mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 00:35:39 +03:00
Cleanup project structure. Update unit test Makefile to place object
files in obj/test
This commit is contained in:
Dominic Clifton
parent
fb9e3a2358
commit
d19a5e7046
330 changed files with 657 additions and 638 deletions
252
src/main.c
252
src/main.c
|
|
@ -1,252 +0,0 @@
|
|||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "common/axis.h"
|
||||
|
||||
#include "drivers/system_common.h"
|
||||
#include "drivers/gpio_common.h"
|
||||
#include "drivers/light_led.h"
|
||||
#include "drivers/sound_beeper.h"
|
||||
#include "drivers/timer_common.h"
|
||||
#include "drivers/serial_common.h"
|
||||
#include "drivers/serial_softserial.h"
|
||||
#include "drivers/serial_uart_common.h"
|
||||
#include "drivers/accgyro_common.h"
|
||||
#include "drivers/pwm_mapping.h"
|
||||
#include "drivers/adc_common.h"
|
||||
|
||||
#include "flight_common.h"
|
||||
#include "flight_mixer.h"
|
||||
|
||||
#include "serial_common.h"
|
||||
#include "failsafe.h"
|
||||
|
||||
#include "gps_common.h"
|
||||
#include "escservo.h"
|
||||
#include "rc_controls.h"
|
||||
#include "rx_common.h"
|
||||
#include "gimbal.h"
|
||||
#include "sensors_common.h"
|
||||
#include "sensors_sonar.h"
|
||||
#include "sensors_barometer.h"
|
||||
#include "sensors_acceleration.h"
|
||||
#include "sensors_gyro.h"
|
||||
#include "telemetry_common.h"
|
||||
#include "battery.h"
|
||||
#include "boardalignment.h"
|
||||
#include "runtime_config.h"
|
||||
#include "config.h"
|
||||
#include "config_profile.h"
|
||||
#include "config_master.h"
|
||||
|
||||
#include "build_config.h"
|
||||
|
||||
extern rcReadRawDataPtr rcReadRawFunc;
|
||||
|
||||
extern uint32_t previousTime;
|
||||
|
||||
#ifdef SOFTSERIAL_LOOPBACK
|
||||
serialPort_t *loopbackPort;
|
||||
#endif
|
||||
|
||||
failsafe_t *failsafe;
|
||||
|
||||
void initPrintfSupport(void);
|
||||
void timerInit(void);
|
||||
void initTelemetry(void);
|
||||
void serialInit(serialConfig_t *initialSerialConfig);
|
||||
failsafe_t* failsafeInit(rxConfig_t *intialRxConfig);
|
||||
void pwmInit(drv_pwm_config_t *init);
|
||||
void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
|
||||
void buzzerInit(failsafe_t *initialFailsafe);
|
||||
void gpsInit(serialConfig_t *serialConfig, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
|
||||
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig);
|
||||
void imuInit(void);
|
||||
|
||||
void loop(void);
|
||||
|
||||
// FIXME bad naming - this appears to be for some new board that hasn't been made available yet.
|
||||
#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
|
||||
|
||||
void init(void)
|
||||
{
|
||||
uint8_t i;
|
||||
drv_pwm_config_t pwm_params;
|
||||
drv_adc_config_t adc_params;
|
||||
bool sensorsOK = false;
|
||||
|
||||
initPrintfSupport();
|
||||
|
||||
ensureEEPROMContainsValidData();
|
||||
readEEPROM();
|
||||
|
||||
systemInit(masterConfig.emf_avoidance);
|
||||
|
||||
adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
|
||||
adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
|
||||
|
||||
adcInit(&adc_params);
|
||||
|
||||
// Check battery type/voltage
|
||||
if (feature(FEATURE_VBAT))
|
||||
batteryInit(&masterConfig.batteryConfig);
|
||||
|
||||
initBoardAlignment(&masterConfig.boardAlignment);
|
||||
|
||||
// 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.
|
||||
sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, currentProfile.mag_declination);
|
||||
|
||||
// production debug output
|
||||
#ifdef PROD_DEBUG
|
||||
productionDebug();
|
||||
#endif
|
||||
|
||||
// if gyro was not detected due to whatever reason, we give up now.
|
||||
if (!sensorsOK)
|
||||
failureMode(3);
|
||||
|
||||
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;
|
||||
|
||||
imuInit(); // Mag is initialized inside imuInit
|
||||
mixerInit(masterConfig.mixerConfiguration, masterConfig.customMixer);
|
||||
|
||||
timerInit();
|
||||
|
||||
serialInit(&masterConfig.serialConfig);
|
||||
|
||||
// when using airplane/wing mixer, servo/motor outputs are remapped
|
||||
if (masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE || masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING)
|
||||
pwm_params.airplane = true;
|
||||
else
|
||||
pwm_params.airplane = false;
|
||||
|
||||
#ifdef STM32F10X_MD
|
||||
pwm_params.useUART2 = doesConfigurationUsePort(&masterConfig.serialConfig, SERIAL_PORT_USART2);
|
||||
#endif
|
||||
|
||||
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
|
||||
pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
|
||||
pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
|
||||
pwm_params.usePPM = feature(FEATURE_RX_PPM);
|
||||
pwm_params.useServos = isMixerUsingServos();
|
||||
pwm_params.extraServos = currentProfile.gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
|
||||
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
|
||||
pwm_params.servoPwmRate = masterConfig.servo_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.rxConfig.midrc;
|
||||
|
||||
pwmInit(&pwm_params);
|
||||
|
||||
failsafe = failsafeInit(&masterConfig.rxConfig);
|
||||
buzzerInit(failsafe);
|
||||
rxInit(&masterConfig.rxConfig, failsafe);
|
||||
|
||||
if (feature(FEATURE_GPS)) {
|
||||
gpsInit(
|
||||
&masterConfig.serialConfig,
|
||||
masterConfig.gps_provider,
|
||||
¤tProfile.gpsProfile,
|
||||
¤tProfile.pidProfile
|
||||
);
|
||||
}
|
||||
|
||||
#ifdef SONAR
|
||||
if (feature(FEATURE_SONAR)) {
|
||||
Sonar_init();
|
||||
}
|
||||
#endif
|
||||
|
||||
if (feature(FEATURE_TELEMETRY))
|
||||
initTelemetry();
|
||||
|
||||
previousTime = micros();
|
||||
|
||||
if (masterConfig.mixerConfiguration == MULTITYPE_GIMBAL) {
|
||||
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
|
||||
}
|
||||
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
|
||||
#ifdef BARO
|
||||
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
|
||||
#endif
|
||||
|
||||
f.SMALL_ANGLE = 1;
|
||||
f.PREVENT_ARMING = 0;
|
||||
|
||||
#ifdef SOFTSERIAL_LOOPBACK
|
||||
// FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
|
||||
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
|
||||
if (!loopbackPort->vTable) {
|
||||
loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
|
||||
}
|
||||
serialPrint(loopbackPort, "LOOPBACK\r\n");
|
||||
#endif
|
||||
}
|
||||
|
||||
#ifdef SOFTSERIAL_LOOPBACK
|
||||
void processLoopback(void) {
|
||||
if (loopbackPort) {
|
||||
uint8_t bytesWaiting;
|
||||
while ((bytesWaiting = serialTotalBytesWaiting(loopbackPort))) {
|
||||
uint8_t b = serialRead(loopbackPort);
|
||||
serialWrite(loopbackPort, b);
|
||||
};
|
||||
}
|
||||
}
|
||||
#else
|
||||
#define processLoopback()
|
||||
#endif
|
||||
|
||||
int main(void) {
|
||||
init();
|
||||
|
||||
while (1) {
|
||||
loop();
|
||||
processLoopback();
|
||||
}
|
||||
}
|
||||
|
||||
void HardFault_Handler(void)
|
||||
{
|
||||
// fall out of the sky
|
||||
writeAllMotors(masterConfig.escAndServoConfig.mincommand);
|
||||
while (1);
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue