int main(void) { initMyExtIRQ(); eepromInit(); buttonsInit(); ledInit(); timerInit(); loggerInit(); loggerWriteToMarker((LogMesT)" \nStarting program \n*", '*'); initNockMachine_0(); while(1) { userCommandMachine_1(); nockMachine_2(); radioSendMachine_3(); } }
void hardwareInit(void) { PLLConfig(); SET_ADPCFG; buttonsInit(); LED_SET_OUT; LED_OFF; sensorsInit(); sensorsOn(); readBatteryVoltage(); servoInit(); motorsInit(); //motorsOff(); profilerInit(); readButtons(); if( key_UP&&key_DN ) //if ICSP is connected { displayEnabled = TRUE; serialInit(); //_TRISB10 = 0; //_TRISB11 = 0; } CC2500_init(); systemTimerInit(); }
void bspInit(void) { lowLevelInit(); ledsInit(); buttonsInit(); accelerometerInit(); potentiometerInit(); lcdInit(); }
//----------------------------------------------------------------- // Main //----------------------------------------------------------------- int main(void) { uint8_t uiResult; pllInit(); // Turn off analogue inputs ANSELB = PORTB_ANSEL; ANSELC = 0x0000; ANSELD = PORTD_ANSEL; ANSELE = 0x0000; ANSELG = 0x0000; memset(lastestDmxBuffer, 0, NUM_DIMMER_CHANNELS); memset(lastOutputBuffer, 0, NUM_DIMMER_CHANNELS); // Startup ioMuxInit(); eepromInit(); eepromLoad(); lcdInit(); buttonsInit(); uiInit(); ledsInit(); phaseAngleInit(); dmxInit(eepromGetDmxAddress()); // Timer 1 setup - overflow at 100Hz TMR1 = 0; PR1 = 25000; T1CON = 0x8010; // 1:8 prescale (2.5MHz) _T1IF = 0; while(1) { if(_T1IF) { // 100 Hz Timer stuff _T1IF = 0; buttonsCheck(); ledsCheck(); uiResult = uiCheck(); } else { uiResult = 0; } if(uiResult || dmxCheck()) { updateDimmers(); } lcdCheck(); } }
int main(void) { ledInit(); buttonsInit(); loggerInit(); timerInit(); initMyExtIRQ(); if(buttonIsPressed(BUTTONNEWNOCK) == TRUE){ #ifdef LOGGDEBUG loggerWriteToMarker((LogMesT)"\r\r\r goto colibrateDetector \r*", '*'); #endif while(1) colibrateDetector(); } #ifdef LOGGDEBUG loggerWriteToMarker((LogMesT)"\r\r\r Starting program \r*", '*'); #endif initNockMachine(); #ifdef LOGGDEBUG loggerWriteToMarker((LogMesT)" iRaSeMac \r*", '*'); #endif initSendMachine(); #ifdef LOGGDEBUG loggerWriteToMarker((LogMesT)" exit iRaSeMac \r*", '*'); #endif // ledOn(LEDRED2); //timerSet(TIMER_NOCK,0,50); while(1) { //if(timerIsElapsed(TIMER_NOCK) == TRUE){ // timerSet(TIMER_NOCK,0,50); // ledTaggle(LEDRED1); //} //continue; userNewNockCommandMachine_1(); nockMachine_2(); sendMachine_3(); doorSignalMachine_4(); } }
void StartMenu(void) { glPushMatrix(); glBindTexture(GL_TEXTURE_2D, StartTexture); glBegin(GL_QUADS); glTexCoord2f(0.0f, 1.0f); glVertex2i(0, 0); glTexCoord2f(0.0f, 0.0f); glVertex2i(0, yres); glTexCoord2f(1.0f, 0.0f); glVertex2i(xres, yres); glTexCoord2f(1.0f, 1.0f); glVertex2i(xres, 0); glEnd(); glPopMatrix(); buttonRender(); buttonsInit(); }
/*inicializa todos os sensores da mesa xy*/ void xyPlotterInit(){ uint8_t customChar[] = { 0x03, 0x06, 0x0C, 0x1F, 0x1F, 0x0C, 0x06, 0x03 }; SystemInit(); TM_HD44780_Init(16, 2); TM_HD44780_CreateChar(0, &customChar[0]); TM_HD44780_Puts(0, 0, "Init sensores..."); motorInit(); canetaInit(); endInit(); joystickInit(); buttonsInit(); Delayms(250); }
/* * @brief Initialize the minimal amount of hardware for the bootloader to function * @returns void */ void systemInit(void) { uint32 i, j; MAP_IntMasterDisable(); // increase LDO voltage so that PLL operates properly MAP_SysCtlLDOSet(SYSCTL_LDO_2_75V); #ifdef PART_LM3S8962 MAP_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ); #endif systemIDInit(); blinkyLedInit(); buttonsInit(); srand(roneID); serialInit(); #if defined(RONE_V9) || defined(RONE_V12) SPIInit(); radioInit(); #endif // defined(RONE_V9) || defined(RONE_V12) // Triple blink blinky, startup signal for (i = 0; i < 3; i++) { blinkyLedSet(1); for (j = 0; j < 150000;) { j++; } blinkyLedSet(0); for (j = 0; j < 250000;) { j++; } } // Initialize 24-bit Systick SysTickPeriodSet(0xffffff); SysTickEnable(); }
void init(void) { drv_pwm_config_t pwm_params; printfSupportInit(); initEEPROM(); ensureEEPROMContainsValidData(); readEEPROM(); systemState |= SYSTEM_STATE_CONFIG_LOADED; #ifdef STM32F303 // start fpu SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2)); #endif #ifdef STM32F303xC SetSysClock(); #endif #ifdef STM32F10X // Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers // Configure the Flash Latency cycles and enable prefetch buffer SetSysClock(systemConfig()->emf_avoidance); #endif i2cSetOverclock(systemConfig()->i2c_highspeed); systemInit(); #ifdef USE_HARDWARE_REVISION_DETECTION detectHardwareRevision(); #endif // Latch active features to be used for feature() in the remainder of init(). latchActiveFeatures(); // initialize IO (needed for all IO operations) IOInitGlobal(); debugMode = debugConfig()->debug_mode; #ifdef USE_EXTI EXTIInit(); #endif #ifdef ALIENFLIGHTF3 if (hardwareRevision == AFF3_REV_1) { ledInit(false); } else { ledInit(true); } #else ledInit(false); #endif #ifdef BEEPER beeperConfig_t beeperConfig = { .gpioPeripheral = BEEP_PERIPHERAL, .gpioPin = BEEP_PIN, .gpioPort = BEEP_GPIO, #ifdef BEEPER_INVERTED .gpioMode = Mode_Out_PP, .isInverted = true #else .gpioMode = Mode_Out_OD, .isInverted = false #endif }; #ifdef NAZE if (hardwareRevision >= NAZE32_REV5) { // naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN. beeperConfig.gpioMode = Mode_Out_PP; beeperConfig.isInverted = true; } #endif beeperInit(&beeperConfig); #endif #ifdef BUTTONS buttonsInit(); if (!isMPUSoftReset()) { buttonsHandleColdBootButtonPresses(); } #endif #ifdef SPEKTRUM_BIND if (feature(FEATURE_RX_SERIAL)) { switch (rxConfig()->serialrx_provider) { case SERIALRX_SPEKTRUM1024: case SERIALRX_SPEKTRUM2048: // Spektrum satellite binding if enabled on startup. // Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup. // The rest of Spektrum initialization will happen later - via spektrumInit() spektrumBind(rxConfig()); break; } } #endif delay(100); timerInit(); // timer must be initialized before any channel is allocated dmaInit(); serialInit(feature(FEATURE_SOFTSERIAL)); mixerInit(customMotorMixer(0)); #ifdef USE_SERVOS mixerInitServos(customServoMixer(0)); #endif memset(&pwm_params, 0, sizeof(pwm_params)); #ifdef SONAR const sonarHardware_t *sonarHardware = NULL; sonarGPIOConfig_t sonarGPIOConfig; if (feature(FEATURE_SONAR)) { bool usingCurrentMeterIOPins = (feature(FEATURE_AMPERAGE_METER) && batteryConfig()->amperageMeterSource == AMPERAGE_METER_ADC); sonarHardware = sonarGetHardwareConfiguration(usingCurrentMeterIOPins); sonarGPIOConfig.triggerGPIO = sonarHardware->trigger_gpio; sonarGPIOConfig.triggerPin = sonarHardware->trigger_pin; sonarGPIOConfig.echoGPIO = sonarHardware->echo_gpio; sonarGPIOConfig.echoPin = sonarHardware->echo_pin; pwm_params.sonarGPIOConfig = &sonarGPIOConfig; } #endif // when using airplane/wing mixer, servo/motor outputs are remapped if (mixerConfig()->mixerMode == MIXER_AIRPLANE || mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE) pwm_params.airplane = true; else pwm_params.airplane = false; #if defined(USE_UART2) && defined(STM32F10X) pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_UART2); #endif #if defined(USE_UART3) pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_UART3); #endif #if defined(USE_UART4) pwm_params.useUART4 = doesConfigurationUsePort(SERIAL_PORT_UART4); #endif #if defined(USE_UART5) pwm_params.useUART5 = doesConfigurationUsePort(SERIAL_PORT_UART5); #endif pwm_params.useVbat = feature(FEATURE_VBAT); pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL); pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM); pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC); pwm_params.useCurrentMeterADC = ( feature(FEATURE_AMPERAGE_METER) && batteryConfig()->amperageMeterSource == AMPERAGE_METER_ADC ); pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP); pwm_params.usePPM = feature(FEATURE_RX_PPM); pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL); #ifdef SONAR pwm_params.useSonar = feature(FEATURE_SONAR); #endif #ifdef USE_SERVOS pwm_params.useServos = isMixerUsingServos(); pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING); pwm_params.servoCenterPulse = servoConfig()->servoCenterPulse; pwm_params.servoPwmRate = servoConfig()->servo_pwm_rate; #endif pwm_params.useOneshot = feature(FEATURE_ONESHOT125); pwm_params.motorPwmRate = motorConfig()->motor_pwm_rate; pwm_params.idlePulse = calculateMotorOff(); if (pwm_params.motorPwmRate > 500) pwm_params.idlePulse = 0; // brushed motors pwmRxInit(); // pwmInit() needs to be called as soon as possible for ESC compatibility reasons pwmIOConfiguration_t *pwmIOConfiguration = pwmInit(&pwm_params); mixerUsePWMIOConfiguration(pwmIOConfiguration); #ifdef DEBUG_PWM_CONFIGURATION debug[2] = pwmIOConfiguration->pwmInputCount; debug[3] = pwmIOConfiguration->ppmInputCount; #endif if (!feature(FEATURE_ONESHOT125)) motorControlEnable = true; systemState |= SYSTEM_STATE_MOTORS_READY; #ifdef INVERTER initInverter(); #endif #ifdef USE_SPI spiInit(SPI1); spiInit(SPI2); #ifdef STM32F303xC #ifdef ALIENFLIGHTF3 if (hardwareRevision == AFF3_REV_2) { spiInit(SPI3); } #else spiInit(SPI3); #endif #endif #endif #ifdef USE_HARDWARE_REVISION_DETECTION updateHardwareRevision(); #endif #if defined(NAZE) if (hardwareRevision == NAZE32_SP) { serialRemovePort(SERIAL_PORT_SOFTSERIAL2); } else { serialRemovePort(SERIAL_PORT_UART3); } #endif #if defined(SPRACINGF3) && defined(SONAR) && defined(USE_SOFTSERIAL2) if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) { serialRemovePort(SERIAL_PORT_SOFTSERIAL2); } #endif #if defined(SPRACINGF3MINI) && defined(SONAR) && defined(USE_SOFTSERIAL1) if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) { serialRemovePort(SERIAL_PORT_SOFTSERIAL1); } #endif #ifdef USE_I2C #if defined(NAZE) if (hardwareRevision != NAZE32_SP) { i2cInit(I2C_DEVICE); } else { if (!doesConfigurationUsePort(SERIAL_PORT_UART3)) { i2cInit(I2C_DEVICE); } } #elif defined(CC3D) if (!doesConfigurationUsePort(SERIAL_PORT_UART3)) { i2cInit(I2C_DEVICE); } #else i2cInit(I2C_DEVICE); #endif #endif #ifdef USE_ADC drv_adc_config_t adc_params; adc_params.channelMask = 0; #ifdef ADC_BATTERY adc_params.channelMask = (feature(FEATURE_VBAT) ? ADC_CHANNEL_MASK(ADC_BATTERY) : 0); #endif #ifdef ADC_RSSI adc_params.channelMask |= (feature(FEATURE_RSSI_ADC) ? ADC_CHANNEL_MASK(ADC_RSSI) : 0); #endif #ifdef ADC_AMPERAGE adc_params.channelMask |= (feature(FEATURE_AMPERAGE_METER) ? ADC_CHANNEL_MASK(ADC_AMPERAGE) : 0); #endif #ifdef ADC_POWER_12V adc_params.channelMask |= ADC_CHANNEL_MASK(ADC_POWER_12V); #endif #ifdef ADC_POWER_5V adc_params.channelMask |= ADC_CHANNEL_MASK(ADC_POWER_5V); #endif #ifdef ADC_POWER_3V adc_params.channelMask |= ADC_CHANNEL_MASK(ADC_POWER_3V); #endif #ifdef NAZE // optional ADC5 input on rev.5 hardware adc_params.channelMask |= (hardwareRevision >= NAZE32_REV5) ? ADC_CHANNEL_MASK(ADC_EXTERNAL) : 0; #endif adcInit(&adc_params); #endif initBoardAlignment(); #ifdef DISPLAY if (feature(FEATURE_DISPLAY)) { displayInit(); } #endif #ifdef NAZE if (hardwareRevision < NAZE32_REV5) { gyroConfig()->gyro_sync = 0; } #endif if (!sensorsAutodetect()) { // if gyro was not detected due to whatever reason, we give up now. failureMode(FAILURE_MISSING_ACC); } systemState |= SYSTEM_STATE_SENSORS_READY; flashLedsAndBeep(); mspInit(); mspSerialInit(); const uint16_t pidPeriodUs = US_FROM_HZ(gyro.sampleFrequencyHz); pidSetTargetLooptime(pidPeriodUs * gyroConfig()->pid_process_denom); pidInitFilters(pidProfile()); #ifdef USE_SERVOS mixerInitialiseServoFiltering(targetPidLooptime); #endif imuInit(); #ifdef USE_CLI cliInit(); #endif failsafeInit(); rxInit(modeActivationProfile()->modeActivationConditions); #ifdef GPS if (feature(FEATURE_GPS)) { gpsInit(); navigationInit(pidProfile()); } #endif #ifdef SONAR if (feature(FEATURE_SONAR)) { sonarInit(sonarHardware); } #endif #ifdef LED_STRIP ledStripInit(); if (feature(FEATURE_LED_STRIP)) { ledStripEnable(); } #endif #ifdef TELEMETRY if (feature(FEATURE_TELEMETRY)) { telemetryInit(); } #endif #ifdef USB_CABLE_DETECTION usbCableDetectInit(); #endif #ifdef TRANSPONDER if (feature(FEATURE_TRANSPONDER)) { transponderInit(transponderConfig()->data); transponderEnable(); transponderStartRepeating(); systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED; } #endif #ifdef USE_FLASHFS #ifdef NAZE if (hardwareRevision == NAZE32_REV5) { m25p16_init(); } #elif defined(USE_FLASH_M25P16) m25p16_init(); #endif flashfsInit(); #endif #ifdef USE_SDCARD bool sdcardUseDMA = false; sdcardInsertionDetectInit(); #ifdef SDCARD_DMA_CHANNEL_TX #if defined(LED_STRIP) && defined(WS2811_DMA_CHANNEL) // Ensure the SPI Tx DMA doesn't overlap with the led strip sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL; #else sdcardUseDMA = true; #endif #endif sdcard_init(sdcardUseDMA); afatfs_init(); #endif #ifdef BLACKBOX initBlackbox(); #endif if (mixerConfig()->mixerMode == MIXER_GIMBAL) { accSetCalibrationCycles(CALIBRATING_ACC_CYCLES); } gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES); #ifdef BARO baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES); #endif // start all timers // TODO - not implemented yet timerStart(); ENABLE_STATE(SMALL_ANGLE); DISABLE_ARMING_FLAG(PREVENT_ARMING); #ifdef SOFTSERIAL_LOOPBACK // FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly loopbackPort = (serialPort_t*)&(softSerialPorts[0]); if (!loopbackPort->vTable) { loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED); } serialPrint(loopbackPort, "LOOPBACK\r\n"); #endif if (feature(FEATURE_VBAT)) { // Now that everything has powered up the voltage and cell count be determined. voltageMeterInit(); batteryInit(); } if (feature(FEATURE_AMPERAGE_METER)) { amperageMeterInit(); } #ifdef DISPLAY if (feature(FEATURE_DISPLAY)) { #ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY displayShowFixedPage(PAGE_GPS); #else displayResetPageCycling(); displayEnablePageCycling(); #endif } #endif #ifdef CJMCU LED2_ON; #endif // Latch active features AGAIN since some may be modified by init(). latchActiveFeatures(); motorControlEnable = true; systemState |= SYSTEM_STATE_READY; } #ifdef SOFTSERIAL_LOOPBACK void processLoopback(void) { if (loopbackPort) { uint8_t bytesWaiting; while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) { uint8_t b = serialRead(loopbackPort); serialWrite(loopbackPort, b); }; } } #else #define processLoopback() #endif void configureScheduler(void) { schedulerInit(); setTaskEnabled(TASK_SYSTEM, true); uint16_t gyroPeriodUs = US_FROM_HZ(gyro.sampleFrequencyHz); rescheduleTask(TASK_GYRO, gyroPeriodUs); setTaskEnabled(TASK_GYRO, true); rescheduleTask(TASK_PID, gyroPeriodUs); setTaskEnabled(TASK_PID, true); if (sensors(SENSOR_ACC)) { setTaskEnabled(TASK_ACCEL, true); } setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC)); setTaskEnabled(TASK_SERIAL, true); #ifdef BEEPER setTaskEnabled(TASK_BEEPER, true); #endif setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_AMPERAGE_METER)); setTaskEnabled(TASK_RX, true); #ifdef GPS setTaskEnabled(TASK_GPS, feature(FEATURE_GPS)); #endif #ifdef MAG setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG)); #if defined(MPU6500_SPI_INSTANCE) && defined(USE_MAG_AK8963) // fixme temporary solution for AK6983 via slave I2C on MPU9250 rescheduleTask(TASK_COMPASS, 1000000 / 40); #endif #endif #ifdef BARO setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO)); #endif #ifdef SONAR setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR)); #endif #if defined(BARO) || defined(SONAR) setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)); #endif #ifdef DISPLAY setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY)); #endif #ifdef TELEMETRY setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY)); #endif #ifdef LED_STRIP setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP)); #endif #ifdef TRANSPONDER setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER)); #endif }
void init(void) { drv_pwm_config_t pwm_params; printfSupportInit(); initEEPROM(); ensureEEPROMContainsValidData(); readEEPROM(); systemState |= SYSTEM_STATE_CONFIG_LOADED; #ifdef STM32F303 // start fpu SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2)); #endif #ifdef STM32F303xC SetSysClock(); #endif #ifdef STM32F10X // Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers // Configure the Flash Latency cycles and enable prefetch buffer SetSysClock(masterConfig.emf_avoidance); #endif i2cSetOverclock(masterConfig.i2c_highspeed); #ifdef USE_HARDWARE_REVISION_DETECTION detectHardwareRevision(); #endif systemInit(); // Latch active features to be used for feature() in the remainder of init(). latchActiveFeatures(); ledInit(); #ifdef BEEPER beeperConfig_t beeperConfig = { .gpioPeripheral = BEEP_PERIPHERAL, .gpioPin = BEEP_PIN, .gpioPort = BEEP_GPIO, #ifdef BEEPER_INVERTED .gpioMode = Mode_Out_PP, .isInverted = true #else .gpioMode = Mode_Out_OD, .isInverted = false #endif }; #ifdef NAZE if (hardwareRevision >= NAZE32_REV5) { // naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN. beeperConfig.gpioMode = Mode_Out_PP; beeperConfig.isInverted = true; } #endif beeperInit(&beeperConfig); #endif #ifdef BUTTONS buttonsInit(); if (!isMPUSoftReset()) { buttonsHandleColdBootButtonPresses(); } #endif #ifdef SPEKTRUM_BIND if (feature(FEATURE_RX_SERIAL)) { switch (masterConfig.rxConfig.serialrx_provider) { case SERIALRX_SPEKTRUM1024: case SERIALRX_SPEKTRUM2048: // Spektrum satellite binding if enabled on startup. // Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup. // The rest of Spektrum initialization will happen later - via spektrumInit() spektrumBind(&masterConfig.rxConfig); break; } } #endif delay(100); timerInit(); // timer must be initialized before any channel is allocated dmaInit(); serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL)); #ifdef USE_SERVOS mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer, masterConfig.customServoMixer); #else mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer); #endif memset(&pwm_params, 0, sizeof(pwm_params)); #ifdef SONAR const sonarHardware_t *sonarHardware = NULL; if (feature(FEATURE_SONAR)) { sonarHardware = sonarGetHardwareConfiguration(&masterConfig.batteryConfig); sonarGPIOConfig_t sonarGPIOConfig = { .gpio = SONAR_GPIO, .triggerPin = sonarHardware->echo_pin, .echoPin = sonarHardware->trigger_pin, }; pwm_params.sonarGPIOConfig = &sonarGPIOConfig; } #endif // when using airplane/wing mixer, servo/motor outputs are remapped if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE) pwm_params.airplane = true; else pwm_params.airplane = false; #if defined(USE_UART2) && defined(STM32F10X) pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_UART2); #endif #if defined(USE_UART3) pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_UART3); #endif #if defined(USE_UART4) pwm_params.useUART4 = doesConfigurationUsePort(SERIAL_PORT_UART4); #endif #if defined(USE_UART5) pwm_params.useUART5 = doesConfigurationUsePort(SERIAL_PORT_UART5); #endif pwm_params.useVbat = feature(FEATURE_VBAT); pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL); pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM); pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC); pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC; pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP); pwm_params.usePPM = feature(FEATURE_RX_PPM); pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL); #ifdef SONAR pwm_params.useSonar = feature(FEATURE_SONAR); #endif #ifdef USE_SERVOS pwm_params.useServos = isMixerUsingServos(); pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING); pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse; pwm_params.servoPwmRate = masterConfig.servo_pwm_rate; #endif pwm_params.useOneshot = feature(FEATURE_ONESHOT125); pwm_params.motorPwmRate = masterConfig.motor_pwm_rate; pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand; if (feature(FEATURE_3D)) pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d; if (pwm_params.motorPwmRate > 500) pwm_params.idlePulse = 0; // brushed motors pwmRxInit(masterConfig.inputFilteringMode); // pwmInit() needs to be called as soon as possible for ESC compatibility reasons pwmIOConfiguration_t *pwmIOConfiguration = pwmInit(&pwm_params); mixerUsePWMIOConfiguration(pwmIOConfiguration); debug[2] = pwmIOConfiguration->pwmInputCount; debug[3] = pwmIOConfiguration->ppmInputCount; if (!feature(FEATURE_ONESHOT125)) motorControlEnable = true; systemState |= SYSTEM_STATE_MOTORS_READY; #ifdef INVERTER initInverter(); #endif #ifdef USE_SPI spiInit(SPI1); spiInit(SPI2); #endif #ifdef USE_HARDWARE_REVISION_DETECTION updateHardwareRevision(); #endif #if defined(NAZE) if (hardwareRevision == NAZE32_SP) { serialRemovePort(SERIAL_PORT_SOFTSERIAL2); } else { serialRemovePort(SERIAL_PORT_UART3); } #endif #if defined(SPRACINGF3) && defined(SONAR) && defined(USE_SOFTSERIAL2) if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) { serialRemovePort(SERIAL_PORT_SOFTSERIAL2); } #endif #if defined(SPRACINGF3MINI) && defined(SONAR) && defined(USE_SOFTSERIAL1) if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) { serialRemovePort(SERIAL_PORT_SOFTSERIAL1); } #endif #ifdef USE_I2C #if defined(NAZE) if (hardwareRevision != NAZE32_SP) { i2cInit(I2C_DEVICE); } else { if (!doesConfigurationUsePort(SERIAL_PORT_UART3)) { i2cInit(I2C_DEVICE); } } #elif defined(CC3D) if (!doesConfigurationUsePort(SERIAL_PORT_UART3)) { i2cInit(I2C_DEVICE); } #else i2cInit(I2C_DEVICE); #endif #endif #ifdef USE_ADC drv_adc_config_t adc_params; adc_params.enableVBat = feature(FEATURE_VBAT); adc_params.enableRSSI = feature(FEATURE_RSSI_ADC); adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER); adc_params.enableExternal1 = false; #ifdef OLIMEXINO adc_params.enableExternal1 = true; #endif #ifdef NAZE // optional ADC5 input on rev.5 hardware adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5); #endif adcInit(&adc_params); #endif initBoardAlignment(&masterConfig.boardAlignment); #ifdef DISPLAY if (feature(FEATURE_DISPLAY)) { displayInit(&masterConfig.rxConfig); } #endif if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, currentProfile->mag_declination, masterConfig.looptime, masterConfig.gyroSync, masterConfig.gyroSyncDenominator)) { // if gyro was not detected due to whatever reason, we give up now. failureMode(FAILURE_MISSING_ACC); } systemState |= SYSTEM_STATE_SENSORS_READY; flashLedsAndBeep(); #ifdef USE_SERVOS mixerInitialiseServoFiltering(targetLooptime); #endif #ifdef MAG if (sensors(SENSOR_MAG)) compassInit(); #endif imuInit(); mspInit(&masterConfig.serialConfig); #ifdef USE_CLI cliInit(&masterConfig.serialConfig); #endif failsafeInit(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle); rxInit(&masterConfig.rxConfig, currentProfile->modeActivationConditions); #ifdef GPS if (feature(FEATURE_GPS)) { gpsInit( &masterConfig.serialConfig, &masterConfig.gpsConfig ); navigationInit( ¤tProfile->gpsProfile, ¤tProfile->pidProfile ); } #endif #ifdef SONAR if (feature(FEATURE_SONAR)) { sonarInit(sonarHardware); } #endif #ifdef LED_STRIP ledStripInit(masterConfig.ledConfigs, masterConfig.colors); if (feature(FEATURE_LED_STRIP)) { ledStripEnable(); } #endif #ifdef TELEMETRY if (feature(FEATURE_TELEMETRY)) { telemetryInit(); } #endif #ifdef USB_CABLE_DETECTION usbCableDetectInit(); #endif #ifdef TRANSPONDER if (feature(FEATURE_TRANSPONDER)) { transponderInit(masterConfig.transponderData); transponderEnable(); transponderStartRepeating(); systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED; } #endif #ifdef USE_FLASHFS #ifdef NAZE if (hardwareRevision == NAZE32_REV5) { m25p16_init(); } #elif defined(USE_FLASH_M25P16) m25p16_init(); #endif flashfsInit(); #endif #ifdef USE_SDCARD bool sdcardUseDMA = false; sdcardInsertionDetectInit(); #ifdef SDCARD_DMA_CHANNEL_TX #if defined(LED_STRIP) && defined(WS2811_DMA_CHANNEL) // Ensure the SPI Tx DMA doesn't overlap with the led strip sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL; #else sdcardUseDMA = true; #endif #endif sdcard_init(sdcardUseDMA); afatfs_init(); #endif #ifdef BLACKBOX initBlackbox(); #endif if (masterConfig.mixerMode == MIXER_GIMBAL) { accSetCalibrationCycles(CALIBRATING_ACC_CYCLES); } gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES); #ifdef BARO baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES); #endif // start all timers // TODO - not implemented yet timerStart(); ENABLE_STATE(SMALL_ANGLE); DISABLE_ARMING_FLAG(PREVENT_ARMING); #ifdef SOFTSERIAL_LOOPBACK // FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly loopbackPort = (serialPort_t*)&(softSerialPorts[0]); if (!loopbackPort->vTable) { loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED); } serialPrint(loopbackPort, "LOOPBACK\r\n"); #endif // Now that everything has powered up the voltage and cell count be determined. if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER)) batteryInit(&masterConfig.batteryConfig); #ifdef DISPLAY if (feature(FEATURE_DISPLAY)) { #ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY displayShowFixedPage(PAGE_GPS); #else displayResetPageCycling(); displayEnablePageCycling(); #endif } #endif #ifdef CJMCU LED2_ON; #endif // Latch active features AGAIN since some may be modified by init(). latchActiveFeatures(); motorControlEnable = true; systemState |= SYSTEM_STATE_READY; } #ifdef SOFTSERIAL_LOOPBACK void processLoopback(void) { if (loopbackPort) { uint8_t bytesWaiting; while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) { uint8_t b = serialRead(loopbackPort); serialWrite(loopbackPort, b); }; } } #else #define processLoopback() #endif int main(void) { init(); /* Setup scheduler */ if (masterConfig.gyroSync) { rescheduleTask(TASK_GYROPID, targetLooptime - INTERRUPT_WAIT_TIME); } else { rescheduleTask(TASK_GYROPID, targetLooptime); } setTaskEnabled(TASK_GYROPID, true); setTaskEnabled(TASK_ACCEL, sensors(SENSOR_ACC)); setTaskEnabled(TASK_SERIAL, true); #ifdef BEEPER setTaskEnabled(TASK_BEEPER, true); #endif setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER)); setTaskEnabled(TASK_RX, true); #ifdef GPS setTaskEnabled(TASK_GPS, feature(FEATURE_GPS)); #endif #ifdef MAG setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG)); #endif #ifdef BARO setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO)); #endif #ifdef SONAR setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR)); #endif #if defined(BARO) || defined(SONAR) setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)); #endif #ifdef DISPLAY setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY)); #endif #ifdef TELEMETRY setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY)); #endif #ifdef LED_STRIP setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP)); #endif #ifdef TRANSPONDER setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER)); #endif while (1) { scheduler(); processLoopback(); } } void HardFault_Handler(void) { // fall out of the sky uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY; if ((systemState & requiredStateForMotors) == requiredStateForMotors) { stopMotors(); } #ifdef TRANSPONDER // prevent IR LEDs from burning out. uint8_t requiredStateForTransponder = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_TRANSPONDER_ENABLED; if ((systemState & requiredStateForTransponder) == requiredStateForTransponder) { transponderIrDisable(); } #endif while (1); }