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STM32F4: Main, Sensors, io

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This commit is contained in:
blckmn 2016-06-08 05:36:46 +10:00
parent de2c382ba9
commit 96757c18a2
6 changed files with 79 additions and 21 deletions
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64
src/main/main.c
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@ -135,13 +135,11 @@ void spektrumBind(rxConfig_t *rxConfig);
const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig);
void sonarInit(const sonarHardware_t *sonarHardware);
#ifdef STM32F303xC
// from system_stm32f30x.c
void SetSysClock(void);
#endif
#ifdef STM32F10X
// from system_stm32f10x.c
void SetSysClock(bool overclock);
#else
void SetSysClock(void);
#endif
typedef enum {
@ -169,19 +167,20 @@ void init(void)
systemState |= SYSTEM_STATE_CONFIG_LOADED;
#ifdef STM32F303
#ifdef STM32F3
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
#endif
#ifdef STM32F303xC
SetSysClock();
#endif
#ifdef STM32F10X
#ifdef STM32F1
// 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
#ifdef STM32F4
SetSysClock();
#endif
//i2cSetOverclock(masterConfig.i2c_overclock);
systemInit();
@ -198,19 +197,21 @@ void init(void)
// initialize IO (needed for all IO operations)
IOInitGlobal();
#ifdef USE_EXTI
EXTIInit();
#endif
#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 = {
@ -302,6 +303,12 @@ 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);
@ -431,7 +438,6 @@ void init(void)
}
#endif
#ifdef USE_I2C
#if defined(NAZE)
if (hardwareRevision != NAZE32_SP) {
@ -477,7 +483,13 @@ 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);
}
@ -486,6 +498,8 @@ void init(void)
LED1_ON;
LED0_OFF;
LED2_OFF;
for (i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
@ -670,7 +684,8 @@ void processLoopback(void) {
#define processLoopback()
#endif
void main_init(void) {
void main_init(void)
{
init();
/* Setup scheduler */
@ -771,7 +786,8 @@ 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 ;
@ -822,6 +838,8 @@ 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) {
@ -835,6 +853,14 @@ void HardFault_Handler(void)
}
#endif
while (1);
LED1_OFF;
LED0_OFF;
while (1) {
#ifdef LED2
delay(50);
LED2_TOGGLE;
#endif
}
}
#endif