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 eepromCLI()
{
char c;
sensorConfig_t sensorRam;
systemConfig_t systemRam;
uint8_t eepromQuery = 'x';
uint8_t *p;
uint8_t *end;
uint8_t secondNibble;
uint8_t validQuery = false;
uint16_t i;
uint32_t c1, c2;
uint32_t size;
uint32_t time;
uint32_t charsEncountered;
///////////////////////////////////////////////////////////////////////////////
cliBusy = true;
cliPortPrint("\nEntering EEPROM CLI....\n\n");
while(true)
{
cliPortPrint("EEPROM CLI -> ");
while ((cliPortAvailable() == false) && (validQuery == false));
if (validQuery == false)
eepromQuery = cliPortRead();
cliPortPrint("\n");
switch(eepromQuery)
{
///////////////////////////
case 'a': // config struct data
c1 = sensorConfig.CRCAtEnd[0];
c2 = crc32B((uint32_t*)(&sensorConfig), // CRC32B[sensorConfig]
(uint32_t*)(&sensorConfig.CRCAtEnd));
cliPortPrintF("Sensor EEPROM structure information:\n");
cliPortPrintF("Version : %d\n", sensorConfig.version);
cliPortPrintF("Size : %d\n", sizeof(sensorConfig));
cliPortPrintF("CRC on last read : %08X\n", c1);
cliPortPrintF("Current CRC : %08X\n", c2);
if ( c1 != c2 )
cliPortPrintF(" CRCs differ. Current Sensor Config has not yet been saved.\n");
cliPortPrintF("CRC Flags :\n");
cliPortPrintF(" History Bad : %s\n", sensorConfig.CRCFlags & CRC_HistoryBad ? "true" : "false" );
validQuery = false;
break;
///////////////////////////
case 'b': // Write out to Console in Hex. (RAM -> console)
// we assume the flyer is not in the air, so that this is ok;
cliPortPrintF("\n");
cliPrintSensorEEPROM();
cliPortPrintF("\n");
if (crcCheckVal != crc32B((uint32_t*)(&sensorConfig), // CRC32B[sensorConfig CRC32B[sensorConfig]]
(uint32_t*)(&sensorConfig + 1)))
{
cliPortPrint("NOTE: in-memory sensor config CRC invalid; there have probably been\n");
cliPortPrint(" changes to sensor config since the last write to flash/eeprom.\n");
}
validQuery = false;
break;
///////////////////////////
case 'c': // Read Sensor Config -> RAM
cliPortPrint("Re-reading Sensor EEPROM.\n");
readSensorEEPROM();
validQuery = false;
break;
///////////////////////////
case 'd': // Read Console -> Sensor RAM
charsEncountered = 0;
secondNibble = 0;
size = sizeof(sensorConfig);
time = millis();
p = (uint8_t*)&sensorRam;
end = (uint8_t*)(&sensorRam + 1);
///////////////////////
cliPortPrintF("Ready to read in sensor config. Expecting %d (0x%03X) bytes as %d\n", size, size, size * 2);
cliPortPrintF("hexadecimal characters, optionally separated by [ \\n\\r_].\n");
cliPortPrintF("Times out if no character is received for %dms\n", TIMEOUT);
memset(p, 0, end - p);
while (p < end)
{
while (!cliPortAvailable() && millis() - time < TIMEOUT) {}
time = millis();
c = cliPortAvailable() ? cliPortRead() : '\0';
int8_t hex = parse_hex(c);
int ignore = c == ' ' || c == '\n' || c == '\r' || c == '_' ? true : false;
if (c != '\0') // assume the person isn't sending null chars
charsEncountered++;
if (ignore)
continue;
if (hex == -1)
break;
*p |= secondNibble ? hex : hex << 4;
p += secondNibble;
secondNibble ^= 1;
}
if (c == 0)
{
cliPortPrintF("Did not receive enough hex chars! (got %d, expected %d)\n",
(p - (uint8_t*)&sensorRam) * 2 + secondNibble, size * 2);
}
else if (p < end || secondNibble)
{
cliPortPrintF("Invalid character found at position %d: '%c' (0x%02x)",
charsEncountered, c, c);
}
// HJI else if (crcCheckVal != crc32B((uint32_t*)(&sensorConfig), // CRC32B[sensorConfig CRC32B[sensorConfig]]
// HJI (uint32_t*)(&sensorConfig + 1)))
// HJI {
// HJI cliPortPrintF("CRC mismatch! Not writing to in-memory config.\n");
// HJI cliPortPrintF("Here's what was received:\n\n");
// HJI cliPrintSensorEEPROM();
// HJI }
else
{
// check to see if the newly received sytem config
// actually differs from what's in-memory
for (i = 0; i < size; i++)
if (((uint8_t*)&sensorRam)[i] != ((uint8_t*)&sensorConfig)[i])
break;
if (i == size)
{
cliPortPrintF("NOTE: Uploaded Sensor Config was Identical to RAM Config.\n");
}
else
{
sensorConfig = sensorRam;
cliPortPrintF("Sensor RAM Config updated!\n");
cliPortPrintF("NOTE: Sensor Config not written to EEPROM; use 'w' to do so.\n");
}
}
// eat the next 100ms (or whatever Timeout is) of characters,
// in case the person pasted too much by mistake or something
time = millis();
while (millis() - time < TIMEOUT)
if (cliPortAvailable())
cliPortRead();
validQuery = false;
break;
///////////////////////////
case 'h': // Clear Bad Sensor History Flag
cliPortPrintF("Clearing Bad Sensor History Flag.\n");
sensorConfig.CRCFlags &= ~CRC_HistoryBad;
validQuery = false;
break;
///////////////////////////
case 'v': // Reset Sensor EEPROM Parameters
cliPortPrint( "\nSensor EEPROM Parameters Reset....(not rebooting)\n" );
checkSensorEEPROM(true);
validQuery = false;
break;
///////////////////////////
case 'w': // Write to Sensor EEPROM
cliPortPrint("\nWriting Sensor EEPROM Parameters....\n");
writeSensorEEPROM();
validQuery = false;
break;
///////////////////////////
case 'x': // exit EEPROM CLI
cliPortPrint("\nExiting EEPROM CLI....\n\n");
cliBusy = false;
return;
break;
///////////////////////////
case 'A': // config struct data
c1 = systemConfig.CRCAtEnd[0];
zeroPIDstates();
c2 = crc32B((uint32_t*)(&systemConfig), // CRC32B[systemConfig]
(uint32_t*)(&systemConfig.CRCAtEnd));
cliPortPrintF("System EEPROM structure information:\n");
cliPortPrintF("Version : %d\n", systemConfig.version);
cliPortPrintF("Size : %d\n", sizeof(systemConfig));
cliPortPrintF("CRC on last read : %08X\n", c1);
cliPortPrintF("Current CRC : %08X\n", c2);
if ( c1 != c2 )
cliPortPrintF(" CRCs differ. Current SystemConfig has not yet been saved.\n");
cliPortPrintF("CRC Flags :\n");
cliPortPrintF(" History Bad : %s\n", systemConfig.CRCFlags & CRC_HistoryBad ? "true" : "false" );
validQuery = false;
break;
///////////////////////////
case 'B': // Write out to Console in Hex. (RAM -> console)
// we assume the flyer is not in the air, so that this is ok;
// these change randomly when not in flight and can mistakenly
// make one think that the in-memory eeprom struct has changed
zeroPIDstates();
cliPortPrintF("\n");
cliPrintSystemConfig();
cliPortPrintF("\n");
if (crcCheckVal != crc32B((uint32_t*)(&systemConfig), // CRC32B[systemConfig CRC32B[systemConfig]]
(uint32_t*)(&systemConfig + 1)))
{
cliPortPrint("NOTE: in-memory system config CRC invalid; there have probably been\n");
cliPortPrint(" changes to system config since the last write to flash/eeprom.\n");
}
validQuery = false;
break;
///////////////////////////
case 'C': // Read System Config -> RAM
cliPortPrint("Re-reading System EEPROM.\n");
readSystemEEPROM();
validQuery = false;
break;
///////////////////////////
case 'D': // Read Console -> System RAM
charsEncountered = 0;
secondNibble = 0;
size = sizeof(systemConfig);
time = millis();
p = (uint8_t*)&systemRam;
end = (uint8_t*)(&systemRam + 1);
///////////////////////
cliPortPrintF("Ready to read in system config. Expecting %d (0x%03X) bytes as %d\n", size, size, size * 2);
cliPortPrintF("hexadecimal characters, optionally separated by [ \\n\\r_].\n");
cliPortPrintF("Times out if no character is received for %dms\n", TIMEOUT);
memset(p, 0, end - p);
while (p < end)
{
while (!cliPortAvailable() && millis() - time < TIMEOUT) {}
time = millis();
c = cliPortAvailable() ? cliPortRead() : '\0';
int8_t hex = parse_hex(c);
int ignore = c == ' ' || c == '\n' || c == '\r' || c == '_' ? true : false;
if (c != '\0') // assume the person isn't sending null chars
charsEncountered++;
if (ignore)
continue;
if (hex == -1)
break;
*p |= secondNibble ? hex : hex << 4;
p += secondNibble;
secondNibble ^= 1;
}
if (c == 0)
{
cliPortPrintF("Did not receive enough hex chars! (got %d, expected %d)\n",
(p - (uint8_t*)&systemRam) * 2 + secondNibble, size * 2);
}
else if (p < end || secondNibble)
{
cliPortPrintF("Invalid character found at position %d: '%c' (0x%02x)",
charsEncountered, c, c);
}
// HJI else if (crcCheckVal != crc32B((uint32_t*)(&systemConfig), // CRC32B[systemConfig CRC32B[systemConfig]]
// HJI (uint32_t*)(&systemConfig + 1)))
// HJI {
// HJI cliPortPrintF("CRC mismatch! Not writing to in-memory config.\n");
// HJI cliPortPrintF("Here's what was received:\n\n");
// HJI cliPrintSystemConfig();
// HJI }
else
{
// check to see if the newly received sytem config
// actually differs from what's in-memory
zeroPIDstates();
for (i = 0; i < size; i++)
if (((uint8_t*)&systemRam)[i] != ((uint8_t*)&systemConfig)[i])
break;
if (i == size)
{
cliPortPrintF("NOTE: Uploaded System Config was Identical to RAM Config.\n");
}
else
{
systemConfig = systemRam;
cliPortPrintF("System RAM Config updated!\n");
cliPortPrintF("NOTE: System Config not written to EEPROM; use 'W' to do so.\n");
}
}
// eat the next 100ms (or whatever Timeout is) of characters,
// in case the person pasted too much by mistake or something
time = millis();
while (millis() - time < TIMEOUT)
if (cliPortAvailable())
cliPortRead();
validQuery = false;
break;
///////////////////////////
case 'H': // Clear Bad System History Flag
cliPortPrintF("Clearing Bad System History Flag.\n");
systemConfig.CRCFlags &= ~CRC_HistoryBad;
validQuery = false;
break;
///////////////////////////
case 'V': // Reset System EEPROM Parameters
cliPortPrint( "\nSystem EEPROM Parameters Reset....(not rebooting)\n" );
checkSystemEEPROM(true);
validQuery = false;
break;
///////////////////////////
case 'W': // Write out to System EEPROM
cliPortPrint("\nWriting System EEPROM Parameters....\n");
writeSystemEEPROM();
validQuery = false;
break;
///////////////////////////
case '?':
// 0 1 2 3 4 5 6 7
// 01234567890123456789012345678901234567890123456789012345678901234567890123456789
cliPortPrintF("\n");
cliPortPrintF("'a' Display Sensor Config Information 'A' Display System Config Information\n");
cliPortPrintF("'b' Write Sensor Config -> Console 'B' Write System Config - > Console\n");
cliPortPrintF("'c' Read Sensor Config -> RAM 'C' Read System Config -> RAM\n");
cliPortPrintF("'d' Read Console -> Sensor RAM 'D' Read Console -> System RAM\n");
cliPortPrintF("'h' Clear Sensor CRC Bad History flag 'H' Clear System CRC Bad History flag\n");
cliPortPrintF("'v' Reset Sensor Config to Default 'V' Reset System Config to Default\n");
cliPortPrintF("'w' Write Sensor Config -> EEPROM 'W' Write System Config -> EEPROM\n");
cliPortPrintF("'x' Exit EEPROM CLI '?' Command Summary\n");
cliPortPrintF("\n");
break;
///////////////////////////
}
}
}
