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Merge branch 'master' into serial-cleanup

Browse source 
Conflicts:
	src/main/blackbox/blackbox_io.c
	src/main/config/config.c
This commit is contained in:
Dominic Clifton 2015-02-26 22:43:29 +00:00
commit b6509dd1eb
60 changed files with 2471 additions and 386 deletions
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58
src/main/main.c
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@ -46,10 +46,12 @@
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/inverter.h"
#include "drivers/flash_m25p16.h"
#include "rx/rx.h"
#include "io/serial.h"
#include "io/flashfs.h"
#include "io/gps.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
@ -127,11 +129,20 @@ 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 +151,8 @@ void init(void)
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
#ifdef STM32F303
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
@ -199,18 +212,22 @@ void init(void)
&& masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
pwm_params.usePPM = feature(FEATURE_RX_PPM);
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
#ifdef USE_SERVOS
pwm_params.useServos = isMixerUsingServos();
pwm_params.extraServos = currentProfile->gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC (default, overridden below)
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
pwmRxInit(masterConfig.inputFilteringMode);
@ -218,6 +235,8 @@ void init(void)
mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef BEEPER
beeperConfig_t beeperConfig = {
.gpioPin = BEEP_PIN,
@ -296,11 +315,12 @@ 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;
@ -328,7 +348,9 @@ void init(void)
cliInit(&masterConfig.serialConfig);
failsafe = failsafeInit(&masterConfig.rxConfig);
beepcodeInit(failsafe);
rxInit(&masterConfig.rxConfig, failsafe);
#ifdef GPS
@ -364,6 +386,18 @@ void init(void)
}
#endif
#ifdef USE_FLASHFS
#ifdef NAZE
if (hardwareRevision == NAZE32_REV5) {
m25p16_init();
}
#endif
#ifdef SPRACINGF3
m25p16_init();
#endif
flashfsInit();
#endif
#ifdef BLACKBOX
initBlackbox();
#endif
@ -404,6 +438,7 @@ void init(void)
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
displayShowFixedPage(PAGE_GPS);
#else
displayResetPageCycling();
displayEnablePageCycling();
#endif
}
@ -412,6 +447,8 @@ void init(void)
#ifdef CJMCU
LED2_ON;
#endif
systemState |= SYSTEM_STATE_READY;
}
#ifdef SOFTSERIAL_LOOPBACK
@ -440,6 +477,9 @@ 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);
}