void systemInit(void)
{
// Init cycle counter
cycleCounterInit();
// SysTick
SysTick_Config(SystemCoreClock / 1000);
///////////////////////////////////
checkFirstTime(false);
readEEPROM();
if (eepromConfig.receiverType == SPEKTRUM)
checkSpektrumBind();
checkResetType();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority
initMixer();
ledInit();
cliInit();
BLUE_LED_ON;
delay(20000); // 20 sec total delay for sensor stabilization - probably not long enough.....
adcInit();
batteryInit();
gpsInit();
i2cInit(I2C1);
i2cInit(I2C2);
pwmEscInit(eepromConfig.escPwmRate);
pwmServoInit(eepromConfig.servoPwmRate);
rxInit();
spiInit(SPI2);
spiInit(SPI3);
telemetryInit();
timingFunctionsInit();
initFirstOrderFilter();
initGPS();
initMax7456();
initPID();
GREEN_LED_ON;
initMPU6000();
initMag(HMC5883L_I2C);
initPressure(MS5611_I2C);
}
void max7456CLI()
{
uint8_t max7456query = 'x';
uint8_t validQuery = false;
cliBusy = true;
cliPrint("\nEntering MAX7456 CLI....\n\n");
resetMax7456();
while(true)
{
if (!validQuery) cliPrint("MAX7456 CLI -> ");
while ((cliAvailable() == false) && (validQuery == false));
if (validQuery == false)
max7456query = cliRead();
if (!validQuery) cliPrint("\n");
switch(max7456query)
{
///////////////////////
case 'a': // OSD Configuration
cliPrint("\nMAX7456 OSD Status: ");
if (eepromConfig.osdEnabled)
cliPrint("Enabled\n");
else
cliPrint("Disabled\n");
cliPrint("OSD Default Video Standard: ");
if (eepromConfig.defaultVideoStandard)
cliPrint("PAL\n");
else
cliPrint("NTSC\n");
cliPrint("OSD Display Units: ");
if (eepromConfig.metricUnits)
cliPrint("Metric\n");
else
cliPrint("English\n");
cliPrint("OSD Altitude Display: ");
if (eepromConfig.osdDisplayAlt)
cliPrint("On\n");
else
cliPrint("Off\n");
cliPrint("OSD Artifical Horizon Display: ");
if (eepromConfig.osdDisplayAH)
cliPrint("On\n");
else
cliPrint("Off\n");
cliPrint("OSD Attitude Display: ");
if (eepromConfig.osdDisplayAtt)
cliPrint("On\n");
else
cliPrint("Off\n");
cliPrint("OSD Heading Display: ");
if (eepromConfig.osdDisplayHdg)
cliPrint("On\n");
else
cliPrint("Off\n");
cliPrint("\n");
validQuery = false;
break;
///////////////////////
case 'b': // Enable OSD Altitude Display
eepromConfig.osdDisplayAlt = true;
max7456query = 'a';
validQuery = true;
break;
///////////////////////
case 'c': // Enable OSD Artifical Horizon Display
eepromConfig.osdDisplayAH = true;
eepromConfig.osdDisplayAtt = false;
max7456query = 'a';
validQuery = true;
break;
///////////////////////
case 'd': // Enable OSD Attitude Display
eepromConfig.osdDisplayAtt = true;
eepromConfig.osdDisplayAH = false;
max7456query = 'a';
validQuery = true;
break;
///////////////////////
case 'e': // Enable OSD Heading Display
eepromConfig.osdDisplayHdg = true;
max7456query = 'a';
validQuery = true;
break;
///////////////////////
case 'q': // Set English Display Units
eepromConfig.metricUnits = false;
max7456query = 'a';
validQuery = true;
break;
///////////////////////
case 'r': // Reset MAX7456
resetMax7456();
cliPrint("\nMAX7456 Reset....\n\n");
break;
///////////////////////
case 's': // Show character set
showMax7456Font();
cliPrint("\nMAX7456 Character Set Displayed....\n\n");
break;
///////////////////////
case 't': // Download font
downloadMax7456Font();
break;
///////////////////////
case 'u': // Toggle OSD enabled status
if (eepromConfig.osdEnabled) // If Enabled
eepromConfig.osdEnabled = false; // Set Disabled
else
{ // If Disabled
eepromConfig.osdEnabled = true; // Set Enabled
initMax7456(); // and call init procedure
}
max7456query = 'a';
validQuery = true;
break;
///////////////////////
case 'v': // Toggle default video standard
if (eepromConfig.defaultVideoStandard) // If PAL
eepromConfig.defaultVideoStandard = NTSC; // Set NTSC
else // If NTSC
eepromConfig.defaultVideoStandard = PAL; // Set PAL
max7456query = 'a';
validQuery = true;
break;
///////////////////////
case 'x':
cliPrint("\nExiting MAX7456 CLI....\n\n");
cliBusy = false;
return;
break;
///////////////////////
case 'B': // Disable OSD Altitude Display
eepromConfig.osdDisplayAlt = false;
max7456query = 'a';
validQuery = true;
break;
///////////////////////
case 'C': // Disable OSD Artifical Horizon Display
eepromConfig.osdDisplayAH = false;
max7456query = 'a';
validQuery = true;
break;
///////////////////////
case 'D': // Disable OSD Attitude Display
eepromConfig.osdDisplayAtt = false;
max7456query = 'a';
validQuery = true;
break;
///////////////////////
case 'E': // Disable OSD Heading Display
eepromConfig.osdDisplayHdg = false;
max7456query = 'a';
validQuery = true;
break;
///////////////////////
case 'Q': // Set Metric Display Units
eepromConfig.metricUnits = true;
max7456query = 'a';
validQuery = true;
break;
///////////////////////////
case 'W': // Write EEPROM Parameters
cliPrint("\nWriting EEPROM Parameters....\n\n");
writeEEPROM();
break;
///////////////////////
case '?':
cliPrint("\n");
cliPrint("'a' OSD Configuration\n");
cliPrint("'b' Enable OSD Altitude Display 'B' Disable OSD Altitude Display\n");
cliPrint("'c' Enable OSD Artificial Horizon Display 'C' Disable OSD Artificial Horizon Display\n");
cliPrint("'d' Enable OSD Attitude Display 'D' Disable OSD Attitude Display\n");
cliPrint("'e' Enable OSD Heading Display 'E' Disable OSD Heading Display\n");
cliPrint("'q' Set English Display Units 'Q' Set Metric Display Units\n");
cliPrint("'r' Reset MAX7456\n");
cliPrint("'s' Display MAX7456 Character Set\n");
cliPrint("'t' Download Font to MAX7456\n");
cliPrint("'u' Change OSD Installed State\n");
cliPrint("'v' Change Default Video Standard 'W' Write EEPROM Parameters\n");
cliPrint("'x' Exit Sensor CLI '?' Command Summary\n");
cliPrint("\n");
break;
///////////////////////
}
}
}
void systemInit(void)
{
RCC_ClocksTypeDef rccClocks;
///////////////////////////////////
// Init cycle counter
cycleCounterInit();
// SysTick
SysTick_Config(SystemCoreClock / 1000);
// Turn on peripherial clcoks
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC2, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM10, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM11, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
///////////////////////////////////
checkFirstTime(false);
readEEPROM();
if (eepromConfig.receiverType == SPEKTRUM)
checkSpektrumBind();
checkResetType();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority
///////////////////////////////////
gpsPortClearBuffer = &uart2ClearBuffer;
gpsPortNumCharsAvailable = &uart2NumCharsAvailable;
gpsPortPrintBinary = &uart2PrintBinary;
gpsPortRead = &uart2Read;
telemPortAvailable = &uart1Available;
telemPortPrint = &uart1Print;
telemPortPrintF = &uart1PrintF;
telemPortRead = &uart1Read;
///////////////////////////////////
initMixer();
usbInit();
ledInit();
uart1Init();
uart2Init();
BLUE_LED_ON;
///////////////////////////////////
delay(10000); // 10 seconds of 20 second delay for sensor stabilization
checkUsbActive();
#ifdef __VERSION__
cliPortPrintF("\ngcc version " __VERSION__ "\n");
#endif
cliPortPrintF("\nAQ32Plus Firmware V%s, Build Date " __DATE__ " "__TIME__" \n", __AQ32PLUS_VERSION);
if ((RCC->CR & RCC_CR_HSERDY) != RESET)
{
cliPortPrint("\nRunning on external HSE clock....\n");
}
else
{
cliPortPrint("\nERROR: Running on internal HSI clock....\n");
}
RCC_GetClocksFreq(&rccClocks);
cliPortPrintF("\nHCLK-> %3d MHz\n", rccClocks.HCLK_Frequency / 1000000);
cliPortPrintF( "PCLK1-> %3d MHz\n", rccClocks.PCLK1_Frequency / 1000000);
cliPortPrintF( "PCLK2-> %3d MHz\n", rccClocks.PCLK2_Frequency / 1000000);
cliPortPrintF( "SYSCLK-> %3d MHz\n\n", rccClocks.SYSCLK_Frequency / 1000000);
initUBLOX();
delay(10000); // Remaining 10 seconds of 20 second delay for sensor stabilization - probably not long enough..
///////////////////////////////////
adcInit();
i2cInit(I2C1);
i2cInit(I2C2);
pwmServoInit();
rxInit();
spiInit(SPI2);
spiInit(SPI3);
timingFunctionsInit();
batteryInit();
initFirstOrderFilter();
initMavlink();
initMax7456();
initPID();
GREEN_LED_ON;
initMPU6000();
initMag();
initPressure();
}
