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Merge remote-tracking branch 'upstream/master' into cc3d

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This commit is contained in:
Nicholas Sherlock 2015-02-28 00:19:03 +13:00
commit af68517dda
20 changed files with 266 additions and 74 deletions
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33
src/main/main.c
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@ -127,11 +127,20 @@ void SetSysClock(void);
void SetSysClock(bool overclock);
#endif
typedef enum {
SYSTEM_STATE_INITIALISING = 0,
SYSTEM_STATE_CONFIG_LOADED = (1 << 0),
SYSTEM_STATE_SENSORS_READY = (1 << 1),
SYSTEM_STATE_MOTORS_READY = (1 << 2),
SYSTEM_STATE_READY = (1 << 7)
} systemState_e;
static uint8_t systemState = SYSTEM_STATE_INITIALISING;
void init(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
bool sensorsOK = false;
printfSupportInit();
@ -140,6 +149,8 @@ void init(void)
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
#ifdef STM32F303
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
@ -222,6 +233,8 @@ void init(void)
mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef BEEPER
beeperConfig_t beeperConfig = {
.gpioPin = BEEP_PIN,
@ -300,11 +313,12 @@ void init(void)
}
#endif
sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination);
// if gyro was not detected due to whatever reason, we give up now.
if (!sensorsOK)
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination)) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(3);
}
systemState |= SYSTEM_STATE_SENSORS_READY;
LED1_ON;
LED0_OFF;
@ -329,7 +343,9 @@ void init(void)
serialInit(&masterConfig.serialConfig);
failsafe = failsafeInit(&masterConfig.rxConfig);
beepcodeInit(failsafe);
rxInit(&masterConfig.rxConfig, failsafe);
#ifdef GPS
@ -425,6 +441,8 @@ void init(void)
#ifdef CJMCU
LED2_ON;
#endif
systemState |= SYSTEM_STATE_READY;
}
#ifdef SOFTSERIAL_LOOPBACK
@ -453,6 +471,9 @@ int main(void) {
void HardFault_Handler(void)
{
// fall out of the sky
writeAllMotors(masterConfig.escAndServoConfig.mincommand);
uint8_t requiredState = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
if ((systemState & requiredState) == requiredState) {
stopMotors();
}
while (1);
}