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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@393 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
dominicc1974@gmail.com
parent
929bbc8c3f
commit
4c191270bf
41 changed files with 2000 additions and 2000 deletions
274
src/main.c
274
src/main.c
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@ -1,19 +1,19 @@
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#include "board.h"
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#include "mw.h"
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#include "board.h"
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#include "mw.h"
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core_t core;
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extern rcReadRawDataPtr rcReadRawFunc;
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// two receiver read functions
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extern uint16_t pwmReadRawRC(uint8_t chan);
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extern rcReadRawDataPtr rcReadRawFunc;
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// two receiver read functions
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extern uint16_t pwmReadRawRC(uint8_t chan);
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extern uint16_t spektrumReadRawRC(uint8_t chan);
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#ifdef USE_LAME_PRINTF
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// gcc/GNU version
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static void _putc(void *p, char c)
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{
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uartWrite(core.mainport, c);
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// gcc/GNU version
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static void _putc(void *p, char c)
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{
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uartWrite(core.mainport, c);
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}
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#else
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// keil/armcc version
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@ -24,136 +24,136 @@ int fputc(int c, FILE *f)
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uartWrite(core.mainport, c);
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return c;
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}
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#endif
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int main(void)
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{
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uint8_t i;
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drv_pwm_config_t pwm_params;
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drv_adc_config_t adc_params;
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#endif
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int main(void)
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{
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uint8_t i;
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drv_pwm_config_t pwm_params;
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drv_adc_config_t adc_params;
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systemInit();
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#ifdef USE_LAME_PRINTF
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init_printf(NULL, _putc);
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#endif
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checkFirstTime(false);
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readEEPROM();
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// configure power ADC
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if (mcfg.power_adc_channel > 0 && (mcfg.power_adc_channel == 1 || mcfg.power_adc_channel == 9))
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adc_params.powerAdcChannel = mcfg.power_adc_channel;
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else {
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adc_params.powerAdcChannel = 0;
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mcfg.power_adc_channel = 0;
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}
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#endif
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checkFirstTime(false);
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readEEPROM();
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// configure power ADC
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if (mcfg.power_adc_channel > 0 && (mcfg.power_adc_channel == 1 || mcfg.power_adc_channel == 9))
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adc_params.powerAdcChannel = mcfg.power_adc_channel;
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else {
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adc_params.powerAdcChannel = 0;
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mcfg.power_adc_channel = 0;
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}
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adcInit(&adc_params);
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// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
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sensorsSet(SENSORS_SET);
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mixerInit(); // this will set core.useServo var depending on mixer type
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// when using airplane/wing mixer, servo/motor outputs are remapped
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if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING)
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pwm_params.airplane = true;
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else
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pwm_params.airplane = false;
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pwm_params.useUART = feature(FEATURE_GPS) || feature(FEATURE_SPEKTRUM); // spektrum support uses UART too
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pwm_params.usePPM = feature(FEATURE_PPM);
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pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum
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pwm_params.useServos = core.useServo;
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pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
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pwm_params.motorPwmRate = mcfg.motor_pwm_rate;
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sensorsSet(SENSORS_SET);
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mixerInit(); // this will set core.useServo var depending on mixer type
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// when using airplane/wing mixer, servo/motor outputs are remapped
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if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING)
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pwm_params.airplane = true;
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else
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pwm_params.airplane = false;
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pwm_params.useUART = feature(FEATURE_GPS) || feature(FEATURE_SPEKTRUM); // spektrum support uses UART too
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pwm_params.usePPM = feature(FEATURE_PPM);
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pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum
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pwm_params.useServos = core.useServo;
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pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
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pwm_params.motorPwmRate = mcfg.motor_pwm_rate;
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pwm_params.servoPwmRate = mcfg.servo_pwm_rate;
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pwm_params.failsafeThreshold = cfg.failsafe_detect_threshold;
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switch (mcfg.power_adc_channel) {
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case 1:
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pwm_params.adcChannel = PWM2;
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break;
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case 9:
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pwm_params.adcChannel = PWM8;
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break;
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default:
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pwm_params.adcChannel = 0;
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break;
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}
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pwmInit(&pwm_params);
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// configure PWM/CPPM read function. spektrum below will override that
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rcReadRawFunc = pwmReadRawRC;
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if (feature(FEATURE_SPEKTRUM)) {
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spektrumInit();
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rcReadRawFunc = spektrumReadRawRC;
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} else {
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// spektrum and GPS are mutually exclusive
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// Optional GPS - available in both PPM and PWM input mode, in PWM input, reduces number of available channels by 2.
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if (feature(FEATURE_GPS))
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gpsInit(mcfg.gps_baudrate);
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}
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#ifdef SONAR
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// sonar stuff only works with PPM
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if (feature(FEATURE_PPM)) {
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if (feature(FEATURE_SONAR))
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Sonar_init();
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}
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#endif
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LED1_ON;
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LED0_OFF;
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for (i = 0; i < 10; i++) {
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LED1_TOGGLE;
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LED0_TOGGLE;
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delay(25);
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BEEP_ON;
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delay(25);
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BEEP_OFF;
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}
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LED0_OFF;
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LED1_OFF;
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// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
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sensorsAutodetect();
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imuInit(); // Mag is initialized inside imuInit
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// Check battery type/voltage
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if (feature(FEATURE_VBAT))
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batteryInit();
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#ifdef SOFTSERIAL_19200_LOOPBACK
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serialInit(19200);
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setupSoftSerial1(19200);
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uartPrint(core.mainport, "LOOPBACK 19200 ENABLED");
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#else
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serialInit(mcfg.serial_baudrate);
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#endif
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previousTime = micros();
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if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
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calibratingA = 400;
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pwm_params.failsafeThreshold = cfg.failsafe_detect_threshold;
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switch (mcfg.power_adc_channel) {
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case 1:
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pwm_params.adcChannel = PWM2;
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break;
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case 9:
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pwm_params.adcChannel = PWM8;
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break;
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default:
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pwm_params.adcChannel = 0;
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break;
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}
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pwmInit(&pwm_params);
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// configure PWM/CPPM read function. spektrum below will override that
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rcReadRawFunc = pwmReadRawRC;
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if (feature(FEATURE_SPEKTRUM)) {
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spektrumInit();
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rcReadRawFunc = spektrumReadRawRC;
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} else {
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// spektrum and GPS are mutually exclusive
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// Optional GPS - available in both PPM and PWM input mode, in PWM input, reduces number of available channels by 2.
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if (feature(FEATURE_GPS))
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gpsInit(mcfg.gps_baudrate);
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}
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#ifdef SONAR
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// sonar stuff only works with PPM
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if (feature(FEATURE_PPM)) {
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if (feature(FEATURE_SONAR))
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Sonar_init();
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}
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#endif
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LED1_ON;
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LED0_OFF;
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for (i = 0; i < 10; i++) {
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LED1_TOGGLE;
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LED0_TOGGLE;
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delay(25);
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BEEP_ON;
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delay(25);
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BEEP_OFF;
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}
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LED0_OFF;
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LED1_OFF;
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// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
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sensorsAutodetect();
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imuInit(); // Mag is initialized inside imuInit
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// Check battery type/voltage
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if (feature(FEATURE_VBAT))
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batteryInit();
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#ifdef SOFTSERIAL_19200_LOOPBACK
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serialInit(19200);
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setupSoftSerial1(19200);
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uartPrint(core.mainport, "LOOPBACK 19200 ENABLED");
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#else
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serialInit(mcfg.serial_baudrate);
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#endif
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previousTime = micros();
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if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
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calibratingA = 400;
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calibratingG = 1000;
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calibratingB = 200; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
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f.SMALL_ANGLES_25 = 1;
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// loopy
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while (1) {
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loop();
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#ifdef SOFTSERIAL_19200_LOOPBACK
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while (serialAvailable(&softSerialPorts[0])) {
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uint8_t b = serialReadByte(&softSerialPorts[0]);
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uartWrite(core.mainport, b);
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};
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#endif
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}
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}
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void HardFault_Handler(void)
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{
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// fall out of the sky
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writeAllMotors(mcfg.mincommand);
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while (1);
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}
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f.SMALL_ANGLES_25 = 1;
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// loopy
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while (1) {
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loop();
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#ifdef SOFTSERIAL_19200_LOOPBACK
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while (serialAvailable(&softSerialPorts[0])) {
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uint8_t b = serialReadByte(&softSerialPorts[0]);
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uartWrite(core.mainport, b);
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};
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#endif
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}
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}
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void HardFault_Handler(void)
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{
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// fall out of the sky
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writeAllMotors(mcfg.mincommand);
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while (1);
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}
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