void systemInit(void) { // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); /////////////////////////////////// checkFirstTime(false); readEEPROM(); if (eepromConfig.receiverType == SPEKTRUM) checkSpektrumBind(); checkResetType(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority initMixer(); ledInit(); cliInit(); BLUE_LED_ON; delay(20000); // 20 sec total delay for sensor stabilization - probably not long enough..... adcInit(); batteryInit(); gpsInit(); i2cInit(I2C1); i2cInit(I2C2); pwmEscInit(eepromConfig.escPwmRate); pwmServoInit(eepromConfig.servoPwmRate); rxInit(); spiInit(SPI2); spiInit(SPI3); telemetryInit(); timingFunctionsInit(); initFirstOrderFilter(); initGPS(); initMax7456(); initPID(); GREEN_LED_ON; initMPU6000(); initMag(HMC5883L_I2C); initPressure(MS5611_I2C); }
void mixerCLI() { float tempFloat; uint8_t index; uint8_t rows, columns; uint8_t mixerQuery = 'x'; uint8_t validQuery = false; cliBusy = true; cliPortPrint("\nEntering Mixer CLI....\n\n"); while(true) { cliPortPrint("Mixer CLI -> "); while ((cliPortAvailable() == false) && (validQuery == false)); if (validQuery == false) mixerQuery = cliPortRead(); cliPortPrint("\n"); switch(mixerQuery) { /////////////////////////// case 'a': // Mixer Configuration cliPortPrint("\nMixer Configuration: "); switch (eepromConfig.mixerConfiguration) { case MIXERTYPE_TRI: cliPortPrint(" MIXERTYPE TRI\n"); break; case MIXERTYPE_QUADX: cliPortPrint("MIXERTYPE QUAD X\n"); break; case MIXERTYPE_HEX6X: cliPortPrint(" MIXERTYPE HEX X\n"); break; case MIXERTYPE_FREE: cliPortPrint(" MIXERTYPE FREE\n"); break; } cliPortPrintF("Number of Motors: %1d\n", numberMotor); cliPortPrintF("ESC PWM Rate: %3ld\n", eepromConfig.escPwmRate); cliPortPrintF("Servo PWM Rate: %3ld\n", eepromConfig.servoPwmRate); if (eepromConfig.yawDirection == 1.0f) cliPortPrintF("Yaw Direction: Normal\n\n"); else if (eepromConfig.yawDirection == -1.0f) cliPortPrintF("Yaw Direction: Reverse\n\n"); else cliPortPrintF("Yaw Direction: Undefined\n\n"); if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI) { cliPortPrintF("TriCopter Yaw Servo PWM Rate: %3ld\n", eepromConfig.triYawServoPwmRate); cliPortPrintF("TriCopter Yaw Servo Min PWM: %4ld\n", (uint16_t)eepromConfig.triYawServoMin); cliPortPrintF("TriCopter Yaw Servo Mid PWM: %4ld\n", (uint16_t)eepromConfig.triYawServoMid); cliPortPrintF("TriCopter Yaw Servo Max PWM: %4ld\n\n", (uint16_t)eepromConfig.triYawServoMax); cliPortPrintF("Tricopter Yaw Cmd Time Constant: %5.3f\n\n", eepromConfig.triCopterYawCmd500HzLowPassTau); } if (eepromConfig.mixerConfiguration == MIXERTYPE_FREE) { cliPortPrintF("\nNumber of Free Mixer Motors: %1d\n Roll Pitch Yaw\n\n", eepromConfig.freeMixMotors); for ( index = 0; index < eepromConfig.freeMixMotors; index++ ) { cliPortPrintF("Motor%1d %6.3f %6.3f %6.3f\n", index, eepromConfig.freeMix[index][ROLL ], eepromConfig.freeMix[index][PITCH], eepromConfig.freeMix[index][YAW ]); } cliPortPrint("\n"); } validQuery = false; break; /////////////////////////// case 'x': cliPortPrint("\nExiting Mixer CLI....\n\n"); cliBusy = false; return; break; /////////////////////////// case 'A': // Read Mixer Configuration eepromConfig.mixerConfiguration = (uint8_t)readFloatCLI(); initMixer(); pwmEscInit(); mixerQuery = 'a'; validQuery = true; break; /////////////////////////// case 'B': // Read ESC and Servo PWM Update Rates eepromConfig.escPwmRate = (uint16_t)readFloatCLI(); eepromConfig.servoPwmRate = (uint16_t)readFloatCLI(); pwmEscInit(); pwmServoInit(); mixerQuery = 'a'; validQuery = true; break; /////////////////////////// case 'D': // Read yaw direction tempFloat = readFloatCLI(); if (tempFloat >= 0.0) tempFloat = 1.0; else tempFloat = -1.0; eepromConfig.yawDirection = tempFloat; mixerQuery = 'a'; validQuery = true; break; /////////////////////////// case 'E': // Read TriCopter Servo PWM Rate if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI) { eepromConfig.triYawServoPwmRate = (uint16_t)readFloatCLI(); pwmEscInit(); } else { tempFloat = readFloatCLI(); cliPortPrintF("\nTriCopter Mixing not Selected....\n\n"); } mixerQuery = 'a'; validQuery = true; break; /////////////////////////// case 'F': // Read TriCopter Servo Min Point if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI) { eepromConfig.triYawServoMin = readFloatCLI(); pwmEscWrite(7, (uint16_t)eepromConfig.triYawServoMin); } else { tempFloat = readFloatCLI(); cliPortPrintF("\nTriCopter Mixing not Selected....\n\n"); } mixerQuery = 'a'; validQuery = true; break; /////////////////////////// case 'G': // Read TriCopter Servo Mid Point if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI) { eepromConfig.triYawServoMid = readFloatCLI(); pwmEscWrite(7, (uint16_t)eepromConfig.triYawServoMid); } else { tempFloat = readFloatCLI(); cliPortPrintF("\nTriCopter Mixing not Selected....\n\n"); } mixerQuery = 'a'; validQuery = true; break; /////////////////////////// case 'H': // Read TriCopter Servo Max Point if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI) { eepromConfig.triYawServoMax = readFloatCLI(); pwmEscWrite(7, (uint16_t)eepromConfig.triYawServoMax); } else { tempFloat = readFloatCLI(); cliPortPrintF("\nTriCopter Mixing not Selected....\n\n"); } mixerQuery = 'a'; validQuery = true; break; /////////////////////////// case 'I': // Read TriCopter Yaw Command Time Constant if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI) { eepromConfig.triCopterYawCmd500HzLowPassTau = readFloatCLI(); initFirstOrderFilter(); } else { tempFloat = readFloatCLI(); cliPortPrintF("\nTriCopter Mixing not Selected....\n\n"); } mixerQuery = 'a'; validQuery = true; break; /////////////////////////// case 'J': // Read Free Mix Motor Number if (eepromConfig.mixerConfiguration == MIXERTYPE_FREE) { eepromConfig.freeMixMotors = (uint8_t)readFloatCLI(); initMixer(); } else { tempFloat = readFloatCLI(); cliPortPrintF("\nFree Mix not Selected....\n\n"); } mixerQuery = 'a'; validQuery = true; break; /////////////////////////// case 'K': // Read Free Mix Matrix Element if (eepromConfig.mixerConfiguration == MIXERTYPE_FREE) { rows = (uint8_t)readFloatCLI() - 1; columns = (uint8_t)readFloatCLI() - 1; eepromConfig.freeMix[rows][columns] = readFloatCLI(); } else { tempFloat = readFloatCLI(); tempFloat = readFloatCLI(); tempFloat = readFloatCLI(); cliPortPrintF("\nFree Mix not Selected....\n\n"); } mixerQuery = 'a'; validQuery = true; break; /////////////////////////// case 'W': // Write EEPROM Parameters cliPortPrint("\nWriting EEPROM Parameters....\n\n"); writeEEPROM(); validQuery = false; break; /////////////////////////// case '?': cliPortPrint("\n"); cliPortPrint("'a' Mixer Configuration Data 'A' Set Mixer Configuration A0 thru 3, see aq32Plus.h\n"); cliPortPrint(" 'B' Set PWM Rates BESC;Servo\n"); cliPortPrint(" 'D' Set Yaw Direction D1 or D-1\n"); if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI) { cliPortPrint(" 'E' Set TriCopter Servo PWM Rate ERate\n"); cliPortPrint(" 'F' Set TriCopter Servo Min Point FMin\n"); cliPortPrint(" 'G' Set TriCopter Servo Mid Point GMid\n"); cliPortPrint(" 'H' Set TriCopter Servo Max Point HMax\n"); cliPortPrint(" 'I' Set TriCopter Yaw Cmd Time Constant ITimeConstant\n"); } if (eepromConfig.mixerConfiguration == MIXERTYPE_FREE) { cliPortPrint(" 'J' Set Number of FreeMix Motors JNumb\n"); cliPortPrint(" 'K' Set FreeMix Matrix Element KRow;Col;Value\n"); } cliPortPrint(" 'W' Write EEPROM Parameters\n"); cliPortPrint("'x' Exit Mixer CLI '?' Command Summary\n\n"); break; /////////////////////////// } } }
void systemInit(void) { RCC_ClocksTypeDef rccClocks; /////////////////////////////////// // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO | RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM8 | RCC_APB2Periph_ADC1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_TIM5 | RCC_APB1Periph_TIM6 | RCC_APB1Periph_I2C2, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); #ifdef _DTIMING timingSetup(); #endif /////////////////////////////////////////////////////////////////////////// checkFirstTime(false); readEEPROM(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority pwmMotorDriverInit(); cliInit(); gpioInit(); adcInit(); LED2_ON; delay(10000); // 10 seconds of 20 second delay for sensor stabilization if (GetVCPConnectMode() != eVCPConnectReset) { cliPrintF("\r\nUSB startup delay...\r\n"); delay(3000); if (GetVCPConnectMode() == eVCPConnectData) { cliPrintF("\r\nBGC32 firmware starting up, USB connected...\r\n"); } } else { cliPrintF("\r\nDelaying for usb/serial driver to settle\r\n"); delay(3000); cliPrintF("\r\nBGC32 firmware starting up, serial active...\r\n"); } #ifdef __VERSION__ cliPrintF("\ngcc version " __VERSION__ "\n"); #endif cliPrintF("BGC32 Firmware V%s, Build Date " __DATE__ " "__TIME__" \n", __BGC32_VERSION); if ((RCC->CR & RCC_CR_HSERDY) != RESET) { cliPrintF("\nRunning on external HSE clock....\n"); } else { cliPrintF("\nERROR: Running on internal HSI clock....\n"); } RCC_GetClocksFreq(&rccClocks); cliPrintF("\nADCCLK-> %2d MHz\n", rccClocks.ADCCLK_Frequency / 1000000); cliPrintF( "HCLK-> %2d MHz\n", rccClocks.HCLK_Frequency / 1000000); cliPrintF( "PCLK1-> %2d MHz\n", rccClocks.PCLK1_Frequency / 1000000); cliPrintF( "PCLK2-> %2d MHz\n", rccClocks.PCLK2_Frequency / 1000000); cliPrintF( "SYSCLK-> %2d MHz\n\n", rccClocks.SYSCLK_Frequency / 1000000); delay(10000); // Remaining 10 seconds of 20 second delay for sensor stabilization - probably not long enough.. LED1_ON; i2cInit(I2C2); rcInit(); timingFunctionsInit(); BKPInit(); initFirstOrderFilter(); initPID(); initSinArray(); orientIMU(); initMPU6050(); // initMag(); }
void systemInit(void) { RCC_ClocksTypeDef rccClocks; /////////////////////////////////// // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); // Turn on peripherial clocks RCC_AHBPeriphClockCmd(RCC_AHBPeriph_ADC12, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); // USART1, USART2 RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE); // ADC2 RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); // PPM RX RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); // PWM ESC Out 1 & 2 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); // PWM ESC Out 5 & 6 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); // PWM Servo Out 1, 2, 3, & 4 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); // 500 Hz dt Counter RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); // 100 Hz dt Counter RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM15, ENABLE); // PWM ESC Out 3 & 4 RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM16, ENABLE); // RangeFinder PWM RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM17, ENABLE); // Spektrum Frame Sync RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); // Telemetry RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); // GPS RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); // Spektrum RX /////////////////////////////////////////////////////////////////////////// spiInit(SPI2); /////////////////////////////////// checkSensorEEPROM(false); checkSystemEEPROM(false); readSensorEEPROM(); readSystemEEPROM(); /////////////////////////////////// if (systemConfig.receiverType == SPEKTRUM) checkSpektrumBind(); /////////////////////////////////// checkResetType(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority /////////////////////////////////// gpsPortClearBuffer = &uart2ClearBuffer; gpsPortNumCharsAvailable = &uart2NumCharsAvailable; gpsPortPrintBinary = &uart2PrintBinary; gpsPortRead = &uart2Read; telemPortAvailable = &uart1Available; telemPortPrint = &uart1Print; telemPortPrintF = &uart1PrintF; telemPortRead = &uart1Read; /////////////////////////////////// initMixer(); usbInit(); gpioInit(); uart1Init(); uart2Init(); LED0_OFF; delay(10000); // 10 seconds of 20 second delay for sensor stabilization checkUsbActive(); /////////////////////////////////// #ifdef __VERSION__ cliPortPrintF("\ngcc version " __VERSION__ "\n"); #endif cliPortPrintF("\nFF32mini Firmware V%s, Build Date " __DATE__ " "__TIME__" \n", __FF32MINI_VERSION); if ((RCC->CR & RCC_CR_HSERDY) != RESET) { cliPortPrint("\nRunning on external HSE clock....\n"); } else { cliPortPrint("\nERROR: Running on internal HSI clock....\n"); } RCC_GetClocksFreq(&rccClocks); cliPortPrintF("\nHCLK-> %2d MHz\n", rccClocks.HCLK_Frequency / 1000000); cliPortPrintF( "PCLK1-> %2d MHz\n", rccClocks.PCLK1_Frequency / 1000000); cliPortPrintF( "PCLK2-> %2d MHz\n", rccClocks.PCLK2_Frequency / 1000000); cliPortPrintF( "SYSCLK-> %2d MHz\n\n", rccClocks.SYSCLK_Frequency / 1000000); if (systemConfig.receiverType == PPM) cliPortPrint("Using PPM Receiver....\n\n"); else cliPortPrint("Using Spektrum Satellite Receiver....\n\n"); initUBLOX(); delay(10000); // Remaining 10 seconds of 20 second delay for sensor stabilization - probably not long enough.. /////////////////////////////////// adcInit(); aglInit(); pwmServoInit(); if (systemConfig.receiverType == SPEKTRUM) spektrumInit(); else ppmRxInit(); timingFunctionsInit(); batteryInit(); initFirstOrderFilter(); initMavlink(); initPID(); LED0_ON; initMPU6000(); initMag(); initPressure(); }
void systemInit(void) { RCC_ClocksTypeDef rccClocks; /////////////////////////////////// // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); // Turn on peripherial clcoks RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC2, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI3, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM10, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM11, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); /////////////////////////////////// checkFirstTime(false); readEEPROM(); if (eepromConfig.receiverType == SPEKTRUM) checkSpektrumBind(); checkResetType(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority /////////////////////////////////// gpsPortClearBuffer = &uart2ClearBuffer; gpsPortNumCharsAvailable = &uart2NumCharsAvailable; gpsPortPrintBinary = &uart2PrintBinary; gpsPortRead = &uart2Read; telemPortAvailable = &uart1Available; telemPortPrint = &uart1Print; telemPortPrintF = &uart1PrintF; telemPortRead = &uart1Read; /////////////////////////////////// initMixer(); usbInit(); ledInit(); uart1Init(); uart2Init(); BLUE_LED_ON; /////////////////////////////////// delay(10000); // 10 seconds of 20 second delay for sensor stabilization checkUsbActive(); #ifdef __VERSION__ cliPortPrintF("\ngcc version " __VERSION__ "\n"); #endif cliPortPrintF("\nAQ32Plus Firmware V%s, Build Date " __DATE__ " "__TIME__" \n", __AQ32PLUS_VERSION); if ((RCC->CR & RCC_CR_HSERDY) != RESET) { cliPortPrint("\nRunning on external HSE clock....\n"); } else { cliPortPrint("\nERROR: Running on internal HSI clock....\n"); } RCC_GetClocksFreq(&rccClocks); cliPortPrintF("\nHCLK-> %3d MHz\n", rccClocks.HCLK_Frequency / 1000000); cliPortPrintF( "PCLK1-> %3d MHz\n", rccClocks.PCLK1_Frequency / 1000000); cliPortPrintF( "PCLK2-> %3d MHz\n", rccClocks.PCLK2_Frequency / 1000000); cliPortPrintF( "SYSCLK-> %3d MHz\n\n", rccClocks.SYSCLK_Frequency / 1000000); initUBLOX(); delay(10000); // Remaining 10 seconds of 20 second delay for sensor stabilization - probably not long enough.. /////////////////////////////////// adcInit(); i2cInit(I2C1); i2cInit(I2C2); pwmServoInit(); rxInit(); spiInit(SPI2); spiInit(SPI3); timingFunctionsInit(); batteryInit(); initFirstOrderFilter(); initMavlink(); initMax7456(); initPID(); GREEN_LED_ON; initMPU6000(); initMag(); initPressure(); }
void systemInit(void) { // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); // Turn on peripherial clocks RCC_AHBPeriphClockCmd(RCC_AHBPeriph_ADC12, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); // USART1 RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE); // ADC2 RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); // PWM Servo Out 1 & 2 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); // PWM ESC Out 3 & 4 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); // PWM ESC Out 5,6,7, & 8 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); // 500 Hz dt Counter RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); // 100 Hz dt Counter RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM15, ENABLE); // PWM ESC Out 1 & 2 RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM16, ENABLE); // PPM RX RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM17, ENABLE); // Spektrum Frame Sync RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); // Telemetry RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); // Spektrum RX /////////////////////////////////////////////////////////////////////////// checkFirstTime(false); readEEPROM(); if (eepromConfig.receiverType == SPEKTRUM) checkSpektrumBind(); checkResetType(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority initMixer(); cliInit(); gpioInit(); telemetryInit(); adcInit(); LED0_OFF; delay(20000); // 20 sec total delay for sensor stabilization - probably not long enough..... LED0_ON; batteryInit(); pwmServoInit(eepromConfig.servoPwmRate); if (eepromConfig.receiverType == SPEKTRUM) spektrumInit(); else ppmRxInit(); spiInit(SPI2); timingFunctionsInit(); initFirstOrderFilter(); initPID(); initMPU6000(); initMag(); initPressure(); }