/*---------------------------------------------------------------------------
TITLE : Hw_Init
WORK :
ARG : void
RET : void
---------------------------------------------------------------------------*/
void Hw_Init( void )
{
//-- PLL 설정
//
Hw_PLL_Init();
//-- 인터럽트 관련 초기화
//
Hw_ISR_Init();
//-- GPIO 기본값 설정
//
REG_GPIOA_CRL = 0x33333333; // PA0 - 7
REG_GPIOA_CRH = 0x333334B3; // PA8 - 15 //PA9,10,11,12는 가각 UART, USB에 할당됨
REG_GPIOB_CRL = 0x33333333; // PB0 - 7
REG_GPIOB_CRH = 0x33333333; // PB8 - 15
REG_GPIOC_CRH = 0x33444444; // PC14, 15
Hw_DMA_Init();
Hw_Uart_Init();
Hw_Led_Init();
Hw_Timer_Init();
Hw_Si47xx_Init();
Hw_N5110G_Init();
Hw_I2C_Init();
Hw_VCom_Init();
Hw_IMU_Init();
//Hw_Sonic_Init();
}
//-- main
//
int main(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
drv_adc_config_t adc_params;
serialPort_t* loopbackPort = NULL;
//-- 하드웨어 초기화
//
systemInit();
#ifdef USE_LAME_PRINTF
init_printf(NULL, _putc);
#endif
checkFirstTime(false);
readEEPROM();
// configure power ADC
if (mcfg.power_adc_channel > 0 && (mcfg.power_adc_channel == 1 || mcfg.power_adc_channel == 9))
adc_params.powerAdcChannel = mcfg.power_adc_channel;
else
{
adc_params.powerAdcChannel = 0;
mcfg.power_adc_channel = 0;
}
adcInit(&adc_params);
initBoardAlignment();
// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
sensorsSet(SENSORS_SET);
mixerInit(); // this will set core.useServo var depending on mixer type
// when using airplane/wing mixer, servo/motor outputs are remapped
if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING)
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.useUART = 0;
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.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.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);
// 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;
#if defined(SKYROVER)
case SERIALRX_HEXAIRBOT:
hexairbotInit(&rcReadRawFunc);
break;
#endif
}
} else { // spektrum and GPS are mutually exclusive
// Optional GPS - available in both PPM and PWM input mode, in PWM input, reduces number of available channels by 2.
// gpsInit will return if FEATURE_GPS is not enabled.
// Sanity check below - protocols other than NMEA do not support baud rate autodetection
if (mcfg.gps_type > 0 && mcfg.gps_baudrate < 0)
mcfg.gps_baudrate = 0;
gpsInit(mcfg.gps_baudrate);
}
#ifdef SONAR
// sonar stuff only works with PPM
if (feature(FEATURE_PPM)) {
if (feature(FEATURE_SONAR))
Sonar_init();
}
#endif
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;
serialInit(mcfg.serial_baudrate);
#if _DEF_MW_PORT == PORT_UART1
core.menuport = uartOpen(USART1, NULL, mcfg.serial_baudrate, MODE_RXTX);
core.debugport = core.menuport;
#else
core.menuport = uartOpen(USART1, NULL, mcfg.serial_baudrate, MODE_RXTX);
core.debugport = core.menuport;
#endif
DEBUG_PRINT("Booting.. V140926R1\r\n");
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsAutodetect();
imuInit(); // Mag is initialized inside imuInit
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit();
if (feature(FEATURE_SOFTSERIAL)) {
setupSoftSerial1(mcfg.softserial_baudrate, mcfg.softserial_inverted);
#ifdef SOFTSERIAL_LOOPBACK
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
serialPrint(loopbackPort, "LOOPBACK ENABLED\r\n");
#endif
}
if (feature(FEATURE_TELEMETRY))
initTelemetry();
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_ANGLES_25 = 1;
//-- 센서초기화 루틴때문에 USB 통신안되는것 때문에 마지막으로 순서 변경
//
Hw_VCom_Init();
DEBUG_PRINT("Start\r\n");
//-- thread 시작
//
thread_main();
while(1)
{
}
}
