Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00
Code Issues Wiki Activity

Merge remote-tracking branch 'upstream/master' into blackbox-flash

Browse source
This commit is contained in:
Nicholas Sherlock 2015-02-15 01:54:50 +13:00
commit acd4745a4e
65 changed files with 982 additions and 485 deletions
Download patch file Download diff file Expand all files Collapse all files

46
src/main/main.c
View file

@ -25,6 +25,8 @@
#include "common/axis.h"
#include "common/color.h"
#include "common/atomic.h"
#include "common/maths.h"
#include "drivers/nvic.h"
#include "drivers/sensor.h"
@ -46,31 +48,36 @@
#include "drivers/inverter.h"
#include "drivers/flash_m25p16.h"
#include "flight/flight.h"
#include "flight/mixer.h"
#include "rx/rx.h"
#include "io/serial.h"
#include "io/flashfs.h"
#include "flight/failsafe.h"
#include "flight/navigation.h"
#include "rx/rx.h"
#include "io/gps.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "io/gimbal.h"
#include "io/ledstrip.h"
#include "io/display.h"
#include "sensors/sensors.h"
#include "sensors/sonar.h"
#include "sensors/barometer.h"
#include "sensors/compass.h"
#include "sensors/acceleration.h"
#include "sensors/gyro.h"
#include "telemetry/telemetry.h"
#include "blackbox/blackbox.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "telemetry/telemetry.h"
#include "blackbox/blackbox.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/failsafe.h"
#include "flight/navigation.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "config/config_profile.h"
@ -93,9 +100,9 @@ serialPort_t *loopbackPort;
failsafe_t *failsafe;
void initPrintfSupport(void);
void printfSupportInit(void);
void timerInit(void);
void initTelemetry(void);
void telemetryInit(void);
void serialInit(serialConfig_t *initialSerialConfig);
failsafe_t* failsafeInit(rxConfig_t *intialRxConfig);
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init);
@ -106,7 +113,7 @@ void beepcodeInit(failsafe_t *initialFailsafe);
void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int8_t magHardwareToUse, int16_t magDeclinationFromConfig);
void initIMU(void);
void imuInit(void);
void displayInit(rxConfig_t *intialRxConfig);
void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse, failsafe_t* failsafeToUse);
void loop(void);
@ -127,7 +134,7 @@ void init(void)
drv_pwm_config_t pwm_params;
bool sensorsOK = false;
initPrintfSupport();
printfSupportInit();
initEEPROM();
@ -176,11 +183,16 @@ void init(void)
#ifdef BEEPER
beeperConfig_t beeperConfig = {
.gpioMode = Mode_Out_OD,
.gpioPin = BEEP_PIN,
.gpioPort = BEEP_GPIO,
.gpioPeripheral = BEEP_PERIPHERAL,
#ifdef BEEPER_INVERTED
.gpioMode = Mode_Out_PP,
.isInverted = true
#else
.gpioMode = Mode_Out_OD,
.isInverted = false
#endif
};
#ifdef NAZE
if (hardwareRevision >= NAZE32_REV5) {
@ -269,7 +281,8 @@ void init(void)
LED0_OFF;
LED1_OFF;
initIMU();
imuInit();
mixerInit(masterConfig.mixerMode, masterConfig.customMixer);
#ifdef MAG
@ -285,7 +298,7 @@ void init(void)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
#if defined(SERIAL_PORT_USART2) && defined(STM32F10X)
#if defined(USE_USART2) && defined(STM32F10X)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
#endif
pwm_params.useVbat = feature(FEATURE_VBAT);
@ -348,7 +361,7 @@ void init(void)
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY))
initTelemetry();
telemetryInit();
#endif
#ifdef USE_FLASHFS
@ -391,8 +404,7 @@ void init(void)
// Now that everything has powered up the voltage and cell count be determined.
// Check battery type/voltage
if (feature(FEATURE_VBAT))
if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER))
batteryInit(&masterConfig.batteryConfig);
#ifdef DISPLAY