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decouple failsafe from the rest of the system.

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Note: the pwm_common driver has a dependency on the main failsafe code,
the solution is probably to move some of the code into rx_pwm.
This commit is contained in:
Dominic Clifton 2014-04-21 00:46:16 +01:00
parent aef28c1c08
commit e969d184e6
29 changed files with 224 additions and 119 deletions
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16
src/main.c
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@ -2,6 +2,7 @@
#include "flight_common.h"
#include "flight_mixer.h"
#include "serial_common.h"
#include "failsafe.h"
#include "mw.h"
#include "gps_common.h"
@ -16,8 +17,14 @@
extern rcReadRawDataPtr rcReadRawFunc;
failsafe_t *failsafe;
void initTelemetry(serialPorts_t *serialPorts);
void serialInit(serialConfig_t *initialSerialConfig);
failsafe_t* failsafeInit(failsafeConfig_t *initialFailsafeConfig, rxConfig_t *intialRxConfig);
void pwmInit(drv_pwm_config_t *init, failsafe_t *initialFailsafe);
void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
void buzzerInit(failsafe_t *initialFailsafe);
int main(void)
{
@ -68,7 +75,8 @@ int main(void)
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwm_params.servoCenterPulse = mcfg.rxConfig.midrc;
pwm_params.failsafeThreshold = cfg.failsafe_detect_threshold;
pwm_params.failsafeThreshold = cfg.failsafeConfig.failsafe_detect_threshold;
switch (mcfg.power_adc_channel) {
case 1:
pwm_params.adcChannel = PWM2;
@ -81,9 +89,11 @@ int main(void)
break;
}
pwmInit(&pwm_params);
failsafe = failsafeInit(&cfg.failsafeConfig, &mcfg.rxConfig);
buzzerInit(failsafe);
pwmInit(&pwm_params, failsafe);
rxInit(&mcfg.rxConfig);
rxInit(&mcfg.rxConfig, failsafe);
if (feature(FEATURE_GPS) && !feature(FEATURE_SERIALRX)) {
gpsInit(mcfg.gps_baudrate);