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betaflight/src/main/fc/fc_init.c
Andrey Mironov ac26c975dd Adjustable OC for F405 and F411
2018-02-17 14:12:16 +03:00

762 lines
19 KiB
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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "blackbox/blackbox.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
#include "common/printf.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
#include "cms/cms.h"
#include "cms/cms_types.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/camera_control.h"
#include "drivers/compass/compass.h"
#include "drivers/pwm_esc_detect.h"
#include "drivers/pwm_output.h"
#include "drivers/adc.h"
#include "drivers/bus.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/buttons.h"
#include "drivers/camera_control.h"
#include "drivers/compass/compass.h"
#include "drivers/dma.h"
#include "drivers/exti.h"
#include "drivers/flash_m25p16.h"
#include "drivers/inverter.h"
#include "drivers/io.h"
#include "drivers/light_led.h"
#include "drivers/nvic.h"
#include "drivers/pwm_esc_detect.h"
#include "drivers/pwm_output.h"
#include "drivers/rx/rx_pwm.h"
#include "drivers/sensor.h"
#include "drivers/serial.h"
#include "drivers/serial_softserial.h"
#include "drivers/serial_uart.h"
#include "drivers/sdcard.h"
#include "drivers/sound_beeper.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/timer.h"
#include "drivers/transponder_ir.h"
#include "drivers/exti.h"
#include "drivers/usb_io.h"
#include "drivers/vtx_rtc6705.h"
#include "drivers/vtx_common.h"
#include "fc/config.h"
#include "fc/fc_init.h"
#include "fc/fc_tasks.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "interface/cli.h"
#include "interface/msp.h"
#include "msp/msp_serial.h"
#include "pg/adc.h"
#include "pg/beeper_dev.h"
#include "pg/bus_i2c.h"
#include "pg/bus_spi.h"
#include "pg/flash.h"
#include "pg/pinio.h"
#include "pg/piniobox.h"
#include "pg/pg.h"
#include "pg/rx_pwm.h"
#include "pg/sdcard.h"
#include "pg/vcd.h"
#include "rx/rx.h"
#include "rx/rx_spi.h"
#include "rx/spektrum.h"
#include "io/beeper.h"
#include "io/displayport_max7456.h"
#include "io/displayport_rcdevice.h"
#include "io/displayport_srxl.h"
#include "io/serial.h"
#include "io/flashfs.h"
#include "io/gps.h"
#include "io/motors.h"
#include "io/servos.h"
#include "io/gimbal.h"
#include "io/ledstrip.h"
#include "io/dashboard.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/transponder_ir.h"
#include "io/osd.h"
#include "io/osd_slave.h"
#include "io/piniobox.h"
#include "io/displayport_msp.h"
#include "io/vtx.h"
#include "io/vtx_rtc6705.h"
#include "io/vtx_control.h"
#include "io/vtx_smartaudio.h"
#include "io/vtx_tramp.h"
#include "scheduler/scheduler.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
#include "sensors/esc_sensor.h"
#include "sensors/gyro.h"
#include "sensors/initialisation.h"
#include "sensors/sensors.h"
#include "telemetry/telemetry.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"
#include "io/rcdevice_cam.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
#include "build/build_config.h"
#include "build/debug.h"
#ifdef TARGET_PREINIT
void targetPreInit(void);
#endif
#ifdef SOFTSERIAL_LOOPBACK
serialPort_t *loopbackPort;
#endif
uint8_t systemState = SYSTEM_STATE_INITIALISING;
void processLoopback(void)
{
#ifdef SOFTSERIAL_LOOPBACK
if (loopbackPort) {
uint8_t bytesWaiting;
while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) {
uint8_t b = serialRead(loopbackPort);
serialWrite(loopbackPort, b);
};
}
#endif
}
#ifdef BUS_SWITCH_PIN
void busSwitchInit(void)
{
static IO_t busSwitchResetPin = IO_NONE;
busSwitchResetPin = IOGetByTag(IO_TAG(BUS_SWITCH_PIN));
IOInit(busSwitchResetPin, OWNER_SYSTEM, 0);
IOConfigGPIO(busSwitchResetPin, IOCFG_OUT_PP);
// ENABLE
IOLo(busSwitchResetPin);
}
#endif
#ifdef USE_SPI
// Pre-initialize all CS pins to input with pull-up.
// It's sad that we can't do this with an initialized array,
// since we will be taking care of configurable CS pins shortly.
void spiPreInit(void)
{
#ifdef USE_ACC_SPI_MPU6000
spiPreInitCs(IO_TAG(MPU6000_CS_PIN));
#endif
#ifdef USE_ACC_SPI_MPU6500
spiPreInitCs(IO_TAG(MPU6500_CS_PIN));
#endif
#ifdef USE_GYRO_SPI_MPU9250
spiPreInitCs(IO_TAG(MPU9250_CS_PIN));
#endif
#ifdef USE_GYRO_SPI_ICM20649
spiPreInitCs(IO_TAG(ICM20649_CS_PIN));
#endif
#ifdef USE_GYRO_SPI_ICM20689
spiPreInitCs(IO_TAG(ICM20689_CS_PIN));
#endif
#ifdef USE_ACCGYRO_BMI160
spiPreInitCs(IO_TAG(BMI160_CS_PIN));
#endif
#ifdef USE_GYRO_L3GD20
spiPreInitCs(IO_TAG(L3GD20_CS_PIN));
#endif
#ifdef USE_MAX7456
spiPreInitCsOutPU(IO_TAG(MAX7456_SPI_CS_PIN)); // XXX 3.2 workaround for Kakute F4. See comment for spiPreInitCSOutPU.
#endif
#ifdef USE_SDCARD
spiPreInitCs(sdcardConfig()->chipSelectTag);
#endif
#ifdef USE_BARO_SPI_BMP280
spiPreInitCs(IO_TAG(BMP280_CS_PIN));
#endif
#ifdef USE_BARO_SPI_MS5611
spiPreInitCs(IO_TAG(MS5611_CS_PIN));
#endif
#ifdef USE_BARO_SPI_LPS
spiPreInitCs(IO_TAG(LPS_CS_PIN));
#endif
#ifdef USE_MAG_SPI_HMC5883
spiPreInitCs(IO_TAG(HMC5883_CS_PIN));
#endif
#ifdef USE_MAG_SPI_AK8963
spiPreInitCs(IO_TAG(AK8963_CS_PIN));
#endif
#if defined(USE_VTX_RTC6705)
spiPreInitCs(IO_TAG(RTC6705_CS_PIN));
#endif
#ifdef USE_FLASH_M25P16
spiPreInitCs(IO_TAG(M25P16_CS_PIN));
#endif
#if defined(USE_RX_SPI) && !defined(USE_RX_SOFTSPI)
spiPreInitCs(IO_TAG(RX_NSS_PIN));
#endif
}
#endif
void init(void)
{
#ifdef USE_ITCM_RAM
/* Load functions into ITCM RAM */
extern unsigned char tcm_code_start;
extern unsigned char tcm_code_end;
extern unsigned char tcm_code;
memcpy(&tcm_code_start, &tcm_code, (int)(&tcm_code_end - &tcm_code_start));
#endif
#ifdef USE_HAL_DRIVER
HAL_Init();
#endif
printfSupportInit();
systemInit();
// initialize IO (needed for all IO operations)
IOInitGlobal();
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
#ifdef USE_BRUSHED_ESC_AUTODETECT
detectBrushedESC();
#endif
initEEPROM();
ensureEEPROMContainsValidData();
readEEPROM();
// !!TODO: Check to be removed when moving to generic targets
if (strncasecmp(systemConfig()->boardIdentifier, TARGET_BOARD_IDENTIFIER, sizeof(TARGET_BOARD_IDENTIFIER))) {
resetEEPROM();
}
systemState |= SYSTEM_STATE_CONFIG_LOADED;
//i2cSetOverclock(masterConfig.i2c_overclock);
debugMode = systemConfig()->debug_mode;
// Latch active features to be used for feature() in the remainder of init().
latchActiveFeatures();
#ifdef TARGET_PREINIT
targetPreInit();
#endif
#if !defined(UNIT_TEST) && !defined(USE_FAKE_LED)
ledInit(statusLedConfig());
#endif
LED2_ON;
#ifdef USE_EXTI
EXTIInit();
#endif
#if defined(USE_BUTTONS)
buttonsInit();
// Check status of bind plug and exit if not active
delayMicroseconds(10); // allow configuration to settle
if (!isMPUSoftReset()) {
#if defined(BUTTON_A_PIN) && defined(BUTTON_B_PIN)
// two buttons required
uint8_t secondsRemaining = 5;
bool bothButtonsHeld;
do {
bothButtonsHeld = buttonAPressed() && buttonBPressed();
if (bothButtonsHeld) {
if (--secondsRemaining == 0) {
resetEEPROM();
systemReset();
}
delay(1000);
LED0_TOGGLE;
}
} while (bothButtonsHeld);
#endif
}
#endif
#if defined(USE_SPEKTRUM_BIND)
if (feature(FEATURE_RX_SERIAL)) {
switch (rxConfig()->serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
case SERIALRX_SRXL:
// Spektrum satellite binding if enabled on startup.
// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
// The rest of Spektrum initialization will happen later - via spektrumInit()
spektrumBind(rxConfigMutable());
break;
}
}
#endif
#ifdef USE_OVERCLOCK
OverclockRebootIfNecessary(systemConfig()->cpu_overclock);
#endif
delay(100);
timerInit(); // timer must be initialized before any channel is allocated
#ifdef BUS_SWITCH_PIN
busSwitchInit();
#endif
#if defined(USE_UART)
uartPinConfigure(serialPinConfig());
#endif
#if defined(AVOID_UART1_FOR_PWM_PPM)
serialInit(feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART2_FOR_PWM_PPM)
serialInit(feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART3_FOR_PWM_PPM)
serialInit(feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
#else
serialInit(feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
#endif
mixerInit(mixerConfig()->mixerMode);
mixerConfigureOutput();
uint16_t idlePulse = motorConfig()->mincommand;
if (feature(FEATURE_3D)) {
idlePulse = flight3DConfig()->neutral3d;
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureClear(FEATURE_3D);
idlePulse = 0; // brushed motors
}
/* Motors needs to be initialized soon as posible because hardware initialization
* may send spurious pulses to esc's causing their early initialization. Also ppm
* receiver may share timer with motors so motors MUST be initialized here. */
motorDevInit(&motorConfig()->dev, idlePulse, getMotorCount());
systemState |= SYSTEM_STATE_MOTORS_READY;
if (0) {}
#if defined(USE_PPM)
else if (feature(FEATURE_RX_PPM)) {
ppmRxInit(ppmConfig());
}
#endif
#if defined(USE_PWM)
else if (feature(FEATURE_RX_PARALLEL_PWM)) {
pwmRxInit(pwmConfig());
}
#endif
#ifdef BEEPER
beeperInit(beeperDevConfig());
#endif
/* temp until PGs are implemented. */
#if defined(USE_INVERTER) && !defined(SITL)
initInverters(serialPinConfig());
#endif
#ifdef TARGET_BUS_INIT
targetBusInit();
#else
#ifdef USE_SPI
spiPinConfigure(spiPinConfig());
// Initialize CS lines and keep them high
spiPreInit();
#ifdef USE_SPI_DEVICE_1
spiInit(SPIDEV_1);
#endif
#ifdef USE_SPI_DEVICE_2
spiInit(SPIDEV_2);
#endif
#ifdef USE_SPI_DEVICE_3
spiInit(SPIDEV_3);
#endif
#ifdef USE_SPI_DEVICE_4
spiInit(SPIDEV_4);
#endif
#endif // USE_SPI
#ifdef USE_I2C
i2cHardwareConfigure(i2cConfig());
// Note: Unlike UARTs which are configured when client is present,
// I2C buses are initialized unconditionally if they are configured.
#ifdef USE_I2C_DEVICE_1
i2cInit(I2CDEV_1);
#endif
#ifdef USE_I2C_DEVICE_2
i2cInit(I2CDEV_2);
#endif
#ifdef USE_I2C_DEVICE_3
i2cInit(I2CDEV_3);
#endif
#ifdef USE_I2C_DEVICE_4
i2cInit(I2CDEV_4);
#endif
#endif // USE_I2C
#endif // TARGET_BUS_INIT
#ifdef USE_HARDWARE_REVISION_DETECTION
updateHardwareRevision();
#endif
#ifdef USE_VTX_RTC6705
rtc6705IOInit();
#endif
#ifdef USE_CAMERA_CONTROL
cameraControlInit();
#endif
// XXX These kind of code should goto target/config.c?
// XXX And these no longer work properly as FEATURE_RANGEFINDER does control HCSR04 runtime configuration.
#if defined(RANGEFINDER_HCSR04_SOFTSERIAL2_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL2)
if (feature(FEATURE_RANGEFINDER) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
}
#endif
#if defined(RANGEFINDER_HCSR04_SOFTSERIAL1_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_RANGEFINDER) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
}
#endif
#ifdef USE_ADC
adcConfigMutable()->vbat.enabled = (batteryConfig()->voltageMeterSource == VOLTAGE_METER_ADC);
adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
// The FrSky D SPI RX sends RSSI_ADC_PIN (if configured) as A2
adcConfigMutable()->rssi.enabled = feature(FEATURE_RSSI_ADC) || (feature(FEATURE_RX_SPI) && rxConfig()->rx_spi_protocol == RX_SPI_FRSKY_D);
adcInit(adcConfig());
#endif
initBoardAlignment(boardAlignment());
if (!sensorsAutodetect()) {
// if gyro was not detected due to whatever reason, notify and don't arm.
indicateFailure(FAILURE_MISSING_ACC, 2);
setArmingDisabled(ARMING_DISABLED_NO_GYRO);
}
systemState |= SYSTEM_STATE_SENSORS_READY;
// gyro.targetLooptime set in sensorsAutodetect(),
// so we are ready to call validateAndFixGyroConfig(), pidInit(), and setAccelerationFilter()
validateAndFixGyroConfig();
pidInit(currentPidProfile);
accInitFilters();
#ifdef USE_SERVOS
servosInit();
servoConfigureOutput();
if (isMixerUsingServos()) {
//pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
servoDevInit(&servoConfig()->dev);
}
servosFilterInit();
#endif
#ifdef USE_PINIO
pinioInit(pinioConfig());
#endif
#ifdef USE_PINIOBOX
pinioBoxInit(pinioBoxConfig());
#endif
LED1_ON;
LED0_OFF;
LED2_OFF;
for (int i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
if (!(getBeeperOffMask() & (1 << (BEEPER_SYSTEM_INIT - 1)))) BEEP_ON;
delay(25);
BEEP_OFF;
}
LED0_OFF;
LED1_OFF;
imuInit();
mspInit();
mspSerialInit();
#ifdef USE_CLI
cliInit(serialConfig());
#endif
failsafeInit();
rxInit();
/*
* CMS, display devices and OSD
*/
#ifdef USE_CMS
cmsInit();
#endif
#if (defined(USE_OSD) || (defined(USE_MSP_DISPLAYPORT) && defined(USE_CMS)) || defined(USE_OSD_SLAVE))
displayPort_t *osdDisplayPort = NULL;
#endif
#if defined(USE_OSD) && !defined(USE_OSD_SLAVE)
//The OSD need to be initialised after GYRO to avoid GYRO initialisation failure on some targets
if (feature(FEATURE_OSD)) {
#if defined(USE_MAX7456)
// If there is a max7456 chip for the OSD then use it
osdDisplayPort = max7456DisplayPortInit(vcdProfile());
#elif defined(USE_OSD_OVER_MSP_DISPLAYPORT) // OSD over MSP; not supported (yet)
osdDisplayPort = displayPortMspInit();
#endif
// osdInit will register with CMS by itself.
osdInit(osdDisplayPort);
}
#endif
#if defined(USE_OSD_SLAVE) && !defined(USE_OSD)
#if defined(USE_MAX7456)
// If there is a max7456 chip for the OSD then use it
osdDisplayPort = max7456DisplayPortInit(vcdProfile());
// osdInit will register with CMS by itself.
osdSlaveInit(osdDisplayPort);
#endif
#endif
#if defined(USE_CMS) && defined(USE_MSP_DISPLAYPORT)
// If BFOSD is not active, then register MSP_DISPLAYPORT as a CMS device.
if (!osdDisplayPort)
cmsDisplayPortRegister(displayPortMspInit());
#endif
#ifdef USE_DASHBOARD
// Dashbord will register with CMS by itself.
if (feature(FEATURE_DASHBOARD)) {
dashboardInit();
}
#endif
#if defined(USE_CMS) && defined(USE_SPEKTRUM_CMS_TELEMETRY)
// Register the srxl Textgen telemetry sensor as a displayport device
cmsDisplayPortRegister(displayPortSrxlInit());
#endif
#ifdef USE_GPS
if (feature(FEATURE_GPS)) {
gpsInit();
#ifdef USE_NAV
navigationInit();
#endif
}
#endif
#ifdef USE_LED_STRIP
ledStripInit();
if (feature(FEATURE_LED_STRIP)) {
ledStripEnable();
}
#endif
#ifdef USE_TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
telemetryInit();
}
#endif
#ifdef USE_ESC_SENSOR
if (feature(FEATURE_ESC_SENSOR)) {
escSensorInit();
}
#endif
#ifdef USB_DETECT_PIN
usbCableDetectInit();
#endif
#ifdef USE_TRANSPONDER
if (feature(FEATURE_TRANSPONDER)) {
transponderInit();
transponderStartRepeating();
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
}
#endif
#ifdef USE_FLASHFS
#if defined(USE_FLASH_M25P16)
m25p16_init(flashConfig());
#endif
flashfsInit();
#endif
#ifdef USE_SDCARD
if (blackboxConfig()->device == BLACKBOX_DEVICE_SDCARD) {
if (sdcardConfig()->enabled) {
sdcardInsertionDetectInit();
sdcard_init(sdcardConfig());
afatfs_init();
} else {
blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
}
}
#endif
#ifdef USE_BLACKBOX
blackboxInit();
#endif
if (mixerConfig()->mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
gyroStartCalibration(false);
#ifdef USE_BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif
#ifdef USE_VTX_CONTROL
vtxControlInit();
#if defined(USE_VTX_COMMON)
vtxCommonInit();
vtxInit();
#endif
#ifdef USE_VTX_SMARTAUDIO
vtxSmartAudioInit();
#endif
#ifdef USE_VTX_TRAMP
vtxTrampInit();
#endif
#ifdef USE_VTX_RTC6705
#ifdef VTX_RTC6705_OPTIONAL
if (!vtxCommonDevice()) // external VTX takes precedence when configured.
#endif
{
vtxRTC6705Init();
}
#endif
#endif // VTX_CONTROL
// start all timers
// TODO - not implemented yet
timerStart();
ENABLE_STATE(SMALL_ANGLE);
#ifdef SOFTSERIAL_LOOPBACK
// FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
if (!loopbackPort->vTable) {
loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
}
serialPrint(loopbackPort, "LOOPBACK\r\n");
#endif
batteryInit(); // always needs doing, regardless of features.
#ifdef USE_DASHBOARD
if (feature(FEATURE_DASHBOARD)) {
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
dashboardShowFixedPage(PAGE_GPS);
#else
dashboardResetPageCycling();
dashboardEnablePageCycling();
#endif
}
#endif
#ifdef CJMCU
LED2_ON;
#endif
#ifdef USE_RCDEVICE
rcdeviceInit();
#endif // USE_RCDEVICE
// Latch active features AGAIN since some may be modified by init().
latchActiveFeatures();
pwmEnableMotors();
setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
fcTasksInit();
systemState |= SYSTEM_STATE_READY;
}
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