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Merge branch 'master' into patch_v3.1.6
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borisbstyle
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commit
de3d1d527d
197 changed files with 4476 additions and 4008 deletions
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@ -28,6 +28,12 @@
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#include "common/maths.h"
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#include "common/printf.h"
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#include "config/config_eeprom.h"
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#include "config/config_profile.h"
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#include "config/feature.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "cms/cms.h"
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#include "cms/cms_types.h"
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@ -96,29 +102,26 @@
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#include "scheduler/scheduler.h"
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#include "sensors/sensors.h"
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#include "sensors/sonar.h"
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#include "sensors/barometer.h"
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#include "sensors/compass.h"
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#include "sensors/acceleration.h"
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#include "sensors/gyro.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "sensors/boardalignment.h"
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#include "sensors/compass.h"
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#include "sensors/esc_sensor.h"
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#include "sensors/gyro.h"
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#include "sensors/initialisation.h"
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#include "sensors/sensors.h"
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#include "sensors/sonar.h"
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#include "telemetry/telemetry.h"
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#include "sensors/esc_sensor.h"
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#include "flight/pid.h"
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#include "flight/failsafe.h"
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#include "flight/imu.h"
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#include "flight/mixer.h"
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#include "flight/failsafe.h"
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#include "flight/navigation.h"
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#include "flight/pid.h"
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#include "flight/servos.h"
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#include "config/config_eeprom.h"
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#include "config/config_profile.h"
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#include "config/config_master.h"
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#include "config/feature.h"
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#ifdef USE_HARDWARE_REVISION_DETECTION
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#include "hardware_revision.h"
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@ -186,7 +189,7 @@ void init(void)
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//i2cSetOverclock(masterConfig.i2c_overclock);
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debugMode = masterConfig.debug_mode;
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debugMode = systemConfig()->debug_mode;
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// Latch active features to be used for feature() in the remainder of init().
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latchActiveFeatures();
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@ -241,13 +244,13 @@ void init(void)
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#ifdef SPEKTRUM_BIND
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if (feature(FEATURE_RX_SERIAL)) {
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switch (rxConfig()->serialrx_provider) {
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case SERIALRX_SPEKTRUM1024:
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case SERIALRX_SPEKTRUM2048:
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// Spektrum satellite binding if enabled on startup.
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// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
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// The rest of Spektrum initialization will happen later - via spektrumInit()
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spektrumBind(rxConfig());
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break;
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case SERIALRX_SPEKTRUM1024:
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case SERIALRX_SPEKTRUM2048:
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// Spektrum satellite binding if enabled on startup.
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// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
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// The rest of Spektrum initialization will happen later - via spektrumInit()
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spektrumBind(rxConfigMutable());
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break;
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}
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}
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#endif
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@ -257,21 +260,21 @@ void init(void)
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timerInit(); // timer must be initialized before any channel is allocated
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#if defined(AVOID_UART1_FOR_PWM_PPM)
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serialInit(serialConfig(), feature(FEATURE_SOFTSERIAL),
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serialInit(feature(FEATURE_SOFTSERIAL),
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feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
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#elif defined(AVOID_UART2_FOR_PWM_PPM)
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serialInit(serialConfig(), feature(FEATURE_SOFTSERIAL),
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serialInit(feature(FEATURE_SOFTSERIAL),
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feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
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#elif defined(AVOID_UART3_FOR_PWM_PPM)
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serialInit(serialConfig(), feature(FEATURE_SOFTSERIAL),
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serialInit(feature(FEATURE_SOFTSERIAL),
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feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
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#else
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serialInit(serialConfig(), feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
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serialInit(feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
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#endif
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mixerInit(mixerConfig()->mixerMode, masterConfig.customMotorMixer);
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mixerInit(mixerConfig()->mixerMode);
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#ifdef USE_SERVOS
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servoMixerInit(masterConfig.customServoMixer);
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servosInit();
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#endif
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uint16_t idlePulse = motorConfig()->mincommand;
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@ -279,25 +282,25 @@ void init(void)
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idlePulse = flight3DConfig()->neutral3d;
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}
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if (motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) {
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if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
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featureClear(FEATURE_3D);
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idlePulse = 0; // brushed motors
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}
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mixerConfigureOutput();
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motorInit(motorConfig(), idlePulse, getMotorCount());
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motorDevInit(&motorConfig()->dev, idlePulse, getMotorCount());
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#ifdef USE_SERVOS
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servoConfigureOutput();
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if (isMixerUsingServos()) {
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//pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
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servoInit(servoConfig());
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servoDevInit(&servoConfig()->dev);
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}
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#endif
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#if defined(USE_PWM) || defined(USE_PPM)
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if (feature(FEATURE_RX_PPM)) {
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ppmRxInit(ppmConfig(), motorConfig()->motorPwmProtocol);
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ppmRxInit(ppmConfig(), motorConfig()->dev.motorPwmProtocol);
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} else if (feature(FEATURE_RX_PARALLEL_PWM)) {
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pwmRxInit(pwmConfig());
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}
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@ -306,7 +309,7 @@ void init(void)
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systemState |= SYSTEM_STATE_MOTORS_READY;
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#ifdef BEEPER
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beeperInit(beeperConfig());
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beeperInit(beeperDevConfig());
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#endif
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/* temp until PGs are implemented. */
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#ifdef USE_INVERTER
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@ -362,9 +365,9 @@ void init(void)
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#ifdef USE_ADC
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/* these can be removed from features! */
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adcConfig()->vbat.enabled = feature(FEATURE_VBAT);
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adcConfig()->currentMeter.enabled = feature(FEATURE_CURRENT_METER);
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adcConfig()->rssi.enabled = feature(FEATURE_RSSI_ADC);
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adcConfigMutable()->vbat.enabled = feature(FEATURE_VBAT);
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adcConfigMutable()->currentMeter.enabled = feature(FEATURE_CURRENT_METER);
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adcConfigMutable()->rssi.enabled = feature(FEATURE_RSSI_ADC);
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adcInit(adcConfig());
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#endif
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@ -376,7 +379,7 @@ void init(void)
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#ifdef USE_DASHBOARD
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if (feature(FEATURE_DASHBOARD)) {
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dashboardInit(rxConfig());
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dashboardInit();
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}
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#endif
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@ -393,7 +396,7 @@ void init(void)
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if (feature(FEATURE_OSD)) {
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#ifdef USE_MAX7456
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// if there is a max7456 chip for the OSD then use it, otherwise use MSP
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displayPort_t *osdDisplayPort = max7456DisplayPortInit(vcdProfile(), displayPortProfileMax7456());
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displayPort_t *osdDisplayPort = max7456DisplayPortInit(vcdProfile());
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#else
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displayPort_t *osdDisplayPort = displayPortMspInit(displayPortProfileMax7456());
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#endif
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@ -401,12 +404,7 @@ void init(void)
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}
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#endif
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#ifdef SONAR
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const sonarConfig_t *sonarConfig = sonarConfig();
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#else
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const void *sonarConfig = NULL;
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#endif
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if (!sensorsAutodetect(gyroConfig(), accelerometerConfig(), compassConfig(), barometerConfig(), sonarConfig)) {
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if (!sensorsAutodetect()) {
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// if gyro was not detected due to whatever reason, we give up now.
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failureMode(FAILURE_MISSING_ACC);
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}
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@ -439,32 +437,26 @@ void init(void)
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mspSerialInit();
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#if defined(USE_MSP_DISPLAYPORT) && defined(CMS)
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cmsDisplayPortRegister(displayPortMspInit(displayPortProfileMsp()));
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cmsDisplayPortRegister(displayPortMspInit());
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#endif
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#ifdef USE_CLI
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cliInit(serialConfig());
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#endif
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failsafeInit(rxConfig(), flight3DConfig()->deadband3d_throttle);
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failsafeInit();
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rxInit(rxConfig(), modeActivationProfile()->modeActivationConditions);
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rxInit(rxConfig(), modeActivationConditions(0));
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#ifdef GPS
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if (feature(FEATURE_GPS)) {
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gpsInit(
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serialConfig(),
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gpsConfig()
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);
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navigationInit(
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gpsProfile(),
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¤tProfile->pidProfile
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);
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gpsInit();
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navigationInit(¤tProfile->pidProfile);
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}
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#endif
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#ifdef LED_STRIP
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ledStripInit(ledStripConfig());
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ledStripInit();
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if (feature(FEATURE_LED_STRIP)) {
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ledStripEnable();
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// Now that everything has powered up the voltage and cell count be determined.
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if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER))
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batteryInit(batteryConfig());
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batteryInit();
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#ifdef USE_DASHBOARD
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if (feature(FEATURE_DASHBOARD)) {
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