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atbetaflight
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Added shadow copies for CLI and MSP.

This commit is contained in:
mikeller 2018-07-10 00:49:17 +12:00
parent 985a9208d5
commit 6de1c32d9d
56 changed files with 277 additions and 222 deletions
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6
src/main/blackbox/blackbox.c
View File

@ -448,7 +448,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
#endif
case FLIGHT_LOG_FIELD_CONDITION_RSSI:
return rxConfig()->rssi_channel > 0 || featureConfigured(FEATURE_RSSI_ADC);
return rxConfig()->rssi_channel > 0 || featureIsEnabled(FEATURE_RSSI_ADC);
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
return blackboxConfig()->p_ratio != 1;
@ -1488,7 +1488,7 @@ STATIC_UNIT_TESTED void blackboxLogIteration(timeUs_t currentTimeUs)
writeInterframe();
}
#ifdef USE_GPS
if (featureConfigured(FEATURE_GPS)) {
if (featureIsEnabled(FEATURE_GPS)) {
if (blackboxShouldLogGpsHomeFrame()) {
writeGPSHomeFrame();
writeGPSFrame(currentTimeUs);
@ -1554,7 +1554,7 @@ void blackboxUpdate(timeUs_t currentTimeUs)
if (!sendFieldDefinition('I', 'P', blackboxMainFields, blackboxMainFields + 1, ARRAYLEN(blackboxMainFields),
&blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
#ifdef USE_GPS
if (featureConfigured(FEATURE_GPS)) {
if (featureIsEnabled(FEATURE_GPS)) {
blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADER);
} else
#endif

6
src/main/cms/cms_menu_ledstrip.c
View File

@ -48,7 +48,7 @@ static uint8_t cmsx_FeatureLedstrip;
static long cmsx_Ledstrip_FeatureRead(void)
{
if (!featureRead) {
cmsx_FeatureLedstrip = featureConfigured(FEATURE_LED_STRIP) ? 1 : 0;
cmsx_FeatureLedstrip = featureIsEnabled(FEATURE_LED_STRIP) ? 1 : 0;
featureRead = true;
}
@ -60,9 +60,9 @@ static long cmsx_Ledstrip_FeatureWriteback(const OSD_Entry *self)
UNUSED(self);
if (featureRead) {
if (cmsx_FeatureLedstrip)
featureSet(FEATURE_LED_STRIP);
featureEnable(FEATURE_LED_STRIP);
else
featureClear(FEATURE_LED_STRIP);
featureDisable(FEATURE_LED_STRIP);
}
return 0;

16
src/main/config/feature.c
View File

@ -35,32 +35,32 @@ PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
.enabledFeatures = DEFAULT_FEATURES | DEFAULT_RX_FEATURE | FEATURE_DYNAMIC_FILTER | FEATURE_ANTI_GRAVITY,
);
void featureSetLocal(const uint32_t mask, uint32_t *features)
void featureSet(const uint32_t mask, uint32_t *features)
{
*features |= mask;
}
void featureClearLocal(const uint32_t mask, uint32_t *features)
void featureClear(const uint32_t mask, uint32_t *features)
{
*features &= ~(mask);
}
bool featureConfigured(const uint32_t mask)
bool featureIsEnabled(const uint32_t mask)
{
return featureConfig()->enabledFeatures & mask;
}
void featureSet(const uint32_t mask)
void featureEnable(const uint32_t mask)
{
featureSetLocal(mask, &featureConfigMutable()->enabledFeatures);
featureSet(mask, &featureConfigMutable()->enabledFeatures);
}
void featureClear(const uint32_t mask)
void featureDisable(const uint32_t mask)
{
featureClearLocal(mask, &featureConfigMutable()->enabledFeatures);
featureClear(mask, &featureConfigMutable()->enabledFeatures);
}
void featureClearAll(void)
void featureDisableAll(void)
{
featureConfigMutable()->enabledFeatures = 0;
}

12
src/main/config/feature.h
View File

@ -62,11 +62,11 @@ typedef struct featureConfig_s {
PG_DECLARE(featureConfig_t, featureConfig);
bool featureConfigured(const uint32_t mask);
void featureSet(const uint32_t mask);
void featureClear(const uint32_t mask);
void featureClearAll(void);
bool featureIsEnabled(const uint32_t mask);
void featureEnable(const uint32_t mask);
void featureDisable(const uint32_t mask);
void featureDisableAll(void);
uint32_t featureMask(void);
void featureSetLocal(const uint32_t mask, uint32_t *features);
void featureClearLocal(const uint32_t mask, uint32_t *features);
void featureSet(const uint32_t mask, uint32_t *features);
void featureClear(const uint32_t mask, uint32_t *features);

86
src/main/fc/config.c
View File

@ -174,7 +174,7 @@ static void validateAndFixConfig(void)
!findSerialPortConfig(FUNCTION_GPS) &&
#endif
true) {
featureClear(FEATURE_GPS);
featureDisable(FEATURE_GPS);
}
#ifndef USE_OSD_SLAVE
@ -194,7 +194,7 @@ static void validateAndFixConfig(void)
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureClear(FEATURE_3D);
featureDisable(FEATURE_3D);
if (motorConfig()->mincommand < 1000) {
motorConfigMutable()->mincommand = 1000;
@ -207,40 +207,40 @@ static void validateAndFixConfig(void)
validateAndFixGyroConfig();
if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP) || featureConfigured(FEATURE_RX_SPI))) {
featureSet(DEFAULT_RX_FEATURE);
if (!(featureIsEnabled(FEATURE_RX_PARALLEL_PWM) || featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_SERIAL) || featureIsEnabled(FEATURE_RX_MSP) || featureIsEnabled(FEATURE_RX_SPI))) {
featureEnable(DEFAULT_RX_FEATURE);
}
if (featureConfigured(FEATURE_RX_PPM)) {
featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_SPI);
if (featureIsEnabled(FEATURE_RX_PPM)) {
featureDisable(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_SPI);
}
if (featureConfigured(FEATURE_RX_MSP)) {
featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_SPI);
if (featureIsEnabled(FEATURE_RX_MSP)) {
featureDisable(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_SPI);
}
if (featureConfigured(FEATURE_RX_SERIAL)) {
featureClear(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
if (featureIsEnabled(FEATURE_RX_SERIAL)) {
featureDisable(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
}
#ifdef USE_RX_SPI
if (featureConfigured(FEATURE_RX_SPI)) {
featureClear(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP);
if (featureIsEnabled(FEATURE_RX_SPI)) {
featureDisable(FEATURE_RX_SERIAL | FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM | FEATURE_RX_MSP);
}
#endif // USE_RX_SPI
if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
featureClear(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
featureDisable(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
}
#ifdef USE_SOFTSPI
if (featureConfigured(FEATURE_SOFTSPI)) {
featureClear(FEATURE_RX_PPM | FEATURE_RX_PARALLEL_PWM | FEATURE_SOFTSERIAL);
if (featureIsEnabled(FEATURE_SOFTSPI)) {
featureDisable(FEATURE_RX_PPM | FEATURE_RX_PARALLEL_PWM | FEATURE_SOFTSERIAL);
batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_NONE;
#if defined(STM32F10X)
featureClear(FEATURE_LED_STRIP);
featureDisable(FEATURE_LED_STRIP);
// rssi adc needs the same ports
featureClear(FEATURE_RSSI_ADC);
featureDisable(FEATURE_RSSI_ADC);
// current meter needs the same ports
if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) {
batteryConfigMutable()->currentMeterSource = CURRENT_METER_NONE;
@ -250,14 +250,14 @@ static void validateAndFixConfig(void)
#endif // USE_SOFTSPI
#if defined(USE_ADC)
if (featureConfigured(FEATURE_RSSI_ADC)) {
if (featureIsEnabled(FEATURE_RSSI_ADC)) {
rxConfigMutable()->rssi_channel = 0;
rxConfigMutable()->rssi_src_frame_errors = false;
} else
#endif
if (rxConfigMutable()->rssi_channel
#if defined(USE_PWM) || defined(USE_PPM)
|| featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM)
|| featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM)
#endif
) {
rxConfigMutable()->rssi_src_frame_errors = false;
@ -291,7 +291,7 @@ static void validateAndFixConfig(void)
#endif
if (
featureConfigured(FEATURE_3D) || !featureConfigured(FEATURE_GPS)
featureIsEnabled(FEATURE_3D) || !featureIsEnabled(FEATURE_GPS)
#if !defined(USE_GPS) || !defined(USE_GPS_RESCUE)
|| true
#endif
@ -308,7 +308,7 @@ static void validateAndFixConfig(void)
#if defined(USE_ESC_SENSOR)
if (!findSerialPortConfig(FUNCTION_ESC_SENSOR)) {
featureClear(FEATURE_ESC_SENSOR);
featureDisable(FEATURE_ESC_SENSOR);
}
#endif
@ -316,71 +316,71 @@ static void validateAndFixConfig(void)
// I have kept them all here in one place, some could be moved to sections of code above.
#ifndef USE_PPM
featureClear(FEATURE_RX_PPM);
featureDisable(FEATURE_RX_PPM);
#endif
#ifndef USE_SERIAL_RX
featureClear(FEATURE_RX_SERIAL);
featureDisable(FEATURE_RX_SERIAL);
#endif
#if !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL2)
featureClear(FEATURE_SOFTSERIAL);
featureDisable(FEATURE_SOFTSERIAL);
#endif
#ifndef USE_RANGEFINDER
featureClear(FEATURE_RANGEFINDER);
featureDisable(FEATURE_RANGEFINDER);
#endif
#ifndef USE_TELEMETRY
featureClear(FEATURE_TELEMETRY);
featureDisable(FEATURE_TELEMETRY);
#endif
#ifndef USE_PWM
featureClear(FEATURE_RX_PARALLEL_PWM);
featureDisable(FEATURE_RX_PARALLEL_PWM);
#endif
#ifndef USE_RX_MSP
featureClear(FEATURE_RX_MSP);
featureDisable(FEATURE_RX_MSP);
#endif
#ifndef USE_LED_STRIP
featureClear(FEATURE_LED_STRIP);
featureDisable(FEATURE_LED_STRIP);
#endif
#ifndef USE_DASHBOARD
featureClear(FEATURE_DASHBOARD);
featureDisable(FEATURE_DASHBOARD);
#endif
#ifndef USE_OSD
featureClear(FEATURE_OSD);
featureDisable(FEATURE_OSD);
#endif
#ifndef USE_SERVOS
featureClear(FEATURE_SERVO_TILT | FEATURE_CHANNEL_FORWARDING);
featureDisable(FEATURE_SERVO_TILT | FEATURE_CHANNEL_FORWARDING);
#endif
#ifndef USE_TRANSPONDER
featureClear(FEATURE_TRANSPONDER);
featureDisable(FEATURE_TRANSPONDER);
#endif
#ifndef USE_RX_SPI
featureClear(FEATURE_RX_SPI);
featureDisable(FEATURE_RX_SPI);
#endif
#ifndef USE_SOFTSPI
featureClear(FEATURE_SOFTSPI);
featureDisable(FEATURE_SOFTSPI);
#endif
#ifndef USE_ESC_SENSOR
featureClear(FEATURE_ESC_SENSOR);
featureDisable(FEATURE_ESC_SENSOR);
#endif
#ifndef USE_GYRO_DATA_ANALYSE
featureClear(FEATURE_DYNAMIC_FILTER);
featureDisable(FEATURE_DYNAMIC_FILTER);
#endif
#if !defined(USE_ADC)
featureClear(FEATURE_RSSI_ADC);
featureDisable(FEATURE_RSSI_ADC);
#endif
#if defined(USE_BEEPER)
@ -548,6 +548,14 @@ void writeEEPROM(void)
#endif
}
void writeEEPROMWithFeatures(uint32_t features)
{
featureDisableAll();
featureEnable(features);
writeEEPROM();
}
void resetEEPROM(void)
{
resetConfigs();

1
src/main/fc/config.h
View File

@ -53,6 +53,7 @@ void initEEPROM(void);
void resetEEPROM(void);
bool readEEPROM(void);
void writeEEPROM(void);
void writeEEPROMWithFeatures(uint32_t features);
void ensureEEPROMStructureIsValid(void);
void saveConfigAndNotify(void);

26
src/main/fc/fc_core.c
View File

@ -268,7 +268,7 @@ void updateArmingStatus(void)
&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_CALIBRATING));
/* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */
bool ignoreThrottle = featureConfigured(FEATURE_3D)
bool ignoreThrottle = featureIsEnabled(FEATURE_3D)
&& !IS_RC_MODE_ACTIVE(BOX3D)
&& !flight3DConfig()->switched_mode3d
&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
@ -313,7 +313,7 @@ void disarm(void)
#endif
BEEP_OFF;
#ifdef USE_DSHOT
if (isMotorProtocolDshot() && flipOverAfterCrashMode && !featureConfigured(FEATURE_3D)) {
if (isMotorProtocolDshot() && flipOverAfterCrashMode && !featureIsEnabled(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
}
#endif
@ -352,7 +352,7 @@ void tryArm(void)
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
flipOverAfterCrashMode = false;
if (!featureConfigured(FEATURE_3D)) {
if (!featureIsEnabled(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
}
} else {
@ -360,7 +360,7 @@ void tryArm(void)
#ifdef USE_RUNAWAY_TAKEOFF
runawayTakeoffCheckDisabled = false;
#endif
if (!featureConfigured(FEATURE_3D)) {
if (!featureIsEnabled(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, false);
}
}
@ -387,7 +387,7 @@ void tryArm(void)
//beep to indicate arming
#ifdef USE_GPS
if (featureConfigured(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5) {
if (featureIsEnabled(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5) {
beeper(BEEPER_ARMING_GPS_FIX);
} else {
beeper(BEEPER_ARMING);
@ -517,7 +517,7 @@ void runawayTakeoffTemporaryDisable(uint8_t disableFlag)
uint8_t calculateThrottlePercent(void)
{
uint8_t ret = 0;
if (featureConfigured(FEATURE_3D)
if (featureIsEnabled(FEATURE_3D)
&& !IS_RC_MODE_ACTIVE(BOX3D)
&& !flight3DConfig()->switched_mode3d) {
@ -560,7 +560,7 @@ bool processRx(timeUs_t currentTimeUs)
}
// in 3D mode, we need to be able to disarm by switch at any time
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
disarm();
}
@ -615,7 +615,7 @@ bool processRx(timeUs_t currentTimeUs)
// - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
// - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
bool inStableFlight = false;
if (!featureConfigured(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
if (!featureIsEnabled(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))
@ -667,9 +667,9 @@ bool processRx(timeUs_t currentTimeUs)
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& featureConfigured(FEATURE_MOTOR_STOP)
&& featureIsEnabled(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
&& !featureConfigured(FEATURE_3D)
&& !featureIsEnabled(FEATURE_3D)
&& !isAirmodeActive()
) {
if (isUsingSticksForArming()) {
@ -711,7 +711,7 @@ bool processRx(timeUs_t currentTimeUs)
processRcStickPositions();
if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL)) {
if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
@ -814,7 +814,7 @@ bool processRx(timeUs_t currentTimeUs)
}
#ifdef USE_TELEMETRY
if (featureConfigured(FEATURE_TELEMETRY)) {
if (featureIsEnabled(FEATURE_TELEMETRY)) {
bool enableSharedPortTelemetry = (!isModeActivationConditionPresent(BOXTELEMETRY) && ARMING_FLAG(ARMED)) || (isModeActivationConditionPresent(BOXTELEMETRY) && IS_RC_MODE_ACTIVE(BOXTELEMETRY));
if (enableSharedPortTelemetry && !sharedPortTelemetryEnabled) {
mspSerialReleaseSharedTelemetryPorts();
@ -872,7 +872,7 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
&& !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashMode
&& !runawayTakeoffTemporarilyDisabled
&& (!featureConfigured(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
&& (!featureIsEnabled(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
|| (fabsf(pidData[FD_ROLL].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)

48
src/main/fc/fc_init.c
View File

@ -296,7 +296,7 @@ void init(void)
#endif
#if defined(USE_SPEKTRUM_BIND)
if (featureConfigured(FEATURE_RX_SERIAL)) {
if (featureIsEnabled(FEATURE_RX_SERIAL)) {
switch (rxConfig()->serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
@ -327,23 +327,23 @@ void init(void)
#endif
#if defined(AVOID_UART1_FOR_PWM_PPM)
serialInit(featureConfigured(FEATURE_SOFTSERIAL),
featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL),
featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART2_FOR_PWM_PPM)
serialInit(featureConfigured(FEATURE_SOFTSERIAL),
featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL),
featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART3_FOR_PWM_PPM)
serialInit(featureConfigured(FEATURE_SOFTSERIAL),
featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL),
featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
#else
serialInit(featureConfigured(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
#endif
mixerInit(mixerConfig()->mixerMode);
mixerConfigureOutput();
uint16_t idlePulse = motorConfig()->mincommand;
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
idlePulse = flight3DConfig()->neutral3d;
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
@ -357,12 +357,12 @@ void init(void)
if (0) {}
#if defined(USE_PPM)
else if (featureConfigured(FEATURE_RX_PPM)) {
else if (featureIsEnabled(FEATURE_RX_PPM)) {
ppmRxInit(ppmConfig());
}
#endif
#if defined(USE_PWM)
else if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
else if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
pwmRxInit(pwmConfig());
}
#endif
@ -449,13 +449,13 @@ void init(void)
// XXX These kind of code should goto target/config.c?
// XXX And these no longer work properly as FEATURE_RANGEFINDER does control HCSR04 runtime configuration.
#if defined(RANGEFINDER_HCSR04_SOFTSERIAL2_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL2)
if (featureConfigured(FEATURE_RANGEFINDER) && featureConfigured(FEATURE_SOFTSERIAL)) {
if (featureIsEnabled(FEATURE_RANGEFINDER) && featureIsEnabled(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
}
#endif
#if defined(RANGEFINDER_HCSR04_SOFTSERIAL1_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL1)
if (featureConfigured(FEATURE_RANGEFINDER) && featureConfigured(FEATURE_SOFTSERIAL)) {
if (featureIsEnabled(FEATURE_RANGEFINDER) && featureIsEnabled(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
}
#endif
@ -465,9 +465,9 @@ void init(void)
adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
// The FrSky D SPI RX sends RSSI_ADC_PIN (if configured) as A2
adcConfigMutable()->rssi.enabled = featureConfigured(FEATURE_RSSI_ADC);
adcConfigMutable()->rssi.enabled = featureIsEnabled(FEATURE_RSSI_ADC);
#ifdef USE_RX_SPI
adcConfigMutable()->rssi.enabled |= (featureConfigured(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
adcConfigMutable()->rssi.enabled |= (featureIsEnabled(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
#endif
adcInit(adcConfig());
#endif
@ -496,7 +496,7 @@ void init(void)
servosInit();
servoConfigureOutput();
if (isMixerUsingServos()) {
//pwm_params.useChannelForwarding = featureConfigured(FEATURE_CHANNEL_FORWARDING);
//pwm_params.useChannelForwarding = featureIsEnabled(FEATURE_CHANNEL_FORWARDING);
servoDevInit(&servoConfig()->dev);
}
servosFilterInit();
@ -558,7 +558,7 @@ void init(void)
#if defined(USE_OSD) && !defined(USE_OSD_SLAVE)
//The OSD need to be initialised after GYRO to avoid GYRO initialisation failure on some targets
if (featureConfigured(FEATURE_OSD)) {
if (featureIsEnabled(FEATURE_OSD)) {
#if defined(USE_MAX7456)
// If there is a max7456 chip for the OSD then use it
osdDisplayPort = max7456DisplayPortInit(vcdProfile());
@ -587,7 +587,7 @@ void init(void)
#ifdef USE_DASHBOARD
// Dashbord will register with CMS by itself.
if (featureConfigured(FEATURE_DASHBOARD)) {
if (featureIsEnabled(FEATURE_DASHBOARD)) {
dashboardInit();
}
#endif
@ -598,7 +598,7 @@ void init(void)
#endif
#ifdef USE_GPS
if (featureConfigured(FEATURE_GPS)) {
if (featureIsEnabled(FEATURE_GPS)) {
gpsInit();
}
#endif
@ -606,19 +606,19 @@ void init(void)
#ifdef USE_LED_STRIP
ledStripInit();
if (featureConfigured(FEATURE_LED_STRIP)) {
if (featureIsEnabled(FEATURE_LED_STRIP)) {
ledStripEnable();
}
#endif
#ifdef USE_TELEMETRY
if (featureConfigured(FEATURE_TELEMETRY)) {
if (featureIsEnabled(FEATURE_TELEMETRY)) {
telemetryInit();
}
#endif
#ifdef USE_ESC_SENSOR
if (featureConfigured(FEATURE_ESC_SENSOR)) {
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
escSensorInit();
}
#endif
@ -628,7 +628,7 @@ void init(void)
#endif
#ifdef USE_TRANSPONDER
if (featureConfigured(FEATURE_TRANSPONDER)) {
if (featureIsEnabled(FEATURE_TRANSPONDER)) {
transponderInit();
transponderStartRepeating();
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
@ -711,7 +711,7 @@ void init(void)
batteryInit(); // always needs doing, regardless of features.
#ifdef USE_DASHBOARD
if (featureConfigured(FEATURE_DASHBOARD)) {
if (featureIsEnabled(FEATURE_DASHBOARD)) {
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
dashboardShowFixedPage(PAGE_GPS);
#else

6
src/main/fc/fc_rc.c
View File

@ -203,7 +203,7 @@ static void checkForThrottleErrorResetState(uint16_t rxRefreshRate)
const int rxRefreshRateMs = rxRefreshRate / 1000;
const int indexMax = constrain(THROTTLE_DELTA_MS / rxRefreshRateMs, 1, THROTTLE_BUFFER_MAX);
const int16_t throttleVelocityThreshold = (featureConfigured(FEATURE_3D)) ? currentPidProfile->itermThrottleThreshold / 2 : currentPidProfile->itermThrottleThreshold;
const int16_t throttleVelocityThreshold = (featureIsEnabled(FEATURE_3D)) ? currentPidProfile->itermThrottleThreshold / 2 : currentPidProfile->itermThrottleThreshold;
rcCommandThrottlePrevious[index++] = rcCommand[THROTTLE];
if (index >= indexMax) {
@ -621,7 +621,7 @@ FAST_CODE FAST_CODE_NOINLINE void updateRcCommands(void)
}
int32_t tmp;
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - PWM_RANGE_MIN);
} else {
@ -635,7 +635,7 @@ FAST_CODE FAST_CODE_NOINLINE void updateRcCommands(void)
rcCommand[THROTTLE] = rcLookupThrottle(tmp);
if (featureConfigured(FEATURE_3D) && !failsafeIsActive()) {
if (featureIsEnabled(FEATURE_3D) && !failsafeIsActive()) {
if (!flight3DConfig()->switched_mode3d) {
if (IS_RC_MODE_ACTIVE(BOX3D)) {
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);

24
src/main/fc/fc_tasks.c
View File

@ -216,7 +216,7 @@ static void taskCalculateAltitude(timeUs_t currentTimeUs)
#ifdef USE_TELEMETRY
static void taskTelemetry(timeUs_t currentTimeUs)
{
if (!cliMode && featureConfigured(FEATURE_TELEMETRY)) {
if (!cliMode && featureIsEnabled(FEATURE_TELEMETRY)) {
subTaskTelemetryPollSensors(currentTimeUs);
telemetryProcess(currentTimeUs);
@ -251,12 +251,12 @@ void fcTasksInit(void)
#ifdef USE_OSD_SLAVE
const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts;
#else
const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || featureConfigured(FEATURE_OSD);
const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || featureIsEnabled(FEATURE_OSD);
#endif
setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
#ifdef USE_TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, featureConfigured(FEATURE_TRANSPONDER));
setTaskEnabled(TASK_TRANSPONDER, featureIsEnabled(FEATURE_TRANSPONDER));
#endif
#ifdef STACK_CHECK
@ -285,7 +285,7 @@ void fcTasksInit(void)
setTaskEnabled(TASK_BEEPER, true);
#endif
#ifdef USE_GPS
setTaskEnabled(TASK_GPS, featureConfigured(FEATURE_GPS));
setTaskEnabled(TASK_GPS, featureIsEnabled(FEATURE_GPS));
#endif
#ifdef USE_MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
@ -294,13 +294,13 @@ void fcTasksInit(void)
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
#endif
#if defined(USE_BARO) || defined(USE_GPS)
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || featureConfigured(FEATURE_GPS));
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || featureIsEnabled(FEATURE_GPS));
#endif
#ifdef USE_DASHBOARD
setTaskEnabled(TASK_DASHBOARD, featureConfigured(FEATURE_DASHBOARD));
setTaskEnabled(TASK_DASHBOARD, featureIsEnabled(FEATURE_DASHBOARD));
#endif
#ifdef USE_TELEMETRY
if (featureConfigured(FEATURE_TELEMETRY)) {
if (featureIsEnabled(FEATURE_TELEMETRY)) {
setTaskEnabled(TASK_TELEMETRY, true);
if (rxConfig()->serialrx_provider == SERIALRX_JETIEXBUS) {
// Reschedule telemetry to 500hz for Jeti Exbus
@ -312,19 +312,19 @@ void fcTasksInit(void)
}
#endif
#ifdef USE_LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, featureConfigured(FEATURE_LED_STRIP));
setTaskEnabled(TASK_LEDSTRIP, featureIsEnabled(FEATURE_LED_STRIP));
#endif
#ifdef USE_TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, featureConfigured(FEATURE_TRANSPONDER));
setTaskEnabled(TASK_TRANSPONDER, featureIsEnabled(FEATURE_TRANSPONDER));
#endif
#ifdef USE_OSD
setTaskEnabled(TASK_OSD, featureConfigured(FEATURE_OSD) && osdInitialized());
setTaskEnabled(TASK_OSD, featureIsEnabled(FEATURE_OSD) && osdInitialized()));
#endif
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
#ifdef USE_ESC_SENSOR
setTaskEnabled(TASK_ESC_SENSOR, featureConfigured(FEATURE_ESC_SENSOR));
setTaskEnabled(TASK_ESC_SENSOR, featureIsEnabled(FEATURE_ESC_SENSOR));
#endif
#ifdef USE_ADC_INTERNAL
setTaskEnabled(TASK_ADC_INTERNAL, true);
@ -336,7 +336,7 @@ void fcTasksInit(void)
#ifdef USE_MSP_DISPLAYPORT
setTaskEnabled(TASK_CMS, true);
#else
setTaskEnabled(TASK_CMS, featureConfigured(FEATURE_OSD) || featureConfigured(FEATURE_DASHBOARD));
setTaskEnabled(TASK_CMS, featureIsEnabled(FEATURE_OSD) || featureIsEnabled(FEATURE_DASHBOARD));
#endif
#endif
#ifdef USE_VTX_CONTROL

6
src/main/fc/rc_controls.c
View File

@ -113,7 +113,7 @@ bool areSticksInApModePosition(uint16_t ap_mode)
throttleStatus_e calculateThrottleStatus(void)
{
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
if (IS_RC_MODE_ACTIVE(BOX3D) || flight3DConfig()->switched_mode3d) {
if (rcData[THROTTLE] < rxConfig()->mincheck) {
return THROTTLE_LOW;
@ -240,7 +240,7 @@ void processRcStickPositions()
gyroStartCalibration(false);
#ifdef USE_GPS
if (featureConfigured(FEATURE_GPS)) {
if (featureIsEnabled(FEATURE_GPS)) {
GPS_reset_home_position();
}
#endif
@ -253,7 +253,7 @@ void processRcStickPositions()
return;
}
if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
// Inflight ACC Calibration
handleInflightCalibrationStickPosition();
return;

2
src/main/fc/rc_modes.c
View File

@ -59,7 +59,7 @@ void rcModeUpdate(boxBitmask_t *newState)
}
bool isAirmodeActive(void) {
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || featureConfigured(FEATURE_AIRMODE));
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || featureIsEnabled(FEATURE_AIRMODE));
}
bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range) {

12
src/main/flight/mixer.c
View File

@ -383,7 +383,7 @@ void initEscEndpoints(void)
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
disarmMotorOutput = DSHOT_DISARM_COMMAND;
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
} else {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
@ -395,7 +395,7 @@ void initEscEndpoints(void)
break;
#endif
default:
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
disarmMotorOutput = flight3DConfig()->neutral3d;
motorOutputLow = flight3DConfig()->limit3d_low;
motorOutputHigh = flight3DConfig()->limit3d_high;
@ -536,7 +536,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
static timeUs_t reversalTimeUs = 0; // time when motors last reversed in 3D mode
float currentThrottleInputRange = 0;
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
if (!ARMING_FLAG(ARMED)) {
rcThrottlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
}
@ -708,7 +708,7 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS])
motorOutput = constrain(motorOutput, motorRangeMin, motorRangeMax);
}
// Motor stop handling
if (featureConfigured(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !featureConfigured(FEATURE_3D) && !isAirmodeActive()) {
if (featureIsEnabled(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !featureIsEnabled(FEATURE_3D) && !isAirmodeActive()) {
if (((rcData[THROTTLE]) < rxConfig()->mincheck)) {
motorOutput = disarmMotorOutput;
}
@ -851,7 +851,7 @@ float convertExternalToMotor(uint16_t externalValue)
case true:
externalValue = constrain(externalValue, PWM_RANGE_MIN, PWM_RANGE_MAX);
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
if (externalValue == PWM_RANGE_MID) {
motorValue = DSHOT_DISARM_COMMAND;
} else if (externalValue < PWM_RANGE_MID) {
@ -880,7 +880,7 @@ uint16_t convertMotorToExternal(float motorValue)
switch ((int)isMotorProtocolDshot()) {
#ifdef USE_DSHOT
case true:
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
if (motorValue == DSHOT_DISARM_COMMAND || motorValue < DSHOT_MIN_THROTTLE) {
externalValue = PWM_RANGE_MID;
} else if (motorValue <= DSHOT_3D_DEADBAND_LOW) {

10
src/main/flight/servos.c
View File

@ -224,7 +224,7 @@ void servosInit(void)
// enable servos for mixes that require them. note, this shifts motor counts.
useServo = mixers[currentMixerMode].useServo;
// if we want camstab/trig, that also enables servos, even if mixer doesn't
if (featureConfigured(FEATURE_SERVO_TILT) || featureConfigured(FEATURE_CHANNEL_FORWARDING)) {
if (featureIsEnabled(FEATURE_SERVO_TILT) || featureIsEnabled(FEATURE_CHANNEL_FORWARDING)) {
useServo = 1;
}
@ -377,13 +377,13 @@ void writeServos(void)
}
// Two servos for SERVO_TILT, if enabled
if (featureConfigured(FEATURE_SERVO_TILT) || currentMixerMode == MIXER_GIMBAL) {
if (featureIsEnabled(FEATURE_SERVO_TILT) || currentMixerMode == MIXER_GIMBAL) {
updateGimbalServos(servoIndex);
servoIndex += 2;
}
// forward AUX to remaining servo outputs (not constrained)
if (featureConfigured(FEATURE_CHANNEL_FORWARDING)) {
if (featureIsEnabled(FEATURE_CHANNEL_FORWARDING)) {
forwardAuxChannelsToServos(servoIndex);
servoIndex += MAX_AUX_CHANNEL_COUNT;
}
@ -406,7 +406,7 @@ void servoMixer(void)
input[INPUT_STABILIZED_YAW] = pidData[FD_YAW].Sum * PID_SERVO_MIXER_SCALING;
// Reverse yaw servo when inverted in 3D mode
if (featureConfigured(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) {
if (featureIsEnabled(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) {
input[INPUT_STABILIZED_YAW] *= -1;
}
}
@ -498,7 +498,7 @@ static void servoTable(void)
}
// camera stabilization
if (featureConfigured(FEATURE_SERVO_TILT)) {
if (featureIsEnabled(FEATURE_SERVO_TILT)) {
// center at fixed position, or vary either pitch or roll by RC channel
servo[SERVO_GIMBAL_PITCH] = determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
servo[SERVO_GIMBAL_ROLL] = determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);

50
src/main/interface/cli.c
View File

@ -179,6 +179,9 @@ static bool configIsInCopy = false;
static int8_t pidProfileIndexToUse = CURRENT_PROFILE_INDEX;
static int8_t rateProfileIndexToUse = CURRENT_PROFILE_INDEX;
static bool featureMaskIsCopied = false;
static uint32_t featureMaskCopy;
#if defined(USE_BOARD_INFO)
static bool boardInformationUpdated = false;
#if defined(USE_SIGNATURE)
@ -2345,9 +2348,18 @@ static void cliMcuId(char *cmdline)
cliPrintLinef("mcu_id %08x%08x%08x", U_ID_0, U_ID_1, U_ID_2);
}
static uint32_t getFeatureMask(const uint32_t featureMask)
{
if (featureMaskIsCopied) {
return featureMaskCopy;
} else {
return featureMask;
}
}
static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfig, const featureConfig_t *featureConfigDefault)
{
const uint32_t mask = featureConfig->enabledFeatures;
const uint32_t mask = getFeatureMask(featureConfig->enabledFeatures);
const uint32_t defaultMask = featureConfigDefault->enabledFeatures;
for (uint32_t i = 0; featureNames[i]; i++) { // disabled features first
if (strcmp(featureNames[i], emptyString) != 0) { //Skip unused
@ -2372,16 +2384,17 @@ static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfig,
static void cliFeature(char *cmdline)
{
uint32_t len = strlen(cmdline);
uint32_t mask = featureMask();
const uint32_t mask = getFeatureMask(featureMask());
if (len == 0) {
cliPrint("Enabled: ");
for (uint32_t i = 0; ; i++) {
if (featureNames[i] == NULL)
if (featureNames[i] == NULL) {
break;
if (mask & (1 << i))
}
if (mask & (1 << i)) {
cliPrintf("%s ", featureNames[i]);
}
}
cliPrintLinefeed();
} else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available:");
@ -2394,6 +2407,12 @@ static void cliFeature(char *cmdline)
cliPrintLinefeed();
return;
} else {
if (!featureMaskIsCopied) {
featureMaskCopy = featureMask();
featureMaskIsCopied = true;
}
uint32_t feature;
bool remove = false;
if (cmdline[0] == '-') {
// remove feature
@ -2409,25 +2428,24 @@ static void cliFeature(char *cmdline)
}
if (strncasecmp(cmdline, featureNames[i], len) == 0) {
mask = 1 << i;
feature = 1 << i;
#ifndef USE_GPS
if (mask & FEATURE_GPS) {
if (feature & FEATURE_GPS) {
cliPrintLine("unavailable");
break;
}
#endif
#ifndef USE_RANGEFINDER
if (mask & FEATURE_RANGEFINDER) {
if (feature & FEATURE_RANGEFINDER) {
cliPrintLine("unavailable");
break;
}
#endif
if (remove) {
featureClear(mask);
featureClear(feature, &featureMaskCopy);
cliPrint("Disabled");
} else {
featureSet(mask);
featureSet(feature, &featureMaskCopy);
cliPrint("Enabled");
}
cliPrintLinef(" %s", featureNames[i]);
@ -2946,7 +2964,7 @@ static void cliDshotProg(char *cmdline)
pwmWriteDshotCommand(escIndex, getMotorCount(), command, true);
} else {
#if defined(USE_ESC_SENSOR) && defined(USE_ESC_SENSOR_INFO)
if (featureConfigured(FEATURE_ESC_SENSOR)) {
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
if (escIndex != ALL_MOTORS) {
executeEscInfoCommand(escIndex);
} else {
@ -3238,7 +3256,11 @@ static void cliSave(char *cmdline)
#endif
#endif // USE_BOARD_INFO
if (featureMaskIsCopied) {
writeEEPROMWithFeatures(featureMaskCopy);
} else {
writeEEPROM();
}
cliReboot();
}
@ -4642,9 +4664,9 @@ void cliEnter(serialPort_t *serialPort)
#else
cliPrintLine("\r\nCLI");
#endif
cliPrompt();
setArmingDisabled(ARMING_DISABLED_CLI);
cliPrompt();
}
void cliInit(const serialConfig_t *serialConfig)

32
src/main/interface/msp.c
View File

@ -165,6 +165,18 @@ typedef enum {
#define RTC_NOT_SUPPORTED 0xff
static bool featureMaskIsCopied = false;
static uint32_t featureMaskCopy;
static uint32_t getFeatureMask(void)
{
if (featureMaskIsCopied) {
return featureMaskCopy;
} else {
return featureMask();
}
}
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
#define ESC_4WAY 0xff
@ -531,7 +543,7 @@ static bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProce
break;
case MSP_FEATURE_CONFIG:
sbufWriteU32(dst, featureMask());
sbufWriteU32(dst, getFeatureMask());
break;
#ifdef USE_BEEPER
@ -1018,7 +1030,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
#if defined(USE_ESC_SENSOR)
case MSP_ESC_SENSOR_DATA:
if (featureConfigured(FEATURE_ESC_SENSOR)) {
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
sbufWriteU8(dst, getMotorCount());
for (int i = 0; i < getMotorCount(); i++) {
const escSensorData_t *escData = getEscSensorData(i);
@ -1552,7 +1564,11 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
readEEPROM();
break;
case MSP_EEPROM_WRITE:
if (featureMaskIsCopied) {
writeEEPROMWithFeatures(featureMaskCopy);
} else {
writeEEPROM();
}
readEEPROM();
break;
default:
@ -1999,7 +2015,12 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (ARMING_FLAG(ARMED)) {
return MSP_RESULT_ERROR;
}
if (featureMaskIsCopied) {
writeEEPROMWithFeatures(featureMaskCopy);
} else {
writeEEPROM();
}
readEEPROM();
break;
@ -2124,8 +2145,11 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
#endif // USE_GPS
case MSP_SET_FEATURE_CONFIG:
featureClearAll();
featureSet(sbufReadU32(src)); // features bitmap
featureMaskCopy = sbufReadU32(src);
if (!featureMaskIsCopied) {
featureMaskIsCopied = true;
}
break;
#ifdef USE_BEEPER

18
src/main/interface/msp_box.c
View File

@ -166,11 +166,11 @@ void initActiveBoxIds(void)
#define BME(boxId) do { bitArraySet(&ena, boxId); } while (0)
BME(BOXARM);
BME(BOXPREARM);
if (!featureConfigured(FEATURE_AIRMODE)) {
if (!featureIsEnabled(FEATURE_AIRMODE)) {
BME(BOXAIRMODE);
}
if (!featureConfigured(FEATURE_ANTI_GRAVITY)) {
if (!featureIsEnabled(FEATURE_ANTI_GRAVITY)) {
BME(BOXANTIGRAVITY);
}
@ -188,9 +188,9 @@ void initActiveBoxIds(void)
#endif
#ifdef USE_GPS
if (featureConfigured(FEATURE_GPS)) {
if (featureIsEnabled(FEATURE_GPS)) {
#ifdef USE_GPS_RESCUE
if (!featureConfigured(FEATURE_3D)) {
if (!featureIsEnabled(FEATURE_3D)) {
BME(BOXGPSRESCUE);
}
#endif
@ -207,7 +207,7 @@ void initActiveBoxIds(void)
BME(BOXBEEPERON);
#ifdef USE_LED_STRIP
if (featureConfigured(FEATURE_LED_STRIP)) {
if (featureIsEnabled(FEATURE_LED_STRIP)) {
BME(BOXLEDLOW);
}
#endif
@ -221,7 +221,7 @@ void initActiveBoxIds(void)
BME(BOXFPVANGLEMIX);
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
BME(BOX3D);
}
@ -229,18 +229,18 @@ void initActiveBoxIds(void)
BME(BOXFLIPOVERAFTERCRASH);
}
if (featureConfigured(FEATURE_SERVO_TILT)) {
if (featureIsEnabled(FEATURE_SERVO_TILT)) {
BME(BOXCAMSTAB);
}
if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL)) {
if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
BME(BOXCALIB);
}
BME(BOXOSD);
#ifdef USE_TELEMETRY
if (featureConfigured(FEATURE_TELEMETRY)) {
if (featureIsEnabled(FEATURE_TELEMETRY)) {
BME(BOXTELEMETRY);
}
#endif

2
src/main/io/beeper.c
View File

@ -384,7 +384,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) {
beeper(BEEPER_RX_SET);
#ifdef USE_GPS
} else if (featureConfigured(FEATURE_GPS) && IS_RC_MODE_ACTIVE(BOXBEEPGPSCOUNT)) {
} else if (featureIsEnabled(FEATURE_GPS) && IS_RC_MODE_ACTIVE(BOXBEEPGPSCOUNT)) {
beeperGpsStatus();
#endif
}

2
src/main/io/dashboard.c
View File

@ -357,7 +357,7 @@ static void showProfilePage(void)
#ifdef USE_GPS
static void showGpsPage(void)
{
if (!featureConfigured(FEATURE_GPS)) {
if (!featureIsEnabled(FEATURE_GPS)) {
pageState.pageFlags |= PAGE_STATE_FLAG_FORCE_PAGE_CHANGE;
return;
}

4
src/main/io/gps.c
View File

@ -1214,7 +1214,7 @@ static void gpsHandlePassthrough(uint8_t data)
{
gpsNewData(data);
#ifdef USE_DASHBOARD
if (featureConfigured(FEATURE_DASHBOARD)) {
if (featureIsEnabled(FEATURE_DASHBOARD)) {
dashboardUpdate(micros());
}
#endif
@ -1230,7 +1230,7 @@ void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort)
serialSetMode(gpsPort, gpsPort->mode | MODE_TX);
#ifdef USE_DASHBOARD
if (featureConfigured(FEATURE_DASHBOARD)) {
if (featureIsEnabled(FEATURE_DASHBOARD)) {
dashboardShowFixedPage(PAGE_GPS);
}
#endif

12
src/main/io/osd.c
View File

@ -788,7 +788,7 @@ static bool osdDrawSingleElement(uint8_t item)
#ifdef USE_ESC_SENSOR
// Show warning if we lose motor output, the ESC is overheating or excessive current draw
if (featureConfigured(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
if (featureIsEnabled(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
char escWarningMsg[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
unsigned pos = 0;
@ -956,13 +956,13 @@ static bool osdDrawSingleElement(uint8_t item)
#ifdef USE_ESC_SENSOR
case OSD_ESC_TMP:
if (featureConfigured(FEATURE_ESC_SENSOR)) {
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
tfp_sprintf(buff, "%3d%c", osdConvertTemperatureToSelectedUnit(escDataCombined->temperature * 10) / 10, osdGetTemperatureSymbolForSelectedUnit());
}
break;
case OSD_ESC_RPM:
if (featureConfigured(FEATURE_ESC_SENSOR)) {
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
tfp_sprintf(buff, "%5d", escDataCombined == NULL ? 0 : calcEscRpm(escDataCombined->rpm));
}
break;
@ -1040,7 +1040,7 @@ static void osdDrawElements(void)
#endif // GPS
#ifdef USE_ESC_SENSOR
if (featureConfigured(FEATURE_ESC_SENSOR)) {
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
osdDrawSingleElement(OSD_ESC_TMP);
osdDrawSingleElement(OSD_ESC_RPM);
}
@ -1226,7 +1226,7 @@ void osdUpdateAlarms(void)
}
#ifdef USE_ESC_SENSOR
if (featureConfigured(FEATURE_ESC_SENSOR)) {
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
// This works because the combined ESC data contains the maximum temperature seen amongst all ESCs
if (osdConfig()->esc_temp_alarm != ESC_TEMP_ALARM_OFF && escDataCombined->temperature >= osdConfig()->esc_temp_alarm) {
SET_BLINK(OSD_ESC_TMP);
@ -1560,7 +1560,7 @@ STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
blinkState = (currentTimeUs / 200000) % 2;
#ifdef USE_ESC_SENSOR
if (featureConfigured(FEATURE_ESC_SENSOR)) {
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
escDataCombined = getEscSensorData(ESC_SENSOR_COMBINED);
}
#endif

2
src/main/io/vtx_rtc6705.c
View File

@ -72,7 +72,7 @@ bool vtxRTC6705Init(void)
bool vtxRTC6705CanUpdate(void)
{
#if defined(MAX7456_SPI_INSTANCE) && defined(RTC6705_SPI_INSTANCE) && defined(SPI_SHARED_MAX7456_AND_RTC6705)
if (featureConfigured(FEATURE_OSD)) {
if (featureIsEnabled(FEATURE_OSD)) {
return !max7456DmaInProgress();
}
#endif

6
src/main/osd_slave/osd_slave_init.c
View File

@ -233,7 +233,7 @@ void init(void)
adcConfigMutable()->vbat.enabled = (batteryConfig()->voltageMeterSource == VOLTAGE_METER_ADC);
adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
adcConfigMutable()->rssi.enabled = featureConfigured(FEATURE_RSSI_ADC);
adcConfigMutable()->rssi.enabled = featureIsEnabled(FEATURE_RSSI_ADC);
adcInit(adcConfig());
#endif
@ -275,7 +275,7 @@ void init(void)
#ifdef USE_LED_STRIP
ledStripInit();
if (featureConfigured(FEATURE_LED_STRIP)) {
if (featureIsEnabled(FEATURE_LED_STRIP)) {
ledStripEnable();
}
#endif
@ -285,7 +285,7 @@ void init(void)
#endif
#ifdef USE_TRANSPONDER
if (featureConfigured(FEATURE_TRANSPONDER)) {
if (featureIsEnabled(FEATURE_TRANSPONDER)) {
transponderInit();
transponderStartRepeating();
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;

2
src/main/rx/cc2500_frsky_d.c
View File

@ -305,7 +305,7 @@ rx_spi_received_e frSkyDHandlePacket(uint8_t * const packet, uint8_t * const pro
void frSkyDInit(void)
{
#if defined(USE_RX_FRSKY_SPI_TELEMETRY) && defined(USE_TELEMETRY_FRSKY_HUB)
if (featureConfigured(FEATURE_TELEMETRY)) {
if (featureIsEnabled(FEATURE_TELEMETRY)) {
telemetryEnabled = initFrSkyHubTelemetryExternal(frSkyDTelemetryWriteByte);
}
#endif

2
src/main/rx/cc2500_frsky_x.c
View File

@ -543,7 +543,7 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
void frSkyXInit(void)
{
#if defined(USE_TELEMETRY_SMARTPORT)
if (featureConfigured(FEATURE_TELEMETRY)) {
if (featureIsEnabled(FEATURE_TELEMETRY)) {
telemetryEnabled = initSmartPortTelemetryExternal(frSkyXTelemetryWriteFrame);
}
#endif

4
src/main/rx/pwm.c
View File

@ -60,10 +60,10 @@ void rxPwmInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
rxRuntimeConfig->rxRefreshRate = 20000;
// configure PWM/CPPM read function and max number of channels. serial rx below will override both of these, if enabled
if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT;
rxRuntimeConfig->rcReadRawFn = pwmReadRawRC;
} else if (featureConfigured(FEATURE_RX_PPM)) {
} else if (featureIsEnabled(FEATURE_RX_PPM)) {
rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT;
rxRuntimeConfig->rcReadRawFn = ppmReadRawRC;
}

20
src/main/rx/rx.c
View File

@ -248,7 +248,7 @@ void rxInit(void)
rcInvalidPulsPeriod[i] = millis() + MAX_INVALID_PULS_TIME;
}
rcData[THROTTLE] = (featureConfigured(FEATURE_3D)) ? rxConfig()->midrc : rxConfig()->rx_min_usec;
rcData[THROTTLE] = (featureIsEnabled(FEATURE_3D)) ? rxConfig()->midrc : rxConfig()->rx_min_usec;
// Initialize ARM switch to OFF position when arming via switch is defined
// TODO - move to rc_mode.c
@ -268,7 +268,7 @@ void rxInit(void)
}
#ifdef USE_SERIAL_RX
if (featureConfigured(FEATURE_RX_SERIAL)) {
if (featureIsEnabled(FEATURE_RX_SERIAL)) {
const bool enabled = serialRxInit(rxConfig(), &rxRuntimeConfig);
if (!enabled) {
rxRuntimeConfig.rcReadRawFn = nullReadRawRC;
@ -278,14 +278,14 @@ void rxInit(void)
#endif
#ifdef USE_RX_MSP
if (featureConfigured(FEATURE_RX_MSP)) {
if (featureIsEnabled(FEATURE_RX_MSP)) {
rxMspInit(rxConfig(), &rxRuntimeConfig);
needRxSignalMaxDelayUs = DELAY_5_HZ;
}
#endif
#ifdef USE_RX_SPI
if (featureConfigured(FEATURE_RX_SPI)) {
if (featureIsEnabled(FEATURE_RX_SPI)) {
const bool enabled = rxSpiInit(rxSpiConfig(), &rxRuntimeConfig);
if (!enabled) {
rxRuntimeConfig.rcReadRawFn = nullReadRawRC;
@ -295,13 +295,13 @@ void rxInit(void)
#endif
#if defined(USE_PWM) || defined(USE_PPM)
if (featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
if (featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
rxPwmInit(rxConfig(), &rxRuntimeConfig);
}
#endif
#if defined(USE_ADC)
if (featureConfigured(FEATURE_RSSI_ADC)) {
if (featureIsEnabled(FEATURE_RSSI_ADC)) {
rssiSource = RSSI_SOURCE_ADC;
} else
#endif
@ -344,14 +344,14 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
bool useDataDrivenProcessing = true;
#if defined(USE_PWM) || defined(USE_PPM)
if (featureConfigured(FEATURE_RX_PPM)) {
if (featureIsEnabled(FEATURE_RX_PPM)) {
if (isPPMDataBeingReceived()) {
signalReceived = true;
rxIsInFailsafeMode = false;
needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
resetPPMDataReceivedState();
}
} else if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
} else if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
if (isPWMDataBeingReceived()) {
signalReceived = true;
rxIsInFailsafeMode = false;
@ -435,7 +435,7 @@ static uint16_t getRxfailValue(uint8_t channel)
case YAW:
return rxConfig()->midrc;
case THROTTLE:
if (featureConfigured(FEATURE_3D))
if (featureIsEnabled(FEATURE_3D))
return rxConfig()->midrc;
else
return rxConfig()->rx_min_usec;
@ -510,7 +510,7 @@ static void detectAndApplySignalLossBehaviour(void)
}
}
}
if (featureConfigured(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM)) {
if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM)) {
// smooth output for PWM and PPM
rcData[channel] = calculateChannelMovingAverage(channel, sample);
} else {

4
src/main/rx/spektrum.c
View File

@ -238,7 +238,7 @@ void spektrumBind(rxConfig_t *rxConfig)
switch (rxConfig->serialrx_provider) {
case SERIALRX_SRXL:
#if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
if (featureConfigured(FEATURE_TELEMETRY) && !telemetryCheckRxPortShared(portConfig)) {
if (featureIsEnabled(FEATURE_TELEMETRY) && !telemetryCheckRxPortShared(portConfig)) {
bindPin = txPin;
}
break;
@ -322,7 +322,7 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
switch (rxConfig->serialrx_provider) {
case SERIALRX_SRXL:
#if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
srxlEnabled = (featureConfigured(FEATURE_TELEMETRY) && !portShared);
srxlEnabled = (featureIsEnabled(FEATURE_TELEMETRY) && !portShared);
FALLTHROUGH;
#endif
case SERIALRX_SPEKTRUM2048:

2
src/main/sensors/acceleration.c
View File

@ -528,7 +528,7 @@ void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
performAcclerationCalibration(rollAndPitchTrims);
}
if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL)) {
if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
performInflightAccelerationCalibration(rollAndPitchTrims);
}

6
src/main/sensors/battery.c
View File

@ -121,7 +121,7 @@ void batteryUpdateVoltage(timeUs_t currentTimeUs)
switch (batteryConfig()->voltageMeterSource) {
#ifdef USE_ESC_SENSOR
case VOLTAGE_METER_ESC:
if (featureConfigured(FEATURE_ESC_SENSOR)) {
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
voltageMeterESCRefresh();
voltageMeterESCReadCombined(&voltageMeter);
}
@ -399,7 +399,7 @@ void batteryUpdateCurrentMeter(timeUs_t currentTimeUs)
case CURRENT_METER_VIRTUAL: {
#ifdef USE_VIRTUAL_CURRENT_METER
throttleStatus_e throttleStatus = calculateThrottleStatus();
bool throttleLowAndMotorStop = (throttleStatus == THROTTLE_LOW && featureConfigured(FEATURE_MOTOR_STOP));
bool throttleLowAndMotorStop = (throttleStatus == THROTTLE_LOW && featureIsEnabled(FEATURE_MOTOR_STOP));
int32_t throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
currentMeterVirtualRefresh(lastUpdateAt, ARMING_FLAG(ARMED), throttleLowAndMotorStop, throttleOffset);
@ -410,7 +410,7 @@ void batteryUpdateCurrentMeter(timeUs_t currentTimeUs)
case CURRENT_METER_ESC:
#ifdef USE_ESC_SENSOR
if (featureConfigured(FEATURE_ESC_SENSOR)) {
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
currentMeterESCRefresh(lastUpdateAt);
currentMeterESCReadCombined(&currentMeter);
}

2
src/main/sensors/esc_sensor.c
View File

@ -148,7 +148,7 @@ bool isEscSensorActive(void)
escSensorData_t *getEscSensorData(uint8_t motorNumber)
{
if (!featureConfigured(FEATURE_ESC_SENSOR)) {
if (!featureIsEnabled(FEATURE_ESC_SENSOR)) {
return NULL;
}

2
src/main/sensors/gyro.c
View File

@ -744,7 +744,7 @@ static void gyroInitFilterNotch2(gyroSensor_t *gyroSensor, uint16_t notchHz, uin
#ifdef USE_GYRO_DATA_ANALYSE
static bool isDynamicFilterActive(void)
{
return featureConfigured(FEATURE_DYNAMIC_FILTER);
return featureIsEnabled(FEATURE_DYNAMIC_FILTER);
}
static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)

2
src/main/target/ALIENFLIGHTF3/config.c
View File

@ -101,7 +101,7 @@ void targetConfiguration(void)
rxConfigMutable()->serialrx_inverted = true;
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB | FUNCTION_RX_SERIAL;
telemetryConfigMutable()->telemetry_inverted = false;
featureSet(FEATURE_TELEMETRY);
featureEnable(FEATURE_TELEMETRY);
beeperDevConfigMutable()->isOpenDrain = false;
beeperDevConfigMutable()->isInverted = true;
parseRcChannels("AETR1234", rxConfigMutable());

2
src/main/target/ALIENFLIGHTF4/config.c
View File

@ -73,7 +73,7 @@ void targetConfiguration(void)
telemetryConfigMutable()->telemetry_inverted = false;
batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_ADC;
batteryConfigMutable()->currentMeterSource = CURRENT_METER_ADC;
featureSet(FEATURE_TELEMETRY);
featureEnable(FEATURE_TELEMETRY);
}
for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {

2
src/main/target/ALIENFLIGHTNGF7/config.c
View File

@ -72,7 +72,7 @@ void targetConfiguration(void)
telemetryConfigMutable()->telemetry_inverted = false;
batteryConfigMutable()->voltageMeterSource = VOLTAGE_METER_ADC;
batteryConfigMutable()->currentMeterSource = CURRENT_METER_ADC;
featureSet(FEATURE_TELEMETRY);
featureEnable(FEATURE_TELEMETRY);
}
for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {

2
src/main/target/ALIENWHOOP/config.c
View File

@ -113,7 +113,7 @@ void targetConfiguration(void)
pidConfigMutable()->runaway_takeoff_prevention = false;
featureSet((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);
featureEnable((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);
/* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {

2
src/main/target/BLUEJAYF4/initialisation.c
View File

@ -56,7 +56,7 @@ void targetPreInit(void)
serialPortConfig_t *portConfig = serialFindPortConfiguration(SERIAL_PORT_USART1);
if (portConfig) {
bool smartportEnabled = (portConfig->functionMask & FUNCTION_TELEMETRY_SMARTPORT);
if (smartportEnabled && (!telemetryConfig()->telemetry_inverted) && (featureConfigured(FEATURE_TELEMETRY))) {
if (smartportEnabled && (!telemetryConfig()->telemetry_inverted) && (featureIsEnabled(FEATURE_TELEMETRY))) {
high = true;
}
}

6
src/main/target/COLIBRI_RACE/i2c_bst.c
View File

@ -558,10 +558,10 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
readEEPROM();
break;
case BST_SET_FEATURE:
featureClearAll();
featureSet(bstRead32()); // features bitmap
featureDisableAll();
featureEnable(bstRead32()); // features bitmap
#ifdef SERIALRX_UART
if (featureConfigured(FEATURE_RX_SERIAL)) {
if (featureIsEnabled(FEATURE_RX_SERIAL)) {
serialConfigMutable()->portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
} else {
serialConfigMutable()->portConfigs[SERIALRX_UART].functionMask = FUNCTION_NONE;

2
src/main/target/FF_FORTINIF4/config.c
View File

@ -35,7 +35,7 @@
void targetConfiguration(void)
{
if (hardwareRevision >= FORTINIF4_REV_2) {
featureSet(FEATURE_OSD);
featureEnable(FEATURE_OSD);
}
telemetryConfigMutable()->halfDuplex = false;

2
src/main/target/FF_PIKOBLX/config.c
View File

@ -65,7 +65,7 @@ void targetConfiguration(void)
#else
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB;
rxConfigMutable()->serialrx_inverted = true;
featureSet(FEATURE_TELEMETRY);
featureEnable(FEATURE_TELEMETRY);
#endif
parseRcChannels("TAER1234", rxConfigMutable());

2
src/main/target/SITL/target.c
View File

@ -436,7 +436,7 @@ void pwmCompleteMotorUpdate(uint8_t motorCount) {
// for gazebo8 ArduCopterPlugin remap, normal range = [0.0, 1.0], 3D rang = [-1.0, 1.0]
double outScale = 1000.0;
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
outScale = 500.0;
}

2
src/main/telemetry/crsf.c
View File

@ -445,7 +445,7 @@ void initCrsfTelemetry(void)
crsfSchedule[index++] = BV(CRSF_FRAME_BATTERY_SENSOR_INDEX);
}
crsfSchedule[index++] = BV(CRSF_FRAME_FLIGHT_MODE_INDEX);
if (featureConfigured(FEATURE_GPS)) {
if (featureIsEnabled(FEATURE_GPS)) {
crsfSchedule[index++] = BV(CRSF_FRAME_GPS_INDEX);
}
crsfScheduleCount = (uint8_t)index;

2
src/main/telemetry/frsky_hub.c
View File

@ -193,7 +193,7 @@ static void sendThrottleOrBatterySizeAsRpm(void)
if (ARMING_FLAG(ARMED)) {
const throttleStatus_e throttleStatus = calculateThrottleStatus();
uint16_t throttleForRPM = rcCommand[THROTTLE] / BLADE_NUMBER_DIVIDER;
if (throttleStatus == THROTTLE_LOW && featureConfigured(FEATURE_MOTOR_STOP)) {
if (throttleStatus == THROTTLE_LOW && featureIsEnabled(FEATURE_MOTOR_STOP)) {
throttleForRPM = 0;
}
data = throttleForRPM;

2
src/main/telemetry/ibus_shared.c
View File

@ -228,7 +228,7 @@ static uint16_t getRPM()
if (ARMING_FLAG(ARMED)) {
const throttleStatus_e throttleStatus = calculateThrottleStatus();
rpm = rcCommand[THROTTLE]; // / BLADE_NUMBER_DIVIDER;
if (throttleStatus == THROTTLE_LOW && featureConfigured(FEATURE_MOTOR_STOP)) rpm = 0;
if (throttleStatus == THROTTLE_LOW && featureIsEnabled(FEATURE_MOTOR_STOP)) rpm = 0;
} else {
rpm = (uint16_t)(batteryConfig()->batteryCapacity); // / BLADE_NUMBER_DIVIDER
}

8
src/main/telemetry/smartport.c
View File

@ -318,7 +318,7 @@ static void smartPortSendPackage(uint16_t id, uint32_t val)
}
static bool reportExtendedEscSensors(void) {
return featureConfigured(FEATURE_ESC_SENSOR) && telemetryConfig()->smartport_use_extra_sensors;
return featureIsEnabled(FEATURE_ESC_SENSOR) && telemetryConfig()->smartport_use_extra_sensors;
}
#define ADD_SENSOR(dataId) frSkyDataIdTableInfo.table[frSkyDataIdTableInfo.index++] = dataId
@ -332,7 +332,7 @@ static void initSmartPortSensors(void)
if (isBatteryVoltageConfigured()) {
#ifdef USE_ESC_SENSOR
if (!featureConfigured(FEATURE_ESC_SENSOR)) {
if (!featureIsEnabled(FEATURE_ESC_SENSOR)) {
#endif
{
ADD_SENSOR(FSSP_DATAID_VFAS);
@ -365,7 +365,7 @@ static void initSmartPortSensors(void)
}
#ifdef USE_GPS
if (featureConfigured(FEATURE_GPS)) {
if (featureIsEnabled(FEATURE_GPS)) {
ADD_SENSOR(FSSP_DATAID_SPEED);
ADD_SENSOR(FSSP_DATAID_LATLONG);
ADD_SENSOR(FSSP_DATAID_LATLONG); // twice (one for lat, one for long)
@ -719,7 +719,7 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
// provide GPS lock status
smartPortSendPackage(id, (STATE(GPS_FIX) ? 1000 : 0) + (STATE(GPS_FIX_HOME) ? 2000 : 0) + gpsSol.numSat);
*clearToSend = false;
} else if (featureConfigured(FEATURE_GPS)) {
} else if (featureIsEnabled(FEATURE_GPS)) {
smartPortSendPackage(id, 0);
*clearToSend = false;
} else

2
src/test/unit/arming_prevention_unittest.cc
View File

@ -793,7 +793,7 @@ extern "C" {
uint32_t millis(void) { return micros() / 1000; }
bool rxIsReceivingSignal(void) { return simulationHaveRx; }
bool featureConfigured(uint32_t f) { return simulationFeatureFlags & f; }
bool featureIsEnabled(uint32_t f) { return simulationFeatureFlags & f; }
void warningLedFlash(void) {}
void warningLedDisable(void) {}
void warningLedUpdate(void) {}

2
src/test/unit/battery_unittest.cc.txt
View File

@ -273,7 +273,7 @@ uint8_t armingFlags = 0;
float rcCommand[4] = {0,0,0,0};
bool featureConfigured(uint32_t mask)
bool featureIsEnabled(uint32_t mask)
{
UNUSED(mask);
return false;

2
src/test/unit/blackbox_unittest.cc
View File

@ -388,7 +388,7 @@ bool sensors(uint32_t) {return false;}
void serialWrite(serialPort_t *, uint8_t) {}
uint32_t serialTxBytesFree(const serialPort_t *) {return 0;}
bool isSerialTransmitBufferEmpty(const serialPort_t *) {return false;}
bool featureConfigured(uint32_t) {return false;}
bool featureIsEnabled(uint32_t) {return false;}
void mspSerialReleasePortIfAllocated(serialPort_t *) {}
serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
serialPort_t *findSharedSerialPort(uint16_t , serialPortFunction_e ) {return NULL;}

2
src/test/unit/flight_failsafe_unittest.cc
View File

@ -567,7 +567,7 @@ throttleStatus_e calculateThrottleStatus()
void delay(uint32_t) {}
bool featureConfigured(uint32_t mask) {
bool featureIsEnabled(uint32_t mask) {
return (mask & testFeatureMask);
}

2
src/test/unit/flight_mixer_unittest.cc.txt
View File

@ -392,7 +392,7 @@ uint8_t armingFlags;
void delay(uint32_t) {}
bool featureConfigured(uint32_t mask) {
bool featureIsEnabled(uint32_t mask) {
return (mask & testFeatureMask);
}

2
src/test/unit/ledstrip_unittest.cc
View File

@ -352,7 +352,7 @@ void delay(uint32_t ms)
uint32_t micros(void) { return 0; }
bool shouldSoundBatteryAlarm(void) { return false; }
bool featureConfigured(uint32_t mask) {
bool featureIsEnabled(uint32_t mask) {
UNUSED(mask);
return false;
}

2
src/test/unit/rc_controls_unittest.cc
View File

@ -709,7 +709,7 @@ void gyroStartCalibration(bool isFirstArmingCalibration)
}
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
void handleInflightCalibrationStickPosition(void) {}
bool featureConfigured(uint32_t) { return false;}
bool featureIsEnabled(uint32_t) { return false;}
bool sensors(uint32_t) { return false;}
void tryArm(void) {}
void disarm(void) {}

2
src/test/unit/rcdevice_unittest.cc
View File

@ -845,7 +845,7 @@ extern "C" {
sbufWriteU8(dst, (uint8_t)val);
}
bool featureConfigured(uint32_t) { return false; }
bool featureIsEnabled(uint32_t) { return false; }
void serialWriteBuf(serialPort_t *instance, const uint8_t *data, int count)
{

4
src/test/unit/rx_ranges_unittest.cc
View File

@ -186,11 +186,11 @@ bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadR
return true;
}
bool featureConfigured(uint32_t) {
bool featureIsEnabled(uint32_t) {
return false;
}
void featureClear(uint32_t) {
void featureDisable(uint32_t) {
}
bool rxMspFrameComplete(void)

2
src/test/unit/telemetry_crsf_unittest.cc
View File

@ -293,7 +293,7 @@ void beeperConfirmationBeeps(uint8_t beepCount) {UNUSED(beepCount);}
uint32_t micros(void) {return 0;}
bool featureConfigured(uint32_t) {return true;}
bool featureIsEnabled(uint32_t) {return true;}
uint32_t serialRxBytesWaiting(const serialPort_t *) {return 0;}
uint32_t serialTxBytesFree(const serialPort_t *) {return 0;}

2
src/test/unit/telemetry_ibus_unittest.cc
View File

@ -108,7 +108,7 @@ throttleStatus_e calculateThrottleStatus(void)
return throttleStatus;
}
bool featureConfigured(uint32_t mask)
bool featureIsEnabled(uint32_t mask)
{
return (definedFeatures & mask) != 0;
}