void systemInit(bool overclock)
{
#ifdef STM32F303xC
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
#endif
#ifdef STM32F303xC
SetSysClock();
#endif
#ifdef STM32F10X_MD
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(overclock);
#endif
// Configure NVIC preempt/priority groups
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
#ifdef STM32F10X_MD
// Turn on clocks for stuff we use
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
#endif
RCC_ClearFlag();
enableGPIOPowerUsageAndNoiseReductions();
#ifdef STM32F10X_MD
// Turn off JTAG port 'cause we're using the GPIO for leds
#define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24)
AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;
#endif
ledInit();
beeperInit();
// Init cycle counter
cycleCounterInit();
// SysTick
SysTick_Config(SystemCoreClock / 1000);
#ifdef CC3D
spiInit(SPI1);
spiInit(SPI2);
#endif
#ifndef CC3D
// Configure the rest of the stuff
i2cInit(I2C2);
#endif
// sleep for 100ms
delay(100);
}
void systemInit(void)
{
checkForBootLoaderRequest();
SetSysClock();
// Configure NVIC preempt/priority groups
NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING);
// cache RCC->CSR value to use it in isMPUSoftreset() and others
cachedRccCsrValue = RCC->CSR;
/* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */
extern void *isr_vector_table_base;
NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0);
RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_OTG_FS, DISABLE);
RCC_ClearFlag();
enableGPIOPowerUsageAndNoiseReductions();
// Init cycle counter
cycleCounterInit();
memset(extiHandlerConfigs, 0x00, sizeof(extiHandlerConfigs));
// SysTick
SysTick_Config(SystemCoreClock / 1000);
}
/* The configPOST_STOP_PROCESSING() macro is called when the MCU leaves its
STOP low power mode. The macro is set in FreeRTOSConfig.h to call
vMainPostStopProcessing(). */
void vMainPostStopProcessing( void )
{
extern void SetSysClock( void );
/* The STOP low power mode has been exited. Reconfigure the system clocks
ready for normally running again. */
SetSysClock();
}
void deepsleep(void)
{
// Request to enter STOP mode with regulator in low power mode
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
// After wake-up from STOP reconfigure the PLL
SetSysClock();
}
void systemClockSetup(uint8_t cpuUnderclock)
{
// Configure the RCC. Note that this should be called only once per boot
SetSysClock(cpuUnderclock);
// Re-initialize system timekeeping - CPU clock changed
systemTimekeepingSetup();
}
void SystemInit (void)
{
/* Reset the RCC clock configuration to the default reset state(for debug purpose) */
/* Set HSION bit */
RCC->CR |= (uint32_t)0x00000001;
/* Reset SW, HPRE, PPRE1, PPRE2, ADCPRE and MCO bits */
#ifndef STM32F10X_CL
RCC->CFGR &= (uint32_t)0xF8FF0000;
#else
RCC->CFGR &= (uint32_t)0xF0FF0000;
#endif /* STM32F10X_CL */
/* Reset HSEON, CSSON and PLLON bits */
RCC->CR &= (uint32_t)0xFEF6FFFF;
/* Reset HSEBYP bit */
RCC->CR &= (uint32_t)0xFFFBFFFF;
/* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE/OTGFSPRE bits */
RCC->CFGR &= (uint32_t)0xFF80FFFF;
#ifdef STM32F10X_CL
/* Reset PLL2ON and PLL3ON bits */
RCC->CR &= (uint32_t)0xEBFFFFFF;
/* Disable all interrupts and clear pending bits */
RCC->CIR = 0x00FF0000;
/* Reset CFGR2 register */
RCC->CFGR2 = 0x00000000;
#elif defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || (defined STM32F10X_HD_VL)
/* Disable all interrupts and clear pending bits */
RCC->CIR = 0x009F0000;
/* Reset CFGR2 register */
RCC->CFGR2 = 0x00000000;
#else
/* Disable all interrupts and clear pending bits */
RCC->CIR = 0x009F0000;
#endif /* STM32F10X_CL */
#if defined (STM32F10X_HD) || (defined STM32F10X_XL) || (defined STM32F10X_HD_VL)
#ifdef DATA_IN_ExtSRAM
SystemInit_ExtMemCtl();
#endif /* DATA_IN_ExtSRAM */
#endif
/* Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers */
/* Configure the Flash Latency cycles and enable prefetch buffer */
SetSysClock();
#ifdef VECT_TAB_SRAM
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */
#else
SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */
#endif
}
// MCU STOP mode
void deepsleep(void) {
// Enable PWR clock
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
// Enter Stop Mode
PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI);
// After wake-up from STOP reconfigure the PLL
SetSysClock();
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers */
SetSysClock();
/* This function fills the RCC_ClockFreq structure with the current
frequencies of different on chip clocks (for debug purpose) */
RCC_GetClocksFreq(&RCC_ClockFreq);
/* Enable Clock Security System(CSS): this will generate an NMI exception
when HSE clock fails */
RCC_ClockSecuritySystemCmd(ENABLE);
/* NVIC configuration ------------------------------------------------------*/
NVIC_Configuration();
/* Initialize Leds mounted on STM3210X-EVAL board --------------------------*/
STM_EVAL_LEDInit(LED1);
STM_EVAL_LEDInit(LED2);
STM_EVAL_LEDInit(LED3);
STM_EVAL_LEDInit(LED4);
/* Output HSE clock on MCO pin ---------------------------------------------*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
RCC_MCOConfig(RCC_MCO_HSE);
while (1)
{
/* Toggle LED1 */
STM_EVAL_LEDToggle(LED1);
/* Insert delay */
Delay(DELAY_COUNT);
/* Toggle LED2 */
STM_EVAL_LEDToggle(LED2);
/* Insert delay */
Delay(DELAY_COUNT);
/* Toggle LED3 */
STM_EVAL_LEDToggle(LED3);
/* Insert delay */
Delay(DELAY_COUNT);
/* Toggle LED4 */
STM_EVAL_LEDToggle(LED4);
/* Insert a delay */
Delay(DELAY_COUNT);
}
}
/**
* @brief Restore peripheral config before entering STOP mode.
* @param None
* @retval None
*/
void RestoreConfiguration(void)
{
/* Restore system clock to 32MHz */
SetSysClock();
/* Enable HSI clock for ADC */
RCC_HSICmd(ENABLE);
/* LSI Enable */
RCC_LSICmd(ENABLE);
}
void deepsleep(void)
{
// Request to enter STOP mode with regulator in low power mode
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
// After wake-up from STOP need to reconfigure the system clock
SetSysClock();
#if DEVICE_LOWPOWERTIMER
rtc_synchronize();
#endif
}
int main(void)
{
// Configure clock, this figures out HSE for hardware autodetect
SetSysClock(0);
systemInit();
Serial1 = uartOpen(USART1, &receive_cb, 115200, MODE_RXTX);
init_printf( NULL, _putc);
while (1);
}
void deepsleep(void)
{
// Disable HAL tick interrupt
TimMasterHandle.Instance = TIM5;
__HAL_TIM_DISABLE_IT(&TimMasterHandle, TIM_IT_CC2);
// Request to enter STOP mode with regulator in low power mode
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
// After wake-up from STOP reconfigure the PLL
SetSysClock();
// Enable HAL tick interrupt
__HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2);
}
int main(void)
{
void SetSysClock(bool overclock);
void systemInit(void);
// Configure clock, this figures out HSE for hardware autodetect
SetSysClock(0);
systemInit();
setup();
while (1) {
loop();
}
}
/***************************************************************************//**
* @brief RCC example.This example shows how to configure the System clock(SYSCLK)
* to have different frequencies: 24MHz, 36MHz, 48MHz, 56MHz and 72MHz.
* You will see the LED PB8 PB9 PB10 blink successively.
******************************************************************************/
void RCC_Init(void)
{
/* Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers */
SetSysClock();
/* This function fills the RCC_ClockFreq structure with the current
frequencies of different on chip clocks (for debug purpose) */
RCC_GetClocksFreq(&RCC_ClockFreq);
/* Enable Clock Security System(CSS): this will generate an NMI exception
when HSE clock fails */
RCC_ClockSecuritySystemCmd(ENABLE);
/* NVIC configuration ------------------------------------------------------*/
NVIC_Configuration();
}
/**
* @brief Setup the microcontroller system
* Initialize the Embedded Flash Interface, the PLL and update the SystemFrequency variable.
* @note This function should be used only after reset.
* @param None
* @retval None
*/
void SystemInit (void)
{
/* Reset the RCC clock configuration to the default reset state(for debug purpose) */
/* Set HSION bit */
RCC->CR |= (uint32_t)0x00000001;
/* Reset SW, HPRE, PPRE1, PPRE2, ADCPRE and MCO bits */
#ifndef STM32F10X_CL
RCC->CFGR &= (uint32_t)0xF8FF0000;
#else
RCC->CFGR &= (uint32_t)0xF0FF0000;
#endif /* STM32F10X_CL */
/* Reset HSEON, CSSON and PLLON bits */
RCC->CR &= (uint32_t)0xFEF6FFFF;
/* Reset HSEBYP bit */
RCC->CR &= (uint32_t)0xFFFBFFFF;
/* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE/OTGFSPRE bits */
RCC->CFGR &= (uint32_t)0xFF80FFFF;
#ifndef STM32F10X_CL
/* Disable all interrupts and clear pending bits */
RCC->CIR = 0x009F0000;
#else
/* Reset PLL2ON and PLL3ON bits */
RCC->CR &= (uint32_t)0xEBFFFFFF;
/* Disable all interrupts and clear pending bits */
RCC->CIR = 0x00FF0000;
/* Reset CFGR2 register */
RCC->CFGR2 = 0x00000000;
#endif /* STM32F10X_CL */
/* Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers */
/* Configure the Flash Latency cycles and enable prefetch buffer */
SetSysClock();
#ifdef STM32F10X_HD
#ifdef DATA_IN_ExtSRAM
SystemInit_ExtMemCtl();
#endif /* DATA_IN_ExtSRAM */
#endif /* STM32F10X_HD */
}
void systemInit(void)
{
checkForBootLoaderRequest();
SetSysClock(false);
#ifdef CC3D
/* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */
extern void *isr_vector_table_base;
NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0);
#endif
// Configure NVIC preempt/priority groups
NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING);
// Turn on clocks for stuff we use
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
// cache RCC->CSR value to use it in isMPUSoftreset() and others
cachedRccCsrValue = RCC->CSR;
RCC_ClearFlag();
enableGPIOPowerUsageAndNoiseReductions();
// Set USART1 TX (PA9) to output and high state to prevent a rs232 break condition on reset.
// See issue https://github.com/cleanflight/cleanflight/issues/1433
gpio_config_t gpio;
gpio.mode = Mode_Out_PP;
gpio.speed = Speed_2MHz;
gpio.pin = Pin_9;
digitalHi(GPIOA, gpio.pin);
gpioInit(GPIOA, &gpio);
// Turn off JTAG port 'cause we're using the GPIO for leds
#define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24)
AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;
// Init cycle counter
cycleCounterInit();
memset(extiHandlerConfigs, 0x00, sizeof(extiHandlerConfigs));
// SysTick
SysTick_Config(SystemCoreClock / 1000);
}
void SystemInit(void)
{
/* FPU settings ------------------------------------------------------------*/
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
#endif
/* Reset the RCC clock configuration to the default reset state ------------*/
/* Set MSION bit */
RCC->CR |= RCC_CR_MSION;
/* Reset CFGR register */
RCC->CFGR = 0x00000000;
/* Reset HSEON, CSSON , HSION, and PLLON bits */
RCC->CR &= (uint32_t)0xEAF6FFFF;
/* Reset PLLCFGR register */
RCC->PLLCFGR = 0x00000800;
/* Reset HSEBYP bit */
RCC->CR &= (uint32_t)0xFFFBFFFF;
/* Disable all interrupts */
RCC->CIER = 0x00000000;
/* Configure the Vector Table location add offset address ------------------*/
#ifdef VECT_TAB_SRAM
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
#else
SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */
#endif
/* Configure the Cube driver */
SystemCoreClock = MSI_VALUE; // At this stage the MSI is used as system clock
HAL_Init();
/* Configure the System clock source, PLL Multiplier and Divider factors,
AHB/APBx prescalers and Flash settings */
SetSysClock();
/* Reset the timer to avoid issues after the RAM initialization */
TIM_MST_RESET_ON;
TIM_MST_RESET_OFF;
}
/**
* @brief Setup the microcontroller system
* Initialize the Embedded Flash Interface, initialize the PLL and update th SystemFrequency variable
* @param None.
* @arg None.
* @note : This function should be used only after reset.
* @retval value: None.
*/
void SystemInit(void) {
/*!< RCC system reset(for debug purpose) */
/*!< Set HSION bit */
RCC->CR |= (uint32_t)0x00000001;
/*!< Reset SW[1:0], HPRE[3:0], PPRE1[2:0], PPRE2[2:0], ADCPRE[1:0] and MCO[2:0] bits */
RCC->CFGR &= (uint32_t)0xF8FF0000;
/*!< Reset HSEON, CSSON and PLLON bits */
RCC->CR &= (uint32_t)0xFEF6FFFF;
/*!< Reset HSEBYP bit */
RCC->CR &= (uint32_t)0xFFFBFFFF;
/*!< Reset PLLSRC, PLLXTPRE, PLLMUL[3:0] and USBPRE bits */
RCC->CFGR &= (uint32_t)0xFF80FFFF;
/*!< Disable all interrupts */
RCC->CIR = 0x00000000;
/*!< Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers */
/*!< Configure the Flash Latency cycles and enable prefetch buffer */
SetSysClock();
}
void deepsleep(void)
{
// Stop HAL systick
HAL_SuspendTick();
// Request to enter STOP mode with regulator in low power mode
#if TARGET_STM32L4
HAL_PWREx_EnterSTOP2Mode(PWR_STOPENTRY_WFI);
#else /* TARGET_STM32L4 */
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
#endif /* TARGET_STM32L4 */
// Restart HAL systick
HAL_ResumeTick();
// After wake-up from STOP reconfigure the PLL
SetSysClock();
#if DEVICE_LOWPOWERTIMER
rtc_synchronize();
#endif
}
int main(void) {
//spiInit(SPIDEV_1);
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
SetSysClock();
systemInit();
timerInit(); // timer must be initialized before any channel is allocated
serial0 = serial0_open();
dmaInit();
setup();
while (true) {
#ifndef EXTERNAL_DEBUG
static uint32_t dbg_start_msec;
// support reboot from host computer
if (millis()-dbg_start_msec > 100) {
dbg_start_msec = millis();
while (serialRxBytesWaiting(serial0)) {
uint8_t c = serialRead(serial0);
if (c == 'R')
systemResetToBootloader();
}
}
#endif
loop();
}
} // main
void systemInit(void)
{
checkForBootLoaderRequest();
// Enable FPU
SCB->CPACR = (0x3 << (10 * 2)) | (0x3 << (11 * 2));
SetSysClock();
// Configure NVIC preempt/priority groups
NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING);
// cache RCC->CSR value to use it in isMPUSoftreset() and others
cachedRccCsrValue = RCC->CSR;
RCC_ClearFlag();
enableGPIOPowerUsageAndNoiseReductions();
// Init cycle counter
cycleCounterInit();
memset(extiHandlerConfigs, 0x00, sizeof(extiHandlerConfigs));
// SysTick
SysTick_Config(SystemCoreClock / 1000);
}
void init(void)
{
drv_pwm_config_t pwm_params;
printfSupportInit();
initEEPROM();
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
#ifdef STM32F303
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
#endif
#ifdef STM32F303xC
SetSysClock();
#endif
#ifdef STM32F10X
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(masterConfig.emf_avoidance);
#endif
i2cSetOverclock(masterConfig.i2c_highspeed);
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
systemInit();
// Latch active features to be used for feature() in the remainder of init().
latchActiveFeatures();
ledInit();
#ifdef BEEPER
beeperConfig_t beeperConfig = {
.gpioPeripheral = BEEP_PERIPHERAL,
.gpioPin = BEEP_PIN,
.gpioPort = BEEP_GPIO,
#ifdef BEEPER_INVERTED
.gpioMode = Mode_Out_PP,
.isInverted = true
#else
.gpioMode = Mode_Out_OD,
.isInverted = false
#endif
};
#ifdef NAZE
if (hardwareRevision >= NAZE32_REV5) {
// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
beeperConfig.gpioMode = Mode_Out_PP;
beeperConfig.isInverted = true;
}
#endif
beeperInit(&beeperConfig);
#endif
#ifdef BUTTONS
buttonsInit();
if (!isMPUSoftReset()) {
buttonsHandleColdBootButtonPresses();
}
#endif
#ifdef SPEKTRUM_BIND
if (feature(FEATURE_RX_SERIAL)) {
switch (masterConfig.rxConfig.serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
// Spektrum satellite binding if enabled on startup.
// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
// The rest of Spektrum initialization will happen later - via spektrumInit()
spektrumBind(&masterConfig.rxConfig);
break;
}
}
#endif
delay(100);
timerInit(); // timer must be initialized before any channel is allocated
dmaInit();
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL));
#ifdef USE_SERVOS
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer, masterConfig.customServoMixer);
#else
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
#endif
memset(&pwm_params, 0, sizeof(pwm_params));
#ifdef SONAR
const sonarHardware_t *sonarHardware = NULL;
if (feature(FEATURE_SONAR)) {
sonarHardware = sonarGetHardwareConfiguration(&masterConfig.batteryConfig);
sonarGPIOConfig_t sonarGPIOConfig = {
.gpio = SONAR_GPIO,
.triggerPin = sonarHardware->echo_pin,
.echoPin = sonarHardware->trigger_pin,
};
pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
}
#endif
// when using airplane/wing mixer, servo/motor outputs are remapped
if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
#if defined(USE_UART2) && defined(STM32F10X)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_UART2);
#endif
#if defined(USE_UART3)
pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_UART3);
#endif
#if defined(USE_UART4)
pwm_params.useUART4 = doesConfigurationUsePort(SERIAL_PORT_UART4);
#endif
#if defined(USE_UART5)
pwm_params.useUART5 = doesConfigurationUsePort(SERIAL_PORT_UART5);
#endif
pwm_params.useVbat = feature(FEATURE_VBAT);
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER)
&& masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
pwm_params.usePPM = feature(FEATURE_RX_PPM);
pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
#ifdef SONAR
pwm_params.useSonar = feature(FEATURE_SONAR);
#endif
#ifdef USE_SERVOS
pwm_params.useServos = isMixerUsingServos();
pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwmRxInit(masterConfig.inputFilteringMode);
// pwmInit() needs to be called as soon as possible for ESC compatibility reasons
pwmIOConfiguration_t *pwmIOConfiguration = pwmInit(&pwm_params);
mixerUsePWMIOConfiguration(pwmIOConfiguration);
debug[2] = pwmIOConfiguration->pwmInputCount;
debug[3] = pwmIOConfiguration->ppmInputCount;
if (!feature(FEATURE_ONESHOT125))
motorControlEnable = true;
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef INVERTER
initInverter();
#endif
#ifdef USE_SPI
spiInit(SPI1);
spiInit(SPI2);
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION
updateHardwareRevision();
#endif
#if defined(NAZE)
if (hardwareRevision == NAZE32_SP) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
} else {
serialRemovePort(SERIAL_PORT_UART3);
}
#endif
#if defined(SPRACINGF3) && defined(SONAR) && defined(USE_SOFTSERIAL2)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
}
#endif
#if defined(SPRACINGF3MINI) && defined(SONAR) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
}
#endif
#ifdef USE_I2C
#if defined(NAZE)
if (hardwareRevision != NAZE32_SP) {
i2cInit(I2C_DEVICE);
} else {
if (!doesConfigurationUsePort(SERIAL_PORT_UART3)) {
i2cInit(I2C_DEVICE);
}
}
#elif defined(CC3D)
if (!doesConfigurationUsePort(SERIAL_PORT_UART3)) {
i2cInit(I2C_DEVICE);
}
#else
i2cInit(I2C_DEVICE);
#endif
#endif
#ifdef USE_ADC
drv_adc_config_t adc_params;
adc_params.enableVBat = feature(FEATURE_VBAT);
adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
adc_params.enableExternal1 = false;
#ifdef OLIMEXINO
adc_params.enableExternal1 = true;
#endif
#ifdef NAZE
// optional ADC5 input on rev.5 hardware
adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5);
#endif
adcInit(&adc_params);
#endif
initBoardAlignment(&masterConfig.boardAlignment);
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
displayInit(&masterConfig.rxConfig);
}
#endif
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf,
masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, currentProfile->mag_declination,
masterConfig.looptime, masterConfig.gyroSync, masterConfig.gyroSyncDenominator)) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(FAILURE_MISSING_ACC);
}
systemState |= SYSTEM_STATE_SENSORS_READY;
flashLedsAndBeep();
#ifdef USE_SERVOS
mixerInitialiseServoFiltering(targetLooptime);
#endif
#ifdef MAG
if (sensors(SENSOR_MAG))
compassInit();
#endif
imuInit();
mspInit(&masterConfig.serialConfig);
#ifdef USE_CLI
cliInit(&masterConfig.serialConfig);
#endif
failsafeInit(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
rxInit(&masterConfig.rxConfig, currentProfile->modeActivationConditions);
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsInit(
&masterConfig.serialConfig,
&masterConfig.gpsConfig
);
navigationInit(
¤tProfile->gpsProfile,
¤tProfile->pidProfile
);
}
#endif
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
sonarInit(sonarHardware);
}
#endif
#ifdef LED_STRIP
ledStripInit(masterConfig.ledConfigs, masterConfig.colors);
if (feature(FEATURE_LED_STRIP)) {
ledStripEnable();
}
#endif
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
telemetryInit();
}
#endif
#ifdef USB_CABLE_DETECTION
usbCableDetectInit();
#endif
#ifdef TRANSPONDER
if (feature(FEATURE_TRANSPONDER)) {
transponderInit(masterConfig.transponderData);
transponderEnable();
transponderStartRepeating();
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
}
#endif
#ifdef USE_FLASHFS
#ifdef NAZE
if (hardwareRevision == NAZE32_REV5) {
m25p16_init();
}
#elif defined(USE_FLASH_M25P16)
m25p16_init();
#endif
flashfsInit();
#endif
#ifdef USE_SDCARD
bool sdcardUseDMA = false;
sdcardInsertionDetectInit();
#ifdef SDCARD_DMA_CHANNEL_TX
#if defined(LED_STRIP) && defined(WS2811_DMA_CHANNEL)
// Ensure the SPI Tx DMA doesn't overlap with the led strip
sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL;
#else
sdcardUseDMA = true;
#endif
#endif
sdcard_init(sdcardUseDMA);
afatfs_init();
#endif
#ifdef BLACKBOX
initBlackbox();
#endif
if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
#ifdef BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif
// start all timers
// TODO - not implemented yet
timerStart();
ENABLE_STATE(SMALL_ANGLE);
DISABLE_ARMING_FLAG(PREVENT_ARMING);
#ifdef SOFTSERIAL_LOOPBACK
// FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
if (!loopbackPort->vTable) {
loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
}
serialPrint(loopbackPort, "LOOPBACK\r\n");
#endif
// Now that everything has powered up the voltage and cell count be determined.
if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER))
batteryInit(&masterConfig.batteryConfig);
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
displayShowFixedPage(PAGE_GPS);
#else
displayResetPageCycling();
displayEnablePageCycling();
#endif
}
#endif
#ifdef CJMCU
LED2_ON;
#endif
// Latch active features AGAIN since some may be modified by init().
latchActiveFeatures();
motorControlEnable = true;
systemState |= SYSTEM_STATE_READY;
}
#ifdef SOFTSERIAL_LOOPBACK
void processLoopback(void) {
if (loopbackPort) {
uint8_t bytesWaiting;
while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) {
uint8_t b = serialRead(loopbackPort);
serialWrite(loopbackPort, b);
};
}
}
#else
#define processLoopback()
#endif
int main(void) {
init();
/* Setup scheduler */
if (masterConfig.gyroSync) {
rescheduleTask(TASK_GYROPID, targetLooptime - INTERRUPT_WAIT_TIME);
}
else {
rescheduleTask(TASK_GYROPID, targetLooptime);
}
setTaskEnabled(TASK_GYROPID, true);
setTaskEnabled(TASK_ACCEL, sensors(SENSOR_ACC));
setTaskEnabled(TASK_SERIAL, true);
#ifdef BEEPER
setTaskEnabled(TASK_BEEPER, true);
#endif
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
setTaskEnabled(TASK_RX, true);
#ifdef GPS
setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
#endif
#ifdef MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#endif
#ifdef BARO
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
#endif
#ifdef SONAR
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
#endif
#if defined(BARO) || defined(SONAR)
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
#endif
#ifdef DISPLAY
setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY));
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
#endif
#ifdef TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
#endif
while (1) {
scheduler();
processLoopback();
}
}
void HardFault_Handler(void)
{
// fall out of the sky
uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
if ((systemState & requiredStateForMotors) == requiredStateForMotors) {
stopMotors();
}
#ifdef TRANSPONDER
// prevent IR LEDs from burning out.
uint8_t requiredStateForTransponder = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_TRANSPONDER_ENABLED;
if ((systemState & requiredStateForTransponder) == requiredStateForTransponder) {
transponderIrDisable();
}
#endif
while (1);
}
void systemInit(bool overclock)
{
//RCC_ClocksTypeDef rccClocks;
int i;
// start fpu
SCB->CPACR = (0x3 << (10 * 2)) | (0x3 << (11 * 2));
/* Reset the RCC clock configuration to the default reset state ------------*/
/* Set HSION bit */
RCC->CR |= (uint32_t)0x00000001;
/* Reset CFGR register */
RCC->CFGR = 0x00000000;
/* Reset HSEON, CSSON and PLLON bits */
RCC->CR &= (uint32_t)0xFEF6FFFF;
/* Reset PLLCFGR register */
RCC->PLLCFGR = 0x24003010;
/* Reset HSEBYP bit */
RCC->CR &= (uint32_t)0xFFFBFFFF;
/* Disable all interrupts */
RCC->CIR = 0x00000000;
#ifdef DATA_IN_ExtSRAM
SystemInit_ExtMemCtl();
#endif /* DATA_IN_ExtSRAM */
/* Configure the System clock source, PLL Multiplier and Divider factors,
AHB/APBx prescalers and Flash settings ----------------------------------*/
SetSysClock();
#define VECT_TAB_OFFSET 0x00 /*!< Vector Table base offset field.
/* Configure the Vector Table location add offset address ------------------*/
#ifdef VECT_TAB_SRAM
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
#else
SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */
#endif
// Init cycle counter
cycleCounterInit();
// SysTick
SysTick_Config(SystemCoreClock / 1000);
// RCC_ADCCLKConfig(RCC_ADC12PLLCLK_Div256); // 72 MHz divided by 256 = 281.25 kHz
// Turn on peripherial clocks
// RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_ADC12, ENABLE);
// RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE); // USART1, USART2
// RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE); // ADC2
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
// RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); // PWM Out + PWM RX
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); // PWM Out
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); // PWM Out + PWM RX
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C3, ENABLE); // i2c
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); //
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); //
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM10, ENABLE); //
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM11, ENABLE); //
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12, ENABLE); //
// RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); //
//
// PPM + PWM RX
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); //
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM15, ENABLE); // PWM Out
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM16, ENABLE); // PWM Out
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM17, ENABLE); // PWM Out
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); // Telemetry
// RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); // GPS
// RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); // Spektrum RX
RCC_ClearFlag();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority
gpioStart();
spiInit();
// if feature(FEATURE_I2C)
// i2cInit(I2C2);
for (i = 0; i < 10; i++) {
LED0_TOGGLE
delay(25);
BEEP_ON
delay(25);
BEEP_OFF
}
LED0_OFF
}
void init(void)
{
printfSupportInit();
initEEPROM();
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
// initialize IO (needed for all IO operations)
IOInitGlobal();
#ifdef STM32F303
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
#endif
#ifdef STM32F303xC
SetSysClock();
#endif
#ifdef STM32F10X
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(masterConfig.emf_avoidance);
#endif
i2cSetOverclock(masterConfig.i2c_overclock);
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
systemInit();
// Latch active features to be used for feature() in the remainder of init().
latchActiveFeatures();
#ifdef ALIENFLIGHTF3
ledInit(hardwareRevision == AFF3_REV_1 ? false : true);
#else
ledInit(false);
#endif
#ifdef SPEKTRUM_BIND
if (feature(FEATURE_RX_SERIAL)) {
switch (masterConfig.rxConfig.serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
// Spektrum satellite binding if enabled on startup.
// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
// The rest of Spektrum initialization will happen later - via spektrumInit()
spektrumBind(&masterConfig.rxConfig);
break;
}
}
#endif
delay(500);
timerInit(); // timer must be initialized before any channel is allocated
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL));
#ifdef USE_SERVOS
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer, masterConfig.customServoMixer);
#else
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
#endif
drv_pwm_config_t pwm_params;
memset(&pwm_params, 0, sizeof(pwm_params));
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
const sonarHcsr04Hardware_t *sonarHardware = sonarGetHardwareConfiguration(masterConfig.batteryConfig.currentMeterType);
if (sonarHardware) {
pwm_params.useSonar = true;
pwm_params.sonarIOConfig.triggerTag = sonarHardware->triggerTag;
pwm_params.sonarIOConfig.echoTag = sonarHardware->echoTag;
}
}
#endif
// when using airplane/wing mixer, servo/motor outputs are remapped
if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
#if defined(USE_USART2) && defined(STM32F10X)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
#endif
#ifdef STM32F303xC
pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3);
#endif
pwm_params.useVbat = feature(FEATURE_VBAT);
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER)
&& masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
pwm_params.usePPM = feature(FEATURE_RX_PPM);
pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
#ifdef USE_SERVOS
pwm_params.useServos = isServoOutputEnabled();
pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
#ifndef SKIP_RX_PWM_PPM
pwmRxInit(masterConfig.inputFilteringMode);
#endif
// pwmInit() needs to be called as soon as possible for ESC compatibility reasons
pwmInit(&pwm_params);
mixerUsePWMIOConfiguration();
if (!feature(FEATURE_ONESHOT125))
motorControlEnable = true;
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef BEEPER
beeperConfig_t beeperConfig = {
.ioTag = IO_TAG(BEEPER),
#ifdef BEEPER_INVERTED
.isOD = false,
.isInverted = true
#else
.isOD = true,
.isInverted = false
#endif
};
#ifdef NAZE
if (hardwareRevision >= NAZE32_REV5) {
// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
beeperConfig.isOD = false;
beeperConfig.isInverted = true;
}
#endif
beeperInit(&beeperConfig);
#endif
#ifdef INVERTER
initInverter();
#endif
#ifdef USE_SPI
spiInit(SPI1);
spiInit(SPI2);
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION
updateHardwareRevision();
#endif
#if defined(NAZE)
if (hardwareRevision == NAZE32_SP) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
} else {
serialRemovePort(SERIAL_PORT_USART3);
}
#endif
#if defined(SPRACINGF3) && defined(SONAR) && defined(USE_SOFTSERIAL2)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
}
#endif
#if defined(FURYF3) && defined(SONAR) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
}
#endif
#ifdef USE_I2C
#if defined(NAZE)
if (hardwareRevision != NAZE32_SP) {
i2cInit(I2C_DEVICE);
} else {
if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
i2cInit(I2C_DEVICE);
}
}
#elif defined(CC3D)
if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
i2cInit(I2C_DEVICE);
}
#else
i2cInit(I2C_DEVICE);
#endif
#endif
#ifdef USE_ADC
drv_adc_config_t adc_params;
adc_params.enableVBat = feature(FEATURE_VBAT);
adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
adc_params.enableExternal1 = false;
#ifdef OLIMEXINO
adc_params.enableExternal1 = true;
#endif
#ifdef NAZE
// optional ADC5 input on rev.5 hardware
adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5);
#endif
adcInit(&adc_params);
#endif
initBoardAlignment(&masterConfig.boardAlignment);
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
displayInit(&masterConfig.rxConfig);
}
#endif
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsPreInit(&masterConfig.gpsConfig);
}
#endif
// Set gyro sampling rate divider before initialization
gyroSetSampleRate(masterConfig.looptime, masterConfig.gyro_lpf, masterConfig.gyroSync, masterConfig.gyroSyncDenominator);
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,
masterConfig.gyro_lpf,
masterConfig.acc_hardware,
masterConfig.mag_hardware,
masterConfig.baro_hardware,
currentProfile->mag_declination)) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(FAILURE_MISSING_ACC);
}
systemState |= SYSTEM_STATE_SENSORS_READY;
LED1_ON;
LED0_OFF;
for (int i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
BEEP_ON;
delay(25);
BEEP_OFF;
}
LED0_OFF;
LED1_OFF;
#ifdef MAG
if (sensors(SENSOR_MAG))
compassInit();
#endif
imuInit();
mspInit(&masterConfig.serialConfig);
#ifdef USE_CLI
cliInit(&masterConfig.serialConfig);
#endif
failsafeInit(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
rxInit(&masterConfig.rxConfig, currentProfile->modeActivationConditions);
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsInit(
&masterConfig.serialConfig,
&masterConfig.gpsConfig
);
}
#endif
#ifdef NAV
navigationInit(
&masterConfig.navConfig,
¤tProfile->pidProfile,
¤tProfile->rcControlsConfig,
&masterConfig.rxConfig,
&masterConfig.flight3DConfig,
&masterConfig.escAndServoConfig
);
#endif
#ifdef LED_STRIP
ledStripInit(masterConfig.ledConfigs, masterConfig.colors, masterConfig.modeColors, &masterConfig.specialColors);
if (feature(FEATURE_LED_STRIP)) {
ledStripEnable();
}
#endif
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
telemetryInit();
}
#endif
#ifdef USE_FLASHFS
#ifdef NAZE
if (hardwareRevision == NAZE32_REV5) {
m25p16_init();
}
#elif defined(USE_FLASH_M25P16)
m25p16_init();
#endif
flashfsInit();
#endif
#ifdef USE_SDCARD
bool sdcardUseDMA = false;
sdcardInsertionDetectInit();
#ifdef SDCARD_DMA_CHANNEL_TX
#if defined(LED_STRIP) && defined(WS2811_DMA_CHANNEL)
// Ensure the SPI Tx DMA doesn't overlap with the led strip
sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL;
#else
sdcardUseDMA = true;
#endif
#endif
sdcard_init(sdcardUseDMA);
afatfs_init();
#endif
#ifdef BLACKBOX
initBlackbox();
#endif
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
#ifdef BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif
// start all timers
// TODO - not implemented yet
timerStart();
ENABLE_STATE(SMALL_ANGLE);
DISABLE_ARMING_FLAG(PREVENT_ARMING);
#ifdef SOFTSERIAL_LOOPBACK
// FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
if (!loopbackPort->vTable) {
loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
}
serialPrint(loopbackPort, "LOOPBACK\r\n");
#endif
// Now that everything has powered up the voltage and cell count be determined.
if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER))
batteryInit(&masterConfig.batteryConfig);
#ifdef CJMCU
LED2_ON;
#endif
// Latch active features AGAIN since some may be modified by init().
latchActiveFeatures();
motorControlEnable = true;
systemState |= SYSTEM_STATE_READY;
}
#ifdef SOFTSERIAL_LOOPBACK
void processLoopback(void) {
if (loopbackPort) {
uint8_t bytesWaiting;
while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) {
uint8_t b = serialRead(loopbackPort);
serialWrite(loopbackPort, b);
};
}
}
#else
#define processLoopback()
#endif
int main(void)
{
init();
/* Setup scheduler */
schedulerInit();
rescheduleTask(TASK_GYROPID, targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
setTaskEnabled(TASK_SERIAL, true);
#ifdef BEEPER
setTaskEnabled(TASK_BEEPER, true);
#endif
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
setTaskEnabled(TASK_RX, true);
#ifdef GPS
setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
#endif
#ifdef MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#if defined(MPU6500_SPI_INSTANCE) && defined(USE_MAG_AK8963)
// fixme temporary solution for AK6983 via slave I2C on MPU9250
rescheduleTask(TASK_COMPASS, 1000000 / 40);
#endif
#endif
#ifdef BARO
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
#endif
#ifdef SONAR
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
#endif
#ifdef DISPLAY
setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY));
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
#endif
while (true) {
scheduler();
processLoopback();
}
}
int main(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
drv_adc_config_t adc_params;
bool sensorsOK = false;
#ifdef SOFTSERIAL_LOOPBACK
serialPort_t *loopbackPort1 = NULL;
serialPort_t *loopbackPort2 = NULL;
#endif
initEEPROM();
checkFirstTime(false);
readEEPROM();
// Configure clock, this figures out HSE for hardware autodetect
SetSysClock(mcfg.emf_avoidance);
// determine hardware revision
if (hse_value == 8000000)
hw_revision = NAZE32;
else if (hse_value == 12000000)
hw_revision = NAZE32_REV5;
systemInit();
#ifdef USE_LAME_PRINTF
init_printf(NULL, _putc);
#endif
if (feature(FEATURE_SERIALRX)) {
switch (mcfg.serialrx_type) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
// Spektrum satellite binding if enabled on startup.
// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
// The rest of Spektrum initialization will happen later - via spektrumInit()
spektrumBind();
break;
}
}
// sleep for 100ms
delay(100);
activateConfig();
#ifndef CJMCU
if (spiInit() == SPI_DEVICE_MPU && hw_revision == NAZE32_REV5)
hw_revision = NAZE32_SP;
#endif
if (hw_revision != NAZE32_SP)
i2cInit(I2C_DEVICE);
// configure power ADC
if (mcfg.power_adc_channel > 0 && (mcfg.power_adc_channel == 1 || mcfg.power_adc_channel == 9 || mcfg.power_adc_channel == 5))
adc_params.powerAdcChannel = mcfg.power_adc_channel;
else {
adc_params.powerAdcChannel = 0;
mcfg.power_adc_channel = 0;
}
// configure rssi ADC
if (mcfg.rssi_adc_channel > 0 && (mcfg.rssi_adc_channel == 1 || mcfg.rssi_adc_channel == 9 || mcfg.rssi_adc_channel == 5) && mcfg.rssi_adc_channel != mcfg.power_adc_channel)
adc_params.rssiAdcChannel = mcfg.rssi_adc_channel;
else {
adc_params.rssiAdcChannel = 0;
mcfg.rssi_adc_channel = 0;
}
adcInit(&adc_params);
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit();
initBoardAlignment();
// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
sensorsSet(SENSORS_SET);
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsOK = sensorsAutodetect();
// production debug output
#ifdef PROD_DEBUG
productionDebug();
#endif
// if gyro was not detected due to whatever reason, we give up now.
if (!sensorsOK)
failureMode(3);
LED1_ON;
LED0_OFF;
for (i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
BEEP_ON;
delay(25);
BEEP_OFF;
}
LED0_OFF;
LED1_OFF;
imuInit(); // Mag is initialized inside imuInit
mixerInit(); // this will set core.useServo var depending on mixer type
serialInit(mcfg.serial_baudrate);
// when using airplane/wing mixer, servo/motor outputs are remapped
if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_CUSTOM_PLANE)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
pwm_params.useUART = feature(FEATURE_GPS) || feature(FEATURE_SERIALRX); // spektrum/sbus support uses UART too
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
pwm_params.usePPM = feature(FEATURE_PPM);
pwm_params.enableInput = !feature(FEATURE_SERIALRX); // disable inputs if using spektrum
pwm_params.useServos = core.useServo;
pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = mcfg.motor_pwm_rate;
pwm_params.servoPwmRate = mcfg.servo_pwm_rate;
pwm_params.pwmFilter = mcfg.pwm_filter;
pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC (default, overridden below)
if (feature(FEATURE_3D))
pwm_params.idlePulse = mcfg.neutral3d;
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwm_params.syncPWM = feature(FEATURE_SYNCPWM);
pwm_params.fastPWM = feature(FEATURE_FASTPWM);
pwm_params.servoCenterPulse = mcfg.midrc;
pwm_params.failsafeThreshold = cfg.failsafe_detect_threshold;
switch (mcfg.power_adc_channel) {
case 1:
pwm_params.adcChannel = PWM2;
break;
case 9:
pwm_params.adcChannel = PWM8;
break;
default:
pwm_params.adcChannel = 0;
break;
}
pwmInit(&pwm_params);
core.numServos = pwm_params.numServos;
// configure PWM/CPPM read function and max number of channels. spektrum or sbus below will override both of these, if enabled
for (i = 0; i < RC_CHANS; i++)
rcData[i] = 1502;
rcReadRawFunc = pwmReadRawRC;
core.numRCChannels = MAX_INPUTS;
if (feature(FEATURE_SERIALRX)) {
switch (mcfg.serialrx_type) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
spektrumInit(&rcReadRawFunc);
break;
case SERIALRX_SBUS:
sbusInit(&rcReadRawFunc);
break;
case SERIALRX_SUMD:
sumdInit(&rcReadRawFunc);
break;
case SERIALRX_MSP:
mspInit(&rcReadRawFunc);
break;
case SERIALRX_IBUS:
ibusInit(&rcReadRawFunc);
break;
}
}
#ifndef CJMCU
// Optional GPS - available in both PPM, PWM and serialRX input mode, in PWM input, reduces number of available channels by 2.
// gpsInit will return if FEATURE_GPS is not enabled.
gpsInit(mcfg.gps_baudrate);
#endif
#ifdef SONAR
// sonar stuff only works with PPM
if (feature(FEATURE_PPM)) {
if (feature(FEATURE_SONAR))
Sonar_init();
}
#endif
#ifndef CJMCU
if (feature(FEATURE_SOFTSERIAL)) {
//mcfg.softserial_baudrate = 19200; // Uncomment to override config value
setupSoftSerialPrimary(mcfg.softserial_baudrate, mcfg.softserial_1_inverted);
setupSoftSerialSecondary(mcfg.softserial_2_inverted);
#ifdef SOFTSERIAL_LOOPBACK
loopbackPort1 = (serialPort_t *)(&softSerialPorts[0]));
serialPrint(loopbackPort1, "SOFTSERIAL 1 - LOOPBACK ENABLED\r\n");
loopbackPort2 = (serialPort_t *)(&softSerialPorts[1]));
serialPrint(loopbackPort2, "SOFTSERIAL 2 - LOOPBACK ENABLED\r\n");
#endif
//core.mainport = (serialPort_t*)&(softSerialPorts[0]); // Uncomment to switch the main port to use softserial.
}
if (feature(FEATURE_TELEMETRY))
initTelemetry();
#endif
previousTime = micros();
if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
calibratingA = CALIBRATING_ACC_CYCLES;
calibratingG = CALIBRATING_GYRO_CYCLES;
calibratingB = CALIBRATING_BARO_CYCLES; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
f.SMALL_ANGLE = 1;
// loopy
while (1) {
loop();
#ifdef SOFTSERIAL_LOOPBACK
if (loopbackPort1) {
while (serialTotalBytesWaiting(loopbackPort1)) {
uint8_t b = serialRead(loopbackPort1);
serialWrite(loopbackPort1, b);
//serialWrite(core.mainport, 0x01);
//serialWrite(core.mainport, b);
};
}
if (loopbackPort2) {
while (serialTotalBytesWaiting(loopbackPort2)) {
serialRead(loopbackPort2);
};
}
#endif
}
}
void init(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
printfSupportInit();
initEEPROM();
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
#ifdef STM32F303
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
#endif
#ifdef STM32F303xC
SetSysClock();
#endif
#ifdef STM32F10X
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(masterConfig.emf_avoidance);
#endif
#ifdef STM32F40_41xxx
SetSysClock();
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
systemInit();
// Latch active features to be used for feature() in the remainder of init().
latchActiveFeatures();
ledInit();
#ifdef SPEKTRUM_BIND
if (feature(FEATURE_RX_SERIAL)) {
switch (masterConfig.rxConfig.serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
// Spektrum satellite binding if enabled on startup.
// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
// The rest of Spektrum initialization will happen later - via spektrumInit()
spektrumBind(&masterConfig.rxConfig);
break;
}
}
#endif
delay(100);
timerInit(); // timer must be initialized before any channel is allocated
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL));
#ifdef USE_SERVOS
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer, masterConfig.customServoMixer);
#else
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
#endif
memset(&pwm_params, 0, sizeof(pwm_params));
#ifdef SONAR
const sonarHardware_t *sonarHardware = NULL;
if (feature(FEATURE_SONAR)) {
sonarHardware = sonarGetHardwareConfiguration(&masterConfig.batteryConfig);
sonarGPIOConfig_t sonarGPIOConfig = {
.gpio = SONAR_GPIO,
.triggerPin = sonarHardware->echo_pin,
.echoPin = sonarHardware->trigger_pin,
};
pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
}
#endif
// when using airplane/wing mixer, servo/motor outputs are remapped
if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
#if defined(USE_USART2) && defined(STM32F10X)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
#endif
#ifdef STM32F303xC
pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3);
#endif
#if defined(USE_USART2) && defined(STM32F40_41xxx)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
#endif
#if defined(USE_USART6) && defined(STM32F40_41xxx)
pwm_params.useUART6 = doesConfigurationUsePort(SERIAL_PORT_USART6);
#endif
pwm_params.useVbat = feature(FEATURE_VBAT);
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER)
&& masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
pwm_params.usePPM = feature(FEATURE_RX_PPM);
pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
#ifdef SONAR
pwm_params.useSonar = feature(FEATURE_SONAR);
#endif
#ifdef USE_SERVOS
pwm_params.useServos = isMixerUsingServos();
pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwmRxInit(masterConfig.inputFilteringMode);
pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
if (!feature(FEATURE_ONESHOT125))
motorControlEnable = true;
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef BEEPER
beeperConfig_t beeperConfig = {
.gpioPeripheral = BEEP_PERIPHERAL,
.gpioPin = BEEP_PIN,
.gpioPort = BEEP_GPIO,
#ifdef BEEPER_INVERTED
.gpioMode = Mode_Out_PP,
.isInverted = true
#else
.gpioMode = Mode_Out_OD,
.isInverted = false
#endif
};
#ifdef NAZE
if (hardwareRevision >= NAZE32_REV5) {
// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
beeperConfig.gpioMode = Mode_Out_PP;
beeperConfig.isInverted = true;
}
#endif
beeperInit(&beeperConfig);
#endif
#ifdef INVERTER
initInverter();
#endif
#ifdef USE_SPI
spiInit(SPI1);
spiInit(SPI2);
spiInit(SPI3);
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION
updateHardwareRevision();
#endif
#if defined(NAZE)
if (hardwareRevision == NAZE32_SP) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
} else {
serialRemovePort(SERIAL_PORT_USART3);
}
#endif
#if defined(SPRACINGF3) && defined(SONAR) && defined(USE_SOFTSERIAL2)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
}
#endif
#ifdef USE_I2C
#if defined(NAZE)
if (hardwareRevision != NAZE32_SP) {
i2cInit(I2C_DEVICE);
} else {
if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
i2cInit(I2C_DEVICE);
}
}
#elif defined(CC3D)
if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
i2cInit(I2C_DEVICE);
}
#else
i2cInit(I2C_DEVICE_INT);
#if defined(ANYFC) || defined(COLIBRI) || defined(REVO) || defined(SPARKY2)
if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
#ifdef I2C_DEVICE_EXT
i2cInit(I2C_DEVICE_EXT);
#endif
}
#endif
#endif
#endif
#ifdef USE_ADC
drv_adc_config_t adc_params;
adc_params.enableVBat = feature(FEATURE_VBAT);
adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
adc_params.enableExternal1 = false;
#ifdef OLIMEXINO
adc_params.enableExternal1 = true;
#endif
#ifdef NAZE
// optional ADC5 input on rev.5 hardware
adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5);
#endif
adcInit(&adc_params);
#endif
initBoardAlignment(&masterConfig.boardAlignment);
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
displayInit(&masterConfig.rxConfig);
}
#endif
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, currentProfile->mag_declination)) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(FAILURE_MISSING_ACC);
}
systemState |= SYSTEM_STATE_SENSORS_READY;
LED1_ON;
LED0_OFF;
for (i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
BEEP_ON;
delay(25);
BEEP_OFF;
}
LED0_OFF;
LED1_OFF;
#ifdef MAG
if (sensors(SENSOR_MAG))
compassInit();
#endif
imuInit();
mspInit(&masterConfig.serialConfig);
#ifdef USE_CLI
cliInit(&masterConfig.serialConfig);
#endif
failsafeInit(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
rxInit(&masterConfig.rxConfig);
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsInit(
&masterConfig.serialConfig,
&masterConfig.gpsConfig
);
navigationInit(
¤tProfile->gpsProfile,
¤tProfile->pidProfile
);
}
#endif
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
sonarInit(sonarHardware);
}
#endif
#ifdef LED_STRIP
ledStripInit(masterConfig.ledConfigs, masterConfig.colors);
if (feature(FEATURE_LED_STRIP)) {
#ifdef COLIBRI
if (!doesConfigurationUsePort(SERIAL_PORT_USART1)) {
ledStripEnable();
}
#else
ledStripEnable();
#endif
}
#endif
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
telemetryInit();
}
#endif
#ifdef USE_FLASHFS
#ifdef NAZE
if (hardwareRevision == NAZE32_REV5) {
m25p16_init();
}
#elif defined(USE_FLASH_M25P16)
m25p16_init();
#endif
flashfsInit();
#endif
#ifdef BLACKBOX
initBlackbox();
#endif
previousTime = micros();
if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
#ifdef BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif
// start all timers
// TODO - not implemented yet
timerStart();
ENABLE_STATE(SMALL_ANGLE);
DISABLE_ARMING_FLAG(PREVENT_ARMING);
#ifdef SOFTSERIAL_LOOPBACK
// FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
if (!loopbackPort->vTable) {
loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
}
serialPrint(loopbackPort, "LOOPBACK\r\n");
#endif
// Now that everything has powered up the voltage and cell count be determined.
if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER))
batteryInit(&masterConfig.batteryConfig);
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
displayShowFixedPage(PAGE_GPS);
#else
displayResetPageCycling();
displayEnablePageCycling();
#endif
}
#endif
#ifdef CJMCU
LED2_ON;
#endif
// Latch active features AGAIN since some may be modified by init().
latchActiveFeatures();
motorControlEnable = true;
systemState |= SYSTEM_STATE_READY;
}
#ifdef SOFTSERIAL_LOOPBACK
void processLoopback(void) {
if (loopbackPort) {
uint8_t bytesWaiting;
while ((bytesWaiting = serialTotalBytesWaiting(loopbackPort))) {
uint8_t b = serialRead(loopbackPort);
serialWrite(loopbackPort, b);
};
}
}
#else
#define processLoopback()
#endif
int main(void) {
init();
while (1) {
loop();
processLoopback();
}
}
void HardFault_Handler(void)
{
// fall out of the sky
uint8_t requiredState = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
if ((systemState & requiredState) == requiredState) {
stopMotors();
}
while (1);
}
void init(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
bool sensorsOK = false;
initPrintfSupport();
initEEPROM();
ensureEEPROMContainsValidData();
readEEPROM();
#ifdef STM32F303
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
#endif
#ifdef STM32F303xC
SetSysClock();
#endif
#ifdef STM32F10X
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(masterConfig.emf_avoidance);
#endif
#ifdef NAZE
detectHardwareRevision();
#endif
systemInit();
#ifdef SPEKTRUM_BIND
if (feature(FEATURE_RX_SERIAL)) {
switch (masterConfig.rxConfig.serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
// Spektrum satellite binding if enabled on startup.
// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
// The rest of Spektrum initialization will happen later - via spektrumInit()
spektrumBind(&masterConfig.rxConfig);
break;
}
}
#endif
delay(100);
timerInit(); // timer must be initialized before any channel is allocated
ledInit();
#ifdef BEEPER
beeperConfig_t beeperConfig = {
.gpioMode = Mode_Out_OD,
.gpioPin = BEEP_PIN,
.gpioPort = BEEP_GPIO,
.gpioPeripheral = BEEP_PERIPHERAL,
.isInverted = false
};
#ifdef NAZE
if (hardwareRevision >= NAZE32_REV5) {
// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
beeperConfig.gpioMode = Mode_Out_PP;
beeperConfig.isInverted = true;
}
#endif
beeperInit(&beeperConfig);
#endif
#ifdef INVERTER
initInverter();
#endif
#ifdef USE_SPI
spiInit(SPI1);
spiInit(SPI2);
#endif
#ifdef NAZE
updateHardwareRevision();
#endif
#ifdef USE_I2C
#ifdef NAZE
if (hardwareRevision != NAZE32_SP) {
i2cInit(I2C_DEVICE);
}
#else
// Configure the rest of the stuff
i2cInit(I2C_DEVICE);
#endif
#endif
#if !defined(SPARKY)
drv_adc_config_t adc_params;
adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
adc_params.enableExternal1 = false;
#ifdef OLIMEXINO
adc_params.enableExternal1 = true;
#endif
#ifdef NAZE
// optional ADC5 input on rev.5 hardware
adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5);
#endif
adcInit(&adc_params);
#endif
initBoardAlignment(&masterConfig.boardAlignment);
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
displayInit(&masterConfig.rxConfig);
}
#endif
// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
sensorsSet(SENSORS_SET);
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination);
// if gyro was not detected due to whatever reason, we give up now.
if (!sensorsOK)
failureMode(3);
LED1_ON;
LED0_OFF;
for (i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
BEEP_ON;
delay(25);
BEEP_OFF;
}
LED0_OFF;
LED1_OFF;
imuInit();
mixerInit(masterConfig.mixerMode, masterConfig.customMixer);
#ifdef MAG
if (sensors(SENSOR_MAG))
compassInit();
#endif
serialInit(&masterConfig.serialConfig);
memset(&pwm_params, 0, sizeof(pwm_params));
// when using airplane/wing mixer, servo/motor outputs are remapped
if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
#if defined(SERIAL_PORT_USART2) && defined(STM32F10X)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
#endif
pwm_params.useVbat = feature(FEATURE_VBAT);
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER);
pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
pwm_params.usePPM = feature(FEATURE_RX_PPM);
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.useServos = isMixerUsingServos();
pwm_params.extraServos = currentProfile->gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC (default, overridden below)
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwm_params.servoCenterPulse = masterConfig.rxConfig.midrc;
pwmRxInit(masterConfig.inputFilteringMode);
pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
failsafe = failsafeInit(&masterConfig.rxConfig);
beepcodeInit(failsafe);
rxInit(&masterConfig.rxConfig, failsafe);
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsInit(
&masterConfig.serialConfig,
&masterConfig.gpsConfig
);
navigationInit(
¤tProfile->gpsProfile,
¤tProfile->pidProfile
);
}
#endif
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
Sonar_init();
}
#endif
#ifdef LED_STRIP
ledStripInit(masterConfig.ledConfigs, masterConfig.colors, failsafe);
if (feature(FEATURE_LED_STRIP)) {
ledStripEnable();
}
#endif
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY))
initTelemetry();
#endif
previousTime = micros();
if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
#ifdef BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif
// start all timers
// TODO - not implemented yet
timerStart();
ENABLE_STATE(SMALL_ANGLE);
DISABLE_ARMING_FLAG(PREVENT_ARMING);
#ifdef SOFTSERIAL_LOOPBACK
// FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
if (!loopbackPort->vTable) {
loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
}
serialPrint(loopbackPort, "LOOPBACK\r\n");
#endif
// Now that everything has powered up the voltage and cell count be determined.
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit(&masterConfig.batteryConfig);
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
displayShowFixedPage(PAGE_GPS);
#else
displayEnablePageCycling();
#endif
}
#endif
}
#ifdef SOFTSERIAL_LOOPBACK
void processLoopback(void) {
if (loopbackPort) {
uint8_t bytesWaiting;
while ((bytesWaiting = serialTotalBytesWaiting(loopbackPort))) {
uint8_t b = serialRead(loopbackPort);
serialWrite(loopbackPort, b);
};
}
}
#else
#define processLoopback()
#endif
int main(void) {
init();
while (1) {
loop();
processLoopback();
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
/* Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers */
SetSysClock();
/* This function fills the RCC_ClockFreq structure with the current
frequencies of different on chip clocks (for debug purpose) */
RCC_GetClocksFreq(&RCC_ClockFreq);
/* Enable Clock Security System(CSS): this will generate an NMI exception
when HSE clock fails */
RCC_ClockSecuritySystemCmd(ENABLE);
/* NVIC configuration ------------------------------------------------------*/
NVIC_Configuration();
/* Initialize Leds mounted on STM3210X-EVAL board --------------------------*/
STM_EVAL_LEDInit(LED1);
STM_EVAL_LEDInit(LED2);
STM_EVAL_LEDInit(LED3);
STM_EVAL_LEDInit(LED4);
/* Output HSE clock on MCO pin ---------------------------------------------*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
RCC_MCOConfig(RCC_MCO_HSE);
while (1)
{
/* Toggle LED1 */
STM_EVAL_LEDToggle(LED1);
/* Insert delay */
Delay(DELAY_COUNT);
/* Toggle LED2 */
STM_EVAL_LEDToggle(LED2);
/* Insert delay */
Delay(DELAY_COUNT);
/* Toggle LED3 */
STM_EVAL_LEDToggle(LED3);
/* Insert delay */
Delay(DELAY_COUNT);
/* Toggle LED4 */
STM_EVAL_LEDToggle(LED4);
/* Insert a delay */
Delay(DELAY_COUNT);
}
}
void init(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
printfSupportInit();
initEEPROM();
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
#ifdef STM32F303
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
#endif
#ifdef STM32F303xC
SetSysClock();
#endif
#ifdef STM32F10X
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(masterConfig.emf_avoidance);
#endif
#ifdef STM32F40_41xxx
SetSysClock();
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
systemInit();
ledInit();
#ifdef SPEKTRUM_BIND
if (feature(FEATURE_RX_SERIAL)) {
switch (masterConfig.rxConfig.serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
// Spektrum satellite binding if enabled on startup.
// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
// The rest of Spektrum initialization will happen later - via spektrumInit()
spektrumBind(&masterConfig.rxConfig);
break;
}
}
#endif
delay(100);
timerInit(); // timer must be initialized before any channel is allocated
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL));
mixerInit(masterConfig.mixerMode, masterConfig.customMixer);
memset(&pwm_params, 0, sizeof(pwm_params));
// when using airplane/wing mixer, servo/motor outputs are remapped
if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
#if defined(USE_USART2) && defined(STM32F10X)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
#endif
#ifdef STM32F303xC
pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3);
#endif
#if defined(USE_USART2) && defined(STM32F40_41xxx)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
#endif
#if defined(USE_USART6) && defined(STM32F40_41xxx)
pwm_params.useUART6 = doesConfigurationUsePort(SERIAL_PORT_USART6);
#endif
pwm_params.useVbat = feature(FEATURE_VBAT);
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER)
&& masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
pwm_params.usePPM = feature(FEATURE_RX_PPM);
pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
#ifdef SONAR
pwm_params.useSonar = feature(FEATURE_SONAR);
#endif
#ifdef USE_SERVOS
pwm_params.useServos = isMixerUsingServos();
pwm_params.extraServos = currentProfile->gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC (default, overridden below)
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwmRxInit(masterConfig.inputFilteringMode);
pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef BEEPER
beeperConfig_t beeperConfig = {
.gpioPin = BEEP_PIN,
.gpioPort = BEEP_GPIO,
.gpioPeripheral = BEEP_PERIPHERAL,
#ifdef BEEPER_INVERTED
.gpioMode = Mode_Out_PP,
.isInverted = true
#else
.gpioMode = Mode_Out_OD,
.isInverted = false
#endif
};
#ifdef NAZE
if (hardwareRevision >= NAZE32_REV5) {
// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
beeperConfig.gpioMode = Mode_Out_PP;
beeperConfig.isInverted = true;
}
#endif
beeperInit(&beeperConfig);
#endif
#ifdef INVERTER
initInverter();
#endif
#ifdef USE_SPI
spiInit(SPI1);
spiInit(SPI2);
spiInit(SPI3);
spiInit(SPI4);
spiInit(SPI5);
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION
updateHardwareRevision();
#endif
#ifdef USE_I2C
#if defined(NAZE)
if (hardwareRevision != NAZE32_SP) {
i2cInit(I2C_DEVICE);
}
#elif defined(CC3D)
if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
i2cInit(I2C_DEVICE);
}
#else
#if defined(ANYFC) || defined(COLIBRI) || defined(REVO) || defined(STM32F4DISCOVERY)
i2cInit(I2C_DEVICE_INT);
if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
#ifdef I2C_DEVICE_EXT
i2cInit(I2C_DEVICE_EXT);
#endif
}
#endif
#endif
#endif
#ifdef USE_ADC
drv_adc_config_t adc_params;
adc_params.enableVBat = feature(FEATURE_VBAT);
adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
adc_params.enableExternal1 = false;
#ifdef OLIMEXINO
adc_params.enableExternal1 = true;
#endif
#ifdef NAZE
// optional ADC5 input on rev.5 hardware
adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5);
#endif
adcInit(&adc_params);
#endif
initBoardAlignment(&masterConfig.boardAlignment);
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
displayInit(&masterConfig.rxConfig);
}
#endif
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination)) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(3);
}
systemState |= SYSTEM_STATE_SENSORS_READY;
LED1_ON;
LED0_OFF;
for (i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
BEEP_ON;
delay(25);
BEEP_OFF;
}
LED0_OFF;
LED1_OFF;
#ifdef MAG
if (sensors(SENSOR_MAG))
compassInit();
#endif
imuInit();
mspInit(&masterConfig.serialConfig);
cliInit(&masterConfig.serialConfig);
failsafeInit(&masterConfig.rxConfig);
rxInit(&masterConfig.rxConfig);
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsInit(
&masterConfig.serialConfig,
&masterConfig.gpsConfig
);
navigationInit(
¤tProfile->gpsProfile,
¤tProfile->pidProfile
);
}
#endif
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
sonarInit(&masterConfig.batteryConfig);
}
#endif
#ifdef LED_STRIP
ledStripInit(masterConfig.ledConfigs, masterConfig.colors);
if (feature(FEATURE_LED_STRIP)) {
#ifdef COLIBRI
if (!doesConfigurationUsePort(SERIAL_PORT_USART1)) {
ledStripEnable();
}
#else
ledStripEnable();
#endif
}
#endif
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
telemetryInit();
}
#endif
#ifdef USE_FLASHFS
#ifdef NAZE
if (hardwareRevision == NAZE32_REV5) {
m25p16_init();
}
#endif
#if defined(SPRACINGF3) || defined(CC3D) || defined(COLIBRI) || defined(REVO)
m25p16_init();
#endif
flashfsInit();
#endif
#ifdef BLACKBOX
//initBlackbox();
#endif
previousTime = micros();
if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
//gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
#ifdef BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif
// start all timers
// TODO - not implemented yet
//timerStart();
ENABLE_STATE(SMALL_ANGLE);
DISABLE_ARMING_FLAG(PREVENT_ARMING);
#ifdef SOFTSERIAL_LOOPBACK
// FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
if (!loopbackPort->vTable) {
loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
}
serialPrint(loopbackPort, "LOOPBACK\r\n");
#endif
// Now that everything has powered up the voltage and cell count be determined.
if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER))
batteryInit(&masterConfig.batteryConfig);
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
displayShowFixedPage(PAGE_GPS);
#else
displayResetPageCycling();
displayEnablePageCycling();
#endif
}
#endif
#ifdef CJMCU
LED2_ON;
#endif
systemState |= SYSTEM_STATE_READY;
}
#ifdef SOFTSERIAL_LOOPBACK
void processLoopback(void) {
if (loopbackPort) {
uint8_t bytesWaiting;
while ((bytesWaiting = serialTotalBytesWaiting(loopbackPort))) {
uint8_t b = serialRead(loopbackPort);
serialWrite(loopbackPort, b);
};
}
}
#else
#define processLoopback()
#endif
#include <stdio.h>
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_gpio.h"
GPIO_InitTypeDef GPIO_InitStruct;
int main(void) {
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_15 | GPIO_Pin_14 | GPIO_Pin_13
| GPIO_Pin_12;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOD, &GPIO_InitStruct);
printf("Hello World!\r\n");
hello();
while (1) {
static int count = 0;
static int i;
for (i = 0; i < 10000000; ++i)
;
GPIO_ToggleBits(GPIOD, GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15);
printf("%d\r\n", ++count);
}
//init();
/*
while (1) {
//loop();
int x = 1;//processLoopback();
}*/
}
void init(void)
{
drv_pwm_config_t pwm_params;
printfSupportInit();
initEEPROM();
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
#ifdef STM32F303
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
#endif
#ifdef STM32F303xC
SetSysClock();
#endif
#ifdef STM32F10X
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(systemConfig()->emf_avoidance);
#endif
i2cSetOverclock(systemConfig()->i2c_highspeed);
systemInit();
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
// Latch active features to be used for feature() in the remainder of init().
latchActiveFeatures();
// initialize IO (needed for all IO operations)
IOInitGlobal();
debugMode = debugConfig()->debug_mode;
#ifdef USE_EXTI
EXTIInit();
#endif
#ifdef ALIENFLIGHTF3
if (hardwareRevision == AFF3_REV_1) {
ledInit(false);
} else {
ledInit(true);
}
#else
ledInit(false);
#endif
#ifdef BEEPER
beeperConfig_t beeperConfig = {
.gpioPeripheral = BEEP_PERIPHERAL,
.gpioPin = BEEP_PIN,
.gpioPort = BEEP_GPIO,
#ifdef BEEPER_INVERTED
.gpioMode = Mode_Out_PP,
.isInverted = true
#else
.gpioMode = Mode_Out_OD,
.isInverted = false
#endif
};
#ifdef NAZE
if (hardwareRevision >= NAZE32_REV5) {
// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
beeperConfig.gpioMode = Mode_Out_PP;
beeperConfig.isInverted = true;
}
#endif
beeperInit(&beeperConfig);
#endif
#ifdef BUTTONS
buttonsInit();
if (!isMPUSoftReset()) {
buttonsHandleColdBootButtonPresses();
}
#endif
#ifdef SPEKTRUM_BIND
if (feature(FEATURE_RX_SERIAL)) {
switch (rxConfig()->serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
// Spektrum satellite binding if enabled on startup.
// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
// The rest of Spektrum initialization will happen later - via spektrumInit()
spektrumBind(rxConfig());
break;
}
}
#endif
delay(100);
timerInit(); // timer must be initialized before any channel is allocated
dmaInit();
serialInit(feature(FEATURE_SOFTSERIAL));
mixerInit(customMotorMixer(0));
#ifdef USE_SERVOS
mixerInitServos(customServoMixer(0));
#endif
memset(&pwm_params, 0, sizeof(pwm_params));
#ifdef SONAR
const sonarHardware_t *sonarHardware = NULL;
sonarGPIOConfig_t sonarGPIOConfig;
if (feature(FEATURE_SONAR)) {
bool usingCurrentMeterIOPins = (feature(FEATURE_AMPERAGE_METER) && batteryConfig()->amperageMeterSource == AMPERAGE_METER_ADC);
sonarHardware = sonarGetHardwareConfiguration(usingCurrentMeterIOPins);
sonarGPIOConfig.triggerGPIO = sonarHardware->trigger_gpio;
sonarGPIOConfig.triggerPin = sonarHardware->trigger_pin;
sonarGPIOConfig.echoGPIO = sonarHardware->echo_gpio;
sonarGPIOConfig.echoPin = sonarHardware->echo_pin;
pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
}
#endif
// when using airplane/wing mixer, servo/motor outputs are remapped
if (mixerConfig()->mixerMode == MIXER_AIRPLANE || mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
#if defined(USE_UART2) && defined(STM32F10X)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_UART2);
#endif
#if defined(USE_UART3)
pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_UART3);
#endif
#if defined(USE_UART4)
pwm_params.useUART4 = doesConfigurationUsePort(SERIAL_PORT_UART4);
#endif
#if defined(USE_UART5)
pwm_params.useUART5 = doesConfigurationUsePort(SERIAL_PORT_UART5);
#endif
pwm_params.useVbat = feature(FEATURE_VBAT);
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
pwm_params.useCurrentMeterADC = (
feature(FEATURE_AMPERAGE_METER)
&& batteryConfig()->amperageMeterSource == AMPERAGE_METER_ADC
);
pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
pwm_params.usePPM = feature(FEATURE_RX_PPM);
pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
#ifdef SONAR
pwm_params.useSonar = feature(FEATURE_SONAR);
#endif
#ifdef USE_SERVOS
pwm_params.useServos = isMixerUsingServos();
pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
pwm_params.servoCenterPulse = servoConfig()->servoCenterPulse;
pwm_params.servoPwmRate = servoConfig()->servo_pwm_rate;
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.motorPwmRate = motorConfig()->motor_pwm_rate;
pwm_params.idlePulse = calculateMotorOff();
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwmRxInit();
// pwmInit() needs to be called as soon as possible for ESC compatibility reasons
pwmIOConfiguration_t *pwmIOConfiguration = pwmInit(&pwm_params);
mixerUsePWMIOConfiguration(pwmIOConfiguration);
#ifdef DEBUG_PWM_CONFIGURATION
debug[2] = pwmIOConfiguration->pwmInputCount;
debug[3] = pwmIOConfiguration->ppmInputCount;
#endif
if (!feature(FEATURE_ONESHOT125))
motorControlEnable = true;
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef INVERTER
initInverter();
#endif
#ifdef USE_SPI
spiInit(SPI1);
spiInit(SPI2);
#ifdef STM32F303xC
#ifdef ALIENFLIGHTF3
if (hardwareRevision == AFF3_REV_2) {
spiInit(SPI3);
}
#else
spiInit(SPI3);
#endif
#endif
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION
updateHardwareRevision();
#endif
#if defined(NAZE)
if (hardwareRevision == NAZE32_SP) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
} else {
serialRemovePort(SERIAL_PORT_UART3);
}
#endif
#if defined(SPRACINGF3) && defined(SONAR) && defined(USE_SOFTSERIAL2)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
}
#endif
#if defined(SPRACINGF3MINI) && defined(SONAR) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
}
#endif
#ifdef USE_I2C
#if defined(NAZE)
if (hardwareRevision != NAZE32_SP) {
i2cInit(I2C_DEVICE);
} else {
if (!doesConfigurationUsePort(SERIAL_PORT_UART3)) {
i2cInit(I2C_DEVICE);
}
}
#elif defined(CC3D)
if (!doesConfigurationUsePort(SERIAL_PORT_UART3)) {
i2cInit(I2C_DEVICE);
}
#else
i2cInit(I2C_DEVICE);
#endif
#endif
#ifdef USE_ADC
drv_adc_config_t adc_params;
adc_params.channelMask = 0;
#ifdef ADC_BATTERY
adc_params.channelMask = (feature(FEATURE_VBAT) ? ADC_CHANNEL_MASK(ADC_BATTERY) : 0);
#endif
#ifdef ADC_RSSI
adc_params.channelMask |= (feature(FEATURE_RSSI_ADC) ? ADC_CHANNEL_MASK(ADC_RSSI) : 0);
#endif
#ifdef ADC_AMPERAGE
adc_params.channelMask |= (feature(FEATURE_AMPERAGE_METER) ? ADC_CHANNEL_MASK(ADC_AMPERAGE) : 0);
#endif
#ifdef ADC_POWER_12V
adc_params.channelMask |= ADC_CHANNEL_MASK(ADC_POWER_12V);
#endif
#ifdef ADC_POWER_5V
adc_params.channelMask |= ADC_CHANNEL_MASK(ADC_POWER_5V);
#endif
#ifdef ADC_POWER_3V
adc_params.channelMask |= ADC_CHANNEL_MASK(ADC_POWER_3V);
#endif
#ifdef NAZE
// optional ADC5 input on rev.5 hardware
adc_params.channelMask |= (hardwareRevision >= NAZE32_REV5) ? ADC_CHANNEL_MASK(ADC_EXTERNAL) : 0;
#endif
adcInit(&adc_params);
#endif
initBoardAlignment();
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
displayInit();
}
#endif
#ifdef NAZE
if (hardwareRevision < NAZE32_REV5) {
gyroConfig()->gyro_sync = 0;
}
#endif
if (!sensorsAutodetect()) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(FAILURE_MISSING_ACC);
}
systemState |= SYSTEM_STATE_SENSORS_READY;
flashLedsAndBeep();
mspInit();
mspSerialInit();
const uint16_t pidPeriodUs = US_FROM_HZ(gyro.sampleFrequencyHz);
pidSetTargetLooptime(pidPeriodUs * gyroConfig()->pid_process_denom);
pidInitFilters(pidProfile());
#ifdef USE_SERVOS
mixerInitialiseServoFiltering(targetPidLooptime);
#endif
imuInit();
#ifdef USE_CLI
cliInit();
#endif
failsafeInit();
rxInit(modeActivationProfile()->modeActivationConditions);
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsInit();
navigationInit(pidProfile());
}
#endif
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
sonarInit(sonarHardware);
}
#endif
#ifdef LED_STRIP
ledStripInit();
if (feature(FEATURE_LED_STRIP)) {
ledStripEnable();
}
#endif
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
telemetryInit();
}
#endif
#ifdef USB_CABLE_DETECTION
usbCableDetectInit();
#endif
#ifdef TRANSPONDER
if (feature(FEATURE_TRANSPONDER)) {
transponderInit(transponderConfig()->data);
transponderEnable();
transponderStartRepeating();
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
}
#endif
#ifdef USE_FLASHFS
#ifdef NAZE
if (hardwareRevision == NAZE32_REV5) {
m25p16_init();
}
#elif defined(USE_FLASH_M25P16)
m25p16_init();
#endif
flashfsInit();
#endif
#ifdef USE_SDCARD
bool sdcardUseDMA = false;
sdcardInsertionDetectInit();
#ifdef SDCARD_DMA_CHANNEL_TX
#if defined(LED_STRIP) && defined(WS2811_DMA_CHANNEL)
// Ensure the SPI Tx DMA doesn't overlap with the led strip
sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL;
#else
sdcardUseDMA = true;
#endif
#endif
sdcard_init(sdcardUseDMA);
afatfs_init();
#endif
#ifdef BLACKBOX
initBlackbox();
#endif
if (mixerConfig()->mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
#ifdef BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif
// start all timers
// TODO - not implemented yet
timerStart();
ENABLE_STATE(SMALL_ANGLE);
DISABLE_ARMING_FLAG(PREVENT_ARMING);
#ifdef SOFTSERIAL_LOOPBACK
// FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
if (!loopbackPort->vTable) {
loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
}
serialPrint(loopbackPort, "LOOPBACK\r\n");
#endif
if (feature(FEATURE_VBAT)) {
// Now that everything has powered up the voltage and cell count be determined.
voltageMeterInit();
batteryInit();
}
if (feature(FEATURE_AMPERAGE_METER)) {
amperageMeterInit();
}
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
displayShowFixedPage(PAGE_GPS);
#else
displayResetPageCycling();
displayEnablePageCycling();
#endif
}
#endif
#ifdef CJMCU
LED2_ON;
#endif
// Latch active features AGAIN since some may be modified by init().
latchActiveFeatures();
motorControlEnable = true;
systemState |= SYSTEM_STATE_READY;
}
#ifdef SOFTSERIAL_LOOPBACK
void processLoopback(void) {
if (loopbackPort) {
uint8_t bytesWaiting;
while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) {
uint8_t b = serialRead(loopbackPort);
serialWrite(loopbackPort, b);
};
}
}
#else
#define processLoopback()
#endif
void configureScheduler(void)
{
schedulerInit();
setTaskEnabled(TASK_SYSTEM, true);
uint16_t gyroPeriodUs = US_FROM_HZ(gyro.sampleFrequencyHz);
rescheduleTask(TASK_GYRO, gyroPeriodUs);
setTaskEnabled(TASK_GYRO, true);
rescheduleTask(TASK_PID, gyroPeriodUs);
setTaskEnabled(TASK_PID, true);
if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
}
setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
setTaskEnabled(TASK_SERIAL, true);
#ifdef BEEPER
setTaskEnabled(TASK_BEEPER, true);
#endif
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_AMPERAGE_METER));
setTaskEnabled(TASK_RX, true);
#ifdef GPS
setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
#endif
#ifdef MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#if defined(MPU6500_SPI_INSTANCE) && defined(USE_MAG_AK8963)
// fixme temporary solution for AK6983 via slave I2C on MPU9250
rescheduleTask(TASK_COMPASS, 1000000 / 40);
#endif
#endif
#ifdef BARO
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
#endif
#ifdef SONAR
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
#endif
#if defined(BARO) || defined(SONAR)
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
#endif
#ifdef DISPLAY
setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY));
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
#endif
#ifdef TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
#endif
}
