void handle_eeprom_write_request(void) { //GET UPDATES FROM PARAMS //testing eeprom params if (global_data.state.status == MAV_STATE_STANDBY) { switch ((uint8_t) global_data.param[PARAM_IMU_RESET]) { case 2: debug_message_buffer("start writing params to eeprom"); param_write_all(); global_data.param[PARAM_IMU_RESET] = 0; break; case 3: param_read_all(); debug_message_buffer("start reading params from eeprom"); global_data.param[PARAM_IMU_RESET] = 0; break; case 4: global_data.param[PARAM_IMU_RESET] = 0; debug_message_buffer("params reset to defaults"); global_data_reset_param_defaults(); break; case 5: global_data.param[PARAM_IMU_RESET] = 0; if (param_size_check()) { debug_message_buffer("check true"); } else { debug_message_buffer("check false"); } break; case 6: global_data.param[PARAM_IMU_RESET] = 0; eeprom_check_start(); break; default: break; } } }
/** * @brief Initialize the whole system * * All functions that need to be called before the first mainloop iteration * should be placed here. */ void main_init_generic(void) { // Reset to safe values global_data_reset(); // Load default eeprom parameters as fallback global_data_reset_param_defaults(); // LOWLEVEL INIT, ONLY VERY BASIC SYSTEM FUNCTIONS hw_init(); enableIRQ(); led_init(); led_on(LED_GREEN); buzzer_init(); sys_time_init(); sys_time_periodic_init(); sys_time_clock_init(); ppm_init(); pwm_init(); // Lowlevel periphel support init adc_init(); // FIXME SDCARD // MMC_IO_Init(); spi_init(); i2c_init(); // Sensor init sensors_init(); debug_message_buffer("Sensor initialized"); // Shutter init shutter_init(); shutter_control(0); // Debug output init debug_message_init(); debug_message_buffer("Text message buffer initialized"); // MEDIUM LEVEL INIT, INITIALIZE I2C, EEPROM, WAIT FOR MOTOR CONTROLLERS // Try to reach the EEPROM eeprom_check_start(); // WAIT FOR 2 SECONDS FOR THE USER TO NOT TOUCH THE UNIT while (sys_time_clock_get_time_usec() < 2000000) { } // Do the auto-gyro calibration for 1 second // Get current temperature led_on(LED_RED); gyro_init(); // uint8_t timeout = 3; // // Check for SD card // while (sys_time_clock_get_time_usec() < 2000000) // { // while (GetDriveInformation() != F_OK && timeout--) // { // debug_message_buffer("MMC/SD-Card not found ! retrying.."); // } // } // // if (GetDriveInformation() == F_OK) // { // debug_message_buffer("MMC/SD-Card SUCCESS: FOUND"); // } // else // { // debug_message_buffer("MMC/SD-Card FAILURE: NOT FOUND"); // } //FIXME redo init because of SD driver decreasing speed //spi_init(); led_off(LED_RED); // Stop trying to reach the EEPROM - if it has not been found by now, assume // there is no EEPROM mounted if (eeprom_check_ok()) { param_read_all(); debug_message_buffer("EEPROM detected - reading parameters from EEPROM"); for (int i = 0; i < ONBOARD_PARAM_COUNT * 2 + 20; i++) { param_handler(); //sleep 1 ms sys_time_wait(1000); } } else { debug_message_buffer("NO EEPROM - reading onboard parameters from FLASH"); } // Set mavlink system mavlink_system.compid = MAV_COMP_ID_IMU; mavlink_system.sysid = global_data.param[PARAM_SYSTEM_ID]; //Magnet sensor hmc5843_init(); acc_init(); // Comm parameter init mavlink_system.sysid = global_data.param[PARAM_SYSTEM_ID]; // System ID, 1-255 mavlink_system.compid = global_data.param[PARAM_COMPONENT_ID]; // Component/Subsystem ID, 1-255 // Comm init has to be // AFTER PARAM INIT comm_init(MAVLINK_COMM_0); comm_init(MAVLINK_COMM_1); // UART initialized, now initialize COMM peripherals communication_init(); gps_init(); us_run_init(); servos_init(); //position_kalman3_init(); // Calibration starts (this can take a few seconds) // led_on(LED_GREEN); // led_on(LED_RED); // Read out first time battery global_data.battery_voltage = battery_get_value(); global_data.state.mav_mode = MAV_MODE_PREFLIGHT; global_data.state.status = MAV_STATE_CALIBRATING; send_system_state(); float_vect3 init_state_accel; init_state_accel.x = 0.0f; init_state_accel.y = 0.0f; init_state_accel.z = -1000.0f; float_vect3 init_state_magnet; init_state_magnet.x = 1.0f; init_state_magnet.y = 0.0f; init_state_magnet.z = 0.0f; //auto_calibration(); attitude_observer_init(init_state_accel, init_state_magnet); debug_message_buffer("Attitude Filter initialized"); led_on(LED_RED); send_system_state(); debug_message_buffer("System is initialized"); // Calibration stopped led_off(LED_RED); global_data.state.mav_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; global_data.state.status = MAV_STATE_STANDBY; send_system_state(); debug_message_buffer("Checking if remote control is switched on:"); // Initialize remote control status remote_control(); remote_control(); if (radio_control_status() == RADIO_CONTROL_ON && global_data.state.remote_ok) { global_data.state.mav_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED; debug_message_buffer("RESULT: remote control switched ON"); debug_message_buffer("Now in MAV_MODE_TEST2 position hold tobi_laurens"); led_on(LED_GREEN); } else { global_data.state.mav_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; debug_message_buffer("RESULT: remote control switched OFF"); led_off(LED_GREEN); } }