mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 00:35:39 +03:00
merge upstream into sirinfpv-dev branch
This commit is contained in:
Evgeny Sychov
commit
21b5dce0e9
416 changed files with 156557 additions and 11350 deletions
122
src/main/main.c
122
src/main/main.c
|
|
@ -56,6 +56,8 @@
|
|||
#include "drivers/sdcard.h"
|
||||
#include "drivers/usb_io.h"
|
||||
#include "drivers/transponder_ir.h"
|
||||
#include "drivers/io.h"
|
||||
#include "drivers/exti.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
|
||||
|
|
@ -135,15 +137,6 @@ const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryCon
|
|||
void sonarInit(const sonarHardware_t *sonarHardware);
|
||||
void osdInit(void);
|
||||
|
||||
#ifdef STM32F303xC
|
||||
// from system_stm32f30x.c
|
||||
void SetSysClock(void);
|
||||
#endif
|
||||
#ifdef STM32F10X
|
||||
// from system_stm32f10x.c
|
||||
void SetSysClock(bool overclock);
|
||||
#endif
|
||||
|
||||
typedef enum {
|
||||
SYSTEM_STATE_INITIALISING = 0,
|
||||
SYSTEM_STATE_CONFIG_LOADED = (1 << 0),
|
||||
|
|
@ -169,23 +162,13 @@ void init(void)
|
|||
|
||||
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(0); // TODO - Remove from config in the future
|
||||
#endif
|
||||
//i2cSetOverclock(masterConfig.i2c_overclock);
|
||||
|
||||
systemInit();
|
||||
|
||||
//i2cSetOverclock(masterConfig.i2c_overclock);
|
||||
|
||||
// initialize IO (needed for all IO operations)
|
||||
IOInitGlobal();
|
||||
|
||||
debugMode = masterConfig.debug_mode;
|
||||
|
||||
#ifdef USE_HARDWARE_REVISION_DETECTION
|
||||
|
|
@ -198,12 +181,18 @@ void init(void)
|
|||
#ifdef ALIENFLIGHTF3
|
||||
if (hardwareRevision == AFF3_REV_1) {
|
||||
ledInit(false);
|
||||
} else {
|
||||
}
|
||||
else {
|
||||
ledInit(true);
|
||||
}
|
||||
#else
|
||||
ledInit(false);
|
||||
#endif
|
||||
LED2_ON;
|
||||
|
||||
#ifdef USE_EXTI
|
||||
EXTIInit();
|
||||
#endif
|
||||
|
||||
#ifdef SPRACINGF3MINI
|
||||
gpio_config_t buttonAGpioConfig = {
|
||||
|
|
@ -295,6 +284,12 @@ void init(void)
|
|||
#ifdef STM32F303xC
|
||||
pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3);
|
||||
#endif
|
||||
#if defined(USE_USART2) && defined(STM32F40_41xxx)
|
||||
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
|
||||
#endif
|
||||
#if defined(USE_USART6) && defined(STM32F40_41xxx)
|
||||
pwm_params.useUART6 = doesConfigurationUsePort(SERIAL_PORT_USART6);
|
||||
#endif
|
||||
pwm_params.useVbat = feature(FEATURE_VBAT);
|
||||
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
|
||||
pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
|
||||
|
|
@ -315,20 +310,20 @@ void init(void)
|
|||
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
|
||||
#endif
|
||||
|
||||
if (masterConfig.fast_pwm_protocol == PWM_TYPE_ONESHOT125) {
|
||||
if (masterConfig.motor_pwm_protocol == PWM_TYPE_ONESHOT125) {
|
||||
featureSet(FEATURE_ONESHOT125);
|
||||
} else {
|
||||
featureClear(FEATURE_ONESHOT125);
|
||||
}
|
||||
|
||||
pwm_params.useFastPwm = (masterConfig.fast_pwm_protocol != PWM_TYPE_CONVENTIONAL) ? true : false; // Configurator feature abused for enabling Fast PWM
|
||||
pwm_params.pwmProtocolType = masterConfig.fast_pwm_protocol;
|
||||
|
||||
// Configurator feature abused for enabling Fast PWM
|
||||
pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);
|
||||
pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol;
|
||||
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
|
||||
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
|
||||
pwm_params.useUnsyncedPwm = masterConfig.use_unsyncedPwm;
|
||||
if (feature(FEATURE_3D))
|
||||
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
|
||||
if (pwm_params.motorPwmRate > 500 && !pwm_params.useFastPwm)
|
||||
if (masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED)
|
||||
pwm_params.idlePulse = 0; // brushed motors
|
||||
#ifdef CC3D
|
||||
pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
|
||||
|
|
@ -337,6 +332,7 @@ void init(void)
|
|||
|
||||
pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
|
||||
|
||||
syncMotors(pwm_params.motorPwmRate == 0 && pwm_params.motorPwmRate != PWM_TYPE_BRUSHED);
|
||||
mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
|
||||
|
||||
if (!feature(FEATURE_ONESHOT125))
|
||||
|
|
@ -346,31 +342,29 @@ void init(void)
|
|||
|
||||
#ifdef BEEPER
|
||||
beeperConfig_t beeperConfig = {
|
||||
.gpioPeripheral = BEEP_PERIPHERAL,
|
||||
.gpioPin = BEEP_PIN,
|
||||
.gpioPort = BEEP_GPIO,
|
||||
.ioTag = IO_TAG(BEEPER),
|
||||
#ifdef BEEPER_INVERTED
|
||||
.gpioMode = Mode_Out_PP,
|
||||
.isOD = false,
|
||||
.isInverted = true
|
||||
#else
|
||||
.gpioMode = Mode_Out_OD,
|
||||
.isOD = true,
|
||||
.isInverted = false
|
||||
#endif
|
||||
};
|
||||
#ifdef AFROMINI
|
||||
beeperConfig.gpioMode = Mode_Out_PP; // AFROMINI override
|
||||
beeperConfig.isOD = true;
|
||||
beeperConfig.isInverted = true;
|
||||
#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.isOD = true;
|
||||
beeperConfig.isInverted = true;
|
||||
}
|
||||
#endif
|
||||
#ifdef CC3D
|
||||
if (masterConfig.use_buzzer_p6 == 1)
|
||||
beeperConfig.gpioPin = Pin_2;
|
||||
beeperConfig.ioTag = IO_TAG(BEEPER_OPT);
|
||||
#endif
|
||||
|
||||
beeperInit(&beeperConfig);
|
||||
|
|
@ -384,18 +378,20 @@ void init(void)
|
|||
bstInit(BST_DEVICE);
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#ifdef USE_SPI
|
||||
spiInit(SPI1);
|
||||
spiInit(SPI2);
|
||||
#ifdef STM32F303xC
|
||||
#ifdef USE_SPI_DEVICE_1
|
||||
spiInit(SPIDEV_1);
|
||||
#endif
|
||||
#ifdef USE_SPI_DEVICE_2
|
||||
spiInit(SPIDEV_2);
|
||||
#endif
|
||||
#ifdef USE_SPI_DEVICE_3
|
||||
#ifdef ALIENFLIGHTF3
|
||||
if (hardwareRevision == AFF3_REV_2) {
|
||||
spiInit(SPI3);
|
||||
spiInit(SPIDEV_3);
|
||||
}
|
||||
#else
|
||||
spiInit(SPI3);
|
||||
spiInit(SPIDEV_3);
|
||||
#endif
|
||||
#endif
|
||||
#endif
|
||||
|
|
@ -428,12 +424,6 @@ void init(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
#if defined(FURYF3) && 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) {
|
||||
|
|
@ -485,7 +475,13 @@ void init(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, masterConfig.mag_declination, masterConfig.gyro_lpf, masterConfig.gyro_sync_denom)) {
|
||||
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,
|
||||
masterConfig.acc_hardware,
|
||||
masterConfig.mag_hardware,
|
||||
masterConfig.baro_hardware,
|
||||
masterConfig.mag_declination,
|
||||
masterConfig.gyro_lpf,
|
||||
masterConfig.gyro_sync_denom)) {
|
||||
// if gyro was not detected due to whatever reason, we give up now.
|
||||
failureMode(FAILURE_MISSING_ACC);
|
||||
}
|
||||
|
|
@ -494,6 +490,8 @@ void init(void)
|
|||
|
||||
LED1_ON;
|
||||
LED0_OFF;
|
||||
LED2_OFF;
|
||||
|
||||
for (i = 0; i < 10; i++) {
|
||||
LED1_TOGGLE;
|
||||
LED0_TOGGLE;
|
||||
|
|
@ -678,7 +676,8 @@ void processLoopback(void) {
|
|||
#define processLoopback()
|
||||
#endif
|
||||
|
||||
void main_init(void) {
|
||||
void main_init(void)
|
||||
{
|
||||
init();
|
||||
|
||||
/* Setup scheduler */
|
||||
|
|
@ -782,7 +781,8 @@ int main(void)
|
|||
* cause of the fault.
|
||||
* The function ends with a BKPT instruction to force control back into the debugger
|
||||
*/
|
||||
void hard_fault_handler_c(unsigned long *hardfault_args){
|
||||
void hard_fault_handler_c(unsigned long *hardfault_args)
|
||||
{
|
||||
volatile unsigned long stacked_r0 ;
|
||||
volatile unsigned long stacked_r1 ;
|
||||
volatile unsigned long stacked_r2 ;
|
||||
|
|
@ -833,6 +833,8 @@ void hard_fault_handler_c(unsigned long *hardfault_args){
|
|||
#else
|
||||
void HardFault_Handler(void)
|
||||
{
|
||||
LED2_ON;
|
||||
|
||||
// fall out of the sky
|
||||
uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
|
||||
if ((systemState & requiredStateForMotors) == requiredStateForMotors) {
|
||||
|
|
@ -846,6 +848,14 @@ void HardFault_Handler(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
while (1);
|
||||
LED1_OFF;
|
||||
LED0_OFF;
|
||||
|
||||
while (1) {
|
||||
#ifdef LED2
|
||||
delay(50);
|
||||
LED2_TOGGLE;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue