void setup()
{
setupSystemClock();
setup_system_tick(SYSTEM_TICK_FREQ);
setupUART();
#ifdef GPS
setupGPS();
#endif
I2C_Init();
FlashInit();
UpdateBoardVersion(false);
#ifdef OPTION_RC
RC_Init();
if(IsSSVConnected())
Battery_Init();
LED_Init();
TIMER_Init();
stabilizerInit();
#endif
#ifdef ABROBOT
ABRobotMotorInit();
#endif
nvtAHRSInit();
SensorsInit();
ChronographSet(ChronMain);
}
void systemTask(void *arg) {
bool pass = true;
//Init the high-levels modules
systemInit();
#ifndef USE_UART_CRTP
#ifdef UART_OUTPUT_TRACE_DATA
debugInitTrace();
#endif
#ifdef HAS_UART
uartInit();
#endif
#endif //ndef USE_UART_CRTP
commInit();
DEBUG_PRINT("Crazyflie is up and running!\n");
DEBUG_PRINT("Build %s:%s (%s) %s\n", V_SLOCAL_REVISION, V_SREVISION, V_STAG, (V_MODIFIED) ? "MODIFIED" : "CLEAN");
DEBUG_PRINT("I am 0x%X%X%X and I have %dKB of flash!\n", *((int* )(0x1FFFF7E8 + 8)), *((int* )(0x1FFFF7E8 + 4)), *((int* )(0x1FFFF7E8 + 0)), *((short* )(0x1FFFF7E0)));
commanderInit();
stabilizerInit();
//Test the modules
pass &= systemTest();
pass &= commTest();
pass &= commanderTest();
pass &= stabilizerTest();
//Start the firmware
if (pass) {
systemStart();
ledseqRun(LED_RED, seq_alive);
ledseqRun(LED_GREEN, seq_testPassed);
} else {
if (systemTest()) {
while (1) {
ledseqRun(LED_RED, seq_testPassed); //Red passed == not passed!
vTaskDelay(M2T(2000) );
}
} else {
ledInit();
ledSet(LED_RED, true);
}
}
workerLoop();
//Should never reach this point!
while (1)
vTaskDelay(portMAX_DELAY);
}
void systemTask(void *arg)
{
bool pass = true;
/* Init the high-levels modules */
systemInit();
uartInit();
commInit();
stabilizerInit();
//Test the modules
pass &= systemTest();
pass &= commTest();
// pass &= commanderTest();
pass &= stabilizerTest();
if (pass)
{
systemStart();
ledseqRun(LED_RED, seq_alive);
ledseqRun(LED_GREEN, seq_testPassed);
}
else
{
if (systemTest())
{
while(1)
{
ledseqRun(LED_RED, seq_testPassed); //Red passed == not passed!
vTaskDelay(M2T(2000));
}
}
else
{
ledInit();
ledSet(LED_RED, true);
}
}
pmSetChargeState(charge500mA);
//Should never reach this point!
while(1)
vTaskDelay(portMAX_DELAY);
}
void systemTask(void *arg)
{
bool pass = true;
ledInit();
ledSet(CHG_LED, 1);
uartInit();
//Init the high-levels modules
systemInit();
#ifndef USE_RADIOLINK_CRTP
#ifdef UART_OUTPUT_TRACE_DATA
//debugInitTrace();
#endif
#ifdef ENABLE_UART
// uartInit();
#endif
#endif //ndef USE_RADIOLINK_CRTP
commInit();
DEBUG_PRINT("----------------------------\n");
DEBUG_PRINT("Crazyflie is up and running!\n");
DEBUG_PRINT("Build %s:%s (%s) %s\n", V_SLOCAL_REVISION,
V_SREVISION, V_STAG, (V_MODIFIED)?"MODIFIED":"CLEAN");
DEBUG_PRINT("I am 0x%X%X%X and I have %dKB of flash!\n",
*((int*)(MCU_ID_ADDRESS+8)), *((int*)(MCU_ID_ADDRESS+4)),
*((int*)(MCU_ID_ADDRESS+0)), *((short*)(MCU_FLASH_SIZE_ADDRESS)));
commanderInit();
stabilizerInit();
expbrdInit();
memInit();
//Test the modules
pass &= systemTest();
pass &= configblockTest();
pass &= commTest();
pass &= commanderTest();
pass &= stabilizerTest();
pass &= expbrdTest();
pass &= memTest();
//Start the firmware
if(pass)
{
selftestPassed = 1;
systemStart();
ledseqRun(SYS_LED, seq_alive);
ledseqRun(LINK_LED, seq_testPassed);
}
else
{
selftestPassed = 0;
if (systemTest())
{
while(1)
{
ledseqRun(SYS_LED, seq_testPassed); //Red passed == not passed!
vTaskDelay(M2T(2000));
// System can be forced to start by setting the param to 1 from the cfclient
if (selftestPassed)
{
DEBUG_PRINT("Start forced.\n");
systemStart();
break;
}
}
}
else
{
ledInit();
ledSet(SYS_LED, true);
}
}
DEBUG_PRINT("Free heap: %d bytes\n", xPortGetFreeHeapSize());
workerLoop();
//Should never reach this point!
while(1)
vTaskDelay(portMAX_DELAY);
}
void systemTask(void *arg)
{
bool pass = true;
ledInit();
ledSet(CHG_LED, 1);
#ifdef DEBUG_QUEUE_MONITOR
queueMonitorInit();
#endif
#ifdef ENABLE_UART1
uart1Init();
#endif
#ifdef ENABLE_UART2
uart2Init();
#endif
//Init the high-levels modules
systemInit();
commInit();
commanderInit();
StateEstimatorType estimator = anyEstimator;
deckInit();
estimator = deckGetRequiredEstimator();
stabilizerInit(estimator);
if (deckGetRequiredLowInterferenceRadioMode())
{
platformSetLowInterferenceRadioMode();
}
soundInit();
memInit();
#ifdef PROXIMITY_ENABLED
proximityInit();
#endif
//Test the modules
pass &= systemTest();
pass &= configblockTest();
pass &= commTest();
pass &= commanderTest();
pass &= stabilizerTest();
pass &= deckTest();
pass &= soundTest();
pass &= memTest();
pass &= watchdogNormalStartTest();
//Start the firmware
if(pass)
{
selftestPassed = 1;
systemStart();
soundSetEffect(SND_STARTUP);
ledseqRun(SYS_LED, seq_alive);
ledseqRun(LINK_LED, seq_testPassed);
}
else
{
selftestPassed = 0;
if (systemTest())
{
while(1)
{
ledseqRun(SYS_LED, seq_testPassed); //Red passed == not passed!
vTaskDelay(M2T(2000));
// System can be forced to start by setting the param to 1 from the cfclient
if (selftestPassed)
{
DEBUG_PRINT("Start forced.\n");
systemStart();
break;
}
}
}
else
{
ledInit();
ledSet(SYS_LED, true);
}
}
DEBUG_PRINT("Free heap: %d bytes\n", xPortGetFreeHeapSize());
workerLoop();
//Should never reach this point!
while(1)
vTaskDelay(portMAX_DELAY);
}
void systemTask(void *arg)
{
bool pass = true;
ledInit();
ledSet(CHG_LED, 1);
#ifdef DEBUG_QUEUE_MONITOR
queueMonitorInit();
#endif
uartInit();
#ifdef ENABLE_UART1
uart1Init();
#endif
#ifdef ENABLE_UART2
uart2Init();
#endif
//Init the high-levels modules
systemInit();
#ifndef USE_RADIOLINK_CRTP
#ifdef UART_OUTPUT_TRACE_DATA
//debugInitTrace();
#endif
#ifdef ENABLE_UART
// uartInit();
#endif
#endif //ndef USE_RADIOLINK_CRTP
commInit();
commanderAdvancedInit();
stabilizerInit();
#ifdef PLATFORM_CF2
deckInit();
#endif
soundInit();
memInit();
#ifdef PROXIMITY_ENABLED
proximityInit();
#endif
//Test the modules
pass &= systemTest();
pass &= configblockTest();
pass &= commTest();
pass &= commanderAdvancedTest();
pass &= stabilizerTest();
#ifdef PLATFORM_CF2
pass &= deckTest();
#endif
pass &= soundTest();
pass &= memTest();
pass &= watchdogNormalStartTest();
//Start the firmware
if(pass)
{
selftestPassed = 1;
systemStart();
soundSetEffect(SND_STARTUP);
ledseqRun(SYS_LED, seq_alive);
ledseqRun(LINK_LED, seq_testPassed);
}
else
{
selftestPassed = 0;
if (systemTest())
{
while(1)
{
ledseqRun(SYS_LED, seq_testPassed); //Red passed == not passed!
vTaskDelay(M2T(2000));
// System can be forced to start by setting the param to 1 from the cfclient
if (selftestPassed)
{
DEBUG_PRINT("Start forced.\n");
systemStart();
break;
}
}
}
else
{
ledInit();
ledSet(SYS_LED, true);
}
}
DEBUG_PRINT("Free heap: %d bytes\n", xPortGetFreeHeapSize());
workerLoop();
//Should never reach this point!
while(1)
vTaskDelay(portMAX_DELAY);
}
