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Removed calls to (latching) 'feature()'.

This commit is contained in:
mikeller 2018-07-01 23:26:12 +12:00
parent f463dad8bd
commit c99629bbf1
36 changed files with 432 additions and 145 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 || feature(FEATURE_RSSI_ADC);
return rxConfig()->rssi_channel > 0 || featureConfigured(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 (feature(FEATURE_GPS)) {
if (featureConfigured(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 (feature(FEATURE_GPS)) {
if (featureConfigured(FEATURE_GPS)) {
blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADER);
} else
#endif

2
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 = feature(FEATURE_LED_STRIP) ? 1 : 0;
cmsx_FeatureLedstrip = featureConfigured(FEATURE_LED_STRIP) ? 1 : 0;
featureRead = true;
}

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

@ -29,8 +29,6 @@
#include "pg/pg_ids.h"
static uint32_t activeFeaturesLatch = 0;
PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
@ -52,21 +50,11 @@ void intFeatureClearAll(uint32_t *features)
*features = 0;
}
void latchActiveFeatures(void)
{
activeFeaturesLatch = featureConfig()->enabledFeatures;
}
bool featureConfigured(uint32_t mask)
{
return featureConfig()->enabledFeatures & mask;
}
bool feature(uint32_t mask)
{
return activeFeaturesLatch & mask;
}
void featureSet(uint32_t mask)
{
intFeatureSet(mask, &featureConfigMutable()->enabledFeatures);

2
src/main/config/feature.h
View File

@ -62,9 +62,7 @@ typedef struct featureConfig_s {
PG_DECLARE(featureConfig_t, featureConfig);
void latchActiveFeatures(void);
bool featureConfigured(uint32_t mask);
bool feature(uint32_t mask);
void featureSet(uint32_t mask);
void featureClear(uint32_t mask);
void featureClearAll(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 = feature(FEATURE_3D)
bool ignoreThrottle = featureConfigured(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 && !feature(FEATURE_3D)) {
if (isMotorProtocolDshot() && flipOverAfterCrashMode && !featureConfigured(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 (!feature(FEATURE_3D)) {
if (!featureConfigured(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 (!feature(FEATURE_3D)) {
if (!featureConfigured(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 (feature(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5) {
if (featureConfigured(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 (feature(FEATURE_3D)
if (featureConfigured(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 (feature(FEATURE_3D)) {
if (featureConfigured(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 (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
if (!featureConfigured(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)
&& feature(FEATURE_MOTOR_STOP)
&& featureConfigured(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
&& !feature(FEATURE_3D)
&& !featureConfigured(FEATURE_3D)
&& !isAirmodeActive()
) {
if (isUsingSticksForArming()) {
@ -711,7 +711,7 @@ bool processRx(timeUs_t currentTimeUs)
processRcStickPositions();
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
@ -814,7 +814,7 @@ bool processRx(timeUs_t currentTimeUs)
}
#ifdef USE_TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if (featureConfigured(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
&& (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
&& (!featureConfigured(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)

53
src/main/fc/fc_init.c
View File

@ -255,9 +255,6 @@ void init(void)
debugMode = systemConfig()->debug_mode;
// Latch active features to be used for feature() in the remainder of init().
latchActiveFeatures();
#ifdef TARGET_PREINIT
targetPreInit();
#endif
@ -299,7 +296,7 @@ void init(void)
#endif
#if defined(USE_SPEKTRUM_BIND)
if (feature(FEATURE_RX_SERIAL)) {
if (featureConfigured(FEATURE_RX_SERIAL)) {
switch (rxConfig()->serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
@ -330,23 +327,23 @@ void init(void)
#endif
#if defined(AVOID_UART1_FOR_PWM_PPM)
serialInit(feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
serialInit(featureConfigured(FEATURE_SOFTSERIAL),
featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART2_FOR_PWM_PPM)
serialInit(feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
serialInit(featureConfigured(FEATURE_SOFTSERIAL),
featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART3_FOR_PWM_PPM)
serialInit(feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
serialInit(featureConfigured(FEATURE_SOFTSERIAL),
featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
#else
serialInit(feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
serialInit(featureConfigured(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
#endif
mixerInit(mixerConfig()->mixerMode);
mixerConfigureOutput();
uint16_t idlePulse = motorConfig()->mincommand;
if (feature(FEATURE_3D)) {
if (featureConfigured(FEATURE_3D)) {
idlePulse = flight3DConfig()->neutral3d;
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
@ -360,12 +357,12 @@ void init(void)
if (0) {}
#if defined(USE_PPM)
else if (feature(FEATURE_RX_PPM)) {
else if (featureConfigured(FEATURE_RX_PPM)) {
ppmRxInit(ppmConfig());
}
#endif
#if defined(USE_PWM)
else if (feature(FEATURE_RX_PARALLEL_PWM)) {
else if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
pwmRxInit(pwmConfig());
}
#endif
@ -452,13 +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 (feature(FEATURE_RANGEFINDER) && feature(FEATURE_SOFTSERIAL)) {
if (featureConfigured(FEATURE_RANGEFINDER) && featureConfigured(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
}
#endif
#if defined(RANGEFINDER_HCSR04_SOFTSERIAL1_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_RANGEFINDER) && feature(FEATURE_SOFTSERIAL)) {
if (featureConfigured(FEATURE_RANGEFINDER) && featureConfigured(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
}
#endif
@ -468,9 +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 = feature(FEATURE_RSSI_ADC);
adcConfigMutable()->rssi.enabled = featureConfigured(FEATURE_RSSI_ADC);
#ifdef USE_RX_SPI
adcConfigMutable()->rssi.enabled |= (feature(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
adcConfigMutable()->rssi.enabled |= (featureConfigured(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
#endif
adcInit(adcConfig());
#endif
@ -499,7 +496,7 @@ void init(void)
servosInit();
servoConfigureOutput();
if (isMixerUsingServos()) {
//pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
//pwm_params.useChannelForwarding = featureConfigured(FEATURE_CHANNEL_FORWARDING);
servoDevInit(&servoConfig()->dev);
}
servosFilterInit();
@ -561,7 +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 (feature(FEATURE_OSD)) {
if (featureConfigured(FEATURE_OSD)) {
#if defined(USE_MAX7456)
// If there is a max7456 chip for the OSD then use it
osdDisplayPort = max7456DisplayPortInit(vcdProfile());
@ -590,7 +587,7 @@ void init(void)
#ifdef USE_DASHBOARD
// Dashbord will register with CMS by itself.
if (feature(FEATURE_DASHBOARD)) {
if (featureConfigured(FEATURE_DASHBOARD)) {
dashboardInit();
}
#endif
@ -601,7 +598,7 @@ void init(void)
#endif
#ifdef USE_GPS
if (feature(FEATURE_GPS)) {
if (featureConfigured(FEATURE_GPS)) {
gpsInit();
}
#endif
@ -609,19 +606,19 @@ void init(void)
#ifdef USE_LED_STRIP
ledStripInit();
if (feature(FEATURE_LED_STRIP)) {
if (featureConfigured(FEATURE_LED_STRIP)) {
ledStripEnable();
}
#endif
#ifdef USE_TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if (featureConfigured(FEATURE_TELEMETRY)) {
telemetryInit();
}
#endif
#ifdef USE_ESC_SENSOR
if (feature(FEATURE_ESC_SENSOR)) {
if (featureConfigured(FEATURE_ESC_SENSOR)) {
escSensorInit();
}
#endif
@ -631,7 +628,7 @@ void init(void)
#endif
#ifdef USE_TRANSPONDER
if (feature(FEATURE_TRANSPONDER)) {
if (featureConfigured(FEATURE_TRANSPONDER)) {
transponderInit();
transponderStartRepeating();
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
@ -714,7 +711,7 @@ void init(void)
batteryInit(); // always needs doing, regardless of features.
#ifdef USE_DASHBOARD
if (feature(FEATURE_DASHBOARD)) {
if (featureConfigured(FEATURE_DASHBOARD)) {
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
dashboardShowFixedPage(PAGE_GPS);
#else
@ -728,8 +725,6 @@ void init(void)
rcdeviceInit();
#endif // USE_RCDEVICE
// Latch active features AGAIN since some may be modified by init().
latchActiveFeatures();
pwmEnableMotors();
setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);

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 = (feature(FEATURE_3D)) ? currentPidProfile->itermThrottleThreshold / 2 : currentPidProfile->itermThrottleThreshold;
const int16_t throttleVelocityThreshold = (featureConfigured(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 (feature(FEATURE_3D)) {
if (featureConfigured(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 (feature(FEATURE_3D) && !failsafeIsActive()) {
if (featureConfigured(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 && feature(FEATURE_TELEMETRY)) {
if (!cliMode && featureConfigured(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 || feature(FEATURE_OSD);
const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || featureConfigured(FEATURE_OSD);
#endif
setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
#ifdef USE_TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
setTaskEnabled(TASK_TRANSPONDER, featureConfigured(FEATURE_TRANSPONDER));
#endif
#ifdef STACK_CHECK
@ -285,7 +285,7 @@ void fcTasksInit(void)
setTaskEnabled(TASK_BEEPER, true);
#endif
#ifdef USE_GPS
setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
setTaskEnabled(TASK_GPS, featureConfigured(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) || feature(FEATURE_GPS));
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || featureConfigured(FEATURE_GPS));
#endif
#ifdef USE_DASHBOARD
setTaskEnabled(TASK_DASHBOARD, feature(FEATURE_DASHBOARD));
setTaskEnabled(TASK_DASHBOARD, featureConfigured(FEATURE_DASHBOARD));
#endif
#ifdef USE_TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if (featureConfigured(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, feature(FEATURE_LED_STRIP));
setTaskEnabled(TASK_LEDSTRIP, featureConfigured(FEATURE_LED_STRIP));
#endif
#ifdef USE_TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
setTaskEnabled(TASK_TRANSPONDER, featureConfigured(FEATURE_TRANSPONDER));
#endif
#ifdef USE_OSD
setTaskEnabled(TASK_OSD, feature(FEATURE_OSD) && osdInitialized());
setTaskEnabled(TASK_OSD, featureConfigured(FEATURE_OSD) && osdInitialized());
#endif
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
#ifdef USE_ESC_SENSOR
setTaskEnabled(TASK_ESC_SENSOR, feature(FEATURE_ESC_SENSOR));
setTaskEnabled(TASK_ESC_SENSOR, featureConfigured(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, feature(FEATURE_OSD) || feature(FEATURE_DASHBOARD));
setTaskEnabled(TASK_CMS, featureConfigured(FEATURE_OSD) || featureConfigured(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 (feature(FEATURE_3D)) {
if (featureConfigured(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 (feature(FEATURE_GPS)) {
if (featureConfigured(FEATURE_GPS)) {
GPS_reset_home_position();
}
#endif
@ -253,7 +253,7 @@ void processRcStickPositions()
return;
}
if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
if (featureConfigured(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) || feature(FEATURE_AIRMODE));
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || featureConfigured(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 (feature(FEATURE_3D)) {
if (featureConfigured(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 (feature(FEATURE_3D)) {
if (featureConfigured(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 (feature(FEATURE_3D)) {
if (featureConfigured(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 (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D) && !isAirmodeActive()) {
if (featureConfigured(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !featureConfigured(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 (feature(FEATURE_3D)) {
if (featureConfigured(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 (feature(FEATURE_3D)) {
if (featureConfigured(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 (feature(FEATURE_SERVO_TILT) || feature(FEATURE_CHANNEL_FORWARDING)) {
if (featureConfigured(FEATURE_SERVO_TILT) || featureConfigured(FEATURE_CHANNEL_FORWARDING)) {
useServo = 1;
}
@ -377,13 +377,13 @@ void writeServos(void)
}
// Two servos for SERVO_TILT, if enabled
if (feature(FEATURE_SERVO_TILT) || currentMixerMode == MIXER_GIMBAL) {
if (featureConfigured(FEATURE_SERVO_TILT) || currentMixerMode == MIXER_GIMBAL) {
updateGimbalServos(servoIndex);
servoIndex += 2;
}
// forward AUX to remaining servo outputs (not constrained)
if (feature(FEATURE_CHANNEL_FORWARDING)) {
if (featureConfigured(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 (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) {
if (featureConfigured(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) {
input[INPUT_STABILIZED_YAW] *= -1;
}
}
@ -498,7 +498,7 @@ static void servoTable(void)
}
// camera stabilization
if (feature(FEATURE_SERVO_TILT)) {
if (featureConfigured(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);

2
src/main/interface/cli.c
View File

@ -2946,7 +2946,7 @@ static void cliDshotProg(char *cmdline)
pwmWriteDshotCommand(escIndex, getMotorCount(), command, true);
} else {
#if defined(USE_ESC_SENSOR) && defined(USE_ESC_SENSOR_INFO)
if (feature(FEATURE_ESC_SENSOR)) {
if (featureConfigured(FEATURE_ESC_SENSOR)) {
if (escIndex != ALL_MOTORS) {
executeEscInfoCommand(escIndex);
} else {

2
src/main/interface/msp.c
View File

@ -1018,7 +1018,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
#if defined(USE_ESC_SENSOR)
case MSP_ESC_SENSOR_DATA:
if (feature(FEATURE_ESC_SENSOR)) {
if (featureConfigured(FEATURE_ESC_SENSOR)) {
sbufWriteU8(dst, getMotorCount());
for (int i = 0; i < getMotorCount(); i++) {
const escSensorData_t *escData = getEscSensorData(i);

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 (!feature(FEATURE_AIRMODE)) {
if (!featureConfigured(FEATURE_AIRMODE)) {
BME(BOXAIRMODE);
}
if (!feature(FEATURE_ANTI_GRAVITY)) {
if (!featureConfigured(FEATURE_ANTI_GRAVITY)) {
BME(BOXANTIGRAVITY);
}
@ -188,9 +188,9 @@ void initActiveBoxIds(void)
#endif
#ifdef USE_GPS
if (feature(FEATURE_GPS)) {
if (featureConfigured(FEATURE_GPS)) {
#ifdef USE_GPS_RESCUE
if (!feature(FEATURE_3D)) {
if (!featureConfigured(FEATURE_3D)) {
BME(BOXGPSRESCUE);
}
#endif
@ -207,7 +207,7 @@ void initActiveBoxIds(void)
BME(BOXBEEPERON);
#ifdef USE_LED_STRIP
if (feature(FEATURE_LED_STRIP)) {
if (featureConfigured(FEATURE_LED_STRIP)) {
BME(BOXLEDLOW);
}
#endif
@ -221,7 +221,7 @@ void initActiveBoxIds(void)
BME(BOXFPVANGLEMIX);
if (feature(FEATURE_3D)) {
if (featureConfigured(FEATURE_3D)) {
BME(BOX3D);
}
@ -229,18 +229,18 @@ void initActiveBoxIds(void)
BME(BOXFLIPOVERAFTERCRASH);
}
if (feature(FEATURE_SERVO_TILT)) {
if (featureConfigured(FEATURE_SERVO_TILT)) {
BME(BOXCAMSTAB);
}
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL)) {
BME(BOXCALIB);
}
BME(BOXOSD);
#ifdef USE_TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if (featureConfigured(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 (feature(FEATURE_GPS) && IS_RC_MODE_ACTIVE(BOXBEEPGPSCOUNT)) {
} else if (featureConfigured(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 (!feature(FEATURE_GPS)) {
if (!featureConfigured(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 (feature(FEATURE_DASHBOARD)) {
if (featureConfigured(FEATURE_DASHBOARD)) {
dashboardUpdate(micros());
}
#endif
@ -1230,7 +1230,7 @@ void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort)
serialSetMode(gpsPort, gpsPort->mode | MODE_TX);
#ifdef USE_DASHBOARD
if (feature(FEATURE_DASHBOARD)) {
if (featureConfigured(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 (feature(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
if (featureConfigured(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 (feature(FEATURE_ESC_SENSOR)) {
if (featureConfigured(FEATURE_ESC_SENSOR)) {
tfp_sprintf(buff, "%3d%c", osdConvertTemperatureToSelectedUnit(escDataCombined->temperature * 10) / 10, osdGetTemperatureSymbolForSelectedUnit());
}
break;
case OSD_ESC_RPM:
if (feature(FEATURE_ESC_SENSOR)) {
if (featureConfigured(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 (feature(FEATURE_ESC_SENSOR)) {
if (featureConfigured(FEATURE_ESC_SENSOR)) {
osdDrawSingleElement(OSD_ESC_TMP);
osdDrawSingleElement(OSD_ESC_RPM);
}
@ -1226,7 +1226,7 @@ void osdUpdateAlarms(void)
}
#ifdef USE_ESC_SENSOR
if (feature(FEATURE_ESC_SENSOR)) {
if (featureConfigured(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 (feature(FEATURE_ESC_SENSOR)) {
if (featureConfigured(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 (feature(FEATURE_OSD)) {
if (featureConfigured(FEATURE_OSD)) {
return !max7456DmaInProgress();
}
#endif

308
src/main/osd_slave/osd_slave_init.c Normal file
View File

@ -0,0 +1,308 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "blackbox/blackbox.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
#include "common/printf.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
#include "drivers/adc.h"
#include "drivers/bus.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/dma.h"
#include "drivers/exti.h"
#include "drivers/inverter.h"
#include "drivers/io.h"
#include "drivers/light_led.h"
#include "drivers/nvic.h"
#include "drivers/sensor.h"
#include "drivers/serial.h"
#include "drivers/serial_softserial.h"
#include "drivers/serial_uart.h"
#include "drivers/sound_beeper.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/timer.h"
#include "drivers/transponder_ir.h"
#include "drivers/usb_io.h"
#include "fc/config.h"
#include "fc/rc_controls.h"
#include "fc/fc_tasks.h"
#include "fc/runtime_config.h"
#include "interface/cli.h"
#include "interface/msp.h"
#include "msp/msp_serial.h"
#include "io/beeper.h"
#include "io/displayport_max7456.h"
#include "io/flashfs.h"
#include "io/ledstrip.h"
#include "io/osd_slave.h"
#include "io/serial.h"
#include "io/transponder_ir.h"
#include "osd_slave/osd_slave_init.h"
#include "pg/adc.h"
#include "pg/bus_i2c.h"
#include "pg/bus_spi.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/vcd.h"
#include "scheduler/scheduler.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
#include "build/build_config.h"
#include "build/debug.h"
#ifdef TARGET_PREINIT
void targetPreInit(void);
#endif
uint8_t systemState = SYSTEM_STATE_INITIALISING;
void processLoopback(void)
{
}
#ifdef BUS_SWITCH_PIN
void busSwitchInit(void)
{
static IO_t busSwitchResetPin = IO_NONE;
busSwitchResetPin = IOGetByTag(IO_TAG(BUS_SWITCH_PIN));
IOInit(busSwitchResetPin, OWNER_SYSTEM, 0);
IOConfigGPIO(busSwitchResetPin, IOCFG_OUT_PP);
// ENABLE
IOLo(busSwitchResetPin);
}
#endif
void init(void)
{
#ifdef USE_HAL_DRIVER
HAL_Init();
#endif
printfSupportInit();
systemInit();
// initialize IO (needed for all IO operations)
IOInitGlobal();
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
initEEPROM();
ensureEEPROMStructureIsValid();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
debugMode = systemConfig()->debug_mode;
// Latch active features to be used for featureConfigured() in the remainder of init().
latchActiveFeatures();
#ifdef TARGET_PREINIT
targetPreInit();
#endif
ledInit(statusLedConfig());
LED2_ON;
#ifdef USE_EXTI
EXTIInit();
#endif
delay(100);
timerInit(); // timer must be initialized before any channel is allocated
#ifdef BUS_SWITCH_PIN
busSwitchInit();
#endif
#if defined(USE_UART) && !defined(SIMULATOR_BUILD)
uartPinConfigure(serialPinConfig());
#endif
serialInit(false, SERIAL_PORT_NONE);
#ifdef USE_BEEPER
beeperInit(beeperDevConfig());
#endif
/* temp until PGs are implemented. */
#ifdef USE_INVERTER
initInverters();
#endif
#ifdef TARGET_BUS_INIT
targetBusInit();
#else
#ifdef USE_SPI
spiPinConfigure(spiPinConfig(0));
// Initialize CS lines and keep them high
spiPreInit();
#ifdef USE_SPI_DEVICE_1
spiInit(SPIDEV_1);
#endif
#ifdef USE_SPI_DEVICE_2
spiInit(SPIDEV_2);
#endif
#ifdef USE_SPI_DEVICE_3
spiInit(SPIDEV_3);
#endif
#ifdef USE_SPI_DEVICE_4
spiInit(SPIDEV_4);
#endif
#endif /* USE_SPI */
#ifdef USE_I2C
i2cHardwareConfigure(i2cConfig(0));
// Note: Unlike UARTs which are configured when client is present,
// I2C buses are initialized unconditionally if they are configured.
#ifdef USE_I2C_DEVICE_1
i2cInit(I2CDEV_1);
#endif
#ifdef USE_I2C_DEVICE_2
i2cInit(I2CDEV_2);
#endif
#ifdef USE_I2C_DEVICE_3
i2cInit(I2CDEV_3);
#endif
#ifdef USE_I2C_DEVICE_4
i2cInit(I2CDEV_4);
#endif
#endif /* USE_I2C */
#endif /* TARGET_BUS_INIT */
#ifdef USE_HARDWARE_REVISION_DETECTION
updateHardwareRevision();
#endif
#ifdef USE_ADC
adcConfigMutable()->vbat.enabled = (batteryConfig()->voltageMeterSource == VOLTAGE_METER_ADC);
adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
adcConfigMutable()->rssi.enabled = featureConfigured(FEATURE_RSSI_ADC);
adcInit(adcConfig());
#endif
LED1_ON;
LED0_OFF;
LED2_OFF;
for (int i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
#if defined(USE_BEEPER)
delay(25);
if (!(beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(BEEPER_SYSTEM_INIT))) BEEP_ON;
delay(25);
BEEP_OFF;
#else
delay(50);
#endif
}
LED0_OFF;
LED1_OFF;
mspInit();
mspSerialInit();
#ifdef USE_CLI
cliInit(serialConfig());
#endif
displayPort_t *osdDisplayPort = NULL;
#if defined(USE_MAX7456)
// If there is a max7456 chip for the OSD then use it
osdDisplayPort = max7456DisplayPortInit(vcdProfile());
// osdInit will register with CMS by itself.
osdSlaveInit(osdDisplayPort);
#endif
#ifdef USE_LED_STRIP
ledStripInit();
if (featureConfigured(FEATURE_LED_STRIP)) {
ledStripEnable();
}
#endif
#ifdef USE_USB_DETECT
usbCableDetectInit();
#endif
#ifdef USE_TRANSPONDER
if (featureConfigured(FEATURE_TRANSPONDER)) {
transponderInit();
transponderStartRepeating();
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
}
#endif
timerStart();
batteryInit();
// Latch active features AGAIN since some may be modified by init().
latchActiveFeatures();
fcTasksInit();
systemState |= SYSTEM_STATE_READY;
}

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 (feature(FEATURE_TELEMETRY)) {
if (featureConfigured(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 (feature(FEATURE_TELEMETRY)) {
if (featureConfigured(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 (feature(FEATURE_RX_PARALLEL_PWM)) {
if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT;
rxRuntimeConfig->rcReadRawFn = pwmReadRawRC;
} else if (feature(FEATURE_RX_PPM)) {
} else if (featureConfigured(FEATURE_RX_PPM)) {
rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT;
rxRuntimeConfig->rcReadRawFn = ppmReadRawRC;
}

22
src/main/rx/rx.c
View File

@ -248,7 +248,7 @@ void rxInit(void)
rcInvalidPulsPeriod[i] = millis() + MAX_INVALID_PULS_TIME;
}
rcData[THROTTLE] = (feature(FEATURE_3D)) ? rxConfig()->midrc : rxConfig()->rx_min_usec;
rcData[THROTTLE] = (featureConfigured(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
@ -268,10 +268,9 @@ void rxInit(void)
}
#ifdef USE_SERIAL_RX
if (feature(FEATURE_RX_SERIAL)) {
if (featureConfigured(FEATURE_RX_SERIAL)) {
const bool enabled = serialRxInit(rxConfig(), &rxRuntimeConfig);
if (!enabled) {
featureClear(FEATURE_RX_SERIAL);
rxRuntimeConfig.rcReadRawFn = nullReadRawRC;
rxRuntimeConfig.rcFrameStatusFn = nullFrameStatus;
}
@ -279,17 +278,16 @@ void rxInit(void)
#endif
#ifdef USE_RX_MSP
if (feature(FEATURE_RX_MSP)) {
if (featureConfigured(FEATURE_RX_MSP)) {
rxMspInit(rxConfig(), &rxRuntimeConfig);
needRxSignalMaxDelayUs = DELAY_5_HZ;
}
#endif
#ifdef USE_RX_SPI
if (feature(FEATURE_RX_SPI)) {
if (featureConfigured(FEATURE_RX_SPI)) {
const bool enabled = rxSpiInit(rxSpiConfig(), &rxRuntimeConfig);
if (!enabled) {
featureClear(FEATURE_RX_SPI);
rxRuntimeConfig.rcReadRawFn = nullReadRawRC;
rxRuntimeConfig.rcFrameStatusFn = nullFrameStatus;
}
@ -297,13 +295,13 @@ void rxInit(void)
#endif
#if defined(USE_PWM) || defined(USE_PPM)
if (feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM)) {
if (featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
rxPwmInit(rxConfig(), &rxRuntimeConfig);
}
#endif
#if defined(USE_ADC)
if (feature(FEATURE_RSSI_ADC)) {
if (featureConfigured(FEATURE_RSSI_ADC)) {
rssiSource = RSSI_SOURCE_ADC;
} else
#endif
@ -346,14 +344,14 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
bool useDataDrivenProcessing = true;
#if defined(USE_PWM) || defined(USE_PPM)
if (feature(FEATURE_RX_PPM)) {
if (featureConfigured(FEATURE_RX_PPM)) {
if (isPPMDataBeingReceived()) {
signalReceived = true;
rxIsInFailsafeMode = false;
needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
resetPPMDataReceivedState();
}
} else if (feature(FEATURE_RX_PARALLEL_PWM)) {
} else if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
if (isPWMDataBeingReceived()) {
signalReceived = true;
rxIsInFailsafeMode = false;
@ -437,7 +435,7 @@ static uint16_t getRxfailValue(uint8_t channel)
case YAW:
return rxConfig()->midrc;
case THROTTLE:
if (feature(FEATURE_3D))
if (featureConfigured(FEATURE_3D))
return rxConfig()->midrc;
else
return rxConfig()->rx_min_usec;
@ -512,7 +510,7 @@ static void detectAndApplySignalLossBehaviour(void)
}
}
}
if (feature(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM)) {
if (featureConfigured(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 (feature(FEATURE_TELEMETRY) && !telemetryCheckRxPortShared(portConfig)) {
if (featureConfigured(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 = (feature(FEATURE_TELEMETRY) && !portShared);
srxlEnabled = (featureConfigured(FEATURE_TELEMETRY) && !portShared);
FALLTHROUGH;
#endif
case SERIALRX_SPEKTRUM2048:

2
src/main/sensors/acceleration.c
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@ -528,7 +528,7 @@ void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
performAcclerationCalibration(rollAndPitchTrims);
}
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
if (featureConfigured(FEATURE_INFLIGHT_ACC_CAL)) {
performInflightAccelerationCalibration(rollAndPitchTrims);
}

6
src/main/sensors/battery.c
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@ -121,7 +121,7 @@ void batteryUpdateVoltage(timeUs_t currentTimeUs)
switch (batteryConfig()->voltageMeterSource) {
#ifdef USE_ESC_SENSOR
case VOLTAGE_METER_ESC:
if (feature(FEATURE_ESC_SENSOR)) {
if (featureConfigured(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 && feature(FEATURE_MOTOR_STOP));
bool throttleLowAndMotorStop = (throttleStatus == THROTTLE_LOW && featureConfigured(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 (feature(FEATURE_ESC_SENSOR)) {
if (featureConfigured(FEATURE_ESC_SENSOR)) {
currentMeterESCRefresh(lastUpdateAt);
currentMeterESCReadCombined(&currentMeter);
}

2
src/main/sensors/esc_sensor.c
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@ -148,7 +148,7 @@ bool isEscSensorActive(void)
escSensorData_t *getEscSensorData(uint8_t motorNumber)
{
if (!feature(FEATURE_ESC_SENSOR)) {
if (!featureConfigured(FEATURE_ESC_SENSOR)) {
return NULL;
}

2
src/main/sensors/gyro.c
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@ -744,7 +744,7 @@ static void gyroInitFilterNotch2(gyroSensor_t *gyroSensor, uint16_t notchHz, uin
#ifdef USE_GYRO_DATA_ANALYSE
static bool isDynamicFilterActive(void)
{
return feature(FEATURE_DYNAMIC_FILTER);
return featureConfigured(FEATURE_DYNAMIC_FILTER);
}
static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)

2
src/main/target/BLUEJAYF4/initialisation.c
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@ -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) && (feature(FEATURE_TELEMETRY))) {
if (smartportEnabled && (!telemetryConfig()->telemetry_inverted) && (featureConfigured(FEATURE_TELEMETRY))) {
high = true;
}
}

2
src/main/target/SITL/target.c
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@ -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 (feature(FEATURE_3D)) {
if (featureConfigured(FEATURE_3D)) {
outScale = 500.0;
}

2
src/main/telemetry/crsf.c
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@ -445,7 +445,7 @@ void initCrsfTelemetry(void)
crsfSchedule[index++] = BV(CRSF_FRAME_BATTERY_SENSOR_INDEX);
}
crsfSchedule[index++] = BV(CRSF_FRAME_FLIGHT_MODE_INDEX);
if (feature(FEATURE_GPS)) {
if (featureConfigured(FEATURE_GPS)) {
crsfSchedule[index++] = BV(CRSF_FRAME_GPS_INDEX);
}
crsfScheduleCount = (uint8_t)index;

2
src/main/telemetry/frsky_hub.c
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@ -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 && feature(FEATURE_MOTOR_STOP)) {
if (throttleStatus == THROTTLE_LOW && featureConfigured(FEATURE_MOTOR_STOP)) {
throttleForRPM = 0;
}
data = throttleForRPM;

2
src/main/telemetry/ibus_shared.c
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@ -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 && feature(FEATURE_MOTOR_STOP)) rpm = 0;
if (throttleStatus == THROTTLE_LOW && featureConfigured(FEATURE_MOTOR_STOP)) rpm = 0;
} else {
rpm = (uint16_t)(batteryConfig()->batteryCapacity); // / BLADE_NUMBER_DIVIDER
}

8
src/main/telemetry/smartport.c
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@ -318,7 +318,7 @@ static void smartPortSendPackage(uint16_t id, uint32_t val)
}
static bool reportExtendedEscSensors(void) {
return feature(FEATURE_ESC_SENSOR) && telemetryConfig()->smartport_use_extra_sensors;
return featureConfigured(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 (!reportExtendedEscSensors())
if (!featureConfigured(FEATURE_ESC_SENSOR)) {
#endif
{
ADD_SENSOR(FSSP_DATAID_VFAS);
@ -365,7 +365,7 @@ static void initSmartPortSensors(void)
}
#ifdef USE_GPS
if (feature(FEATURE_GPS)) {
if (featureConfigured(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 (feature(FEATURE_GPS)) {
} else if (featureConfigured(FEATURE_GPS)) {
smartPortSendPackage(id, 0);
*clearToSend = false;
} else