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merge upstream into sirinfpv branch

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This commit is contained in:
Evgeny Sychov 2016-06-06 21:05:49 -07:00
commit a1a71d68ac
82 changed files with 5241 additions and 1372 deletions
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76
src/main/main.c
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@ -33,6 +33,7 @@
#include "drivers/sensor.h"
#include "drivers/system.h"
#include "drivers/dma.h"
#include "drivers/gpio.h"
#include "drivers/light_led.h"
#include "drivers/sound_beeper.h"
@ -52,9 +53,9 @@
#include "drivers/flash_m25p16.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/gyro_sync.h"
#include "drivers/sdcard.h"
#include "drivers/usb_io.h"
#include "drivers/transponder_ir.h"
#include "drivers/sdcard.h"
#include "rx/rx.h"
@ -131,9 +132,7 @@ void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse);
void spektrumBind(rxConfig_t *rxConfig);
const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig);
void sonarInit(const sonarHardware_t *sonarHardware);
void transponderInit(uint8_t* transponderCode);
void osdInit(void);
//void usbCableDetectInit(void);
#ifdef STM32F303xC
// from system_stm32f30x.c
@ -258,6 +257,8 @@ void init(void)
timerInit(); // timer must be initialized before any channel is allocated
dmaInit();
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL));
#ifdef USE_SERVOS
@ -542,12 +543,10 @@ void init(void)
}
#endif
/* TODO - Fix in the future
#ifdef USB_CABLE_DETECTION
usbCableDetectInit();
#endif
#ifdef TRANSPONDER
if (feature(FEATURE_TRANSPONDER)) {
transponderInit(masterConfig.transponderData);
@ -556,7 +555,6 @@ void init(void)
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
}
#endif
*/
#ifdef USE_FLASHFS
#ifdef NAZE
@ -708,6 +706,10 @@ int main(void) {
#endif
#ifdef MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#ifdef SPRACINGF3EVO
// fixme temporary solution for AK6983 via slave I2C on MPU9250
rescheduleTask(TASK_COMPASS, 1000000 / 40);
#endif
#endif
#ifdef BARO
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
@ -736,7 +738,6 @@ int main(void) {
setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
#endif
#ifdef USE_BST
setTaskEnabled(TASK_BST_READ_WRITE, true);
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
@ -746,6 +747,66 @@ int main(void) {
}
}
#ifdef DEBUG_HARDFAULTS
//from: https://mcuoneclipse.com/2012/11/24/debugging-hard-faults-on-arm-cortex-m/
/**
* hard_fault_handler_c:
* This is called from the HardFault_HandlerAsm with a pointer the Fault stack
* as the parameter. We can then read the values from the stack and place them
* into local variables for ease of reading.
* We then read the various Fault Status and Address Registers to help decode
* 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){
volatile unsigned long stacked_r0 ;
volatile unsigned long stacked_r1 ;
volatile unsigned long stacked_r2 ;
volatile unsigned long stacked_r3 ;
volatile unsigned long stacked_r12 ;
volatile unsigned long stacked_lr ;
volatile unsigned long stacked_pc ;
volatile unsigned long stacked_psr ;
volatile unsigned long _CFSR ;
volatile unsigned long _HFSR ;
volatile unsigned long _DFSR ;
volatile unsigned long _AFSR ;
volatile unsigned long _BFAR ;
volatile unsigned long _MMAR ;
stacked_r0 = ((unsigned long)hardfault_args[0]) ;
stacked_r1 = ((unsigned long)hardfault_args[1]) ;
stacked_r2 = ((unsigned long)hardfault_args[2]) ;
stacked_r3 = ((unsigned long)hardfault_args[3]) ;
stacked_r12 = ((unsigned long)hardfault_args[4]) ;
stacked_lr = ((unsigned long)hardfault_args[5]) ;
stacked_pc = ((unsigned long)hardfault_args[6]) ;
stacked_psr = ((unsigned long)hardfault_args[7]) ;
// Configurable Fault Status Register
// Consists of MMSR, BFSR and UFSR
_CFSR = (*((volatile unsigned long *)(0xE000ED28))) ;
// Hard Fault Status Register
_HFSR = (*((volatile unsigned long *)(0xE000ED2C))) ;
// Debug Fault Status Register
_DFSR = (*((volatile unsigned long *)(0xE000ED30))) ;
// Auxiliary Fault Status Register
_AFSR = (*((volatile unsigned long *)(0xE000ED3C))) ;
// Read the Fault Address Registers. These may not contain valid values.
// Check BFARVALID/MMARVALID to see if they are valid values
// MemManage Fault Address Register
_MMAR = (*((volatile unsigned long *)(0xE000ED34))) ;
// Bus Fault Address Register
_BFAR = (*((volatile unsigned long *)(0xE000ED38))) ;
__asm("BKPT #0\n") ; // Break into the debugger
}
#else
void HardFault_Handler(void)
{
// fall out of the sky
@ -763,3 +824,4 @@ void HardFault_Handler(void)
while (1);
}
#endif