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Merge remote-tracking branch 'multiwii/master'

Browse source 
Conflicts:
	src/board.h
	src/drivers/adc_common.c
	src/drivers/pwm_common.c
	src/drivers/pwm_common.h
	src/main.c
	src/mw.c
	src/mw.h
	src/sensors.c
	src/utils.h
This commit is contained in:
Dominic Clifton 2014-05-03 22:48:41 +01:00
commit ee2140d324
10 changed files with 179 additions and 85 deletions
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88
src/main.c
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@ -60,26 +60,51 @@ void pwmInit(drv_pwm_config_t *init, failsafe_t *initialFailsafe);
void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
void buzzerInit(failsafe_t *initialFailsafe);
void gpsInit(uint8_t baudrateIndex, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig);
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
int main(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
drv_adc_config_t adc_params;
bool sensorsOK = false;
#ifdef SOFTSERIAL_LOOPBACK
serialPort_t* loopbackPort1 = NULL;
serialPort_t* loopbackPort2 = NULL;
#endif
systemInit(masterConfig.emf_avoidance);
initPrintfSupport();
ensureEEPROMContainsValidData();
readEEPROM();
systemInit(masterConfig.emf_avoidance);
initPrintfSupport();
// configure power ADC
if (masterConfig.power_adc_channel > 0 && (masterConfig.power_adc_channel == 1 || masterConfig.power_adc_channel == 9))
adc_params.powerAdcChannel = masterConfig.power_adc_channel;
@ -89,12 +114,45 @@ int main(void)
}
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);
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;
@ -154,32 +212,8 @@ 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(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, currentProfile.mag_declination);
imuInit(); // Mag is initialized inside imuInit
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit(&masterConfig.batteryConfig);
serialInit(&masterConfig.serialConfig);
#ifndef FY90Q
if (canSoftwareSerialBeUsed()) {
#if defined(USE_SOFTSERIAL_FOR_MAIN_PORT) || (0)
masterConfig.serialConfig.softserial_baudrate = 19200;
#endif