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)
{
#ifdef USE_HAL_DRIVER
HAL_Init();
#endif
printfSupportInit();
initEEPROM();
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
systemInit();
//i2cSetOverclock(masterConfig.i2c_overclock);
// initialize IO (needed for all IO operations)
IOInitGlobal();
debugMode = masterConfig.debug_mode;
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
// 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
LED2_ON;
#ifdef USE_EXTI
EXTIInit();
#endif
#if defined(BUTTONS)
gpio_config_t buttonAGpioConfig = {
BUTTON_A_PIN,
Mode_IPU,
Speed_2MHz
};
gpioInit(BUTTON_A_PORT, &buttonAGpioConfig);
gpio_config_t buttonBGpioConfig = {
BUTTON_B_PIN,
Mode_IPU,
Speed_2MHz
};
gpioInit(BUTTON_B_PORT, &buttonBGpioConfig);
// Check status of bind plug and exit if not active
delayMicroseconds(10); // allow GPIO configuration to settle
if (!isMPUSoftReset()) {
uint8_t secondsRemaining = 5;
bool bothButtonsHeld;
do {
bothButtonsHeld = !digitalIn(BUTTON_A_PORT, BUTTON_A_PIN) && !digitalIn(BUTTON_B_PORT, BUTTON_B_PIN);
if (bothButtonsHeld) {
if (--secondsRemaining == 0) {
resetEEPROM();
systemReset();
}
delay(1000);
LED0_TOGGLE;
}
} while (bothButtonsHeld);
}
#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
#if !defined(USE_HAL_DRIVER)
dmaInit();
#endif
#if defined(AVOID_UART1_FOR_PWM_PPM)
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART2_FOR_PWM_PPM)
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART3_FOR_PWM_PPM)
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
#else
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
#endif
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
#ifdef USE_SERVOS
servoMixerInit(masterConfig.customServoMixer);
#endif
uint16_t idlePulse = masterConfig.motorConfig.mincommand;
if (feature(FEATURE_3D)) {
idlePulse = masterConfig.flight3DConfig.neutral3d;
}
if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureClear(FEATURE_3D);
idlePulse = 0; // brushed motors
}
#ifdef USE_QUAD_MIXER_ONLY
motorInit(&masterConfig.motorConfig, idlePulse, QUAD_MOTOR_COUNT);
#else
motorInit(&masterConfig.motorConfig, idlePulse, mixers[masterConfig.mixerMode].motorCount);
#endif
#ifdef USE_SERVOS
if (isMixerUsingServos()) {
//pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
servoInit(&masterConfig.servoConfig);
}
#endif
#ifndef SKIP_RX_PWM_PPM
if (feature(FEATURE_RX_PPM)) {
ppmRxInit(&masterConfig.ppmConfig, masterConfig.motorConfig.motorPwmProtocol);
} else if (feature(FEATURE_RX_PARALLEL_PWM)) {
pwmRxInit(&masterConfig.pwmConfig);
}
pwmRxSetInputFilteringMode(masterConfig.inputFilteringMode);
#endif
mixerConfigureOutput();
#ifdef USE_SERVOS
servoConfigureOutput();
#endif
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef BEEPER
beeperInit(&masterConfig.beeperConfig);
#endif
/* temp until PGs are implemented. */
#ifdef INVERTER
initInverter();
#endif
#ifdef USE_BST
bstInit(BST_DEVICE);
#endif
#ifdef USE_SPI
#ifdef USE_SPI_DEVICE_1
spiInit(SPIDEV_1);
#endif
#ifdef USE_SPI_DEVICE_2
spiInit(SPIDEV_2);
#endif
#ifdef USE_SPI_DEVICE_3
#ifdef ALIENFLIGHTF3
if (hardwareRevision == AFF3_REV_2) {
spiInit(SPIDEV_3);
}
#else
spiInit(SPIDEV_3);
#endif
#endif
#ifdef USE_SPI_DEVICE_4
spiInit(SPIDEV_4);
#endif
#endif
#ifdef VTX
vtxInit();
#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(SPRACINGF3MINI) || defined(OMNIBUS) || defined(X_RACERSPI)
#if defined(SONAR) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
}
#endif
#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 USE_RTC6705
if (feature(FEATURE_VTX)) {
rtc6705_soft_spi_init();
current_vtx_channel = masterConfig.vtx_channel;
rtc6705_soft_spi_set_channel(vtx_freq[current_vtx_channel]);
rtc6705_soft_spi_set_rf_power(masterConfig.vtx_power);
}
#endif
#ifdef OSD
if (feature(FEATURE_OSD)) {
osdInit();
}
#endif
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,
masterConfig.acc_hardware,
masterConfig.mag_hardware,
masterConfig.baro_hardware,
masterConfig.mag_declination,
masterConfig.gyro_lpf,
masterConfig.gyro_sync_denom)) {
// 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;
LED2_OFF;
for (int i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
if (!(getBeeperOffMask() & (1 << (BEEPER_SYSTEM_INIT - 1)))) BEEP_ON;
delay(25);
BEEP_OFF;
}
LED0_OFF;
LED1_OFF;
#ifdef MAG
if (sensors(SENSOR_MAG))
compassInit();
#endif
imuInit();
mspFcInit();
mspSerialInit();
#ifdef USE_CLI
cliInit(&masterConfig.serialConfig);
#endif
failsafeInit(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
rxInit(&masterConfig.rxConfig, masterConfig.modeActivationConditions);
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsInit(
&masterConfig.serialConfig,
&masterConfig.gpsConfig
);
navigationInit(
&masterConfig.gpsProfile,
¤tProfile->pidProfile
);
}
#endif
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
sonarInit(&masterConfig.sonarConfig);
}
#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 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(IO_TAG_NONE);
}
#elif defined(USE_FLASH_M25P16)
m25p16_init(IO_TAG_NONE);
#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
#if defined(STM32F4) || defined(STM32F7)
sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_STREAM;
#else
sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL;
#endif
#else
sdcardUseDMA = true;
#endif
#endif
sdcard_init(sdcardUseDMA);
afatfs_init();
#endif
if (masterConfig.gyro_lpf > 0 && masterConfig.gyro_lpf < 7) {
masterConfig.pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
masterConfig.gyro_sync_denom = 1;
}
setTargetPidLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * masterConfig.pid_process_denom); // Initialize pid looptime
#ifdef BLACKBOX
initBlackbox();
#endif
if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
gyroSetCalibrationCycles();
#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;
fcTasksInit();
systemState |= SYSTEM_STATE_READY;
}
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)
{
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();
}
}
void init(void)
{
printfSupportInit();
initEEPROM();
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
systemInit();
//i2cSetOverclock(masterConfig.i2c_overclock);
// initialize IO (needed for all IO operations)
IOInitGlobal();
debugMode = masterConfig.debug_mode;
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
// 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
LED2_ON;
#ifdef USE_EXTI
EXTIInit();
#endif
#if defined(BUTTONS)
gpio_config_t buttonAGpioConfig = {
BUTTON_A_PIN,
Mode_IPU,
Speed_2MHz
};
gpioInit(BUTTON_A_PORT, &buttonAGpioConfig);
gpio_config_t buttonBGpioConfig = {
BUTTON_B_PIN,
Mode_IPU,
Speed_2MHz
};
gpioInit(BUTTON_B_PORT, &buttonBGpioConfig);
// Check status of bind plug and exit if not active
delayMicroseconds(10); // allow GPIO configuration to settle
if (!isMPUSoftReset()) {
uint8_t secondsRemaining = 5;
bool bothButtonsHeld;
do {
bothButtonsHeld = !digitalIn(BUTTON_A_PORT, BUTTON_A_PIN) && !digitalIn(BUTTON_B_PORT, BUTTON_B_PIN);
if (bothButtonsHeld) {
if (--secondsRemaining == 0) {
resetEEPROM();
systemReset();
}
delay(1000);
LED0_TOGGLE;
}
} while (bothButtonsHeld);
}
#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();
#if defined(AVOID_UART1_FOR_PWM_PPM)
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART2_FOR_PWM_PPM)
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART3_FOR_PWM_PPM)
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
#else
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
#endif
#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 sonarHardware_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_UART2) && defined(STM32F10X)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
#endif
#ifdef STM32F303xC
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3);
#endif
#if defined(USE_UART2) && defined(STM32F40_41xxx)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
#endif
#if defined(USE_UART6) && 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 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
bool use_unsyncedPwm = masterConfig.use_unsyncedPwm || masterConfig.motor_pwm_protocol == PWM_TYPE_CONVENTIONAL || masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED;
// Configurator feature abused for enabling Fast PWM
pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);
pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol;
pwm_params.motorPwmRate = use_unsyncedPwm ? masterConfig.motor_pwm_rate : 0;
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED) {
featureClear(FEATURE_3D);
pwm_params.idlePulse = 0; // brushed motors
}
#ifdef CC3D
pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
#endif
#ifndef SKIP_RX_PWM_PPM
pwmRxInit(masterConfig.inputFilteringMode);
#endif
// pwmInit() needs to be called as soon as possible for ESC compatibility reasons
pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
mixerUsePWMOutputConfiguration(pwmOutputConfiguration, use_unsyncedPwm);
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
/* temp until PGs are implemented. */
#ifdef BLUEJAYF4
if (hardwareRevision <= BJF4_REV2) {
beeperConfig.ioTag = IO_TAG(BEEPER_OPT);
}
#endif
#ifdef CC3D
if (masterConfig.use_buzzer_p6 == 1)
beeperConfig.ioTag = IO_TAG(BEEPER_OPT);
#endif
beeperInit(&beeperConfig);
#endif
#ifdef INVERTER
initInverter();
#endif
#ifdef USE_BST
bstInit(BST_DEVICE);
#endif
#ifdef USE_SPI
#ifdef USE_SPI_DEVICE_1
spiInit(SPIDEV_1);
#endif
#ifdef USE_SPI_DEVICE_2
spiInit(SPIDEV_2);
#endif
#ifdef USE_SPI_DEVICE_3
#ifdef ALIENFLIGHTF3
if (hardwareRevision == AFF3_REV_2) {
spiInit(SPIDEV_3);
}
#else
spiInit(SPIDEV_3);
#endif
#endif
#endif
#ifdef VTX
vtxInit();
#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(SPRACINGF3MINI) || defined(OMNIBUS) || defined(X_RACERSPI)
#if defined(SONAR) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
}
#endif
#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 USE_RTC6705
if (feature(FEATURE_VTX)) {
rtc6705_soft_spi_init();
current_vtx_channel = masterConfig.vtx_channel;
rtc6705_soft_spi_set_channel(vtx_freq[current_vtx_channel]);
rtc6705_soft_spi_set_rf_power(masterConfig.vtx_power);
}
#endif
#ifdef OSD
if (feature(FEATURE_OSD)) {
osdInit();
}
#endif
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,
masterConfig.acc_hardware,
masterConfig.mag_hardware,
masterConfig.baro_hardware,
masterConfig.mag_declination,
masterConfig.gyro_lpf,
masterConfig.gyro_sync_denom)) {
// 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;
LED2_OFF;
for (int i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
if (!(getBeeperOffMask() & (1 << (BEEPER_SYSTEM_INIT - 1)))) 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, masterConfig.modeActivationConditions);
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsInit(
&masterConfig.serialConfig,
&masterConfig.gpsConfig
);
navigationInit(
&masterConfig.gpsProfile,
¤tProfile->pidProfile
);
}
#endif
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
sonarInit();
}
#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 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(IOTAG_NONE);
}
#elif defined(USE_FLASH_M25P16)
m25p16_init(IOTAG_NONE);
#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
#ifdef STM32F4
sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_STREAM;
#else
sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL;
#endif
#else
sdcardUseDMA = true;
#endif
#endif
sdcard_init(sdcardUseDMA);
afatfs_init();
#endif
if (masterConfig.gyro_lpf > 0 && masterConfig.gyro_lpf < 7) {
masterConfig.pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
masterConfig.gyro_sync_denom = 1;
}
setTargetPidLooptime(gyro.targetLooptime * masterConfig.pid_process_denom); // Initialize pid looptime
#ifdef BLACKBOX
initBlackbox();
#endif
if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
gyroSetCalibrationCycles();
#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
void main_init(void)
{
init();
/* Setup scheduler */
schedulerInit();
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
switch (gyro.targetLooptime) { // Switch statement kept in place to change acc rates in the future
case 500:
case 375:
case 250:
case 125:
accTargetLooptime = 1000;
break;
default:
case 1000:
#ifdef STM32F10X
accTargetLooptime = 1000;
#else
accTargetLooptime = 1000;
#endif
}
rescheduleTask(TASK_ACCEL, accTargetLooptime);
}
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_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(USE_SPI) && 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));
// Reschedule telemetry to 500hz for Jeti Exbus
if (feature(FEATURE_TELEMETRY) || masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) rescheduleTask(TASK_TELEMETRY, 2000);
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
#endif
#ifdef TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
#endif
#ifdef OSD
setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
#endif
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
}
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
}
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
uint8_t stTmp = 0;
int i;
// ------------------ STICKS COMMAND HANDLER --------------------
// checking sticks positions
for (i = 0; i < 4; i++) {
stTmp >>= 2;
if (rcData[i] > rxConfig->mincheck)
stTmp |= 0x80; // check for MIN
if (rcData[i] < rxConfig->maxcheck)
stTmp |= 0x40; // check for MAX
}
if (stTmp == rcSticks) {
if (rcDelayCommand < 250)
rcDelayCommand++;
} else
rcDelayCommand = 0;
rcSticks = stTmp;
// perform actions
if (!isUsingSticksToArm) {
if (IS_RC_MODE_ACTIVE(BOXARM)) {
// Arming via ARM BOX
if (throttleStatus == THROTTLE_LOW) {
if (ARMING_FLAG(OK_TO_ARM)) {
mwArm();
}
}
} else {
// Disarming via ARM BOX
if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() ) {
if (disarm_kill_switch) {
mwDisarm();
} else if (throttleStatus == THROTTLE_LOW) {
mwDisarm();
}
}
}
}
if (rcDelayCommand != 20) {
return;
}
if (isUsingSticksToArm) {
// Disarm on throttle down + yaw
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
if (ARMING_FLAG(ARMED))
mwDisarm();
else {
beeper(BEEPER_DISARM_REPEAT); // sound tone while stick held
rcDelayCommand = 0; // reset so disarm tone will repeat
}
}
// Disarm on roll (only when retarded_arm is enabled)
if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO)) {
if (ARMING_FLAG(ARMED))
mwDisarm();
else {
beeper(BEEPER_DISARM_REPEAT); // sound tone while stick held
rcDelayCommand = 0; // reset so disarm tone will repeat
}
}
}
if (ARMING_FLAG(ARMED)) {
// actions during armed
return;
}
// actions during not armed
i = 0;
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
// GYRO calibration
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
#ifdef GPS
if (feature(FEATURE_GPS)) {
GPS_reset_home_position();
}
#endif
#ifdef BARO
if (sensors(SENSOR_BARO))
baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
#endif
if (!sensors(SENSOR_MAG))
heading = 0; // reset heading to zero after gyro calibration
return;
}
if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
// Inflight ACC Calibration
handleInflightCalibrationStickPosition();
return;
}
// Multiple configuration profiles
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) // ROLL left -> Profile 1
i = 1;
else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) // PITCH up -> Profile 2
i = 2;
else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3
i = 3;
if (i) {
changeProfile(i - 1);
return;
}
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_HI) {
saveConfigAndNotify();
}
if (isUsingSticksToArm) {
if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
// Arm via YAW
mwArm();
return;
}
if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI)) {
// Arm via ROLL
mwArm();
return;
}
}
if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
// Calibrating Acc
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
return;
}
if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) {
// Calibrating Mag
ENABLE_STATE(CALIBRATE_MAG);
return;
}
// Accelerometer Trim
rollAndPitchTrims_t accelerometerTrimsDelta;
memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));
bool shouldApplyRollAndPitchTrimDelta = false;
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
accelerometerTrimsDelta.values.pitch = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
accelerometerTrimsDelta.values.pitch = -2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
accelerometerTrimsDelta.values.roll = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
accelerometerTrimsDelta.values.roll = -2;
shouldApplyRollAndPitchTrimDelta = true;
}
if (shouldApplyRollAndPitchTrimDelta) {
applyAndSaveAccelerometerTrimsDelta(&accelerometerTrimsDelta);
rcDelayCommand = 0; // allow autorepetition
return;
}
#ifdef DISPLAY
if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_LO) {
displayDisablePageCycling();
}
if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
displayEnablePageCycling();
}
#endif
}
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 init(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
printfSupportInit();
initEEPROM();
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(masterConfig.emf_avoidance);
detectHardwareRevision();
systemInit();
// Latch active features to be used for feature() in the remainder of init().
latchActiveFeatures();
ledInit();
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;
}
}
delay(100);
timerInit(); // timer must be initialized before any channel is allocated
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL));
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer, masterConfig.customServoMixer);
memset(&pwm_params, 0, sizeof(pwm_params));
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;
}
// 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;
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
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);
pwm_params.useSonar = feature(FEATURE_SONAR);
pwm_params.useServos = isMixerUsingServos();
pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
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;
beeperConfig_t beeperConfig = {
.gpioPeripheral = BEEP_PERIPHERAL,
.gpioPin = BEEP_PIN,
.gpioPort = BEEP_GPIO,
.gpioMode = Mode_Out_PP,
.isInverted = true
};
beeperInit(&beeperConfig);
initInverter();
spiInit(SPI1);
spiInit(SPI2);
updateHardwareRevision();
serialRemovePort(SERIAL_PORT_USART3);
i2cInit(I2C_DEVICE);
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 = true;
// optional ADC5 input on rev.5 hardware
adcInit(&adc_params);
initBoardAlignment(&masterConfig.boardAlignment);
if (feature(FEATURE_DISPLAY)) {
displayInit(&masterConfig.rxConfig);
}
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;
if (sensors(SENSOR_MAG))
compassInit();
imuInit();
mspInit(&masterConfig.serialConfig);
cliInit(&masterConfig.serialConfig);
failsafeInit(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
rxInit(&masterConfig.rxConfig);
if (feature(FEATURE_GPS)) {
gpsInit(
&masterConfig.serialConfig,
&masterConfig.gpsConfig
);
navigationInit(
¤tProfile->gpsProfile,
¤tProfile->pidProfile
);
}
if (feature(FEATURE_SONAR)) {
sonarInit(sonarHardware);
}
ledStripInit(masterConfig.ledConfigs, masterConfig.colors);
if (feature(FEATURE_LED_STRIP)) {
ledStripEnable();
}
if (feature(FEATURE_TELEMETRY)) {
telemetryInit();
}
m25p16_init();
flashfsInit();
initBlackbox();
previousTime = micros();
if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
// start all timers
// TODO - not implemented yet
timerStart();
ENABLE_STATE(SMALL_ANGLE);
DISABLE_ARMING_FLAG(PREVENT_ARMING);
// Now that everything has powered up the voltage and cell count be determined.
if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER))
batteryInit(&masterConfig.batteryConfig);
if (feature(FEATURE_DISPLAY)) {
displayResetPageCycling();
displayEnablePageCycling();
}
// Latch active features AGAIN since some may be modified by init().
latchActiveFeatures();
motorControlEnable = true;
systemState |= SYSTEM_STATE_READY;
}
int main(void) {
init();
//Mine
printf("\r\n");
printf("Init Finished!\r\n");
printf("System Init need %d ms\r\n", millis());
printf("############# Begin Test ###############\r\n");
printf("############# End Test ###############\r\n");
while (1) {
loop();
}
}
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);
}