void sensorsInit(void)
{
zeroSensorAccumulators();
// TODO allow user to select hardware if there are multiple choices
if(mpu6050Detect(&gyro, &accel, cfg.mpu6050Scale)) {
sensorsSet(SENSOR_ACC);
} else if(!mpu3050Detect(&gyro)) {
failureMode(3);
}
if(adxl345Detect(&accel)) {
sensorsSet(SENSOR_ACC);
}
// At the moment we will do this after mpu6050 and overrride mpu6050 accel if detected
if(mma8452Detect(&accel)) {
sensorsSet(SENSOR_ACC);
}
gyro.init();
if(sensorsGet(SENSOR_ACC))
accel.init();
if(hmc5883Detect(&mag)) {
mag.init();
sensorsSet(SENSOR_MAG);
}
#ifdef SONAR
if(feature(FEATURE_PPM);) {
static void gpsFakeGPSUpdate(void)
{
if (millis() - gpsState.lastMessageMs > 100) {
gpsSol.fixType = GPS_FIX_3D;
gpsSol.numSat = 6;
gpsSol.llh.lat = 509102311;
gpsSol.llh.lon = -15349744;
gpsSol.llh.alt = 0;
gpsSol.groundSpeed = 0;
gpsSol.groundCourse = 0;
gpsSol.velNED[X] = 0;
gpsSol.velNED[Y] = 0;
gpsSol.velNED[Z] = 0;
gpsSol.flags.validVelNE = 1;
gpsSol.flags.validVelD = 1;
gpsSol.flags.validEPE = 1;
gpsSol.eph = 100;
gpsSol.epv = 100;
ENABLE_STATE(GPS_FIX);
sensorsSet(SENSOR_GPS);
onNewGPSData();
gpsState.lastLastMessageMs = gpsState.lastMessageMs;
gpsState.lastMessageMs = millis();
gpsSetState(GPS_RECEIVING_DATA);
}
}
static void gpsHandleProtocol(void)
{
bool newDataReceived = false;
// Call protocol-specific code
if (gpsProviders[gpsState.gpsConfig->provider].read) {
newDataReceived = gpsProviders[gpsState.gpsConfig->provider].read();
}
// Received new update for solution data
if (newDataReceived) {
// Set GPS fix flag only if we have 3D fix
if (gpsSol.fixType == GPS_FIX_3D) {
ENABLE_STATE(GPS_FIX);
}
else {
DISABLE_STATE(GPS_FIX);
}
// Update GPS coordinates etc
sensorsSet(SENSOR_GPS);
onNewGPSData();
// Update timeout
gpsState.lastLastMessageMs = gpsState.lastMessageMs;
gpsState.lastMessageMs = millis();
// Update statistics
gpsStats.lastMessageDt = gpsState.lastMessageMs - gpsState.lastLastMessageMs;
}
}
bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
{
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
baroSensor_e baroHardware = baroHardwareToUse;
#ifdef USE_BARO_BMP085
const bmp085Config_t *bmp085Config = NULL;
#if defined(BARO_XCLR_GPIO) && defined(BARO_EOC_GPIO)
static const bmp085Config_t defaultBMP085Config = {
.xclrIO = IO_TAG(BARO_XCLR_PIN),
.eocIO = IO_TAG(BARO_EOC_PIN),
};
bmp085Config = &defaultBMP085Config;
#endif
#endif
switch (baroHardware) {
case BARO_DEFAULT:
; // fallthough
case BARO_BMP085:
#ifdef USE_BARO_BMP085
if (bmp085Detect(bmp085Config, dev)) {
baroHardware = BARO_BMP085;
break;
}
#endif
; // fallthough
case BARO_MS5611:
#ifdef USE_BARO_MS5611
if (ms5611Detect(dev)) {
baroHardware = BARO_MS5611;
break;
}
#endif
; // fallthough
case BARO_BMP280:
#if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
if (bmp280Detect(dev)) {
baroHardware = BARO_BMP280;
break;
}
#endif
; // fallthough
case BARO_NONE:
baroHardware = BARO_NONE;
break;
}
if (baroHardware == BARO_NONE) {
return false;
}
detectedSensors[SENSOR_INDEX_BARO] = baroHardware;
sensorsSet(SENSOR_BARO);
return true;
}
////////////////////////////////////////////////////////////////////////////////////
// *** GPS INIT ***
////////////////////////////////////////////////////////////////////////////////////
void gpsInit(uint32_t baudrate) // Called in Main
{
uint8_t i;
uint32_t timeout;
GPS_Present = 0;
delay(2000); // let it init
timeout = millis() + 12000; // 12 sec timeout
while (!GPS_Present && millis() < timeout) // Repeat while no GPS Data
{
uart2Init(baudrate, GPS_NewData, false); // Set up Interrupthandler
switch (cfg.gps_type) // GPS_NMEA = 0, GPS_UBLOX = 1, GPS_MTK16 = 2, GPS_MTK19 = 3, GPS_UBLOX_DUMB = 4
{
case 0: // GPS_NMEA
break;
case 1: // GPS_UBLOX
UbloxForceBaud(baudrate);
for (i = 0; i < sizeof(ubloxInit); i++)
{
delay(7);
uart2Write(ubloxInit[i]); // send ubx init binary
}
break;
case 2: // GPS_MTK16
case 3: // GPS_MTK19
for (i = 0; i < 5; i++)
{
uart2ChangeBaud(init_speed[i]);
delay(200);
gpsPrint(MTK_BAUD_RATE_57600);
}
uart2ChangeBaud(57600);
delay(200);
gpsPrint(MTK_SET_BINARY);
delay(200);
gpsPrint(MTK_OUTPUT_5HZ);
delay(200);
gpsPrint(MTK_SBAS_INTEGRITYMODE);
delay(200);
gpsPrint(MTK_NAVTHRES_OFF);
delay(200);
gpsPrint(MTK_SBAS_ON);
delay(200);
gpsPrint(MTK_WAAS_ON);
break;
case 4: // GPS_UBLOX_DUMB = 4
break;
}
delay(1000);
}
if (GPS_Present) sensorsSet(SENSOR_GPS); // Do we get Data? Is GPS present?
}
void sonarInit(const sonarHardware_t *sonarHardware)
{
sonarRange_t sonarRange;
hcsr04_init(sonarHardware, &sonarRange);
sensorsSet(SENSOR_SONAR);
sonarMaxRangeCm = sonarRange.maxRangeCm;
sonarCfAltCm = sonarMaxRangeCm / 2;
sonarMaxTiltDeciDegrees = sonarRange.detectionConeExtendedDeciDegrees / 2;
sonarMaxTiltCos = cos_approx(sonarMaxTiltDeciDegrees / 10.0f * RAD);
sonarMaxAltWithTiltCm = sonarMaxRangeCm * sonarMaxTiltCos;
calculatedAltitude = SONAR_OUT_OF_RANGE;
}
void GPS_NewData(uint16_t c)
{
gps.bytes_rx ++;
if (!GPS_newFrame(c)) return;
gps.frames_rx ++;
sensorsSet(SENSOR_GPS);
xTimerReset(gpsLostTimer, 10);
gps.update = (gps.update == 1 ? 0 : 1);
if (flag(FLAG_GPS_FIX) && gps.numSat > 4)
xSemaphoreGive(gpsSemaphore);
}
/*
* Detect which rangefinder is present
*/
static rangefinderType_e detectRangefinder(void)
{
rangefinderType_e rangefinderType = RANGEFINDER_NONE;
if (feature(FEATURE_SONAR)) {
// the user has set the sonar feature, so assume they have an HC-SR04 plugged in,
// since there is no way to detect it
rangefinderType = RANGEFINDER_HCSR04;
}
#ifdef USE_SONAR_SRF10
if (srf10_detect()) {
// if an SFR10 sonar rangefinder is detected then use it in preference to the assumed HC-SR04
rangefinderType = RANGEFINDER_SRF10;
}
#endif
detectedSensors[SENSOR_INDEX_RANGEFINDER] = rangefinderType;
if (rangefinderType != RANGEFINDER_NONE) {
sensorsSet(SENSOR_SONAR);
}
return rangefinderType;
}
static void gpsNewData(uint16_t c)
{
if (!gpsNewFrame(c)) {
return;
}
// new data received and parsed, we're in business
gpsData.lastLastMessage = gpsData.lastMessage;
gpsData.lastMessage = millis();
sensorsSet(SENSOR_GPS);
if (GPS_update == 1)
GPS_update = 0;
else
GPS_update = 1;
#if 0
debug[3] = GPS_update;
#endif
onGpsNewData();
}
static void gpsHandleProtocol(void)
{
bool newDataReceived = false;
// Call protocol-specific code
if (gpsProviders[gpsState.gpsConfig->provider].read) {
newDataReceived = gpsProviders[gpsState.gpsConfig->provider].read();
}
// Received new update for solution data
if (newDataReceived) {
// Set GPS fix flag only if we have 3D fix
if (gpsSol.fixType == GPS_FIX_3D && gpsSol.numSat >= gpsConfig()->gpsMinSats) {
ENABLE_STATE(GPS_FIX);
}
else {
/* When no fix available - reset flags as well */
gpsSol.flags.validVelNE = 0;
gpsSol.flags.validVelD = 0;
gpsSol.flags.validEPE = 0;
DISABLE_STATE(GPS_FIX);
}
// Update GPS coordinates etc
sensorsSet(SENSOR_GPS);
onNewGPSData();
// Update timeout
gpsState.lastLastMessageMs = gpsState.lastMessageMs;
gpsState.lastMessageMs = millis();
// Update statistics
gpsStats.lastMessageDt = gpsState.lastMessageMs - gpsState.lastLastMessageMs;
}
}
int main(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
drv_adc_config_t adc_params;
#if 0
// PC12, PA15
// using this to write asm for bootloader :)
RCC->APB2ENR |= RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO; // GPIOA/C+AFIO only
AFIO->MAPR &= 0xF0FFFFFF;
AFIO->MAPR = 0x02000000;
GPIOA->CRH = 0x34444444; // PIN 15 Output 50MHz
GPIOA->BRR = 0x8000; // set low 15
GPIOC->CRH = 0x44434444; // PIN 12 Output 50MHz
GPIOC->BRR = 0x1000; // set low 12
#endif
#if 0
// using this to write asm for bootloader :)
RCC->APB2ENR |= RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO; // GPIOB + AFIO
AFIO->MAPR &= 0xF0FFFFFF;
AFIO->MAPR = 0x02000000;
GPIOB->BRR = 0x18; // set low 4 & 3
GPIOB->CRL = 0x44433444; // PIN 4 & 3 Output 50MHz
#endif
systemInit();
#ifdef USE_LAME_PRINTF
init_printf(NULL, _putc);
#endif
checkFirstTime(false);
readEEPROM();
// 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);
// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
sensorsSet(SENSORS_SET);
mixerInit(); // this will set useServo var depending on mixer type
// 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_SPEKTRUM); // spektrum support uses UART too
pwm_params.usePPM = feature(FEATURE_PPM);
pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum
pwm_params.useServos = 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.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);
// configure PWM/CPPM read function. spektrum below will override that
rcReadRawFunc = pwmReadRawRC;
if (feature(FEATURE_SPEKTRUM)) {
spektrumInit();
rcReadRawFunc = spektrumReadRawRC;
} 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.
if (feature(FEATURE_GPS))
gpsInit(mcfg.gps_baudrate);
}
#ifdef SONAR
// sonar stuff only works with PPM
if (feature(FEATURE_PPM)) {
if (feature(FEATURE_SONAR))
Sonar_init();
}
#endif
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;
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsAutodetect();
imuInit(); // Mag is initialized inside imuInit
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit();
serialInit(mcfg.serial_baudrate);
previousTime = micros();
if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
calibratingA = 400;
calibratingG = 1000;
calibratingB = 200; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
f.SMALL_ANGLES_25 = 1;
// loopy
while (1) {
loop();
}
}
STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
{
gyroHardware_e gyroHardware = GYRO_DEFAULT;
switch (gyroHardware) {
case GYRO_DEFAULT:
FALLTHROUGH;
#ifdef USE_GYRO_MPU6050
case GYRO_MPU6050:
if (mpu6050GyroDetect(dev)) {
gyroHardware = GYRO_MPU6050;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_L3G4200D
case GYRO_L3G4200D:
if (l3g4200dDetect(dev)) {
gyroHardware = GYRO_L3G4200D;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_MPU3050
case GYRO_MPU3050:
if (mpu3050Detect(dev)) {
gyroHardware = GYRO_MPU3050;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_L3GD20
case GYRO_L3GD20:
if (l3gd20GyroDetect(dev)) {
gyroHardware = GYRO_L3GD20;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_SPI_MPU6000
case GYRO_MPU6000:
if (mpu6000SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU6000;
break;
}
FALLTHROUGH;
#endif
#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
case GYRO_MPU6500:
case GYRO_ICM20601:
case GYRO_ICM20602:
case GYRO_ICM20608G:
#ifdef USE_GYRO_SPI_MPU6500
if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev)) {
#else
if (mpu6500GyroDetect(dev)) {
#endif
switch (dev->mpuDetectionResult.sensor) {
case MPU_9250_SPI:
gyroHardware = GYRO_MPU9250;
break;
case ICM_20601_SPI:
gyroHardware = GYRO_ICM20601;
break;
case ICM_20602_SPI:
gyroHardware = GYRO_ICM20602;
break;
case ICM_20608_SPI:
gyroHardware = GYRO_ICM20608G;
break;
default:
gyroHardware = GYRO_MPU6500;
}
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_SPI_MPU9250
case GYRO_MPU9250:
if (mpu9250SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU9250;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_SPI_ICM20649
case GYRO_ICM20649:
if (icm20649SpiGyroDetect(dev)) {
gyroHardware = GYRO_ICM20649;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_SPI_ICM20689
case GYRO_ICM20689:
if (icm20689SpiGyroDetect(dev)) {
gyroHardware = GYRO_ICM20689;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_ACCGYRO_BMI160
case GYRO_BMI160:
if (bmi160SpiGyroDetect(dev)) {
gyroHardware = GYRO_BMI160;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_FAKE_GYRO
case GYRO_FAKE:
if (fakeGyroDetect(dev)) {
gyroHardware = GYRO_FAKE;
break;
}
FALLTHROUGH;
#endif
default:
gyroHardware = GYRO_NONE;
}
if (gyroHardware != GYRO_NONE) {
sensorsSet(SENSOR_GYRO);
}
return gyroHardware;
}
static void gyroPreInitSensor(const gyroDeviceConfig_t *config)
{
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689)
mpuPreInit(config);
#else
UNUSED(config);
#endif
}
void gpsInit(uint32_t baudrate)
{
uart2Init(baudrate, GPS_NewData);
sensorsSet(SENSOR_GPS);
}
static void detectMag(magSensor_e magHardwareToUse)
{
magSensor_e magHardware;
#ifdef USE_MAG_HMC5883
const hmc5883Config_t *hmc5883Config = 0;
#ifdef NAZE
static const hmc5883Config_t nazeHmc5883Config_v1_v4 = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
.gpioPin = Pin_12,
.gpioPort = GPIOB,
/* Disabled for v4 needs more work.
.exti_port_source = GPIO_PortSourceGPIOB,
.exti_pin_source = GPIO_PinSource12,
.exti_line = EXTI_Line12,
.exti_irqn = EXTI15_10_IRQn
*/
};
static const hmc5883Config_t nazeHmc5883Config_v5 = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
.gpioPin = Pin_14,
.gpioPort = GPIOC,
.exti_port_source = GPIO_PortSourceGPIOC,
.exti_line = EXTI_Line14,
.exti_pin_source = GPIO_PinSource14,
.exti_irqn = EXTI15_10_IRQn
};
if (hardwareRevision < NAZE32_REV5) {
hmc5883Config = &nazeHmc5883Config_v1_v4;
} else {
hmc5883Config = &nazeHmc5883Config_v5;
}
#endif
#ifdef SPRACINGF3
static const hmc5883Config_t spRacingF3Hmc5883Config = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
.gpioPin = Pin_14,
.gpioPort = GPIOC,
.exti_port_source = EXTI_PortSourceGPIOC,
.exti_pin_source = EXTI_PinSource14,
.exti_line = EXTI_Line14,
.exti_irqn = EXTI15_10_IRQn
};
hmc5883Config = &spRacingF3Hmc5883Config;
#endif
#endif
retry:
magAlign = ALIGN_DEFAULT;
switch(magHardwareToUse) {
case MAG_DEFAULT:
; // fallthrough
case MAG_HMC5883:
#ifdef USE_MAG_HMC5883
if (hmc5883lDetect(&mag, hmc5883Config)) {
#ifdef MAG_HMC5883_ALIGN
magAlign = MAG_HMC5883_ALIGN;
#endif
magHardware = MAG_HMC5883;
break;
}
#endif
; // fallthrough
case MAG_AK8975:
#ifdef USE_MAG_AK8975
if (ak8975detect(&mag)) {
#ifdef MAG_AK8975_ALIGN
magAlign = MAG_AK8975_ALIGN;
#endif
magHardware = MAG_AK8975;
break;
}
#endif
; // fallthrough
case MAG_NONE:
magHardware = MAG_NONE;
break;
}
if (magHardware == MAG_NONE && magHardwareToUse != MAG_DEFAULT && magHardwareToUse != MAG_NONE) {
// Nothing was found and we have a forced sensor that isn't present.
magHardwareToUse = MAG_DEFAULT;
goto retry;
}
if (magHardware == MAG_NONE) {
return;
}
detectedSensors[SENSOR_INDEX_MAG] = magHardware;
sensorsSet(SENSOR_MAG);
}
static void detectAcc(accelerationSensor_e accHardwareToUse)
{
accelerationSensor_e accHardware;
#ifdef USE_ACC_ADXL345
drv_adxl345_config_t acc_params;
#endif
retry:
accAlign = ALIGN_DEFAULT;
switch (accHardwareToUse) {
case ACC_DEFAULT:
; // fallthrough
case ACC_ADXL345: // ADXL345
#ifdef USE_ACC_ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
#ifdef NAZE
if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, &acc)) {
#else
if (adxl345Detect(&acc_params, &acc)) {
#endif
#ifdef ACC_ADXL345_ALIGN
accAlign = ACC_ADXL345_ALIGN;
#endif
accHardware = ACC_ADXL345;
break;
}
#endif
; // fallthrough
case ACC_LSM303DLHC:
#ifdef USE_ACC_LSM303DLHC
if (lsm303dlhcAccDetect(&acc)) {
#ifdef ACC_LSM303DLHC_ALIGN
accAlign = ACC_LSM303DLHC_ALIGN;
#endif
accHardware = ACC_LSM303DLHC;
break;
}
#endif
; // fallthrough
case ACC_MPU6050: // MPU6050
#ifdef USE_ACC_MPU6050
if (mpu6050AccDetect(&acc)) {
#ifdef ACC_MPU6050_ALIGN
accAlign = ACC_MPU6050_ALIGN;
#endif
accHardware = ACC_MPU6050;
break;
}
#endif
; // fallthrough
case ACC_MMA8452: // MMA8452
#ifdef USE_ACC_MMA8452
#ifdef NAZE
// Not supported with this frequency
if (hardwareRevision < NAZE32_REV5 && mma8452Detect(&acc)) {
#else
if (mma8452Detect(&acc)) {
#endif
#ifdef ACC_MMA8452_ALIGN
accAlign = ACC_MMA8452_ALIGN;
#endif
accHardware = ACC_MMA8452;
break;
}
#endif
; // fallthrough
case ACC_BMA280: // BMA280
#ifdef USE_ACC_BMA280
if (bma280Detect(&acc)) {
#ifdef ACC_BMA280_ALIGN
accAlign = ACC_BMA280_ALIGN;
#endif
accHardware = ACC_BMA280;
break;
}
#endif
; // fallthrough
case ACC_MPU6000:
#ifdef USE_ACC_SPI_MPU6000
if (mpu6000SpiAccDetect(&acc)) {
#ifdef ACC_MPU6000_ALIGN
accAlign = ACC_MPU6000_ALIGN;
#endif
accHardware = ACC_MPU6000;
break;
}
#endif
; // fallthrough
case ACC_MPU6500:
#ifdef USE_ACC_MPU6500
#ifdef USE_ACC_SPI_MPU6500
if (mpu6500AccDetect(&acc) || mpu6500SpiAccDetect(&acc))
#else
if (mpu6500AccDetect(&acc))
#endif
{
#ifdef ACC_MPU6500_ALIGN
accAlign = ACC_MPU6500_ALIGN;
#endif
accHardware = ACC_MPU6500;
break;
}
#endif
; // fallthrough
case ACC_FAKE:
#ifdef USE_FAKE_ACC
if (fakeAccDetect(&acc)) {
accHardware = ACC_FAKE;
break;
}
#endif
; // fallthrough
case ACC_NONE: // disable ACC
accHardware = ACC_NONE;
break;
}
// Found anything? Check if error or ACC is really missing.
if (accHardware == ACC_NONE && accHardwareToUse != ACC_DEFAULT && accHardwareToUse != ACC_NONE) {
// Nothing was found and we have a forced sensor that isn't present.
accHardwareToUse = ACC_DEFAULT;
goto retry;
}
if (accHardware == ACC_NONE) {
return;
}
detectedSensors[SENSOR_INDEX_ACC] = accHardware;
sensorsSet(SENSOR_ACC);
}
static void detectBaro(baroSensor_e baroHardwareToUse)
{
#ifndef BARO
UNUSED(baroHardwareToUse);
#else
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
baroSensor_e baroHardware = baroHardwareToUse;
#ifdef USE_BARO_BMP085
const bmp085Config_t *bmp085Config = NULL;
#if defined(BARO_XCLR_GPIO) && defined(BARO_EOC_GPIO)
static const bmp085Config_t defaultBMP085Config = {
.gpioAPB2Peripherals = BARO_APB2_PERIPHERALS,
.xclrGpioPin = BARO_XCLR_PIN,
.xclrGpioPort = BARO_XCLR_GPIO,
.eocGpioPin = BARO_EOC_PIN,
.eocGpioPort = BARO_EOC_GPIO
};
bmp085Config = &defaultBMP085Config;
#endif
#ifdef NAZE
if (hardwareRevision == NAZE32) {
bmp085Disable(bmp085Config);
}
#endif
#endif
switch (baroHardware) {
case BARO_DEFAULT:
; // fallthough
case BARO_MS5611:
#ifdef USE_BARO_MS5611
if (ms5611Detect(&baro)) {
baroHardware = BARO_MS5611;
break;
}
#endif
; // fallthough
case BARO_BMP085:
#ifdef USE_BARO_BMP085
if (bmp085Detect(bmp085Config, &baro)) {
baroHardware = BARO_BMP085;
break;
}
#endif
; // fallthough
case BARO_BMP280:
#ifdef USE_BARO_BMP280
if (bmp280Detect(&baro)) {
baroHardware = BARO_BMP280;
break;
}
#endif
; // fallthrough
case BARO_FAKE:
#ifdef USE_FAKE_BARO
if (fakeBaroDetect(&baro)) {
baroHardware = BARO_FAKE;
break;
}
#endif
; // fallthrough
case BARO_NONE:
baroHardware = BARO_NONE;
break;
}
if (baroHardware == BARO_NONE) {
return;
}
detectedSensors[SENSOR_INDEX_BARO] = baroHardware;
sensorsSet(SENSOR_BARO);
#endif
}
static void detectMag(magSensor_e magHardwareToUse)
{
magSensor_e magHardware;
#ifdef USE_MAG_HMC5883
const hmc5883Config_t *hmc5883Config = 0;
#ifdef NAZE
static const hmc5883Config_t nazeHmc5883Config_v1_v4 = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
.gpioPin = Pin_12,
.gpioPort = GPIOB,
/* Disabled for v4 needs more work.
.exti_port_source = GPIO_PortSourceGPIOB,
.exti_pin_source = GPIO_PinSource12,
.exti_line = EXTI_Line12,
.exti_irqn = EXTI15_10_IRQn
*/
};
static const hmc5883Config_t nazeHmc5883Config_v5 = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
.gpioPin = Pin_14,
.gpioPort = GPIOC,
.exti_port_source = GPIO_PortSourceGPIOC,
.exti_line = EXTI_Line14,
.exti_pin_source = GPIO_PinSource14,
.exti_irqn = EXTI15_10_IRQn
};
if (hardwareRevision < NAZE32_REV5) {
hmc5883Config = &nazeHmc5883Config_v1_v4;
} else {
hmc5883Config = &nazeHmc5883Config_v5;
}
#endif
#ifdef SPRACINGF3
static const hmc5883Config_t spRacingF3Hmc5883Config = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
.gpioPin = Pin_14,
.gpioPort = GPIOC,
.exti_port_source = EXTI_PortSourceGPIOC,
.exti_pin_source = EXTI_PinSource14,
.exti_line = EXTI_Line14,
.exti_irqn = EXTI15_10_IRQn
};
hmc5883Config = &spRacingF3Hmc5883Config;
#endif
#endif
retry:
magAlign = ALIGN_DEFAULT;
switch(magHardwareToUse) {
case MAG_DEFAULT:
; // fallthrough
case MAG_HMC5883:
#ifdef USE_MAG_HMC5883
if (hmc5883lDetect(&mag, hmc5883Config)) {
#ifdef MAG_HMC5883_ALIGN
magAlign = MAG_HMC5883_ALIGN;
#endif
magHardware = MAG_HMC5883;
break;
}
#endif
; // fallthrough
case MAG_AK8975:
#ifdef USE_MAG_AK8975
if (ak8975detect(&mag)) {
#ifdef MAG_AK8975_ALIGN
magAlign = MAG_AK8975_ALIGN;
#endif
magHardware = MAG_AK8975;
break;
}
#endif
; // fallthrough
case MAG_GPS:
#ifdef GPS
if (gpsMagDetect(&mag)) {
#ifdef MAG_GPS_ALIGN
magAlign = MAG_GPS_ALIGN;
#endif
magHardware = MAG_GPS;
break;
}
#endif
; // fallthrough
case MAG_MAG3110:
#ifdef USE_MAG_MAG3110
if (mag3110detect(&mag)) {
#ifdef MAG_MAG3110_ALIGN
magAlign = MAG_MAG3110_ALIGN;
#endif
magHardware = MAG_MAG3110;
break;
}
#endif
; // fallthrough
case MAG_FAKE:
#ifdef USE_FAKE_MAG
if (fakeMagDetect(&mag)) {
magHardware = MAG_FAKE;
break;
}
#endif
; // fallthrough
case MAG_NONE:
magHardware = MAG_NONE;
break;
}
if (magHardware == MAG_NONE && magHardwareToUse != MAG_DEFAULT && magHardwareToUse != MAG_NONE) {
// Nothing was found and we have a forced sensor that isn't present.
magHardwareToUse = MAG_DEFAULT;
goto retry;
}
if (magHardware == MAG_NONE) {
return;
}
detectedSensors[SENSOR_INDEX_MAG] = magHardware;
sensorsSet(SENSOR_MAG);
}
void Sonar_init(void)
{
hcsr04_init(sonar_rc78);
sensorsSet(SENSOR_SONAR);
sonarAlt = 0;
}
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();
}
}
static void detectAcc(accelerationSensor_e accHardwareToUse)
{
accelerationSensor_e accHardware;
#ifdef USE_ACC_ADXL345
drv_adxl345_config_t acc_params;
#endif
retry:
accAlign = ALIGN_DEFAULT;
switch (accHardwareToUse) {
case ACC_DEFAULT:
; // fallthrough
case ACC_ADXL345: // ADXL345
#ifdef USE_ACC_ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
#ifdef NAZE
if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, &acc)) {
#else
if (adxl345Detect(&acc_params, &acc)) {
#endif
#ifdef ACC_ADXL345_ALIGN
accAlign = ACC_ADXL345_ALIGN;
#endif
accHardware = ACC_ADXL345;
break;
}
#endif
; // fallthrough
case ACC_LSM303DLHC:
#ifdef USE_ACC_LSM303DLHC
if (lsm303dlhcAccDetect(&acc)) {
#ifdef ACC_LSM303DLHC_ALIGN
accAlign = ACC_LSM303DLHC_ALIGN;
#endif
accHardware = ACC_LSM303DLHC;
break;
}
#endif
; // fallthrough
case ACC_MPU6050: // MPU6050
#ifdef USE_ACC_MPU6050
if (mpu6050AccDetect(&acc)) {
#ifdef ACC_MPU6050_ALIGN
accAlign = ACC_MPU6050_ALIGN;
#endif
accHardware = ACC_MPU6050;
break;
}
#endif
; // fallthrough
case ACC_MMA8452: // MMA8452
#ifdef USE_ACC_MMA8452
#ifdef NAZE
// Not supported with this frequency
if (hardwareRevision < NAZE32_REV5 && mma8452Detect(&acc)) {
#else
if (mma8452Detect(&acc)) {
#endif
#ifdef ACC_MMA8452_ALIGN
accAlign = ACC_MMA8452_ALIGN;
#endif
accHardware = ACC_MMA8452;
break;
}
#endif
; // fallthrough
case ACC_BMA280: // BMA280
#ifdef USE_ACC_BMA280
if (bma280Detect(&acc)) {
#ifdef ACC_BMA280_ALIGN
accAlign = ACC_BMA280_ALIGN;
#endif
accHardware = ACC_BMA280;
break;
}
#endif
; // fallthrough
case ACC_MPU6000:
#ifdef USE_ACC_SPI_MPU6000
if (mpu6000SpiAccDetect(&acc)) {
#ifdef ACC_MPU6000_ALIGN
accAlign = ACC_MPU6000_ALIGN;
#endif
accHardware = ACC_MPU6000;
break;
}
#endif
; // fallthrough
case ACC_MPU6500:
#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
#ifdef USE_ACC_SPI_MPU6500
if (mpu6500AccDetect(&acc) || mpu6500SpiAccDetect(&acc))
#else
if (mpu6500AccDetect(&acc))
#endif
{
#ifdef ACC_MPU6500_ALIGN
accAlign = ACC_MPU6500_ALIGN;
#endif
accHardware = ACC_MPU6500;
break;
}
#endif
; // fallthrough
case ACC_MPU9250:
#ifdef USE_ACC_SPI_MPU9250
if (mpu9250SpiAccDetect(&acc))
{
accHardware = ACC_MPU9250;
#ifdef ACC_MPU9250_ALIGN
accAlign = ACC_MPU9250_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case ACC_FAKE:
#ifdef USE_FAKE_ACC
if (fakeAccDetect(&acc)) {
accHardware = ACC_FAKE;
break;
}
#endif
; // fallthrough
case ACC_NONE: // disable ACC
accHardware = ACC_NONE;
break;
}
// Found anything? Check if error or ACC is really missing.
if (accHardware == ACC_NONE && accHardwareToUse != ACC_DEFAULT && accHardwareToUse != ACC_NONE) {
// Nothing was found and we have a forced sensor that isn't present.
accHardwareToUse = ACC_DEFAULT;
goto retry;
}
if (accHardware == ACC_NONE) {
return;
}
detectedSensors[SENSOR_INDEX_ACC] = accHardware;
sensorsSet(SENSOR_ACC);
}
static void detectBaro(baroSensor_e baroHardwareToUse)
{
#ifndef BARO
UNUSED(baroHardwareToUse);
#else
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
baroSensor_e baroHardware = baroHardwareToUse;
#ifdef USE_BARO_BMP085
const bmp085Config_t *bmp085Config = NULL;
#if defined(BARO_XCLR_GPIO) && defined(BARO_EOC_GPIO)
static const bmp085Config_t defaultBMP085Config = {
.xclrIO = IO_TAG(BARO_XCLR_PIN),
.eocIO = IO_TAG(BARO_EOC_PIN),
};
bmp085Config = &defaultBMP085Config;
#endif
#ifdef NAZE
if (hardwareRevision == NAZE32) {
bmp085Disable(bmp085Config);
}
#endif
#endif
switch (baroHardware) {
case BARO_DEFAULT:
; // fallthough
case BARO_BMP085:
#ifdef USE_BARO_BMP085
if (bmp085Detect(bmp085Config, &baro)) {
baroHardware = BARO_BMP085;
break;
}
#endif
; // fallthough
case BARO_MS5611:
#ifdef USE_BARO_MS5611
if (ms5611Detect(&baro)) {
baroHardware = BARO_MS5611;
break;
}
#endif
; // fallthough
case BARO_BMP280:
#ifdef USE_BARO_BMP280
if (bmp280Detect(&baro)) {
baroHardware = BARO_BMP280;
break;
}
#endif
; // fallthough
case BARO_NONE:
baroHardware = BARO_NONE;
break;
}
if (baroHardware == BARO_NONE) {
return;
}
detectedSensors[SENSOR_INDEX_BARO] = baroHardware;
sensorsSet(SENSOR_BARO);
#endif
}
static void detectMag(magSensor_e magHardwareToUse)
{
magSensor_e magHardware;
#ifdef USE_MAG_HMC5883
const hmc5883Config_t *hmc5883Config = 0;
#ifdef NAZE // TODO remove this target specific define
static const hmc5883Config_t nazeHmc5883Config_v1_v4 = {
.intTag = IO_TAG(PB12) /* perhaps disabled? */
};
static const hmc5883Config_t nazeHmc5883Config_v5 = {
.intTag = IO_TAG(MAG_INT_EXTI)
};
if (hardwareRevision < NAZE32_REV5) {
hmc5883Config = &nazeHmc5883Config_v1_v4;
} else {
hmc5883Config = &nazeHmc5883Config_v5;
}
#endif
#ifdef MAG_INT_EXTI
static const hmc5883Config_t extiHmc5883Config = {
.intTag = IO_TAG(MAG_INT_EXTI)
};
hmc5883Config = &extiHmc5883Config;
#endif
#endif
retry:
magAlign = ALIGN_DEFAULT;
switch(magHardwareToUse) {
case MAG_DEFAULT:
; // fallthrough
case MAG_HMC5883:
#ifdef USE_MAG_HMC5883
if (hmc5883lDetect(&mag, hmc5883Config)) {
#ifdef MAG_HMC5883_ALIGN
magAlign = MAG_HMC5883_ALIGN;
#endif
magHardware = MAG_HMC5883;
break;
}
#endif
; // fallthrough
case MAG_AK8975:
#ifdef USE_MAG_AK8975
if (ak8975Detect(&mag)) {
#ifdef MAG_AK8975_ALIGN
magAlign = MAG_AK8975_ALIGN;
#endif
magHardware = MAG_AK8975;
break;
}
#endif
; // fallthrough
case MAG_AK8963:
#ifdef USE_MAG_AK8963
if (ak8963Detect(&mag)) {
#ifdef MAG_AK8963_ALIGN
magAlign = MAG_AK8963_ALIGN;
#endif
magHardware = MAG_AK8963;
break;
}
#endif
; // fallthrough
case MAG_NONE:
magHardware = MAG_NONE;
break;
}
if (magHardware == MAG_NONE && magHardwareToUse != MAG_DEFAULT && magHardwareToUse != MAG_NONE) {
// Nothing was found and we have a forced sensor that isn't present.
magHardwareToUse = MAG_DEFAULT;
goto retry;
}
if (magHardware == MAG_NONE) {
return;
}
detectedSensors[SENSOR_INDEX_MAG] = magHardware;
sensorsSet(SENSOR_MAG);
}
static void detectAcc(accelerationSensor_e accHardwareToUse)
{
accelerationSensor_e accHardware;
#ifdef USE_ACC_ADXL345
drv_adxl345_config_t acc_params;
#endif
retry:
accAlign = ALIGN_DEFAULT;
switch (accHardwareToUse) {
case ACC_DEFAULT:
; // fallthrough
case ACC_ADXL345: // ADXL345
#ifdef USE_ACC_ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
#ifdef NAZE
if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, &acc)) {
#else
if (adxl345Detect(&acc_params, &acc)) {
#endif
#ifdef ACC_ADXL345_ALIGN
accAlign = ACC_ADXL345_ALIGN;
#endif
accHardware = ACC_ADXL345;
break;
}
#endif
; // fallthrough
case ACC_LSM303DLHC:
#ifdef USE_ACC_LSM303DLHC
if (lsm303dlhcAccDetect(&acc)) {
#ifdef ACC_LSM303DLHC_ALIGN
accAlign = ACC_LSM303DLHC_ALIGN;
#endif
accHardware = ACC_LSM303DLHC;
break;
}
#endif
; // fallthrough
case ACC_MPU6050: // MPU6050
#ifdef USE_ACC_MPU6050
if (mpu6050AccDetect(selectMPU6050Config(), &acc)) {
#ifdef ACC_MPU6050_ALIGN
accAlign = ACC_MPU6050_ALIGN;
#endif
accHardware = ACC_MPU6050;
break;
}
#endif
; // fallthrough
case ACC_MMA8452: // MMA8452
#ifdef USE_ACC_MMA8452
#ifdef NAZE
// Not supported with this frequency
if (hardwareRevision < NAZE32_REV5 && mma8452Detect(&acc)) {
#else
if (mma8452Detect(&acc)) {
#endif
#ifdef ACC_MMA8452_ALIGN
accAlign = ACC_MMA8452_ALIGN;
#endif
accHardware = ACC_MMA8452;
break;
}
#endif
; // fallthrough
case ACC_BMA280: // BMA280
#ifdef USE_ACC_BMA280
if (bma280Detect(&acc)) {
#ifdef ACC_BMA280_ALIGN
accAlign = ACC_BMA280_ALIGN;
#endif
accHardware = ACC_BMA280;
break;
}
#endif
; // fallthrough
case ACC_SPI_MPU6000:
#ifdef USE_ACC_SPI_MPU6000
if (mpu6000SpiAccDetect(&acc)) {
#ifdef ACC_SPI_MPU6000_ALIGN
accAlign = ACC_SPI_MPU6000_ALIGN;
#endif
accHardware = ACC_SPI_MPU6000;
break;
}
#endif
; // fallthrough
case ACC_SPI_MPU6500:
#ifdef USE_ACC_SPI_MPU6500
#ifdef NAZE
if (hardwareRevision == NAZE32_SP && mpu6500SpiAccDetect(&acc)) {
#else
if (mpu6500SpiAccDetect(&acc)) {
#endif
#ifdef ACC_SPI_MPU6500_ALIGN
accAlign = ACC_SPI_MPU6500_ALIGN;
#endif
accHardware = ACC_SPI_MPU6500;
break;
}
#endif
; // fallthrough
case ACC_FAKE:
#ifdef USE_FAKE_ACC
if (fakeAccDetect(&acc)) {
accHardware = ACC_FAKE;
break;
}
#endif
; // fallthrough
case ACC_NONE: // disable ACC
accHardware = ACC_NONE;
break;
}
// Found anything? Check if error or ACC is really missing.
if (accHardware == ACC_NONE && accHardwareToUse != ACC_DEFAULT && accHardwareToUse != ACC_NONE) {
// Nothing was found and we have a forced sensor that isn't present.
accHardwareToUse = ACC_DEFAULT;
goto retry;
}
if (accHardware == ACC_NONE) {
return;
}
detectedSensors[SENSOR_INDEX_ACC] = accHardware;
sensorsSet(SENSOR_ACC);
}
static void detectBaro(baroSensor_e baroHardwareToUse)
{
#ifdef BARO
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
baroSensor_e baroHardware = baroHardwareToUse;
#ifdef USE_BARO_BMP085
const bmp085Config_t *bmp085Config = NULL;
#if defined(BARO_XCLR_GPIO) && defined(BARO_EOC_GPIO)
static const bmp085Config_t defaultBMP085Config = {
.gpioAPB2Peripherals = BARO_APB2_PERIPHERALS,
.xclrGpioPin = BARO_XCLR_PIN,
.xclrGpioPort = BARO_XCLR_GPIO,
.eocGpioPin = BARO_EOC_PIN,
.eocGpioPort = BARO_EOC_GPIO
};
bmp085Config = &defaultBMP085Config;
#endif
#ifdef NAZE
if (hardwareRevision == NAZE32) {
bmp085Disable(bmp085Config);
}
#endif
#endif
switch (baroHardware) {
case BARO_DEFAULT:
; // fallthough
case BARO_MS5611:
#ifdef USE_BARO_MS5611
if (ms5611Detect(&baro)) {
baroHardware = BARO_MS5611;
break;
}
#endif
; // fallthough
case BARO_BMP085:
#ifdef USE_BARO_BMP085
if (bmp085Detect(bmp085Config, &baro)) {
baroHardware = BARO_BMP085;
break;
}
#endif
case BARO_NONE:
baroHardware = BARO_NONE;
break;
}
if (baroHardware == BARO_NONE) {
return;
}
detectedSensors[SENSOR_INDEX_BARO] = baroHardware;
sensorsSet(SENSOR_BARO);
#endif
}
static void detectMag(magSensor_e magHardwareToUse)
{
magSensor_e magHardware;
#ifdef USE_MAG_HMC5883
const hmc5883Config_t *hmc5883Config = 0;
#ifdef NAZE
static const hmc5883Config_t nazeHmc5883Config_v1_v4 = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
.gpioPin = Pin_12,
.gpioPort = GPIOB,
/* Disabled for v4 needs more work.
.exti_port_source = GPIO_PortSourceGPIOB,
.exti_pin_source = GPIO_PinSource12,
.exti_line = EXTI_Line12,
.exti_irqn = EXTI15_10_IRQn
*/
};
static const hmc5883Config_t nazeHmc5883Config_v5 = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
.gpioPin = Pin_14,
.gpioPort = GPIOC,
.exti_port_source = GPIO_PortSourceGPIOC,
.exti_line = EXTI_Line14,
.exti_pin_source = GPIO_PinSource14,
.exti_irqn = EXTI15_10_IRQn
};
if (hardwareRevision < NAZE32_REV5) {
hmc5883Config = &nazeHmc5883Config_v1_v4;
} else {
hmc5883Config = &nazeHmc5883Config_v5;
}
#endif
#ifdef SPRACINGF3
static const hmc5883Config_t spRacingF3Hmc5883Config = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
.gpioPin = Pin_14,
.gpioPort = GPIOC,
.exti_port_source = EXTI_PortSourceGPIOC,
.exti_pin_source = EXTI_PinSource14,
.exti_line = EXTI_Line14,
.exti_irqn = EXTI15_10_IRQn
};
hmc5883Config = &spRacingF3Hmc5883Config;
#endif
#endif
retry:
magAlign = ALIGN_DEFAULT;
switch(magHardwareToUse) {
case MAG_DEFAULT:
; // fallthrough
case MAG_HMC5883:
#ifdef USE_MAG_HMC5883
if (hmc5883lDetect(&mag, hmc5883Config)) {
#ifdef MAG_HMC5883_ALIGN
magAlign = MAG_HMC5883_ALIGN;
#endif
magHardware = MAG_HMC5883;
break;
}
#endif
; // fallthrough
case MAG_AK8975:
#ifdef USE_MAG_AK8975
if (ak8975detect(&mag)) {
#ifdef MAG_AK8975_ALIGN
magAlign = MAG_AK8975_ALIGN;
#endif
magHardware = MAG_AK8975;
break;
}
#endif
; // fallthrough
case MAG_NONE:
magHardware = MAG_NONE;
break;
}
if (magHardware == MAG_NONE && magHardwareToUse != MAG_DEFAULT && magHardwareToUse != MAG_NONE) {
// Nothing was found and we have a forced sensor that isn't present.
magHardwareToUse = MAG_DEFAULT;
goto retry;
}
if (magHardware == MAG_NONE) {
return;
}
detectedSensors[SENSOR_INDEX_MAG] = magHardware;
sensorsSet(SENSOR_MAG);
}
void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
{
if (sensorAlignmentConfig->gyro_align != ALIGN_DEFAULT) {
gyroAlign = sensorAlignmentConfig->gyro_align;
}
if (sensorAlignmentConfig->acc_align != ALIGN_DEFAULT) {
accAlign = sensorAlignmentConfig->acc_align;
}
if (sensorAlignmentConfig->mag_align != ALIGN_DEFAULT) {
magAlign = sensorAlignmentConfig->mag_align;
}
}
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig)
{
int16_t deg, min;
memset(&acc, 0, sizeof(acc));
memset(&gyro, 0, sizeof(gyro));
if (!detectGyro(gyroLpf)) {
return false;
}
detectAcc(accHardwareToUse);
detectBaro(baroHardwareToUse);
// Now time to init things, acc first
if (sensors(SENSOR_ACC))
acc.init();
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init();
detectMag(magHardwareToUse);
reconfigureAlignment(sensorAlignmentConfig);
// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
if (sensors(SENSOR_MAG)) {
// calculate magnetic declination
deg = magDeclinationFromConfig / 100;
min = magDeclinationFromConfig % 100;
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
} else {
magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
}
return true;
}
bool detectGyro(uint16_t gyroLpf)
{
gyroSensor_e gyroHardware = GYRO_DEFAULT;
gyroAlign = ALIGN_DEFAULT;
switch(gyroHardware) {
case GYRO_DEFAULT:
; // fallthrough
case GYRO_MPU6050:
#ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(selectMPU6050Config(), &gyro, gyroLpf)) {
#ifdef GYRO_MPU6050_ALIGN
gyroHardware = GYRO_MPU6050;
gyroAlign = GYRO_MPU6050_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_L3G4200D:
#ifdef USE_GYRO_L3G4200D
if (l3g4200dDetect(&gyro, gyroLpf)) {
#ifdef GYRO_L3G4200D_ALIGN
gyroHardware = GYRO_L3G4200D;
gyroAlign = GYRO_L3G4200D_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU3050:
#ifdef USE_GYRO_MPU3050
if (mpu3050Detect(&gyro, gyroLpf)) {
#ifdef GYRO_MPU3050_ALIGN
gyroHardware = GYRO_MPU3050;
gyroAlign = GYRO_MPU3050_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_L3GD20:
#ifdef USE_GYRO_L3GD20
if (l3gd20Detect(&gyro, gyroLpf)) {
#ifdef GYRO_L3GD20_ALIGN
gyroHardware = GYRO_L3GD20;
gyroAlign = GYRO_L3GD20_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_SPI_MPU6000:
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(&gyro, gyroLpf)) {
#ifdef GYRO_SPI_MPU6000_ALIGN
gyroHardware = GYRO_SPI_MPU6000;
gyroAlign = GYRO_SPI_MPU6000_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_SPI_MPU6500:
#ifdef USE_GYRO_SPI_MPU6500
#ifdef USE_HARDWARE_REVISION_DETECTION
spiBusInit();
#endif
#ifdef NAZE
if (hardwareRevision == NAZE32_SP && mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
#ifdef GYRO_SPI_MPU6500_ALIGN
gyroHardware = GYRO_SPI_MPU6500;
gyroAlign = GYRO_SPI_MPU6500_ALIGN;
#endif
break;
}
#else
if (mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
#ifdef GYRO_SPI_MPU6500_ALIGN
gyroHardware = GYRO_SPI_MPU6500;
gyroAlign = GYRO_SPI_MPU6500_ALIGN;
#endif
break;
}
#endif
#endif
; // fallthrough
case GYRO_FAKE:
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro, gyroLpf)) {
gyroHardware = GYRO_FAKE;
break;
}
#endif
; // fallthrough
case GYRO_NONE:
gyroHardware = GYRO_NONE;
}
if (gyroHardware == GYRO_NONE) {
return false;
}
detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
sensorsSet(SENSOR_GYRO);
return true;
}
int main(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
#if 0
// PC12, PA15
// using this to write asm for bootloader :)
RCC->APB2ENR |= RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO; // GPIOA/C+AFIO only
AFIO->MAPR &= 0xF0FFFFFF;
AFIO->MAPR = 0x02000000;
GPIOA->CRH = 0x34444444; // PIN 15 Output 50MHz
GPIOA->BRR = 0x8000; // set low 15
GPIOC->CRH = 0x44434444; // PIN 12 Output 50MHz
GPIOC->BRR = 0x1000; // set low 12
#endif
#if 0
// using this to write asm for bootloader :)
RCC->APB2ENR |= RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO; // GPIOB + AFIO
AFIO->MAPR &= 0xF0FFFFFF;
AFIO->MAPR = 0x02000000;
GPIOB->BRR = 0x18; // set low 4 & 3
GPIOB->CRL = 0x44433444; // PIN 4 & 3 Output 50MHz
#endif
systemInit();
readEEPROM();
checkFirstTime(false);
serialInit(cfg.serial_baudrate);
// We have these sensors
#ifndef FY90Q
// AfroFlight32
sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
#else
// FY90Q
sensorsSet(SENSOR_ACC);
#endif
mixerInit(); // this will set useServo var depending on mixer type
// when using airplane/wing mixer, servo/motor outputs are remapped
if (cfg.mixerConfiguration == MULTITYPE_AIRPLANE || cfg.mixerConfiguration == MULTITYPE_FLYING_WING)
pwm_params.airplane = true;
pwm_params.usePPM = feature(FEATURE_PPM);
pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum
pwm_params.useServos = useServo;
pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = cfg.motor_pwm_rate;
pwm_params.servoPwmRate = cfg.servo_pwm_rate;
pwmInit(&pwm_params);
// configure PWM/CPPM read function. spektrum will override that
rcReadRawFunc = pwmReadRawRC;
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;
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsAutodetect();
imuInit(); // Mag is initialized inside imuInit
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit();
if (feature(FEATURE_SPEKTRUM)) {
spektrumInit();
rcReadRawFunc = spektrumReadRawRC;
} else {
// spektrum and GPS are mutually exclusive
// Optional GPS - available only when using PPM, otherwise required pins won't be usable
if (feature(FEATURE_PPM)) {
if (feature(FEATURE_GPS))
gpsInit(cfg.gps_baudrate);
#ifdef SONAR
if (feature(FEATURE_SONAR))
Sonar_init();
#endif
}
}
previousTime = micros();
if (cfg.mixerConfiguration == MULTITYPE_GIMBAL)
calibratingA = 400;
calibratingG = 1000;
f.SMALL_ANGLES_25 = 1;
// loopy
while (1) {
loop();
}
}
void SensorDetectAndINI(void) // "enabledSensors" is "0" in config.c so all sensors disabled per default
{
int16_t deg, min;
uint8_t sig = 0;
bool ack = false;
bool haveMpu6k = false;
GyroScale16 = (16.0f / 16.4f) * RADX; // GYRO part. RAD per SECOND, take into account that gyrodata are div by X
if (mpu6050Detect(&acc, &gyro)) // Autodetect gyro hardware. We have MPU3050 or MPU6050.
{
haveMpu6k = true; // this filled up acc.* struct with init values
}
else if (l3g4200dDetect(&gyro))
{
havel3g4200d = true;
GyroScale16 = (16.0f / 14.2857f) * RADX; // GYRO part. RAD per SECOND, take into account that gyrodata are div by X
}
else if (!mpu3050Detect(&gyro))
{
failureMode(3); // if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
}
sensorsSet(SENSOR_ACC); // ACC part. Will be cleared if not available
retry:
switch (cfg.acc_hdw)
{
case 0: // autodetect
case 1: // ADXL345
if (adxl345Detect(&acc)) accHardware = ACC_ADXL345;
if (cfg.acc_hdw == ACC_ADXL345) break;
case 2: // MPU6050
if (haveMpu6k)
{
mpu6050Detect(&acc, &gyro); // yes, i'm rerunning it again. re-fill acc struct
accHardware = ACC_MPU6050;
if (cfg.acc_hdw == ACC_MPU6050) break;
}
case 3: // MMA8452
if (mma8452Detect(&acc))
{
accHardware = ACC_MMA8452;
if (cfg.acc_hdw == ACC_MMA8452) break;
}
}
if (accHardware == ACC_DEFAULT) // Found anything? Check if user f****d up or ACC is really missing.
{
if (cfg.acc_hdw > ACC_DEFAULT)
{
cfg.acc_hdw = ACC_DEFAULT; // Nothing was found and we have a forced sensor type. User probably chose a sensor that isn't present.
goto retry;
}
else sensorsClear(SENSOR_ACC); // We're really screwed
}
if (sensors(SENSOR_ACC)) acc.init();
if (haveMpu6k && accHardware == ACC_MPU6050) MpuSpecial = true;
else MpuSpecial = false;
if (feature(FEATURE_PASS)) return; // Stop here we need just ACC for Vibrationmonitoring if present
if (feature(FEATURE_GPS) && !SerialRCRX) gpsInit(cfg.gps_baudrate);// SerialRX and GPS can not coexist.
gyro.init(); // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
if (havel3g4200d) l3g4200dConfig();
else if (!haveMpu6k) mpu3050Config();
Gyro_Calibrate(); // Do Gyrocalibration here (is blocking), provides nice Warmuptime for the following rest!
#ifdef MAG
if (hmc5883lDetect())
{
sensorsSet(SENSOR_MAG);
hmc5883lInit(magCal); // Crashpilot: Calculate Gains / Scale
deg = cfg.mag_dec / 100; // calculate magnetic declination
min = cfg.mag_dec % 100;
magneticDeclination = ((float)deg + ((float)min / 60.0f));// heading is in decimaldeg units NO 0.1 deg shit here
}
#endif
#ifdef BARO // No delay necessary since Gyrocal blocked a lot already
ack = i2cRead(0x77, 0x77, 1, &sig); // Check Baroadr.(MS & BMP) BMP will say hello here, MS not
if ( ack) ack = bmp085Detect(&baro); // Are we really dealing with BMP?
if (!ack) ack = ms5611Detect(&baro); // No, Check for MS Baro
if (ack) sensorsSet(SENSOR_BARO);
if(cfg.esc_nfly) ESCnoFlyThrottle = constrain_int(cfg.esc_nfly, cfg.esc_min, cfg.esc_max); // Set the ESC PWM signal threshold for not flyable RPM
else ESCnoFlyThrottle = cfg.esc_min + (((cfg.esc_max - cfg.esc_min) * 5) / 100); // If not configured, take 5% above esc_min
#endif
#ifdef SONAR
if (feature(FEATURE_SONAR)) Sonar_init(); // Initialize Sonars here depending on Rc configuration.
SonarLandWanted = cfg.snr_land; // Variable may be overwritten by failsave
#endif
MainDptCut = RCconstPI / (float)cfg.maincuthz; // Initialize Cut off frequencies for mainpid D
}
bool compassDetect(magDev_t *dev)
{
magSensor_e magHardware = MAG_NONE;
busDevice_t *busdev = &dev->busdev;
#ifdef USE_MAG_DATA_READY_SIGNAL
dev->magIntExtiTag = compassConfig()->interruptTag;
#endif
switch (compassConfig()->mag_bustype) {
#ifdef USE_I2C
case BUSTYPE_I2C:
busdev->bustype = BUSTYPE_I2C;
busdev->busdev_u.i2c.device = I2C_CFG_TO_DEV(compassConfig()->mag_i2c_device);
busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
#endif
break;
#ifdef USE_SPI
case BUSTYPE_SPI:
busdev->bustype = BUSTYPE_SPI;
spiBusSetInstance(busdev, spiInstanceByDevice(SPI_CFG_TO_DEV(compassConfig()->mag_spi_device)));
busdev->busdev_u.spi.csnPin = IOGetByTag(compassConfig()->mag_spi_csn);
#endif
break;
#if defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250))
case BUSTYPE_MPU_SLAVE:
{
if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) {
busdev->bustype = BUSTYPE_MPU_SLAVE;
busdev->busdev_u.mpuSlave.master = gyroSensorBus();
busdev->busdev_u.mpuSlave.address = compassConfig()->mag_i2c_address;
} else {
return false;
}
}
#endif
break;
default:
return false;
}
dev->magAlign = ALIGN_DEFAULT;
switch (compassConfig()->mag_hardware) {
case MAG_DEFAULT:
FALLTHROUGH;
case MAG_HMC5883:
#if defined(USE_MAG_HMC5883) || defined(USE_MAG_SPI_HMC5883)
if (busdev->bustype == BUSTYPE_I2C) {
busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (hmc5883lDetect(dev)) {
#ifdef MAG_HMC5883_ALIGN
dev->magAlign = MAG_HMC5883_ALIGN;
#endif
magHardware = MAG_HMC5883;
break;
}
#endif
FALLTHROUGH;
case MAG_AK8975:
#ifdef USE_MAG_AK8975
if (busdev->bustype == BUSTYPE_I2C) {
busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (ak8975Detect(dev)) {
#ifdef MAG_AK8975_ALIGN
dev->magAlign = MAG_AK8975_ALIGN;
#endif
magHardware = MAG_AK8975;
break;
}
#endif
FALLTHROUGH;
case MAG_AK8963:
#if defined(USE_MAG_AK8963) || defined(USE_MAG_SPI_AK8963)
if (busdev->bustype == BUSTYPE_I2C) {
busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) {
dev->busdev.bustype = BUSTYPE_MPU_SLAVE;
busdev->busdev_u.mpuSlave.address = compassConfig()->mag_i2c_address;
dev->busdev.busdev_u.mpuSlave.master = gyroSensorBus();
}
if (ak8963Detect(dev)) {
#ifdef MAG_AK8963_ALIGN
dev->magAlign = MAG_AK8963_ALIGN;
#endif
magHardware = MAG_AK8963;
break;
}
#endif
FALLTHROUGH;
case MAG_NONE:
magHardware = MAG_NONE;
break;
}
if (magHardware == MAG_NONE) {
return false;
}
detectedSensors[SENSOR_INDEX_MAG] = magHardware;
sensorsSet(SENSOR_MAG);
return true;
}
bool detectGyro(void)
{
bool sensorDetected;
UNUSED(sensorDetected); // avoid unused-variable warning on some targets.
gyroSensor_e gyroHardware = GYRO_DEFAULT;
gyroAlign = ALIGN_DEFAULT;
switch(gyroHardware) {
case GYRO_DEFAULT:
; // fallthrough
case GYRO_MPU6050:
#ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(&gyro)) {
#ifdef GYRO_MPU6050_ALIGN
gyroHardware = GYRO_MPU6050;
gyroAlign = GYRO_MPU6050_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_L3G4200D:
#ifdef USE_GYRO_L3G4200D
if (l3g4200dDetect(&gyro)) {
#ifdef GYRO_L3G4200D_ALIGN
gyroHardware = GYRO_L3G4200D;
gyroAlign = GYRO_L3G4200D_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU3050:
#ifdef USE_GYRO_MPU3050
if (mpu3050Detect(&gyro)) {
#ifdef GYRO_MPU3050_ALIGN
gyroHardware = GYRO_MPU3050;
gyroAlign = GYRO_MPU3050_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_L3GD20:
#ifdef USE_GYRO_L3GD20
if (l3gd20Detect(&gyro)) {
#ifdef GYRO_L3GD20_ALIGN
gyroHardware = GYRO_L3GD20;
gyroAlign = GYRO_L3GD20_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU6000:
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(&gyro)) {
#ifdef GYRO_MPU6000_ALIGN
gyroHardware = GYRO_MPU6000;
gyroAlign = GYRO_MPU6000_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU6500:
#ifdef USE_GYRO_MPU6500
#ifdef USE_GYRO_SPI_MPU6500
sensorDetected = mpu6500GyroDetect(&gyro) || mpu6500SpiGyroDetect(&gyro);
#else
sensorDetected = mpu6500GyroDetect(&gyro);
#endif
if (sensorDetected) {
gyroHardware = GYRO_MPU6500;
#ifdef GYRO_MPU6500_ALIGN
gyroAlign = GYRO_MPU6500_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_FAKE:
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro)) {
gyroHardware = GYRO_FAKE;
break;
}
#endif
; // fallthrough
case GYRO_NONE:
gyroHardware = GYRO_NONE;
}
if (gyroHardware == GYRO_NONE) {
return false;
}
detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
sensorsSet(SENSOR_GYRO);
return true;
}
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
}
}
static void detectAcc(accelerationSensor_e accHardwareToUse)
{
bool sensorDetected;
UNUSED(sensorDetected); // avoid unused-variable warning on some targets.
accelerationSensor_e accHardware;
#ifdef USE_ACC_ADXL345
drv_adxl345_config_t acc_params;
#endif
retry:
accAlign = ALIGN_DEFAULT;
switch (accHardwareToUse) {
case ACC_DEFAULT:
; // fallthrough
case ACC_ADXL345: // ADXL345
#ifdef USE_ACC_ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
#ifdef NAZE
sensorDetected = (hardwareRevision < NAZE32_REV5) && adxl345Detect(&acc_params, &acc);
#else
sensorDetected = adxl345Detect(&acc_params, &acc);
#endif
if (sensorDetected) {
#ifdef ACC_ADXL345_ALIGN
accAlign = ACC_ADXL345_ALIGN;
#endif
accHardware = ACC_ADXL345;
break;
}
#endif
; // fallthrough
case ACC_LSM303DLHC:
#ifdef USE_ACC_LSM303DLHC
if (lsm303dlhcAccDetect(&acc)) {
#ifdef ACC_LSM303DLHC_ALIGN
accAlign = ACC_LSM303DLHC_ALIGN;
#endif
accHardware = ACC_LSM303DLHC;
break;
}
#endif
; // fallthrough
case ACC_MPU6050: // MPU6050
#ifdef USE_ACC_MPU6050
if (mpu6050AccDetect(&acc)) {
#ifdef ACC_MPU6050_ALIGN
accAlign = ACC_MPU6050_ALIGN;
#endif
accHardware = ACC_MPU6050;
break;
}
#endif
; // fallthrough
case ACC_MMA8452: // MMA8452
#ifdef USE_ACC_MMA8452
#ifdef NAZE
sensorDetected = (hardwareRevision < NAZE32_REV5) && mma8452Detect(&acc);
#else
sensorDetected = mma8452Detect(&acc);
#endif
if (sensorDetected) {
#ifdef ACC_MMA8452_ALIGN
accAlign = ACC_MMA8452_ALIGN;
#endif
accHardware = ACC_MMA8452;
break;
}
#endif
; // fallthrough
case ACC_BMA280: // BMA280
#ifdef USE_ACC_BMA280
if (bma280Detect(&acc)) {
#ifdef ACC_BMA280_ALIGN
accAlign = ACC_BMA280_ALIGN;
#endif
accHardware = ACC_BMA280;
break;
}
#endif
; // fallthrough
case ACC_MPU6000:
#ifdef USE_ACC_SPI_MPU6000
if (mpu6000SpiAccDetect(&acc)) {
#ifdef ACC_MPU6000_ALIGN
accAlign = ACC_MPU6000_ALIGN;
#endif
accHardware = ACC_MPU6000;
break;
}
#endif
; // fallthrough
case ACC_MPU6500:
#ifdef USE_ACC_MPU6500
#ifdef USE_ACC_SPI_MPU6500
sensorDetected = mpu6500AccDetect(&acc) || mpu6500SpiAccDetect(&acc);
#else
sensorDetected = mpu6500AccDetect(&acc);
#endif
if (sensorDetected) {
#ifdef ACC_MPU6500_ALIGN
accAlign = ACC_MPU6500_ALIGN;
#endif
accHardware = ACC_MPU6500;
break;
}
#endif
; // fallthrough
case ACC_FAKE:
#ifdef USE_FAKE_ACC
if (fakeAccDetect(&acc)) {
accHardware = ACC_FAKE;
break;
}
#endif
; // fallthrough
case ACC_NONE: // disable ACC
accHardware = ACC_NONE;
break;
}
// Found anything? Check if error or ACC is really missing.
if (accHardware == ACC_NONE && accHardwareToUse != ACC_DEFAULT && accHardwareToUse != ACC_NONE) {
// Nothing was found and we have a forced sensor that isn't present.
accHardwareToUse = ACC_DEFAULT;
goto retry;
}
if (accHardware == ACC_NONE) {
return;
}
detectedSensors[SENSOR_INDEX_ACC] = accHardware;
sensorsSet(SENSOR_ACC);
}
static void gpsNewData(uint16_t c)
{
int axis;
static uint32_t nav_loopTimer;
int32_t dist;
int32_t dir;
int16_t speed;
if (gpsNewFrame(c)) {
// new data received and parsed, we're in business
gpsData.lastLastMessage = gpsData.lastMessage;
gpsData.lastMessage = millis();
sensorsSet(SENSOR_GPS);
if (GPS_update == 1)
GPS_update = 0;
else
GPS_update = 1;
if (f.GPS_FIX && GPS_numSat >= 5) {
if (!f.ARMED)
f.GPS_FIX_HOME = 0;
if (!f.GPS_FIX_HOME && f.ARMED)
GPS_reset_home_position();
// Apply moving average filter to GPS data
#if defined(GPS_FILTERING)
GPS_filter_index = (GPS_filter_index + 1) % GPS_FILTER_VECTOR_LENGTH;
for (axis = 0; axis < 2; axis++) {
GPS_read[axis] = GPS_coord[axis]; // latest unfiltered data is in GPS_latitude and GPS_longitude
GPS_degree[axis] = GPS_read[axis] / 10000000; // get the degree to assure the sum fits to the int32_t
// How close we are to a degree line ? its the first three digits from the fractions of degree
// later we use it to Check if we are close to a degree line, if yes, disable averaging,
fraction3[axis] = (GPS_read[axis] - GPS_degree[axis] * 10000000) / 10000;
GPS_filter_sum[axis] -= GPS_filter[axis][GPS_filter_index];
GPS_filter[axis][GPS_filter_index] = GPS_read[axis] - (GPS_degree[axis] * 10000000);
GPS_filter_sum[axis] += GPS_filter[axis][GPS_filter_index];
GPS_filtered[axis] = GPS_filter_sum[axis] / GPS_FILTER_VECTOR_LENGTH + (GPS_degree[axis] * 10000000);
if (nav_mode == NAV_MODE_POSHOLD) { // we use gps averaging only in poshold mode...
if (fraction3[axis] > 1 && fraction3[axis] < 999)
GPS_coord[axis] = GPS_filtered[axis];
}
}
#endif
// dTnav calculation
// Time for calculating x,y speed and navigation pids
dTnav = (float)(millis() - nav_loopTimer) / 1000.0f;
nav_loopTimer = millis();
// prevent runup from bad GPS
dTnav = min(dTnav, 1.0f);
// calculate distance and bearings for gui and other stuff continously - From home to copter
GPS_distance_cm_bearing(&GPS_coord[LAT], &GPS_coord[LON], &GPS_home[LAT], &GPS_home[LON], &dist, &dir);
GPS_distanceToHome = dist / 100;
GPS_directionToHome = dir / 100;
if (!f.GPS_FIX_HOME) { // If we don't have home set, do not display anything
GPS_distanceToHome = 0;
GPS_directionToHome = 0;
}
// calculate the current velocity based on gps coordinates continously to get a valid speed at the moment when we start navigating
GPS_calc_velocity();
if (f.GPS_HOLD_MODE || f.GPS_HOME_MODE) { // ok we are navigating
// do gps nav calculations here, these are common for nav and poshold
GPS_distance_cm_bearing(&GPS_coord[LAT], &GPS_coord[LON], &GPS_WP[LAT], &GPS_WP[LON], &wp_distance, &target_bearing);
GPS_calc_location_error(&GPS_WP[LAT], &GPS_WP[LON], &GPS_coord[LAT], &GPS_coord[LON]);
switch (nav_mode) {
case NAV_MODE_POSHOLD:
// Desired output is in nav_lat and nav_lon where 1deg inclination is 100
GPS_calc_poshold();
break;
case NAV_MODE_WP:
speed = GPS_calc_desired_speed(cfg.nav_speed_max, NAV_SLOW_NAV); // slow navigation
// use error as the desired rate towards the target
// Desired output is in nav_lat and nav_lon where 1deg inclination is 100
GPS_calc_nav_rate(speed);
// Tail control
if (cfg.nav_controls_heading) {
if (NAV_TAIL_FIRST) {
magHold = wrap_18000(nav_bearing - 18000) / 100;
} else {
magHold = nav_bearing / 100;
}
}
// Are we there yet ?(within x meters of the destination)
if ((wp_distance <= cfg.gps_wp_radius) || check_missed_wp()) { // if yes switch to poshold mode
nav_mode = NAV_MODE_POSHOLD;
if (NAV_SET_TAKEOFF_HEADING) {
magHold = nav_takeoff_bearing;
}
}
break;
}
} //end of gps calcs
}
}
}
static void detectBaro(baroSensor_e baroHardwareToUse)
{
#ifndef BARO
UNUSED(baroHardwareToUse);
#else
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
baroSensor_e baroHardware = baroHardwareToUse;
#ifdef USE_BARO_BMP085
const bmp085Config_t *bmp085Config = NULL;
#if defined(BARO_XCLR_GPIO) && defined(BARO_EOC_GPIO)
static const bmp085Config_t defaultBMP085Config = {
.gpioAPB2Peripherals = BARO_APB2_PERIPHERALS,
.xclrGpioPin = BARO_XCLR_PIN,
.xclrGpioPort = BARO_XCLR_GPIO,
.eocGpioPin = BARO_EOC_PIN,
.eocGpioPort = BARO_EOC_GPIO
};
bmp085Config = &defaultBMP085Config;
#endif
#ifdef NAZE
if (hardwareRevision == NAZE32) {
bmp085Disable(bmp085Config);
}
#endif
#endif
switch (baroHardware) {
case BARO_DEFAULT:
; // fallthough
case BARO_MS5611:
#ifdef USE_BARO_MS5611
if (ms5611Detect(&baro)) {
baroHardware = BARO_MS5611;
break;
}
#endif
; // fallthough
case BARO_BMP085:
#ifdef USE_BARO_BMP085
if (bmp085Detect(bmp085Config, &baro)) {
baroHardware = BARO_BMP085;
break;
}
#endif
; // fallthough
case BARO_BMP280:
#ifdef USE_BARO_BMP280
if (bmp280Detect(&baro)) {
baroHardware = BARO_BMP280;
break;
}
#endif
case BARO_NONE:
baroHardware = BARO_NONE;
break;
}
if (baroHardware == BARO_NONE) {
return;
}
detectedSensors[SENSOR_INDEX_BARO] = baroHardware;
sensorsSet(SENSOR_BARO);
#endif
}
bool detectGyro(void)
{
gyroSensor_e gyroHardware = GYRO_DEFAULT;
gyroAlign = ALIGN_DEFAULT;
switch(gyroHardware) {
case GYRO_DEFAULT:
; // fallthrough
case GYRO_MPU6050:
#ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(&gyro)) {
#ifdef GYRO_MPU6050_ALIGN
gyroHardware = GYRO_MPU6050;
gyroAlign = GYRO_MPU6050_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_L3G4200D:
#ifdef USE_GYRO_L3G4200D
if (l3g4200dDetect(&gyro)) {
#ifdef GYRO_L3G4200D_ALIGN
gyroHardware = GYRO_L3G4200D;
gyroAlign = GYRO_L3G4200D_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU3050:
#ifdef USE_GYRO_MPU3050
if (mpu3050Detect(&gyro)) {
#ifdef GYRO_MPU3050_ALIGN
gyroHardware = GYRO_MPU3050;
gyroAlign = GYRO_MPU3050_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_L3GD20:
#ifdef USE_GYRO_L3GD20
if (l3gd20Detect(&gyro)) {
#ifdef GYRO_L3GD20_ALIGN
gyroHardware = GYRO_L3GD20;
gyroAlign = GYRO_L3GD20_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU6000:
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(&gyro)) {
#ifdef GYRO_MPU6000_ALIGN
gyroHardware = GYRO_MPU6000;
gyroAlign = GYRO_MPU6000_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU6500:
#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
#ifdef USE_GYRO_SPI_MPU6500
if (mpu6500GyroDetect(&gyro) || mpu6500SpiGyroDetect(&gyro))
#else
if (mpu6500GyroDetect(&gyro))
#endif
{
gyroHardware = GYRO_MPU6500;
#ifdef GYRO_MPU6500_ALIGN
gyroAlign = GYRO_MPU6500_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU9250:
#ifdef USE_GYRO_SPI_MPU9250
if (mpu9250SpiGyroDetect(&gyro))
{
gyroHardware = GYRO_MPU9250;
#ifdef GYRO_MPU9250_ALIGN
gyroAlign = GYRO_MPU9250_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_FAKE:
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro)) {
gyroHardware = GYRO_FAKE;
break;
}
#endif
; // fallthrough
case GYRO_NONE:
gyroHardware = GYRO_NONE;
}
if (gyroHardware == GYRO_NONE) {
return false;
}
detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
sensorsSet(SENSOR_GYRO);
return true;
}
int main(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
drv_adc_config_t adc_params;
serialPort_t* loopbackPort = NULL;
systemInit();
#ifdef USE_LAME_PRINTF
init_printf(NULL, _putc);
#endif
checkFirstTime(false);
readEEPROM();
// 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);
initBoardAlignment();
// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
sensorsSet(SENSORS_SET);
mixerInit(); // this will set core.useServo var depending on mixer type
// 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.useUART = feature(FEATURE_GPS);
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);
// 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;
#if defined(SKYROVER)
case SERIALRX_HEXAIRBOT:
hexairbotInit(&rcReadRawFunc);
break;
#endif
}
} 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.
// Sanity check below - protocols other than NMEA do not support baud rate autodetection
if (mcfg.gps_type > 0 && mcfg.gps_baudrate < 0)
mcfg.gps_baudrate = 0;
gpsInit(mcfg.gps_baudrate);
}
#ifdef SONAR
// sonar stuff only works with PPM
if (feature(FEATURE_PPM)) {
if (feature(FEATURE_SONAR))
Sonar_init();
}
#endif
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;
serialInit(mcfg.serial_baudrate);
DEBUG_PRINT("Booting..\r\n");
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsAutodetect();
imuInit(); // Mag is initialized inside imuInit
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit();
if (feature(FEATURE_SOFTSERIAL)) {
setupSoftSerial1(mcfg.softserial_baudrate, mcfg.softserial_inverted);
#ifdef SOFTSERIAL_LOOPBACK
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
serialPrint(loopbackPort, "LOOPBACK ENABLED\r\n");
#endif
}
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_ANGLES_25 = 1;
DEBUG_PRINT("Start\r\n");
// loopy
while (1) {
loop();
#ifdef SOFTSERIAL_LOOPBACK
if (loopbackPort) {
while (serialTotalBytesWaiting(loopbackPort)) {
uint8_t b = serialRead(loopbackPort);
serialWrite(loopbackPort, b);
//serialWrite(core.mainport, b);
};
}
#endif
}
}
