mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 16:55:36 +03:00
Renamed 'fc/fc_' files to remove the double 'fc'.
This commit is contained in:
mikeller
parent
fc60cc27e9
commit
0bce8549ee
40 changed files with 61 additions and 61 deletions
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@ -1,726 +0,0 @@
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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 <math.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 "cms/cms.h"
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#include "cms/cms_types.h"
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/camera_control.h"
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#include "drivers/compass/compass.h"
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#include "drivers/pwm_esc_detect.h"
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#include "drivers/pwm_output.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/buttons.h"
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#include "drivers/camera_control.h"
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#include "drivers/compass/compass.h"
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#include "drivers/dma.h"
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#include "drivers/exti.h"
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#include "drivers/flash.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/pwm_esc_detect.h"
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#include "drivers/pwm_output.h"
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#include "drivers/rx/rx_pwm.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/sdcard.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/exti.h"
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#include "drivers/usb_io.h"
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#include "drivers/vtx_rtc6705.h"
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#include "drivers/vtx_common.h"
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#ifdef USE_USB_MSC
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#include "drivers/usb_msc.h"
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#endif
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#include "fc/board_info.h"
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#include "fc/config.h"
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#include "fc/fc_init.h"
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#include "fc/fc_tasks.h"
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#include "fc/rc_controls.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 "pg/adc.h"
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#include "pg/beeper.h"
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#include "pg/beeper_dev.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/flash.h"
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#include "pg/pinio.h"
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#include "pg/piniobox.h"
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#include "pg/pg.h"
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#include "pg/rx.h"
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#include "pg/rx_spi.h"
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#include "pg/rx_pwm.h"
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#include "pg/sdcard.h"
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#include "pg/vcd.h"
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#include "rx/rx.h"
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#include "rx/rx_spi.h"
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#include "rx/spektrum.h"
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#include "io/beeper.h"
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#include "io/displayport_max7456.h"
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#include "io/displayport_srxl.h"
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#include "io/serial.h"
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#include "io/flashfs.h"
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#include "io/gps.h"
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#include "io/motors.h"
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#include "io/servos.h"
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#include "io/gimbal.h"
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#include "io/ledstrip.h"
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#include "io/dashboard.h"
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#include "io/asyncfatfs/asyncfatfs.h"
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#include "io/transponder_ir.h"
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#include "io/osd.h"
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#include "io/pidaudio.h"
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#include "io/piniobox.h"
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#include "io/displayport_msp.h"
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#include "io/vtx.h"
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#include "io/vtx_rtc6705.h"
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#include "io/vtx_control.h"
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#include "io/vtx_smartaudio.h"
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#include "io/vtx_tramp.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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#include "sensors/boardalignment.h"
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#include "sensors/compass.h"
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#include "sensors/esc_sensor.h"
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#include "sensors/gyro.h"
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#include "sensors/initialisation.h"
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#include "sensors/sensors.h"
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#include "telemetry/telemetry.h"
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#include "flight/failsafe.h"
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#include "flight/imu.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "flight/servos.h"
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#include "io/rcdevice_cam.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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#ifdef SOFTSERIAL_LOOPBACK
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serialPort_t *loopbackPort;
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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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#ifdef SOFTSERIAL_LOOPBACK
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if (loopbackPort) {
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uint8_t bytesWaiting;
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while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) {
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uint8_t b = serialRead(loopbackPort);
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serialWrite(loopbackPort, b);
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};
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}
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#endif
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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_ITCM_RAM
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/* Load functions into ITCM RAM */
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extern uint8_t tcm_code_start;
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extern uint8_t tcm_code_end;
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extern uint8_t tcm_code;
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memcpy(&tcm_code_start, &tcm_code, (size_t) (&tcm_code_end - &tcm_code_start));
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#endif
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#ifdef USE_FAST_RAM
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/* Load FAST_RAM variable intializers into DTCM RAM */
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extern uint8_t _sfastram_data;
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extern uint8_t _efastram_data;
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extern uint8_t _sfastram_idata;
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memcpy(&_sfastram_data, &_sfastram_idata, (size_t) (&_efastram_data - &_sfastram_data));
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#endif
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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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#ifdef USE_BRUSHED_ESC_AUTODETECT
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detectBrushedESC();
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#endif
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initEEPROM();
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ensureEEPROMStructureIsValid();
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bool readSuccess = readEEPROM();
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#if defined(USE_BOARD_INFO)
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initBoardInformation();
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#endif
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if (!readSuccess || !isEEPROMVersionValid() || strncasecmp(systemConfig()->boardIdentifier, TARGET_BOARD_IDENTIFIER, sizeof(TARGET_BOARD_IDENTIFIER))) {
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resetEEPROM();
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}
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systemState |= SYSTEM_STATE_CONFIG_LOADED;
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//i2cSetOverclock(masterConfig.i2c_overclock);
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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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#if !defined(UNIT_TEST) && !defined(USE_FAKE_LED)
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ledInit(statusLedConfig());
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#endif
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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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#if defined(USE_BUTTONS)
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buttonsInit();
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// Check status of bind plug and exit if not active
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delayMicroseconds(10); // allow configuration to settle
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if (!isMPUSoftReset()) {
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#if defined(BUTTON_A_PIN) && defined(BUTTON_B_PIN)
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// two buttons required
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uint8_t secondsRemaining = 5;
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bool bothButtonsHeld;
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do {
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bothButtonsHeld = buttonAPressed() && buttonBPressed();
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if (bothButtonsHeld) {
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if (--secondsRemaining == 0) {
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resetEEPROM();
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systemReset();
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}
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delay(1000);
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LED0_TOGGLE;
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}
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} while (bothButtonsHeld);
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#endif
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}
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#endif
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#if defined(USE_SPEKTRUM_BIND)
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if (featureIsEnabled(FEATURE_RX_SERIAL)) {
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switch (rxConfig()->serialrx_provider) {
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case SERIALRX_SPEKTRUM1024:
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case SERIALRX_SPEKTRUM2048:
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case SERIALRX_SRXL:
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// Spektrum satellite binding if enabled on startup.
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// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
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// The rest of Spektrum initialization will happen later - via spektrumInit()
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spektrumBind(rxConfigMutable());
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break;
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}
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}
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#endif
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#ifdef USE_OVERCLOCK
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OverclockRebootIfNecessary(systemConfig()->cpu_overclock);
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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)
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uartPinConfigure(serialPinConfig());
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#endif
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#if defined(AVOID_UART1_FOR_PWM_PPM)
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serialInit(featureIsEnabled(FEATURE_SOFTSERIAL),
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featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
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#elif defined(AVOID_UART2_FOR_PWM_PPM)
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serialInit(featureIsEnabled(FEATURE_SOFTSERIAL),
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featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
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#elif defined(AVOID_UART3_FOR_PWM_PPM)
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serialInit(featureIsEnabled(FEATURE_SOFTSERIAL),
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featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
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#else
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serialInit(featureIsEnabled(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
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#endif
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mixerInit(mixerConfig()->mixerMode);
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mixerConfigureOutput();
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uint16_t idlePulse = motorConfig()->mincommand;
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if (featureIsEnabled(FEATURE_3D)) {
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idlePulse = flight3DConfig()->neutral3d;
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}
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if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
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idlePulse = 0; // brushed motors
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}
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/* Motors needs to be initialized soon as posible because hardware initialization
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* may send spurious pulses to esc's causing their early initialization. Also ppm
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* receiver may share timer with motors so motors MUST be initialized here. */
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motorDevInit(&motorConfig()->dev, idlePulse, getMotorCount());
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systemState |= SYSTEM_STATE_MOTORS_READY;
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if (0) {}
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#if defined(USE_PPM)
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else if (featureIsEnabled(FEATURE_RX_PPM)) {
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ppmRxInit(ppmConfig());
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}
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#endif
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#if defined(USE_PWM)
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else if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
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pwmRxInit(pwmConfig());
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}
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#endif
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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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#if defined(USE_INVERTER) && !defined(SIMULATOR_BUILD)
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initInverters(serialPinConfig());
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#endif
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|
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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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|
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// Initialize CS lines and keep them high
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spiPreInit();
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|
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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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|
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#ifdef USE_USB_MSC
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/* MSC mode will start after init, but will not allow scheduler to run,
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* so there is no bottleneck in reading and writing data */
|
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mscInit();
|
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if (mscCheckBoot() || mscCheckButton()) {
|
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if (mscStart() == 0) {
|
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mscWaitForButton();
|
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} else {
|
||||
NVIC_SystemReset();
|
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}
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_I2C
|
||||
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
|
||||
#ifdef USE_I2C_DEVICE_4
|
||||
i2cInit(I2CDEV_4);
|
||||
#endif
|
||||
#endif // USE_I2C
|
||||
|
||||
#endif // TARGET_BUS_INIT
|
||||
|
||||
#ifdef USE_HARDWARE_REVISION_DETECTION
|
||||
updateHardwareRevision();
|
||||
#endif
|
||||
|
||||
#ifdef USE_VTX_RTC6705
|
||||
rtc6705IOInit();
|
||||
#endif
|
||||
|
||||
#ifdef USE_CAMERA_CONTROL
|
||||
cameraControlInit();
|
||||
#endif
|
||||
|
||||
// XXX These kind of code should goto target/config.c?
|
||||
// XXX And these no longer work properly as FEATURE_RANGEFINDER does control HCSR04 runtime configuration.
|
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#if defined(RANGEFINDER_HCSR04_SOFTSERIAL2_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL2)
|
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if (featureIsEnabled(FEATURE_RANGEFINDER) && featureIsEnabled(FEATURE_SOFTSERIAL)) {
|
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serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(RANGEFINDER_HCSR04_SOFTSERIAL1_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL1)
|
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if (featureIsEnabled(FEATURE_RANGEFINDER) && featureIsEnabled(FEATURE_SOFTSERIAL)) {
|
||||
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_ADC
|
||||
adcConfigMutable()->vbat.enabled = (batteryConfig()->voltageMeterSource == VOLTAGE_METER_ADC);
|
||||
adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
|
||||
|
||||
// The FrSky D SPI RX sends RSSI_ADC_PIN (if configured) as A2
|
||||
adcConfigMutable()->rssi.enabled = featureIsEnabled(FEATURE_RSSI_ADC);
|
||||
#ifdef USE_RX_SPI
|
||||
adcConfigMutable()->rssi.enabled |= (featureIsEnabled(FEATURE_RX_SPI) && rxSpiConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
|
||||
#endif
|
||||
adcInit(adcConfig());
|
||||
#endif
|
||||
|
||||
initBoardAlignment(boardAlignment());
|
||||
|
||||
if (!sensorsAutodetect()) {
|
||||
// if gyro was not detected due to whatever reason, notify and don't arm.
|
||||
indicateFailure(FAILURE_MISSING_ACC, 2);
|
||||
setArmingDisabled(ARMING_DISABLED_NO_GYRO);
|
||||
}
|
||||
|
||||
systemState |= SYSTEM_STATE_SENSORS_READY;
|
||||
|
||||
// gyro.targetLooptime set in sensorsAutodetect(),
|
||||
// so we are ready to call validateAndFixGyroConfig(), pidInit(), and setAccelerationFilter()
|
||||
validateAndFixGyroConfig();
|
||||
pidInit(currentPidProfile);
|
||||
accInitFilters();
|
||||
|
||||
#ifdef USE_PID_AUDIO
|
||||
pidAudioInit();
|
||||
#endif
|
||||
|
||||
#ifdef USE_SERVOS
|
||||
servosInit();
|
||||
servoConfigureOutput();
|
||||
if (isMixerUsingServos()) {
|
||||
//pwm_params.useChannelForwarding = featureIsEnabled(FEATURE_CHANNEL_FORWARDING);
|
||||
servoDevInit(&servoConfig()->dev);
|
||||
}
|
||||
servosFilterInit();
|
||||
#endif
|
||||
|
||||
#ifdef USE_PINIO
|
||||
pinioInit(pinioConfig());
|
||||
#endif
|
||||
|
||||
#ifdef USE_PINIOBOX
|
||||
pinioBoxInit(pinioBoxConfig());
|
||||
#endif
|
||||
|
||||
LED1_ON;
|
||||
LED0_OFF;
|
||||
LED2_OFF;
|
||||
|
||||
for (int i = 0; i < 10; i++) {
|
||||
LED1_TOGGLE;
|
||||
LED0_TOGGLE;
|
||||
#if defined(USE_BEEPER)
|
||||
delay(25);
|
||||
if (!(beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(BEEPER_SYSTEM_INIT))) {
|
||||
BEEP_ON;
|
||||
}
|
||||
delay(25);
|
||||
BEEP_OFF;
|
||||
#else
|
||||
delay(50);
|
||||
#endif
|
||||
}
|
||||
LED0_OFF;
|
||||
LED1_OFF;
|
||||
|
||||
imuInit();
|
||||
|
||||
mspInit();
|
||||
mspSerialInit();
|
||||
|
||||
#ifdef USE_CLI
|
||||
cliInit(serialConfig());
|
||||
#endif
|
||||
|
||||
failsafeInit();
|
||||
|
||||
rxInit();
|
||||
|
||||
/*
|
||||
* CMS, display devices and OSD
|
||||
*/
|
||||
#ifdef USE_CMS
|
||||
cmsInit();
|
||||
#endif
|
||||
|
||||
#if (defined(USE_OSD) || (defined(USE_MSP_DISPLAYPORT) && defined(USE_CMS)))
|
||||
displayPort_t *osdDisplayPort = NULL;
|
||||
#endif
|
||||
|
||||
#if defined(USE_OSD)
|
||||
//The OSD need to be initialised after GYRO to avoid GYRO initialisation failure on some targets
|
||||
|
||||
if (featureIsEnabled(FEATURE_OSD)) {
|
||||
#if defined(USE_MAX7456)
|
||||
// If there is a max7456 chip for the OSD then use it
|
||||
osdDisplayPort = max7456DisplayPortInit(vcdProfile());
|
||||
#elif defined(USE_CMS) && defined(USE_MSP_DISPLAYPORT) && defined(USE_OSD_OVER_MSP_DISPLAYPORT) // OSD over MSP; not supported (yet)
|
||||
osdDisplayPort = displayPortMspInit();
|
||||
#endif
|
||||
// osdInit will register with CMS by itself.
|
||||
osdInit(osdDisplayPort);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(USE_CMS) && defined(USE_MSP_DISPLAYPORT)
|
||||
// If BFOSD is not active, then register MSP_DISPLAYPORT as a CMS device.
|
||||
if (!osdDisplayPort)
|
||||
cmsDisplayPortRegister(displayPortMspInit());
|
||||
#endif
|
||||
|
||||
#ifdef USE_DASHBOARD
|
||||
// Dashbord will register with CMS by itself.
|
||||
if (featureIsEnabled(FEATURE_DASHBOARD)) {
|
||||
dashboardInit();
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(USE_CMS) && defined(USE_SPEKTRUM_CMS_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
|
||||
// Register the srxl Textgen telemetry sensor as a displayport device
|
||||
cmsDisplayPortRegister(displayPortSrxlInit());
|
||||
#endif
|
||||
|
||||
#ifdef USE_GPS
|
||||
if (featureIsEnabled(FEATURE_GPS)) {
|
||||
gpsInit();
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_LED_STRIP
|
||||
ledStripInit();
|
||||
|
||||
if (featureIsEnabled(FEATURE_LED_STRIP)) {
|
||||
ledStripEnable();
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_TELEMETRY
|
||||
if (featureIsEnabled(FEATURE_TELEMETRY)) {
|
||||
telemetryInit();
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
escSensorInit();
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_USB_DETECT
|
||||
usbCableDetectInit();
|
||||
#endif
|
||||
|
||||
#ifdef USE_TRANSPONDER
|
||||
if (featureIsEnabled(FEATURE_TRANSPONDER)) {
|
||||
transponderInit();
|
||||
transponderStartRepeating();
|
||||
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_FLASHFS
|
||||
#if defined(USE_FLASH)
|
||||
flashInit(flashConfig());
|
||||
#endif
|
||||
flashfsInit();
|
||||
#endif
|
||||
|
||||
#ifdef USE_SDCARD
|
||||
if (blackboxConfig()->device == BLACKBOX_DEVICE_SDCARD) {
|
||||
if (sdcardConfig()->enabled) {
|
||||
sdcardInsertionDetectInit();
|
||||
sdcard_init(sdcardConfig());
|
||||
afatfs_init();
|
||||
} else {
|
||||
blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_BLACKBOX
|
||||
blackboxInit();
|
||||
#endif
|
||||
|
||||
if (mixerConfig()->mixerMode == MIXER_GIMBAL) {
|
||||
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
|
||||
}
|
||||
gyroStartCalibration(false);
|
||||
#ifdef USE_BARO
|
||||
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
|
||||
#endif
|
||||
|
||||
#ifdef USE_VTX_CONTROL
|
||||
vtxControlInit();
|
||||
|
||||
#if defined(USE_VTX_COMMON)
|
||||
vtxCommonInit();
|
||||
vtxInit();
|
||||
#endif
|
||||
|
||||
#ifdef USE_VTX_SMARTAUDIO
|
||||
vtxSmartAudioInit();
|
||||
#endif
|
||||
|
||||
#ifdef USE_VTX_TRAMP
|
||||
vtxTrampInit();
|
||||
#endif
|
||||
|
||||
#ifdef USE_VTX_RTC6705
|
||||
#ifdef VTX_RTC6705_OPTIONAL
|
||||
if (!vtxCommonDevice()) // external VTX takes precedence when configured.
|
||||
#endif
|
||||
{
|
||||
vtxRTC6705Init();
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // VTX_CONTROL
|
||||
|
||||
// start all timers
|
||||
// TODO - not implemented yet
|
||||
timerStart();
|
||||
|
||||
ENABLE_STATE(SMALL_ANGLE);
|
||||
|
||||
#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
|
||||
|
||||
batteryInit(); // always needs doing, regardless of features.
|
||||
|
||||
#ifdef USE_DASHBOARD
|
||||
if (featureIsEnabled(FEATURE_DASHBOARD)) {
|
||||
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
|
||||
dashboardShowFixedPage(PAGE_GPS);
|
||||
#else
|
||||
dashboardResetPageCycling();
|
||||
dashboardEnablePageCycling();
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_RCDEVICE
|
||||
rcdeviceInit();
|
||||
#endif // USE_RCDEVICE
|
||||
|
||||
pwmEnableMotors();
|
||||
|
||||
setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
|
||||
|
||||
fcTasksInit();
|
||||
|
||||
systemState |= SYSTEM_STATE_READY;
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue