mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 03:20:00 +03:00
d9920756d9
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@146 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
129 lines
3.4 KiB
C
Executable file
129 lines
3.4 KiB
C
Executable file
#include "board.h"
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#include "mw.h"
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extern uint8_t useServo;
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extern rcReadRawDataPtr rcReadRawFunc;
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// two receiver read functions
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extern uint16_t pwmReadRawRC(uint8_t chan);
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extern uint16_t spektrumReadRawRC(uint8_t chan);
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void throttleCalibration(void)
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{
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uint8_t offset = useServo ? 2 : 0;
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uint8_t len = pwmGetNumOutputChannels() - offset;
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uint8_t i;
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LED1_ON;
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// write maxthrottle (high)
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for (i = offset; i < len; i++)
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pwmWrite(i, cfg.maxthrottle);
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delay(3000); // 3s delay on high
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// write 1000us (low)
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for (i = offset; i < len; i++)
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pwmWrite(i, 1000);
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// blink leds to show we're calibrated and time to remove bind plug
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failureMode(4);
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}
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int main(void)
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{
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uint8_t i;
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drv_pwm_config_t pwm_params;
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#if 0
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// PC12, PA15
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// using this to write asm for bootloader :)
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RCC->APB2ENR |= RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO; // GPIOA/C+AFIO only
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AFIO->MAPR &= 0xF0FFFFFF;
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AFIO->MAPR = 0x02000000;
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GPIOA->CRH = 0x34444444; // PIN 15 Output 50MHz
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GPIOA->BRR = 0x8000; // set low 15
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GPIOC->CRH = 0x44434444; // PIN 12 Output 50MHz
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GPIOC->BRR = 0x1000; // set low 12
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#endif
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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(false);
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serialInit(cfg.serial_baudrate);
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// We have these sensors
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#ifndef FY90Q
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// AfroFlight32
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sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
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#else
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// FY90Q
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sensorsSet(SENSOR_ACC);
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#endif
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mixerInit(); // this will set useServo var depending on mixer type
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// pwmInit returns true if throttle calibration is requested. if so, do it here. throttleCalibration() does NOT return - for safety.
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pwm_params.usePPM = feature(FEATURE_PPM);
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pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum
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pwm_params.useServos = useServo;
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pwm_params.motorPwmRate = cfg.motor_pwm_rate;
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pwm_params.servoPwmRate = cfg.servo_pwm_rate;
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if (pwmInit(&pwm_params))
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throttleCalibration(); // noreturn
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// configure PWM/CPPM read function. spektrum will override that
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rcReadRawFunc = pwmReadRawRC;
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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, init all the others. halt if gyro is dead.
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sensorsAutodetect();
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imuInit(); // Mag is initialized inside imuInit
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// Check battery type/voltage
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if (feature(FEATURE_VBAT))
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batteryInit();
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if (feature(FEATURE_SPEKTRUM)) {
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spektrumInit();
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rcReadRawFunc = spektrumReadRawRC;
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} else {
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// spektrum and GPS are mutually exclusive
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// Optional GPS - available only when using PPM, otherwise required pins won't be usable
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if (feature(FEATURE_PPM) && feature(FEATURE_GPS))
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gpsInit(cfg.gps_baudrate);
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}
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previousTime = micros();
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calibratingG = 400;
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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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