, LPF_MAX_HZ);
 651     adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_cutoff_2, 0);
 652
 653     // Prevent invalid notch cutoff
 654     if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
 655         gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
 656     }
 657     if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
 658         gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
 659     }
 660 #ifdef USE_DYN_LPF
 661     //Prevent invalid dynamic lowpass filter
 662     if (gyroConfig()->gyro_lpf1_dyn_min_hz > gyroConfig()->gyro_lpf1_dyn_max_hz) {
 663         gyroConfigMutable()->gyro_lpf1_dyn_min_hz = 0;
 664     }
 665 #endif
 666
 667     if (gyro.sampleRateHz > 0) {
 668         float samplingTime = 1.0f / gyro.sampleRateHz;
 669
 670         // check for looptime restrictions based on motor protocol. Motor times have safety margin
 671         float motorUpdateRestriction;
 672
 673 #if defined(STM32F4) || defined(STM32G4)
 674         /* If bidirectional DSHOT is being used on an F4 or G4 then force DSHOT300. The motor update restrictions then applied
 675          * will automatically consider the loop time and adjust pid_process_denom appropriately
 676          */
 677         if (motorConfig()->dev.useDshotTelemetry && (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_DSHOT600)) {
 678             motorConfigMutable()->dev.motorPwmProtocol = PWM_TYPE_DSHOT300;
 679         }
 680 #endif
 681
 682         switch (motorConfig()->dev.motorPwmProtocol) {
 683         case PWM_TYPE_STANDARD:
 684                 motorUpdateRestriction = 1.0f / BRUSHLESS_MOTORS_PWM_RATE;
 685                 break;
 686         case PWM_TYPE_ONESHOT125:
 687                 motorUpdateRestriction = 0.0005f;
 688                 break;
 689         case PWM_TYPE_ONESHOT42:
 690                 motorUpdateRestriction = 0.0001f;
 691                 break;
 692 #ifdef USE_DSHOT
 693         case PWM_TYPE_DSHOT150:
 694                 motorUpdateRestriction = 0.000250f;
 695                 break;
 696         case PWM_TYPE_DSHOT300:
 697                 motorUpdateRestriction = 0.0001f;
 698                 break;
 699 #endif
 700         default:
 701             motorUpdateRestriction = 0.00003125f;
 702             break;
 703         }
 704
 705         if (motorConfig()->dev.useUnsyncedPwm) {
 706             bool configuredMotorProtocolDshot = false;
 707             checkMotorProtocolEnabled(&motorConfig()->dev, &configuredMotorProtocolDshot);
 708             // Prevent overriding the max rate of motors
 709             if (!configuredMotorProtocolDshot && motorConfig()->dev.motorPwmProtocol != PWM_TYPE_STANDARD) {
 710                 const uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
 711                 motorConfigMutable()->dev.motorPwmRate = MIN(motorConfig()->dev.motorPwmRate, maxEscRate);
 712             }
 713         } else {
 714             const float pidLooptime = samplingTime * pidConfig()->pid_process_denom;
 715             if (motorConfig()->dev.useDshotTelemetry) {
 716                 motorUpdateRestriction *= 2;
 717             }
 718             if (pidLooptime < motorUpdateRestriction) {
 719                 uint8_t minPidProcessDenom = motorUpdateRestriction / samplingTime;
 720                 if (motorUpdateRestriction / samplingTime > minPidProcessDenom) {
 721                     // if any fractional part then round up
 722                     minPidProcessDenom++;
 723                 }
 724                 minPidProcessDenom = constrain(minPidProcessDenom, 1, MAX_PID_PROCESS_DENOM);
 725                 pidConfigMutable()->pid_process_denom = MAX(pidConfigMutable()->pid_process_denom, minPidProcessDenom);
 726             }
 727         }
 728     }
 729
 730     if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {
 731         systemConfigMutable()->activeRateProfile = 0;
 732     }
 733     loadControlRateProfile();
 734
 735     if (systemConfig()->pidProfileIndex >= PID_PROFILE_COUNT) {
 736         systemConfigMutable()->pidProfileIndex = 0;
 737     }
 738     loadPidProfile();
 739 }
 740
 741 #ifdef USE_BLACKBOX
 742 void validateAndFixBlackBox(void) {
 743 #ifndef USE_FLASHFS
 744     if (blackboxConfig()->device == BLACKBOX_DEVICE_FLASH) {
 745         blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
 746     }
 747 #endif // USE_FLASHFS
 748
 749     if (blackboxConfig()->device == BLACKBOX_DEVICE_SDCARD) {
 750 #if defined(USE_SDCARD)
 751         if (!sdcardConfig()->mode)
 752 #endif
 753         {
 754             blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
 755         }
 756     }
 757 }
 758 #endif // USE_BLACKBOX
 759
 760 bool readEEPROM(void)
 761 {
 762     suspendRxSignal();
 763
 764     // Sanity check, read flash
 765     bool success = loadEEPROM();
 766
 767     featureInit();
 768
 769     validateAndFixConfig();
 770
 771     activateConfig();
 772
 773     resumeRxSignal();
 774
 775     return success;
 776 }
 777
 778 void writeUnmodifiedConfigToEEPROM(void)
 779 {
 780     validateAndFixConfig();
 781
 782     suspendRxSignal();
 783     eepromWriteInProgress = true;
 784     writeConfigToEEPROM();
 785     eepromWriteInProgress = false;
 786     resumeRxSignal();
 787     configIsDirty = false;
 788 }
 789
 790 void writeEEPROM(void)
 791 {
 792 #ifdef USE_RX_SPI
 793     rxSpiStop(); // some rx spi protocols use hardware timer, which needs to be stopped before writing to eeprom
 794 #endif
 795     systemConfigMutable()->configurationState = CONFIGURATION_STATE_CONFIGURED;
 796
 797     writeUnmodifiedConfigToEEPROM();
 798 }
 799
 800 bool resetEEPROM(void)
 801 {
 802     resetConfig();
 803
 804     writeUnmodifiedConfigToEEPROM();
 805
 806     return true;
 807 }
 808
 809 void ensureEEPROMStructureIsValid(void)
 810 {
 811     if (isEEPROMStructureValid()) {
 812         return;
 813     }
 814     resetEEPROM();
 815 }
 816
 817 void saveConfigAndNotify(void)
 818 {
 819     // The write to EEPROM will cause a big delay in the current task, so ignore
 820     schedulerIgnoreTaskExecTime();
 821
 822     writeEEPROM();
 823     readEEPROM();
 824     beeperConfirmationBeeps(1);
 825 }
 826
 827 void setConfigDirty(void)
 828 {
 829     configIsDirty = true;
 830 }
 831
 832 bool isConfigDirty(void)
 833 {
 834     return configIsDirty;
 835 }
 836
 837 void changePidProfileFromCellCount(uint8_t cellCount)
 838 {
 839     if (currentPidProfile->auto_profile_cell_count == cellCount || currentPidProfile->auto_profile_cell_count == AUTO_PROFILE_CELL_COUNT_STAY) {
 840         return;
 841     }
 842
 843     unsigned profileIndex = (systemConfig()->pidProfileIndex + 1) % PID_PROFILE_COUNT;
 844     int matchingProfileIndex = -1;
 845     while (profileIndex != systemConfig()->pidProfileIndex) {
 846         if (pidProfiles(profileIndex)->auto_profile_cell_count == cellCount) {
 847             matchingProfileIndex = profileIndex;
 848
 849             break;
 850         } else if (matchingProfileIndex < 0 && pidProfiles(profileIndex)->auto_profile_cell_count == AUTO_PROFILE_CELL_COUNT_STAY) {
 851             matchingProfileIndex = profileIndex;
 852         }
 853
 854         profileIndex = (profileIndex + 1) % PID_PROFILE_COUNT;
 855     }
 856
 857     if (matchingProfileIndex >= 0) {
 858         changePidProfile(matchingProfileIndex);
 859     }
 860 }
 861
 862 void changePidProfile(uint8_t pidProfileIndex)
 863 {
 864     // The config switch will cause a big enough delay in the current task to upset the scheduler
 865     schedulerIgnoreTaskExecTime();
 866
 867     if (pidProfileIndex < PID_PROFILE_COUNT) {
 868         systemConfigMutable()->pidProfileIndex = pidProfileIndex;
 869         loadPidProfile();
 870
 871         pidInit(currentPidProfile);
 872         initEscEndpoints();
 873         mixerInitProfile();
 874     }
 875
 876     beeperConfirmationBeeps(pidProfileIndex + 1);
 877 }
 878
 879 bool isSystemConfigured(void)
 880 {
 881     return systemConfig()->configurationState == CONFIGURATION_STATE_CONFIGURED;
 882 }
 883
 884 void setRebootRequired(void)
 885 {
 886     rebootRequired = true;
 887     setArmingDisabled(ARMING_DISABLED_REBOOT_REQUIRED);
 888 }
 889
 890 bool getRebootRequired(void)
 891 {
 892     return rebootRequired;
 893 }