Remove SITL specific defines from fc_init

Cleanup target.c indentation.

src/main/fc/fc_init.c

@@ -315,7 +315,7 @@ void init(void)
     }
 #endif
 
-#if defined(USE_SPEKTRUM_BIND) && !defined(SITL)
+#if defined(USE_SPEKTRUM_BIND)
     if (feature(FEATURE_RX_SERIAL)) {
         switch (rxConfig()->serialrx_provider) {
         case SERIALRX_SPEKTRUM1024:
@@ -338,7 +338,7 @@ void init(void)
     busSwitchInit();
 #endif
 
-#if defined(USE_UART) && !defined(SITL)
+#if defined(USE_UART)
     uartPinConfigure(serialPinConfig());
 #endif
 
@@ -478,10 +478,8 @@ void init(void)
     initBoardAlignment(boardAlignment());
 
     if (!sensorsAutodetect()) {
-#if !defined(SITL)
         // if gyro was not detected due to whatever reason, notify and don't arm.
         failureLedCode(FAILURE_MISSING_ACC, 2);
-#endif
         setArmingDisabled(ARMING_DISABLED_NO_GYRO);
     }
 

src/main/target/SITL/target.c

@@ -43,6 +43,8 @@ const timerHardware_t timerHardware[1]; // unused
 #include "fc/config.h"
 #include "scheduler/scheduler.h"
 
+#include "rx/rx.h"
+
 #include "dyad.h"
 #include "target/SITL/udplink.h"
 
@@ -255,16 +257,24 @@ void ledInit(const statusLedConfig_t *statusLedConfig) {
     UNUSED(statusLedConfig);
     printf("[led]Init...\n");
 }
+
 void timerInit(void) {
     printf("[timer]Init...\n");
 }
+
 void timerStart(void) {
 }
+
 void failureMode(failureMode_e mode) {
     printf("[failureMode]!!! %d\n", mode);
     while(1);
 }
 
+void failureLedCode(failureMode_e mode, int repeatCount)
+{
+    UNUSED(repeatCount);
+    printf("Failure LED flash for: [failureMode]!!! %d\n", mode);	
+}
 
 // Time part
 // Thanks ArduPilot
@@ -273,11 +283,13 @@ uint64_t nanos64_real() {
     clock_gettime(CLOCK_MONOTONIC, &ts);
     return (ts.tv_sec*1e9 + ts.tv_nsec) - (start_time.tv_sec*1e9 + start_time.tv_nsec);
 }
+
 uint64_t micros64_real() {
     struct timespec ts;
     clock_gettime(CLOCK_MONOTONIC, &ts);
     return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) - (start_time.tv_sec + (start_time.tv_nsec*1.0e-9)));
 }
+
 uint64_t millis64_real() {
     struct timespec ts;
     clock_gettime(CLOCK_MONOTONIC, &ts);
@@ -295,6 +307,7 @@ uint64_t micros64() {
     return out*1e-3;
 //	return micros64_real();
 }
+
 uint64_t millis64() {
     static uint64_t last = 0;
     static uint64_t out = 0;
@@ -321,12 +334,15 @@ void microsleep(uint32_t usec) {
     ts.tv_nsec = usec*1000UL;
     while (nanosleep(&ts, &ts) == -1 && errno == EINTR) ;
 }
+
 void delayMicroseconds(uint32_t us) {
     microsleep(us / simRate);
 }
+
 void delayMicroseconds_real(uint32_t us) {
     microsleep(us);
 }
+
 void delay(uint32_t ms) {
     uint64_t start = millis64();
 
@@ -379,6 +395,7 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t _idlePulse, uint
     }
     pwmMotorsEnabled = true;
 }
+
 void servoDevInit(const servoDevConfig_t *servoConfig) {
     UNUSED(servoConfig);
     for (uint8_t servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
@@ -389,20 +406,25 @@ void servoDevInit(const servoDevConfig_t *servoConfig) {
 pwmOutputPort_t *pwmGetMotors(void) {
     return motors;
 }
+
 bool pwmAreMotorsEnabled(void) {
     return pwmMotorsEnabled;
 }
+
 bool isMotorProtocolDshot(void)
 {
     return false;
 }
+
 void pwmWriteMotor(uint8_t index, float value) {
     motorsPwm[index] = value - idlePulse;
 }
+
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount) {
     UNUSED(motorCount);
     pwmMotorsEnabled = false;
 }
+
 void pwmCompleteMotorUpdate(uint8_t motorCount) {
     UNUSED(motorCount);
     // send to simulator
@@ -423,6 +445,7 @@ void pwmCompleteMotorUpdate(uint8_t motorCount) {
     udpSend(&pwmLink, &pwmPkt, sizeof(servo_packet));
 //	printf("[pwm]%u:%u,%u,%u,%u\n", idlePulse, motorsPwm[0], motorsPwm[1], motorsPwm[2], motorsPwm[3]);
 }
+
 void pwmWriteServo(uint8_t index, float value) {
     servosPwm[index] = value;
 }
@@ -438,8 +461,8 @@ char _estack;
 char _Min_Stack_Size;
 
 // fake EEPROM
-extern uint8_t __config_start;
-extern uint8_t __config_end;
+uint8_t __config_start;
+uint8_t __config_end;
 static FILE *eepromFd = NULL;
 
 void FLASH_Unlock(void) {
@@ -458,7 +481,7 @@ void FLASH_Unlock(void) {
         long lSize = ftell(eepromFd);
         rewind(eepromFd);
 
-		printf("[FLASH_Unlock]size = %ld, %ld\n", lSize, (uintptr_t)(&__config_end - &__config_start));
+        printf("[FLASH_Unlock]size = %ld, %d\n", lSize, (uintptr_t)(&__config_end - &__config_start));
         for (unsigned i = 0; i < (uintptr_t)(&__config_end - &__config_start); i++) {
                 int c = fgetc(eepromFd);
             if(c == EOF) break;
@@ -486,6 +509,7 @@ FLASH_Status FLASH_ErasePage(uintptr_t Page_Address) {
 //	printf("[FLASH_ErasePage]%x\n", Page_Address);
     return FLASH_COMPLETE;
 }
+
 FLASH_Status FLASH_ProgramWord(uintptr_t addr, uint32_t Data) {
     if ((addr >= (uintptr_t)&__config_start)&&(addr < (uintptr_t)&__config_end)) {
         *((uint32_t*)addr) = Data;
@@ -496,4 +520,14 @@ FLASH_Status FLASH_ProgramWord(uintptr_t addr, uint32_t Data) {
     return FLASH_COMPLETE;
 }
 
+void uartPinConfigure(const serialPinConfig_t *pSerialPinConfig)
+{
+    UNUSED(pSerialPinConfig);
+    printf("uartPinConfigure");
+}
 
+void spektrumBind(rxConfig_t *rxConfig)
+{
+    UNUSED(rxConfig);
+    printf("spektrumBind");
+}