void readEEPROM(void)
{
// Sanity check
if (!isEEPROMContentValid())
failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
suspendRxSignal();
// Read flash
memcpy(&masterConfig, (char *) CONFIG_START_FLASH_ADDRESS, sizeof(master_t));
if (masterConfig.current_profile_index > MAX_PROFILE_COUNT - 1) // sanity check
masterConfig.current_profile_index = 0;
setProfile(masterConfig.current_profile_index);
if (currentProfile->defaultRateProfileIndex > MAX_CONTROL_RATE_PROFILE_COUNT - 1) // sanity check
currentProfile->defaultRateProfileIndex = 0;
setControlRateProfile(currentProfile->defaultRateProfileIndex);
validateAndFixConfig();
activateConfig();
resumeRxSignal();
}
void readEEPROM(void)
{
// Sanity check
if (!isEEPROMContentValid())
failureMode(10);
// Read flash
memcpy(&masterConfig, (char *) FLASH_WRITE_ADDR, sizeof(master_t));
// Copy current profile
if (masterConfig.current_profile_index > 2) // sanity check
masterConfig.current_profile_index = 0;
memcpy(¤tProfile, &masterConfig.profile[masterConfig.current_profile_index], sizeof(profile_t));
validateAndFixConfig();
activateConfig();
void readEEPROM(void)
{
// Sanity check
if (!isEEPROMContentValid())
failureMode(10);
// Read flash
memcpy(&masterConfig, (char *) flashWriteAddress, sizeof(master_t));
// Copy current profile
if (masterConfig.current_profile_index > 2) // sanity check
masterConfig.current_profile_index = 0;
setProfile(masterConfig.current_profile_index);
validateAndFixConfig();
activateConfig();
}
void readEEPROM(void)
{
suspendRxSignal();
// Sanity check, read flash
if (!loadEEPROM()) {
failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
}
pgActivateProfile(getCurrentProfile());
setControlRateProfile(rateProfileSelection()->defaultRateProfileIndex);
validateAndFixConfig();
activateConfig();
resumeRxSignal();
}
void readEEPROM(void)
{
#ifndef USE_OSD_SLAVE
suspendRxSignal();
#endif
// Sanity check, read flash
if (!loadEEPROM()) {
failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
}
validateAndFixConfig();
activateConfig();
#ifndef USE_OSD_SLAVE
resumeRxSignal();
#endif
}
void readEEPROM(void)
{
suspendRxSignal();
// Sanity check
// Read flash
if (!scanEEPROM(true)) {
failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
}
pgActivateProfile(getCurrentProfile());
if (rateProfileSelection()->defaultRateProfileIndex > MAX_CONTROL_RATE_PROFILE_COUNT - 1) // sanity check
rateProfileSelection()->defaultRateProfileIndex = 0;
setControlRateProfile(rateProfileSelection()->defaultRateProfileIndex);
validateAndFixConfig();
activateConfig();
resumeRxSignal();
}
void loadAndActivateConfig(void)
{
readEEPROM();
activateConfig();
}
int main(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
drv_adc_config_t adc_params;
bool sensorsOK = false;
#ifdef SOFTSERIAL_LOOPBACK
serialPort_t* loopbackPort1 = NULL;
serialPort_t* loopbackPort2 = NULL;
#endif
initEEPROM();
checkFirstTime(false);
readEEPROM();
systemInit(mcfg.emf_avoidance);
#ifdef USE_LAME_PRINTF
init_printf(NULL, _putc);
#endif
activateConfig();
// configure power ADC
if (mcfg.power_adc_channel > 0 && (mcfg.power_adc_channel == 1 || mcfg.power_adc_channel == 9))
adc_params.powerAdcChannel = mcfg.power_adc_channel;
else {
adc_params.powerAdcChannel = 0;
mcfg.power_adc_channel = 0;
}
adcInit(&adc_params);
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit();
initBoardAlignment();
// 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();
// production debug output
#ifdef PROD_DEBUG
productionDebug();
#endif
// 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(); // Mag is initialized inside imuInit
mixerInit(); // this will set core.useServo var depending on mixer type
serialInit(mcfg.serial_baudrate);
// when using airplane/wing mixer, servo/motor outputs are remapped
if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
pwm_params.useUART = feature(FEATURE_GPS) || feature(FEATURE_SERIALRX); // spektrum/sbus support uses UART too
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
pwm_params.usePPM = feature(FEATURE_PPM);
pwm_params.enableInput = !feature(FEATURE_SERIALRX); // disable inputs if using spektrum
pwm_params.useServos = core.useServo;
pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = mcfg.motor_pwm_rate;
pwm_params.servoPwmRate = mcfg.servo_pwm_rate;
pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC (default, overridden below)
if (feature(FEATURE_3D))
pwm_params.idlePulse = mcfg.neutral3d;
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwm_params.servoCenterPulse = mcfg.midrc;
pwm_params.failsafeThreshold = cfg.failsafe_detect_threshold;
switch (mcfg.power_adc_channel) {
case 1:
pwm_params.adcChannel = PWM2;
break;
case 9:
pwm_params.adcChannel = PWM8;
break;
default:
pwm_params.adcChannel = 0;
break;
}
pwmInit(&pwm_params);
core.numServos = pwm_params.numServos;
// configure PWM/CPPM read function and max number of channels. spektrum or sbus below will override both of these, if enabled
for (i = 0; i < RC_CHANS; i++)
rcData[i] = 1502;
rcReadRawFunc = pwmReadRawRC;
core.numRCChannels = MAX_INPUTS;
if (feature(FEATURE_SERIALRX)) {
switch (mcfg.serialrx_type) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
spektrumInit(&rcReadRawFunc);
break;
case SERIALRX_SBUS:
sbusInit(&rcReadRawFunc);
break;
case SERIALRX_SUMD:
sumdInit(&rcReadRawFunc);
break;
case SERIALRX_MSP:
mspInit(&rcReadRawFunc);
break;
}
} else { // spektrum and GPS are mutually exclusive
// Optional GPS - available in both PPM and PWM input mode, in PWM input, reduces number of available channels by 2.
// gpsInit will return if FEATURE_GPS is not enabled.
gpsInit(mcfg.gps_baudrate);
}
#ifdef SONAR
// sonar stuff only works with PPM
if (feature(FEATURE_PPM)) {
if (feature(FEATURE_SONAR))
Sonar_init();
}
#endif
if (feature(FEATURE_SOFTSERIAL)) {
//mcfg.softserial_baudrate = 19200; // Uncomment to override config value
setupSoftSerialPrimary(mcfg.softserial_baudrate, mcfg.softserial_1_inverted);
setupSoftSerialSecondary(mcfg.softserial_2_inverted);
#ifdef SOFTSERIAL_LOOPBACK
loopbackPort1 = (serialPort_t*)&(softSerialPorts[0]);
serialPrint(loopbackPort1, "SOFTSERIAL 1 - LOOPBACK ENABLED\r\n");
loopbackPort2 = (serialPort_t*)&(softSerialPorts[1]);
serialPrint(loopbackPort2, "SOFTSERIAL 2 - LOOPBACK ENABLED\r\n");
#endif
//core.mainport = (serialPort_t*)&(softSerialPorts[0]); // Uncomment to switch the main port to use softserial.
}
if (feature(FEATURE_TELEMETRY))
initTelemetry();
previousTime = micros();
if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
calibratingA = CALIBRATING_ACC_CYCLES;
calibratingG = CALIBRATING_GYRO_CYCLES;
calibratingB = CALIBRATING_BARO_CYCLES; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
f.SMALL_ANGLE = 1;
// loopy
while (1) {
loop();
#ifdef SOFTSERIAL_LOOPBACK
if (loopbackPort1) {
while (serialTotalBytesWaiting(loopbackPort1)) {
uint8_t b = serialRead(loopbackPort1);
serialWrite(loopbackPort1, b);
//serialWrite(core.mainport, 0x01);
//serialWrite(core.mainport, b);
};
}
if (loopbackPort2) {
while (serialTotalBytesWaiting(loopbackPort2)) {
#ifndef OLIMEXINO // PB0/D27 and PB1/D28 internally connected so this would result in a continuous stream of data
serialRead(loopbackPort2);
#else
uint8_t b = serialRead(loopbackPort2);
serialWrite(loopbackPort2, b);
//serialWrite(core.mainport, 0x02);
//serialWrite(core.mainport, b);
#endif // OLIMEXINO
};
}
#endif
}
}
int main(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
drv_adc_config_t adc_params;
bool sensorsOK = false;
initEEPROM();
readEEPROM();
SetSysClock(mcfg.emf_avoidance);
//hw_revision = 1;
systemInit();
delay(100);
activateConfig();
i2cInit(I2C_DEVICE);
// Do muc pin
adc_params.powerAdcChannel = 0;
mcfg.power_adc_channel = 0;
// configure rssi ADC
adc_params.rssiAdcChannel = 0;
mcfg.rssi_adc_channel = 0;
adcInit(&adc_params);
// Kiem tra Volt cua Pin
batteryInit();
initBoardAlignment();
sensorsSet(SENSORS_SET);
sensorsOK = sensorsAutodetect();
imuInit();
mixerInit(); // xem lai
serialInit(115200);//(mcfg.serial_baudrate);
pwm_params.motorPwmRate = 400;
pwm_params.pwmFilter = mcfg.pwm_filter;
pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwm_params.syncPWM = feature(FEATURE_SYNCPWM);
pwm_params.fastPWM = feature(FEATURE_FASTPWM);
pwm_params.servoCenterPulse = mcfg.midrc;
pwm_params.failsafeThreshold = cfg.failsafe_detect_threshold;
pwm_params.adcChannel = 0;
pwmInit(&pwm_params);
for (i = 0; i < RC_CHANS; i++)
rcData[i] = 1502;
rcReadRawFunc = pwmReadRawRC;
core.numRCChannels = MAX_INPUTS;
gpsInit(mcfg.gps_baudrate);
previousTime = micros();
if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
calibratingA = CALIBRATING_ACC_CYCLES;
calibratingG = CALIBRATING_GYRO_CYCLES;
calibratingB = CALIBRATING_BARO_CYCLES; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
f.SMALL_ANGLE = 1;
while (1) {
loop();
}
}