mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-12 19:10:32 +03:00
13173a30dc
moved around features/sensors setting stuff into config instead of drv_system saving features to eeprom now to avoid stupid added gcc crap for __nop and __dmb added digital servo feature to pwm driver, used for tri or whatever added just plain reboot option in addition to reboot to bootloader git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@93 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
66 lines
1.5 KiB
C
Executable file
66 lines
1.5 KiB
C
Executable file
#include "board.h"
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#include "mw.h"
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int main(void)
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{
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uint8_t i;
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#if 0
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// using this to write asm for bootloader :)
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RCC->APB2ENR |= RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO; // GPIOB + AFIO
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AFIO->MAPR &= 0xF0FFFFFF;
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AFIO->MAPR = 0x02000000;
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GPIOB->BRR = 0x18; // set low 4 & 3
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GPIOB->CRL = 0x44433444; // PIN 4 & 3 Output 50MHz
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#endif
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systemInit();
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readEEPROM();
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checkFirstTime();
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// configure features (TODO: pull them from eeprom)
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featureSet(FEATURE_VBAT | FEATURE_PPM);
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sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
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mixerInit(); // this will configure FEATURE_SERVO depending on mixer type
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pwmInit(feature(FEATURE_PPM), feature(FEATURE_SERVO), feature(FEATURE_DIGITAL_SERVO));
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LED1_ON;
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LED0_OFF;
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for (i = 0; i < 10; i++) {
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LED1_TOGGLE;
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LED0_TOGGLE;
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delay(25);
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BEEP_ON
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delay(25);
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BEEP_OFF;
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}
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LED0_OFF;
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LED1_OFF;
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// drop out any sensors that don't seem to work
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sensorsAutodetect();
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// Init sensors
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if (sensors(SENSOR_BARO))
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bmp085Init();
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if (sensors(SENSOR_ACC))
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adxl345Init();
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// if this fails, we get a beep + blink pattern. we're doomed.
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mpu3050Init();
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imuInit(); // Mag is initialized inside imuInit
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previousTime = micros();
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calibratingG = 400;
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#if defined(POWERMETER)
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for (i = 0; i <= PMOTOR_SUM; i++)
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pMeter[i] = 0;
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#endif
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// loopy
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while (1) {
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loop();
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}
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}
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