moved some of init logic around to get sensors + other important hardware checked first; added dummy implementation of production test for future use, outputting debug info over PB6 (USART1_TX remap)

src/board.h

@@ -239,6 +239,7 @@ typedef struct baro_t
 #define LED1
 
 #define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
+// #define PROD_DEBUG
 
 #endif
 #endif

src/main.c

@@ -36,6 +36,7 @@ int main(void)
     serialPort_t* loopbackPort1 = NULL;
     serialPort_t* loopbackPort2 = NULL;
 #endif
+
     checkFirstTime(false);
     readEEPROM();
     systemInit(mcfg.emf_avoidance);
@@ -54,12 +55,25 @@ int main(void)
     }
 
     adcInit(&adc_params);
+    // Check battery type/voltage
+    if (feature(FEATURE_VBAT))
+        batteryInit();
     initBoardAlignment();
 
     // We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
     sensorsSet(SENSORS_SET);
-
+    // drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
+    sensorsAutodetect();
+    imuInit(); // Mag is initialized inside imuInit
     mixerInit(); // this will set core.useServo var depending on mixer type
+
+    // production debug output
+#ifdef PROD_DEBUG
+    productionDebug();
+#endif
+
+    serialInit(mcfg.serial_baudrate);
+
     // when using airplane/wing mixer, servo/motor outputs are remapped
     if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING)
         pwm_params.airplane = true;
@@ -129,29 +143,6 @@ int main(void)
     }
 #endif
 
-    LED1_ON;
-    LED0_OFF;
-    for (i = 0; i < 10; i++) {
-        LED1_TOGGLE;
-        LED0_TOGGLE;
-        delay(25);
-        BEEP_ON;
-        delay(25);
-        BEEP_OFF;
-    }
-    LED0_OFF;
-    LED1_OFF;
-
-    // drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
-    sensorsAutodetect();
-    imuInit(); // Mag is initialized inside imuInit
-
-    // Check battery type/voltage
-    if (feature(FEATURE_VBAT))
-        batteryInit();
-
-    serialInit(mcfg.serial_baudrate);
-
     if (feature(FEATURE_SOFTSERIAL)) {
         //mcfg.softserial_baudrate = 19200; // Uncomment to override config value
 
@@ -178,6 +169,19 @@ int main(void)
     calibratingB = CALIBRATING_BARO_CYCLES;             // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
     f.SMALL_ANGLE = 1;
 
+    LED1_ON;
+    LED0_OFF;
+    for (i = 0; i < 10; i++) {
+        LED1_TOGGLE;
+        LED0_TOGGLE;
+        delay(25);
+        BEEP_ON;
+        delay(25);
+        BEEP_OFF;
+    }
+    LED0_OFF;
+    LED1_OFF;
+
     // loopy
     while (1) {
         loop();

src/utils.c

@@ -119,3 +119,24 @@ void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation)
     if (!standardBoardAlignment)
         alignBoard(dest);
 }
+
+#ifdef PROD_DEBUG
+void productionDebug(void)
+{
+    gpio_config_t gpio;
+
+    // remap PB6 to USART1_TX
+    gpio.pin = Pin_6;
+    gpio.mode = Mode_AF_PP;
+    gpio.speed = Speed_2MHz;
+    gpioInit(GPIOB, &gpio);
+    gpioPinRemapConfig(AFIO_MAPR_USART1_REMAP, true);
+    serialInit(mcfg.serial_baudrate);
+    delay(25);
+    serialPrint(core.mainport, "DBG ");
+    printf("%08x%08x%08x OK\n", U_ID_0, U_ID_1, U_ID_2);
+    serialPrint(core.mainport, "EOF");
+    delay(25);
+    gpioPinRemapConfig(AFIO_MAPR_USART1_REMAP, false);
+}
+#endif

src/utils.h

@@ -4,3 +4,4 @@ int constrain(int amt, int low, int high);
 // sensor orientation
 void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation);
 void initBoardAlignment(void);
+void productionDebug(void);