void ANO_Hexacopter_board_Init(void) { //中断优先级组别设置 NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4); //初始化系统滴答定时器 cycleCounterInit(); SysTick_Config(SystemCoreClock / 1000); //初始化模拟I2C ANO_I2C_Soft::Init(); //初始化SPI2 ANO_SPI2::Init(); //初始化NRF nrf.Init(MODEL_TX2,89); //初始化定时器输出PWM,24KHz ANO_PWM::out_Init(24000); uart3.Init(9600); ANO_LED::Init(); //解锁flash FLASH_Unlock(); //初始化虚拟eeprom设置 EE_Init(); }
void systemInit(void) { #ifdef CC3D /* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */ extern void *isr_vector_table_base; NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0); #endif // Configure NVIC preempt/priority groups NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING); #ifdef STM32F10X // Turn on clocks for stuff we use RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); #endif RCC_ClearFlag(); enableGPIOPowerUsageAndNoiseReductions(); #ifdef STM32F10X // Turn off JTAG port 'cause we're using the GPIO for leds #define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24) AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW; #endif // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); }
void systemInit(void) { // Configure NVIC preempt/priority groups NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING); #ifdef STM32F10X // Turn on clocks for stuff we use RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); #endif // cache RCC->CSR value to use it in isMPUSoftreset() and others cachedRccCsrValue = RCC->CSR; RCC_ClearFlag(); enableGPIOPowerUsageAndNoiseReductions(); #ifdef STM32F10X // Turn off JTAG port 'cause we're using the GPIO for leds #define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24) AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW; #endif // Init cycle counter cycleCounterInit(); memset(&exti15_10_handlers, 0x00, sizeof(exti15_10_handlers)); // SysTick SysTick_Config(SystemCoreClock / 1000); }
void systemInit(void) { checkForBootLoaderRequest(); SetSysClock(); // Configure NVIC preempt/priority groups NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING); // cache RCC->CSR value to use it in isMPUSoftreset() and others cachedRccCsrValue = RCC->CSR; /* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */ extern void *isr_vector_table_base; NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0); RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_OTG_FS, DISABLE); RCC_ClearFlag(); enableGPIOPowerUsageAndNoiseReductions(); // Init cycle counter cycleCounterInit(); memset(extiHandlerConfigs, 0x00, sizeof(extiHandlerConfigs)); // SysTick SysTick_Config(SystemCoreClock / 1000); }
void systemInit(void) { checkForBootLoaderRequest(); //SystemClock_Config(); // Configure NVIC preempt/priority groups HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITY_GROUPING); // cache RCC->CSR value to use it in isMPUSoftReset() and others cachedRccCsrValue = RCC->CSR; /* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */ //extern void *isr_vector_table_base; //NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0); //__HAL_RCC_USB_OTG_FS_CLK_DISABLE; //RCC_ClearFlag(); enableGPIOPowerUsageAndNoiseReductions(); // Init cycle counter cycleCounterInit(); // SysTick //SysTick_Config(SystemCoreClock / 1000); HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000); HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK); }
void systemInit(bool overclock) { #ifdef STM32F303xC // start fpu SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2)); #endif #ifdef STM32F303xC SetSysClock(); #endif #ifdef STM32F10X_MD // Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers // Configure the Flash Latency cycles and enable prefetch buffer SetSysClock(overclock); #endif // Configure NVIC preempt/priority groups NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); #ifdef STM32F10X_MD // Turn on clocks for stuff we use RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); #endif RCC_ClearFlag(); enableGPIOPowerUsageAndNoiseReductions(); #ifdef STM32F10X_MD // Turn off JTAG port 'cause we're using the GPIO for leds #define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24) AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW; #endif ledInit(); beeperInit(); // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); #ifdef CC3D spiInit(SPI1); spiInit(SPI2); #endif #ifndef CC3D // Configure the rest of the stuff i2cInit(I2C2); #endif // sleep for 100ms delay(100); }
static void systemTimekeepingSetup(void) { RCC_ClocksTypeDef clocks; RCC_GetClocksFreq(&clocks); cycleCounterInit(); SysTick_Config(clocks.SYSCLK_Frequency / 1000); }
void systemInit(void) { GPIO_InitTypeDef GPIO_InitStructure; uint8_t i; gpio_config_t gpio_cfg[] = { { LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP }, // PB3 (LED) { LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP }, // PB4 (LED) #ifndef FY90Q { BEEP_GPIO, BEEP_PIN, GPIO_Mode_Out_OD }, // PA12 (Buzzer) #endif }; uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]); // Turn on clocks for stuff we use RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_TIM1 | RCC_APB2Periph_ADC1 | RCC_APB2Periph_USART1, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); RCC_ClearFlag(); // Make all GPIO in by default to save power and reduce noise GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_Init(GPIOC, &GPIO_InitStructure); // Turn off JTAG port 'cause we're using the GPIO for leds GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); // Configure gpio for (i = 0; i < gpio_count; i++) { GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode; GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure); } LED0_OFF; LED1_OFF; BEEP_OFF; // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); // Configure the rest of the stuff adcInit(); #ifndef FY90Q i2cInit(I2C2); #endif // sleep for 100ms delay(100); }
void systemInit(void) { #ifdef CC3D /* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */ extern void *isr_vector_table_base; NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0); #endif // Configure NVIC preempt/priority groups NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING); #ifdef STM32F10X // Turn on clocks for stuff we use RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); #endif // cache RCC->CSR value to use it in isMPUSoftreset() and others cachedRccCsrValue = RCC->CSR; #ifdef STM32F40_41xxx /* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */ extern void *isr_vector_table_base; NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0); RCC_AHB2PeriphClockCmd( RCC_AHB2Periph_OTG_FS, DISABLE); #endif RCC_ClearFlag(); enableGPIOPowerUsageAndNoiseReductions(); #ifdef STM32F10X // Set USART1 TX (PA9) to output and high state to prevent a rs232 break condition on reset. // See issue https://github.com/cleanflight/cleanflight/issues/1433 gpio_config_t gpio; gpio.mode = Mode_Out_PP; gpio.speed = Speed_2MHz; gpio.pin = Pin_9; digitalHi(GPIOA, gpio.pin); gpioInit(GPIOA, &gpio); // Turn off JTAG port 'cause we're using the GPIO for leds #define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24) AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW; #endif // Init cycle counter cycleCounterInit(); memset(extiHandlerConfigs, 0x00, sizeof(extiHandlerConfigs)); // SysTick SysTick_Config(SystemCoreClock / 1000); }
void systemInit(void) { // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); /////////////////////////////////// checkFirstTime(false); readEEPROM(); if (eepromConfig.receiverType == SPEKTRUM) checkSpektrumBind(); checkResetType(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority initMixer(); ledInit(); cliInit(); BLUE_LED_ON; delay(20000); // 20 sec total delay for sensor stabilization - probably not long enough..... adcInit(); batteryInit(); gpsInit(); i2cInit(I2C1); i2cInit(I2C2); pwmEscInit(eepromConfig.escPwmRate); pwmServoInit(eepromConfig.servoPwmRate); rxInit(); spiInit(SPI2); spiInit(SPI3); telemetryInit(); timingFunctionsInit(); initFirstOrderFilter(); initGPS(); initMax7456(); initPID(); GREEN_LED_ON; initMPU6000(); initMag(HMC5883L_I2C); initPressure(MS5611_I2C); }
void systemInit(void) { GPIO_InitTypeDef GPIO_InitStructure; gpio_config_t gpio_cfg[] = { { LEDR_GPIO, LEDR_PIN, GPIO_Mode_Out_PP }, { LEDG_GPIO, LEDG_PIN, GPIO_Mode_Out_PP }, }; uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]); uint32_t i; // This is needed because some shit inside Keil startup f***s with SystemCoreClock, setting it back to 72MHz even on HSI. SystemCoreClockUpdate(); // Turn on clocks for stuff we use RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2 | RCC_APB1Periph_SPI2, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_TIM1 | RCC_APB2Periph_ADC1 | RCC_APB2Periph_USART1, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); RCC_ClearFlag(); // Make all GPIO in by default to save power and reduce noise GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_Init(GPIOC, &GPIO_InitStructure); // Turn off JTAG port 'cause we're using the GPIO for leds GPIO_PinRemapConfig(GPIO_Remap_SWJ_Disable, ENABLE); // Configure gpio for (i = 0; i < gpio_count; i++) { GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode; GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure); } LEDR_OFF LEDG_OFF // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); // Configure the rest of the stuff i2cInit(I2C2); // sleep for 100ms delay(100); }
void systemInit(void) { checkForBootLoaderRequest(); // Enable FPU SCB->CPACR = (0x3 << (10 * 2)) | (0x3 << (11 * 2)); SetSysClock(); // Configure NVIC preempt/priority groups NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING); // cache RCC->CSR value to use it in isMPUSoftreset() and others cachedRccCsrValue = RCC->CSR; RCC_ClearFlag(); enableGPIOPowerUsageAndNoiseReductions(); // Init cycle counter cycleCounterInit(); memset(extiHandlerConfigs, 0x00, sizeof(extiHandlerConfigs)); // SysTick SysTick_Config(SystemCoreClock / 1000); }
void systemInit(bool overclock) { //RCC_ClocksTypeDef rccClocks; int i; // start fpu SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2)); // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); RCC_ADCCLKConfig(RCC_ADC12PLLCLK_Div256); // 72 MHz divided by 256 = 281.25 kHz // Turn on peripherial clocks RCC_AHBPeriphClockCmd(RCC_AHBPeriph_ADC12, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); // USART1, USART2 RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE); // ADC2 RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); // PWM Out + PWM RX RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); // PWM Out RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); // PWM Out + PWM RX // RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE); // i2c // RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); // // RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); // PPM + PWM RX // RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); // RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM15, ENABLE); // PWM Out RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM16, ENABLE); // PWM Out RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM17, ENABLE); // PWM Out RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); // Telemetry RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); // GPS RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); // Spektrum RX RCC_ClearFlag(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority gpioStart(); spiInit(); for (i = 0; i < 10; i++) { LED0_TOGGLE delay(25); BEEP_ON delay(25); BEEP_OFF } LED0_OFF }
void systemInit(void) { GPIO_InitTypeDef GPIO_InitStructure; uint8_t i; gpio_config_t gpio_cfg[] = { {LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP}, // PB3 (LED) {LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP}, // PB4 (LED) }; uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]); // Turn on clocks for stuff we use RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE); RCC_ClearFlag(); // Make all GPIO in by default to save power and reduce noise GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_Init(GPIOC, &GPIO_InitStructure); // Turn off JTAG port 'cause we're using the GPIO for leds GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); // Configure gpio for (i = 0; i < gpio_count; i++) { GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode; GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure); } // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); LED0_OFF; LED1_OFF; NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority checkFirstTime(false, false); readEEPROM(); initMixer(); pwmOutputConfig.escPwmRate = systemConfig.escPwmRate; pwmOutputConfig.servoPwmRate = systemConfig.servoPwmRate; //i2cInit(SENSOR_I2C); pwmInputInit(); pwmOutputInit(&pwmOutputConfig); uartInit(115200); //delay(10000); // 10 sec delay for sensor stabilization - probably not long enough..... //initAccel(); //initGyro(); //initMag(); adcInit(); //initPressure(); // no pressure sensor initPID(); }
void testInit(void) { GPIO_InitTypeDef GPIO_InitStructure; uint8_t i; struct __gpio_config_t { GPIO_TypeDef *gpio; uint16_t pin; GPIOMode_TypeDef mode; } gpio_cfg[] = { {LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP}, // PB3 (LED) {LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP}, // PB4 (LED) }; uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]); // Turn on clocks for stuff we use RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE); RCC_ClearFlag(); // Make all GPIO in by default to save power and reduce noise GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_Init(GPIOC, &GPIO_InitStructure); // Turn off JTAG port 'cause we're using the GPIO for leds GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); // Configure gpio for (i = 0; i < gpio_count; i++) { GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode; GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure); } // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); LED0_OFF; LED1_OFF; NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority checkFirstTime(true,true); initMixer(); pwmOutputConfig.motorPwmRate = 10*1000; pwmOutputConfig.noEsc = true; pwmOutputInit(&pwmOutputConfig); i2cInit(SENSOR_I2C); initGyro(); initAccel(); initMag(); nrf_init(); nrf_detect(); }
void systemInit(void) { RCC_ClocksTypeDef rccClocks; /////////////////////////////////// // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO | RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM8 | RCC_APB2Periph_ADC1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_TIM5 | RCC_APB1Periph_TIM6 | RCC_APB1Periph_I2C2, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); #ifdef _DTIMING timingSetup(); #endif /////////////////////////////////////////////////////////////////////////// checkFirstTime(false); readEEPROM(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority pwmMotorDriverInit(); cliInit(); gpioInit(); adcInit(); LED2_ON; delay(10000); // 10 seconds of 20 second delay for sensor stabilization if (GetVCPConnectMode() != eVCPConnectReset) { cliPrintF("\r\nUSB startup delay...\r\n"); delay(3000); if (GetVCPConnectMode() == eVCPConnectData) { cliPrintF("\r\nBGC32 firmware starting up, USB connected...\r\n"); } } else { cliPrintF("\r\nDelaying for usb/serial driver to settle\r\n"); delay(3000); cliPrintF("\r\nBGC32 firmware starting up, serial active...\r\n"); } #ifdef __VERSION__ cliPrintF("\ngcc version " __VERSION__ "\n"); #endif cliPrintF("BGC32 Firmware V%s, Build Date " __DATE__ " "__TIME__" \n", __BGC32_VERSION); if ((RCC->CR & RCC_CR_HSERDY) != RESET) { cliPrintF("\nRunning on external HSE clock....\n"); } else { cliPrintF("\nERROR: Running on internal HSI clock....\n"); } RCC_GetClocksFreq(&rccClocks); cliPrintF("\nADCCLK-> %2d MHz\n", rccClocks.ADCCLK_Frequency / 1000000); cliPrintF( "HCLK-> %2d MHz\n", rccClocks.HCLK_Frequency / 1000000); cliPrintF( "PCLK1-> %2d MHz\n", rccClocks.PCLK1_Frequency / 1000000); cliPrintF( "PCLK2-> %2d MHz\n", rccClocks.PCLK2_Frequency / 1000000); cliPrintF( "SYSCLK-> %2d MHz\n\n", rccClocks.SYSCLK_Frequency / 1000000); delay(10000); // Remaining 10 seconds of 20 second delay for sensor stabilization - probably not long enough.. LED1_ON; i2cInit(I2C2); rcInit(); timingFunctionsInit(); BKPInit(); initFirstOrderFilter(); initPID(); initSinArray(); orientIMU(); initMPU6050(); // initMag(); }
int main(void) { static char ledsta; /***********************************/ SystemClock_HSI(9); //系统时钟初始化,时钟源内部HSI cycleCounterInit(); // Init cycle counter SysTick_Config(SystemCoreClock / 1000); //SysTick开启系统tick定时器并初始化其中断,1ms UART1_init(SysClock,uart1baudSet); //串口1初始化 NVIC_INIT(); //中断初始化 STMFLASH_Unlock(); //内部flash解锁 LoadParamsFromEEPROM(); //加载系统参数配置表 LedInit(); //IO初始化 Adc_Init(); //摇杆AD初始化 KeyInit(); //按键初始化 NRF24L01_INIT(); //NRF24L01初始化 SetTX_Mode(); //设无线模块为接收模式 controlClibra(); //遥控摇杆校准 #ifdef UART_DEBUG TIM3_Init(SysClock,2000); //定时器初始化,1s为周期打印摇杆值 #endif TIM4_Init(SysClock,TIME4_Preiod); //定时器4初始化,定时时间单位:(TIME4_Preiod)微秒 LedSet(led2,1); LedSet(led3,1); LoadRCdata(); //摇杆赋值 //RockerUnlockcrazepony(); //摆杆启动 Lockflag = 0; //解锁标志,1表示产生了一次按键操作,0表示该按键操作已经发送到飞控 LedSet(led2,0); LedSet(led3,0); while (1) { //10Hz loop if(flag10Hz == 1) //10Hz { flag10Hz = 0; /*status led*/ ledsta = !ledsta; LedSet(signalLED,ledsta); /*crazepony Lock*/ KeyLockcrazepony(); /*IMUcalibrate */ IMUcalibrate(); /*remote calibrate*/ Remotecalibrate(); } //50Hz loop if(flag50Hz == 1) { LoadRCdata(); flag50Hz = 0; } // 80Hz 12.5ms if(flag80Hz) { flag80Hz = 0; CommUAVUpload(MSP_SET_4CON); } } }
void systemInit(void) { GPIO_InitTypeDef GPIO_InitStructure; //uint32_t i; //GPIO_InitTypeDef GPIO_InitStructure; /*RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOE, ENABLE); GPIO_InitStructure.GPIO_Pin = LED0_PIN | LED1_PIN | LED2_PIN| LED3_PIN; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_Init(GPIOE, &GPIO_InitStructure);*/ /* Configure the GPIO_LED pins */ RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOD, ENABLE); GPIO_InitStructure.GPIO_Pin = LED0_PIN | LED1_PIN | LED2_PIN| LED3_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOD, &GPIO_InitStructure); #ifdef BUZZER { RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOD, ENABLE); GPIO_InitStructure.GPIO_Pin = BEEP_PIN; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN; GPIO_Init(GPIOD, &GPIO_InitStructure); }; #endif // uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]); // This is needed because some shit inside Keil startup f***s with SystemCoreClock, setting it back to 72MHz even on HSI. //SystemCoreClockUpdate(); SystemInit(); // Turn on clocks for stuff we use RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_TIM5 | RCC_APB1Periph_I2C2 | RCC_APB1Periph_SPI2 | RCC_APB1Periph_USART2 | RCC_APB1Periph_USART3 , ENABLE); RCC_APB2PeriphClockCmd( RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM8 | RCC_APB2Periph_ADC1 | RCC_APB2Periph_USART1 | RCC_APB2Periph_SPI1, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOD | RCC_AHB1Periph_GPIOE | RCC_AHB1Periph_DMA2, ENABLE); RCC_ClearFlag(); /*/ Make all GPIO in by default to save power and reduce noise GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_Init(GPIOC, &GPIO_InitStructure); // Turn off JTAG port 'cause we're using the GPIO for leds GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); // Configure gpio for (i = 0; i < gpio_count; i++) { GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode; GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure); }*/ LED0_ON; LED1_ON; //LED2_OFF; //LED3_OFF; BEEP_OFF; // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); // Configure the rest of the stuff #ifndef FY90Q i2cInit(I2C2); #endif //spiInit(); // sleep for 100ms delay(100); }
void systemInit(void) { RCC_ClocksTypeDef rccClocks; /////////////////////////////////// // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); // Turn on peripherial clcoks RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC2, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI3, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM10, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM11, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); /////////////////////////////////// checkFirstTime(false); readEEPROM(); if (eepromConfig.receiverType == SPEKTRUM) checkSpektrumBind(); checkResetType(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority /////////////////////////////////// gpsPortClearBuffer = &uart2ClearBuffer; gpsPortNumCharsAvailable = &uart2NumCharsAvailable; gpsPortPrintBinary = &uart2PrintBinary; gpsPortRead = &uart2Read; telemPortAvailable = &uart1Available; telemPortPrint = &uart1Print; telemPortPrintF = &uart1PrintF; telemPortRead = &uart1Read; /////////////////////////////////// initMixer(); usbInit(); ledInit(); uart1Init(); uart2Init(); BLUE_LED_ON; /////////////////////////////////// delay(10000); // 10 seconds of 20 second delay for sensor stabilization checkUsbActive(); #ifdef __VERSION__ cliPortPrintF("\ngcc version " __VERSION__ "\n"); #endif cliPortPrintF("\nAQ32Plus Firmware V%s, Build Date " __DATE__ " "__TIME__" \n", __AQ32PLUS_VERSION); if ((RCC->CR & RCC_CR_HSERDY) != RESET) { cliPortPrint("\nRunning on external HSE clock....\n"); } else { cliPortPrint("\nERROR: Running on internal HSI clock....\n"); } RCC_GetClocksFreq(&rccClocks); cliPortPrintF("\nHCLK-> %3d MHz\n", rccClocks.HCLK_Frequency / 1000000); cliPortPrintF( "PCLK1-> %3d MHz\n", rccClocks.PCLK1_Frequency / 1000000); cliPortPrintF( "PCLK2-> %3d MHz\n", rccClocks.PCLK2_Frequency / 1000000); cliPortPrintF( "SYSCLK-> %3d MHz\n\n", rccClocks.SYSCLK_Frequency / 1000000); initUBLOX(); delay(10000); // Remaining 10 seconds of 20 second delay for sensor stabilization - probably not long enough.. /////////////////////////////////// adcInit(); i2cInit(I2C1); i2cInit(I2C2); pwmServoInit(); rxInit(); spiInit(SPI2); spiInit(SPI3); timingFunctionsInit(); batteryInit(); initFirstOrderFilter(); initMavlink(); initMax7456(); initPID(); GREEN_LED_ON; initMPU6000(); initMag(); initPressure(); }
void systemInit(void) { // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); // Turn on peripherial clocks RCC_AHBPeriphClockCmd(RCC_AHBPeriph_ADC12, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); // USART1 RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE); // ADC2 RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); // PWM Servo Out 1 & 2 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); // PWM ESC Out 3 & 4 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); // PWM ESC Out 5,6,7, & 8 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); // 500 Hz dt Counter RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); // 100 Hz dt Counter RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM15, ENABLE); // PWM ESC Out 1 & 2 RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM16, ENABLE); // PPM RX RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM17, ENABLE); // Spektrum Frame Sync RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); // Telemetry RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); // Spektrum RX /////////////////////////////////////////////////////////////////////////// checkFirstTime(false); readEEPROM(); if (eepromConfig.receiverType == SPEKTRUM) checkSpektrumBind(); checkResetType(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority initMixer(); cliInit(); gpioInit(); telemetryInit(); adcInit(); LED0_OFF; delay(20000); // 20 sec total delay for sensor stabilization - probably not long enough..... LED0_ON; batteryInit(); pwmServoInit(eepromConfig.servoPwmRate); if (eepromConfig.receiverType == SPEKTRUM) spektrumInit(); else ppmRxInit(); spiInit(SPI2); timingFunctionsInit(); initFirstOrderFilter(); initPID(); initMPU6000(); initMag(); initPressure(); }
void systemInit(bool overclock) { //RCC_ClocksTypeDef rccClocks; int i; // start fpu SCB->CPACR = (0x3 << (10 * 2)) | (0x3 << (11 * 2)); /* Reset the RCC clock configuration to the default reset state ------------*/ /* Set HSION bit */ RCC->CR |= (uint32_t)0x00000001; /* Reset CFGR register */ RCC->CFGR = 0x00000000; /* Reset HSEON, CSSON and PLLON bits */ RCC->CR &= (uint32_t)0xFEF6FFFF; /* Reset PLLCFGR register */ RCC->PLLCFGR = 0x24003010; /* Reset HSEBYP bit */ RCC->CR &= (uint32_t)0xFFFBFFFF; /* Disable all interrupts */ RCC->CIR = 0x00000000; #ifdef DATA_IN_ExtSRAM SystemInit_ExtMemCtl(); #endif /* DATA_IN_ExtSRAM */ /* Configure the System clock source, PLL Multiplier and Divider factors, AHB/APBx prescalers and Flash settings ----------------------------------*/ SetSysClock(); #define VECT_TAB_OFFSET 0x00 /*!< Vector Table base offset field. /* Configure the Vector Table location add offset address ------------------*/ #ifdef VECT_TAB_SRAM SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */ #else SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */ #endif // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); // RCC_ADCCLKConfig(RCC_ADC12PLLCLK_Div256); // 72 MHz divided by 256 = 281.25 kHz // Turn on peripherial clocks // RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_ADC12, ENABLE); // RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE); // USART1, USART2 // RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE); // ADC2 RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); // RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); // PWM Out + PWM RX RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); // PWM Out RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); // PWM Out + PWM RX RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C3, ENABLE); // i2c RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); // RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); // RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM10, ENABLE); // RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM11, ENABLE); // RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12, ENABLE); // // RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); // // // PPM + PWM RX // RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); // // RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM15, ENABLE); // PWM Out // RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM16, ENABLE); // PWM Out // RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM17, ENABLE); // PWM Out // RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); // Telemetry // RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); // GPS // RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); // Spektrum RX RCC_ClearFlag(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority gpioStart(); spiInit(); // if feature(FEATURE_I2C) // i2cInit(I2C2); for (i = 0; i < 10; i++) { LED0_TOGGLE delay(25); BEEP_ON delay(25); BEEP_OFF } LED0_OFF }
void systemInit(void) { RCC_ClocksTypeDef rccClocks; /////////////////////////////////// // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); // Turn on peripherial clocks RCC_AHBPeriphClockCmd(RCC_AHBPeriph_ADC12, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); // USART1, USART2 RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE); // ADC2 RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); // PPM RX RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); // PWM ESC Out 1 & 2 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); // PWM ESC Out 5 & 6 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); // PWM Servo Out 1, 2, 3, & 4 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); // 500 Hz dt Counter RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); // 100 Hz dt Counter RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM15, ENABLE); // PWM ESC Out 3 & 4 RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM16, ENABLE); // RangeFinder PWM RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM17, ENABLE); // Spektrum Frame Sync RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); // Telemetry RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); // GPS RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); // Spektrum RX /////////////////////////////////////////////////////////////////////////// spiInit(SPI2); /////////////////////////////////// checkSensorEEPROM(false); checkSystemEEPROM(false); readSensorEEPROM(); readSystemEEPROM(); /////////////////////////////////// if (systemConfig.receiverType == SPEKTRUM) checkSpektrumBind(); /////////////////////////////////// checkResetType(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority /////////////////////////////////// gpsPortClearBuffer = &uart2ClearBuffer; gpsPortNumCharsAvailable = &uart2NumCharsAvailable; gpsPortPrintBinary = &uart2PrintBinary; gpsPortRead = &uart2Read; telemPortAvailable = &uart1Available; telemPortPrint = &uart1Print; telemPortPrintF = &uart1PrintF; telemPortRead = &uart1Read; /////////////////////////////////// initMixer(); usbInit(); gpioInit(); uart1Init(); uart2Init(); LED0_OFF; delay(10000); // 10 seconds of 20 second delay for sensor stabilization checkUsbActive(); /////////////////////////////////// #ifdef __VERSION__ cliPortPrintF("\ngcc version " __VERSION__ "\n"); #endif cliPortPrintF("\nFF32mini Firmware V%s, Build Date " __DATE__ " "__TIME__" \n", __FF32MINI_VERSION); if ((RCC->CR & RCC_CR_HSERDY) != RESET) { cliPortPrint("\nRunning on external HSE clock....\n"); } else { cliPortPrint("\nERROR: Running on internal HSI clock....\n"); } RCC_GetClocksFreq(&rccClocks); cliPortPrintF("\nHCLK-> %2d MHz\n", rccClocks.HCLK_Frequency / 1000000); cliPortPrintF( "PCLK1-> %2d MHz\n", rccClocks.PCLK1_Frequency / 1000000); cliPortPrintF( "PCLK2-> %2d MHz\n", rccClocks.PCLK2_Frequency / 1000000); cliPortPrintF( "SYSCLK-> %2d MHz\n\n", rccClocks.SYSCLK_Frequency / 1000000); if (systemConfig.receiverType == PPM) cliPortPrint("Using PPM Receiver....\n\n"); else cliPortPrint("Using Spektrum Satellite Receiver....\n\n"); initUBLOX(); delay(10000); // Remaining 10 seconds of 20 second delay for sensor stabilization - probably not long enough.. /////////////////////////////////// adcInit(); aglInit(); pwmServoInit(); if (systemConfig.receiverType == SPEKTRUM) spektrumInit(); else ppmRxInit(); timingFunctionsInit(); batteryInit(); initFirstOrderFilter(); initMavlink(); initPID(); LED0_ON; initMPU6000(); initMag(); initPressure(); }
void systemInit(void) { GPIO_InitTypeDef GPIO_InitStructure; // Turn on clocks for stuff we use RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE); RCC_ClearFlag(); // Make all GPIO in by default to save power and reduce noise GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_Init(GPIOC, &GPIO_InitStructure); // Turn off JTAG port 'cause we're using the GPIO for leds GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); // Init cycle counter cycleCounterInit(); // SysTick SysTick_Config(SystemCoreClock / 1000); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority checkFirstTime(false); readEEPROM(); ledInit(); LED0_ON; initMixer(); pwmOutputConfig.escPwmRate = eepromConfig.escPwmRate; pwmOutputConfig.servoPwmRate = eepromConfig.servoPwmRate; cliInit(115200); i2cInit(I2C2); pwmOutputInit(&pwmOutputConfig); rxInit(); delay(20000); // 20 sec delay for sensor stabilization - probably not long enough..... LED1_ON; initAccel(); initGyro(); initMag(); initPressure(); initPID(); }
int main(void) { u8 i; u8 RecvBuf[32]; u8 SendBuf[32]; u8 offline = 0; u8 recv_flag = 0; u32 pd2ms=0,pd20ams=0,pd20bms=0,pd100ms=0; SystemInit(); RCC_Configuration(); NVIC_Configuration(); GPIO_Configuration(); USART1_Configuration(); dbgPrintf(" Init Ticktack !\r\n"); cycleCounterInit(); SysTick_Config(SystemCoreClock / 1000); for(i=0;i<2;i++) { OP_LED1;OP_LED2;OP_LED3;OP_LED4; delay_ms(500); OP_LED1;OP_LED2;OP_LED3;OP_LED4; delay_ms(500); } FilterInit(); controllerInit(); dbgPrintf(" Init eeprom!\r\n"); FLASH_Unlock(); EE_Init(); EE_Read_ACC_GYRO_Offset(); /* 如果PID丢失或者错误,将下面两行注释去掉,重新编译烧写,运行一遍,可将PID还原,然后重新注释,再烧写一遍 */ //EE_Write_PID(); //EE_Write_Rate_PID(); EE_Read_PID(); EE_Read_Rate_PID(); dbgPrintf(" Init adc!\r\n"); ADC_DMA_Init(); dbgPrintf(" Init NRF24L01 !\r\n"); SPI_NRF_Init(); Nrf24l01_Init(); NRF24l01_SetRxMode(); while(Nrf24l01_Check()) { dbgPrintf("NRF24L01 Fault !\r\n"); delay_ms(500); } dbgPrintf("NRF24L01 Is Detected !\r\n"); dbgPrintf("Init MPU6050...\r\n"); IIC_Init(); MPU6050_initialize(); dbgPrintf("Init Motor...\r\n"); Motor_Init(); Motor_SetPwm(0,0,0,0); pd20bms = TIMIRQCNT + 10*ITS_PER_MS; while(1) { if(TIMIRQCNT>pd2ms + 2*ITS_PER_MS-1) // every 4ms { GetEulerAngle(); if(lock_flag==UNLOCK) AttitudeToMotors(angle.y,angle.x,angle.z); else { MOTOR1=0; MOTOR2=0; MOTOR3=0; MOTOR4=0; } Motor_SetPwm(MOTOR1,MOTOR2,MOTOR3,MOTOR4); pd2ms = TIMIRQCNT; } if(TIMIRQCNT>pd20ams + 20*ITS_PER_MS-1) // every 20ms { if(NRF24l01_Recv(RecvBuf)>10) { if((RecvBuf[RecvBuf[2]+3]==CheckSum(RecvBuf, RecvBuf[2]+3))&&(RecvBuf[0]==0xAA)) { if(RecvBuf[1]!=0xC0) OP_LED1; offline=0; switch(RecvBuf[1]) { case 0xC0: //control Getdesireddata(RecvBuf); OP_LED2; break; case 0x10: //W PID SetPID(RecvBuf); break; case 0x11: //W Attitude SetAccGyroOffset(RecvBuf); break; case 0x12: //W Control offset break; case 0x14: //W Rate PID SetRatePID(RecvBuf); break; case 0x20: //R PID recv_flag = RESEND; GetPID(SendBuf); break; case 0x21: //R Attitude recv_flag = RESEND; GetAccGyroOffset(SendBuf); break; case 0x22: //R Control offset break; case 0x24: //R Rate PID recv_flag = RESEND; GetRatePID(SendBuf); break; case 0x40: //校准姿态 EnableCalibration(); break; case 0x41: //校准遥控器零点 break; default: break; } } } pd20ams = TIMIRQCNT; } if(TIMIRQCNT>pd20bms + 20*ITS_PER_MS-1) // every 20ms { if(recv_flag==0) GetState(SendBuf); else recv_flag--; NRF_SendData(SendBuf); OP_LED3; pd20bms = TIMIRQCNT; } if(TIMIRQCNT>pd100ms + 100*ITS_PER_MS-1) // every 100ms { if(offline>20) lock_flag = LOCK; offline++; // OP_LED4; pd100ms = TIMIRQCNT; } } }