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https://github.com/betaflight/betaflight.git
synced 2025-07-16 12:55:19 +03:00
Fixed tests.
This commit is contained in:
mikeller
parent
8a72362a67
commit
00a7d20227
2 changed files with 1 additions and 303 deletions
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/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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#include "blackbox/blackbox.h"
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#include "common/axis.h"
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#include "common/color.h"
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#include "common/maths.h"
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#include "common/printf.h"
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#include "config/config_eeprom.h"
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#include "config/feature.h"
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#include "drivers/adc.h"
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#include "drivers/bus.h"
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#include "drivers/bus_i2c.h"
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#include "drivers/bus_spi.h"
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#include "drivers/dma.h"
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#include "drivers/exti.h"
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#include "drivers/inverter.h"
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#include "drivers/io.h"
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#include "drivers/light_led.h"
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#include "drivers/nvic.h"
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#include "drivers/sensor.h"
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#include "drivers/serial.h"
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#include "drivers/serial_softserial.h"
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#include "drivers/serial_uart.h"
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#include "drivers/sound_beeper.h"
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#include "drivers/system.h"
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#include "drivers/time.h"
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#include "drivers/timer.h"
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#include "drivers/transponder_ir.h"
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#include "drivers/usb_io.h"
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#include "fc/config.h"
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#include "fc/rc_controls.h"
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#include "fc/fc_tasks.h"
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#include "fc/runtime_config.h"
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#include "interface/cli.h"
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#include "interface/msp.h"
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#include "msp/msp_serial.h"
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#include "io/beeper.h"
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#include "io/displayport_max7456.h"
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#include "io/flashfs.h"
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#include "io/ledstrip.h"
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#include "io/osd_slave.h"
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#include "io/serial.h"
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#include "io/transponder_ir.h"
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#include "osd_slave/osd_slave_init.h"
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#include "pg/adc.h"
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#include "pg/bus_i2c.h"
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#include "pg/bus_spi.h"
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#include "pg/pg.h"
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#include "pg/pg_ids.h"
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#include "pg/vcd.h"
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#include "scheduler/scheduler.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#ifdef USE_HARDWARE_REVISION_DETECTION
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#include "hardware_revision.h"
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#endif
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#include "build/build_config.h"
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#include "build/debug.h"
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#ifdef TARGET_PREINIT
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void targetPreInit(void);
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#endif
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uint8_t systemState = SYSTEM_STATE_INITIALISING;
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void processLoopback(void)
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{
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}
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#ifdef BUS_SWITCH_PIN
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void busSwitchInit(void)
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{
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static IO_t busSwitchResetPin = IO_NONE;
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busSwitchResetPin = IOGetByTag(IO_TAG(BUS_SWITCH_PIN));
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IOInit(busSwitchResetPin, OWNER_SYSTEM, 0);
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IOConfigGPIO(busSwitchResetPin, IOCFG_OUT_PP);
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// ENABLE
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IOLo(busSwitchResetPin);
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}
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#endif
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void init(void)
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{
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#ifdef USE_HAL_DRIVER
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HAL_Init();
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#endif
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printfSupportInit();
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systemInit();
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// initialize IO (needed for all IO operations)
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IOInitGlobal();
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#ifdef USE_HARDWARE_REVISION_DETECTION
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detectHardwareRevision();
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#endif
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initEEPROM();
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ensureEEPROMStructureIsValid();
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readEEPROM();
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systemState |= SYSTEM_STATE_CONFIG_LOADED;
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debugMode = systemConfig()->debug_mode;
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#ifdef TARGET_PREINIT
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targetPreInit();
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#endif
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ledInit(statusLedConfig());
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LED2_ON;
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#ifdef USE_EXTI
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EXTIInit();
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#endif
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delay(100);
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timerInit(); // timer must be initialized before any channel is allocated
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#ifdef BUS_SWITCH_PIN
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busSwitchInit();
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#endif
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#if defined(USE_UART) && !defined(SIMULATOR_BUILD)
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uartPinConfigure(serialPinConfig());
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#endif
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serialInit(false, SERIAL_PORT_NONE);
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#ifdef USE_BEEPER
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beeperInit(beeperDevConfig());
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#endif
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/* temp until PGs are implemented. */
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#ifdef USE_INVERTER
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initInverters();
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#endif
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#ifdef TARGET_BUS_INIT
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targetBusInit();
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#else
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#ifdef USE_SPI
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spiPinConfigure(spiPinConfig(0));
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// Initialize CS lines and keep them high
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spiPreInit();
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#ifdef USE_SPI_DEVICE_1
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spiInit(SPIDEV_1);
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#endif
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#ifdef USE_SPI_DEVICE_2
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spiInit(SPIDEV_2);
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#endif
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#ifdef USE_SPI_DEVICE_3
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spiInit(SPIDEV_3);
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#endif
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#ifdef USE_SPI_DEVICE_4
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spiInit(SPIDEV_4);
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#endif
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#endif /* USE_SPI */
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#ifdef USE_I2C
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i2cHardwareConfigure(i2cConfig(0));
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// Note: Unlike UARTs which are configured when client is present,
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// I2C buses are initialized unconditionally if they are configured.
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#ifdef USE_I2C_DEVICE_1
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i2cInit(I2CDEV_1);
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#endif
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#ifdef USE_I2C_DEVICE_2
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i2cInit(I2CDEV_2);
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#endif
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#ifdef USE_I2C_DEVICE_3
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i2cInit(I2CDEV_3);
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#endif
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#ifdef USE_I2C_DEVICE_4
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i2cInit(I2CDEV_4);
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#endif
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#endif /* USE_I2C */
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#endif /* TARGET_BUS_INIT */
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#ifdef USE_HARDWARE_REVISION_DETECTION
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updateHardwareRevision();
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#endif
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#ifdef USE_ADC
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adcConfigMutable()->vbat.enabled = (batteryConfig()->voltageMeterSource == VOLTAGE_METER_ADC);
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adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
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adcConfigMutable()->rssi.enabled = featureIsEnabled(FEATURE_RSSI_ADC);
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adcInit(adcConfig());
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#endif
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LED1_ON;
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LED0_OFF;
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LED2_OFF;
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for (int i = 0; i < 10; i++) {
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LED1_TOGGLE;
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LED0_TOGGLE;
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#if defined(USE_BEEPER)
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delay(25);
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if (!(beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(BEEPER_SYSTEM_INIT))) BEEP_ON;
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delay(25);
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BEEP_OFF;
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#else
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delay(50);
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#endif
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}
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LED0_OFF;
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LED1_OFF;
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mspInit();
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mspSerialInit();
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#ifdef USE_CLI
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cliInit(serialConfig());
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#endif
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displayPort_t *osdDisplayPort = NULL;
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#if defined(USE_MAX7456)
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// If there is a max7456 chip for the OSD then use it
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osdDisplayPort = max7456DisplayPortInit(vcdProfile());
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// osdInit will register with CMS by itself.
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osdSlaveInit(osdDisplayPort);
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#endif
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#ifdef USE_LED_STRIP
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ledStripInit();
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if (featureIsEnabled(FEATURE_LED_STRIP)) {
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ledStripEnable();
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}
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#endif
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#ifdef USE_USB_DETECT
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usbCableDetectInit();
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#endif
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#ifdef USE_TRANSPONDER
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if (featureIsEnabled(FEATURE_TRANSPONDER)) {
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transponderInit();
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transponderStartRepeating();
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systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
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}
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#endif
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timerStart();
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batteryInit();
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fcTasksInit();
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systemState |= SYSTEM_STATE_READY;
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}
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@ -115,7 +115,7 @@ extern "C" {
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uint32_t millis(void) { return micros() / 1000; }
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bool rxIsReceivingSignal(void) { return simulationHaveRx; }
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bool feature(uint32_t f) { return simulationFeatureFlags & f; }
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bool featureIsEnabled(uint32_t f) { return simulationFeatureFlags & f; }
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void warningLedFlash(void) {}
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void warningLedDisable(void) {}
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void warningLedUpdate(void) {}
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