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merge upstream into sirinfpv branch

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This commit is contained in:
Evgeny Sychov 2016-06-10 19:42:54 -07:00
commit eb5963809d
77 changed files with 3017 additions and 946 deletions
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50
src/main/main.c
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@ -26,7 +26,6 @@
#include "common/axis.h"
#include "common/color.h"
#include "common/atomic.h"
#include "common/maths.h"
#include "drivers/nvic.h"
@ -45,6 +44,7 @@
#include "drivers/compass.h"
#include "drivers/pwm_mapping.h"
#include "drivers/pwm_rx.h"
#include "drivers/pwm_output.h"
#include "drivers/adc.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_bst.h"
@ -71,6 +71,7 @@
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/transponder_ir.h"
#include "io/osd.h"
#include "io/vtx.h"
#include "sensors/sensors.h"
#include "sensors/sonar.h"
@ -179,7 +180,7 @@ void init(void)
#ifdef STM32F10X
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(masterConfig.emf_avoidance);
SetSysClock(0); // TODO - Remove from config in the future
#endif
//i2cSetOverclock(masterConfig.i2c_overclock);
@ -314,18 +315,20 @@ void init(void)
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
if (masterConfig.use_oneshot42) {
pwm_params.useOneshot42 = masterConfig.use_oneshot42 ? true : false;
masterConfig.use_multiShot = false;
if (masterConfig.fast_pwm_protocol == PWM_TYPE_ONESHOT125) {
featureSet(FEATURE_ONESHOT125);
} else {
pwm_params.useMultiShot = masterConfig.use_multiShot ? true : false;
featureClear(FEATURE_ONESHOT125);
}
pwm_params.useFastPwm = (masterConfig.fast_pwm_protocol != PWM_TYPE_CONVENTIONAL) ? true : false; // Configurator feature abused for enabling Fast PWM
pwm_params.pwmProtocolType = masterConfig.fast_pwm_protocol;
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
pwm_params.useUnsyncedPwm = masterConfig.use_unsyncedPwm;
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500)
if (pwm_params.motorPwmRate > 500 && !pwm_params.useFastPwm)
pwm_params.idlePulse = 0; // brushed motors
#ifdef CC3D
pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
@ -397,6 +400,10 @@ void init(void)
#endif
#endif
#ifdef VTX
vtxInit();
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION
updateHardwareRevision();
#endif
@ -421,6 +428,11 @@ void init(void)
}
#endif
#if defined(FURYF3) && defined(SONAR) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
}
#endif
#ifdef USE_I2C
#if defined(NAZE)
@ -486,7 +498,7 @@ void init(void)
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
if (!(getPreferedBeeperOffMask() & (1 << (BEEPER_SYSTEM_INIT - 1)))) BEEP_ON;
if (!(getBeeperOffMask() & (1 << (BEEPER_SYSTEM_INIT - 1)))) BEEP_ON;
delay(25);
BEEP_OFF;
}
@ -666,7 +678,7 @@ void processLoopback(void) {
#define processLoopback()
#endif
int main(void) {
void main_init(void) {
init();
/* Setup scheduler */
@ -740,12 +752,24 @@ int main(void) {
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
}
while (1) {
scheduler();
processLoopback();
void main_step(void)
{
scheduler();
processLoopback();
}
#ifndef NOMAIN
int main(void)
{
main_init();
while(1) {
main_step();
}
}
#endif
#ifdef DEBUG_HARDFAULTS
//from: https://mcuoneclipse.com/2012/11/24/debugging-hard-faults-on-arm-cortex-m/