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betaflight/src/main/fc/init.c

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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
* 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 this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#include "blackbox/blackbox.h"
#include "build/build_config.h"
#include "build/debug.h"
#include "cms/cms.h"
#include "cms/cms_types.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
#include "common/printf_serial.h"
#include "config/config.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/adc.h"
#include "drivers/bus.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_quadspi.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.h"
#include "drivers/inverter.h"
#include "drivers/io.h"
#include "drivers/light_led.h"
#include "drivers/mco.h"
#include "drivers/nvic.h"
#include "drivers/persistent.h"
#include "drivers/pin_pull_up_down.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/sdio.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/usb_io.h"
#ifdef USE_USB_MSC
#include "drivers/usb_msc.h"
#endif
#include "drivers/vtx_common.h"
#include "drivers/vtx_rtc6705.h"
#include "drivers/vtx_table.h"
#include "fc/board_info.h"
#include "fc/dispatch.h"
#include "fc/init.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "fc/stats.h"
#include "fc/tasks.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/pid_init.h"
#include "flight/servos.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
#include "io/dashboard.h"
#include "io/displayport_crsf.h"
#include "io/displayport_frsky_osd.h"
#include "io/displayport_max7456.h"
#include "io/displayport_msp.h"
#include "io/displayport_srxl.h"
#include "io/flashfs.h"
#include "io/gimbal.h"
#include "io/gps.h"
#include "io/ledstrip.h"
#include "io/pidaudio.h"
#include "io/piniobox.h"
#include "io/rcdevice_cam.h"
#include "io/serial.h"
#include "io/servos.h"
#include "io/transponder_ir.h"
#include "io/vtx.h"
#include "io/vtx_control.h"
#include "io/vtx_rtc6705.h"
#include "io/vtx_smartaudio.h"
#include "io/vtx_tramp.h"
#include "msc/emfat_file.h"
#ifdef USE_PERSISTENT_MSC_RTC
#include "msc/usbd_storage.h"
#endif
#include "msp/msp.h"
#include "msp/msp_serial.h"
#include "osd/osd.h"
#include "pg/adc.h"
#include "pg/beeper.h"
#include "pg/beeper_dev.h"
#include "pg/bus_i2c.h"
#include "pg/bus_spi.h"
#include "pg/bus_quadspi.h"
#include "pg/flash.h"
#include "pg/mco.h"
#include "pg/motor.h"
#include "pg/pinio.h"
#include "pg/piniobox.h"
#include "pg/pin_pull_up_down.h"
#include "pg/pg.h"
#include "pg/rx.h"
#include "pg/rx_pwm.h"
#include "pg/rx_spi.h"
#include "pg/sdcard.h"
#include "pg/vcd.h"
#include "pg/vtx_io.h"
#include "rx/rx.h"
#include "rx/spektrum.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/gyro_init.h"
#include "sensors/initialisation.h"
#include "telemetry/telemetry.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
#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
bool requiresSpiLeadingEdge(SPIDevice device)
{
#if defined(CONFIG_IN_SDCARD) || defined(CONFIG_IN_EXTERNAL_FLASH)
#if !defined(SDCARD_SPI_INSTANCE) && !defined(RX_SPI_INSTANCE)
UNUSED(device);
#endif
#if defined(SDCARD_SPI_INSTANCE)
if (device == spiDeviceByInstance(SDCARD_SPI_INSTANCE)) {
return true;
}
#endif
#if defined(RX_SPI_INSTANCE)
if (device == spiDeviceByInstance(RX_SPI_INSTANCE)) {
return true;
}
#endif
#else
#if !defined(USE_SDCARD) && !defined(USE_RX_SPI)
UNUSED(device);
#endif
#if defined(USE_SDCARD)
if (device == SPI_CFG_TO_DEV(sdcardConfig()->device)) {
return true;
}
#endif
#if defined(USE_RX_SPI)
if (device == SPI_CFG_TO_DEV(rxSpiConfig()->spibus)) {
return true;
}
#endif
#endif // CONFIG_IN_SDCARD || CONFIG_IN_EXTERNAL_FLASH
return false;
}
static void configureSPIAndQuadSPI(void)
{
#ifdef USE_SPI
spiPinConfigure(spiPinConfig(0));
#endif
sensorsPreInit();
#ifdef USE_SPI
spiPreinit();
#ifdef USE_SPI_DEVICE_1
spiInit(SPIDEV_1, requiresSpiLeadingEdge(SPIDEV_1));
#endif
#ifdef USE_SPI_DEVICE_2
spiInit(SPIDEV_2, requiresSpiLeadingEdge(SPIDEV_2));
#endif
#ifdef USE_SPI_DEVICE_3
spiInit(SPIDEV_3, requiresSpiLeadingEdge(SPIDEV_3));
#endif
#ifdef USE_SPI_DEVICE_4
spiInit(SPIDEV_4, requiresSpiLeadingEdge(SPIDEV_4));
#endif
#ifdef USE_SPI_DEVICE_5
spiInit(SPIDEV_5, requiresSpiLeadingEdge(SPIDEV_5));
#endif
#ifdef USE_SPI_DEVICE_6
spiInit(SPIDEV_6, requiresSpiLeadingEdge(SPIDEV_6));
#endif
#endif // USE_SPI
#ifdef USE_QUADSPI
quadSpiPinConfigure(quadSpiConfig(0));
#ifdef USE_QUADSPI_DEVICE_1
quadSpiInit(QUADSPIDEV_1);
#endif
#endif // USE_QUAD_SPI
}
#ifdef USE_SDCARD
static void sdCardAndFSInit()
{
sdcard_init(sdcardConfig());
afatfs_init();
}
#endif
static void swdPinsInit(void)
{
IO_t io = IOGetByTag(DEFIO_TAG_E(PA13)); // SWDIO
if (IOGetOwner(io) == OWNER_FREE) {
IOInit(io, OWNER_SWD, 0);
}
io = IOGetByTag(DEFIO_TAG_E(PA14)); // SWCLK
if (IOGetOwner(io) == OWNER_FREE) {
IOInit(io, OWNER_SWD, 0);
}
}
void init(void)
{
#ifdef SERIAL_PORT_COUNT
printfSerialInit();
#endif
systemInit();
// initialize IO (needed for all IO operations)
IOInitGlobal();
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
#ifdef USE_BRUSHED_ESC_AUTODETECT
// Opportunistically use the first motor pin of the default configuration for detection.
// We are doing this as with some boards, timing seems to be important, and the later detection will fail.
ioTag_t motorIoTag = timerioTagGetByUsage(TIM_USE_MOTOR, 0);
if (motorIoTag) {
detectBrushedESC(motorIoTag);
}
#endif
enum {
FLASH_INIT_ATTEMPTED = (1 << 0),
SD_INIT_ATTEMPTED = (1 << 1),
SPI_AND_QSPI_INIT_ATTEMPTED = (1 << 2),
};
uint8_t initFlags = 0;
#ifdef CONFIG_IN_SDCARD
//
// Config in sdcard presents an issue with pin configuration since the pin and sdcard configs for the
// sdcard are in the config which is on the sdcard which we can't read yet!
//
// FIXME We need to add configuration somewhere, e.g. bootloader image or reserved flash area, that can be read by the firmware.
// it's currently possible for the firmware resource allocation to be wrong after the config is loaded if the user changes the settings.
// This would cause undefined behaviour once the config is loaded. so for now, users must NOT change sdio/spi configs needed for
// the system to boot and/or to save the config.
//
// note that target specific SDCARD/SDIO/SPI/QUADSPI configs are
// also not supported in USE_TARGET_CONFIG/targetConfigure() when using CONFIG_IN_SDCARD.
//
//
// IMPORTANT: all default flash and pin configurations must be valid for the target after pgResetAll() is called.
// Target designers must ensure other devices connected the same SPI/QUADSPI interface as the flash chip do not
// cause communication issues with the flash chip. e.g. use external pullups on SPI/QUADSPI CS lines.
//
#ifdef TARGET_BUS_INIT
#error "CONFIG_IN_SDCARD and TARGET_BUS_INIT are mutually exclusive"
#endif
pgResetAll();
#if defined(STM32H7) && defined(USE_SDCARD_SDIO) // H7 only for now, likely should be applied to F4/F7 too
sdioPinConfigure();
SDIO_GPIO_Init();
#endif
#ifdef USE_SDCARD_SPI
configureSPIAndQuadSPI();
initFlags |= SPI_AND_QSPI_INIT_ATTEMPTED;
#endif
sdCardAndFSInit();
initFlags |= SD_INIT_ATTEMPTED;
while (afatfs_getFilesystemState() != AFATFS_FILESYSTEM_STATE_READY) {
afatfs_poll();
if (afatfs_getFilesystemState() == AFATFS_FILESYSTEM_STATE_FATAL) {
failureMode(FAILURE_SDCARD_INITIALISATION_FAILED);
}
}
#endif // CONFIG_IN_SDCARD
#ifdef CONFIG_IN_EXTERNAL_FLASH
//
// Config on external flash presents an issue with pin configuration since the pin and flash configs for the
// external flash are in the config which is on a chip which we can't read yet!
//
// FIXME We need to add configuration somewhere, e.g. bootloader image or reserved flash area, that can be read by the firmware.
// it's currently possible for the firmware resource allocation to be wrong after the config is loaded if the user changes the settings.
// This would cause undefined behaviour once the config is loaded. so for now, users must NOT change flash/pin configs needed for
// the system to boot and/or to save the config.
//
// note that target specific FLASH/SPI/QUADSPI configs are
// also not supported in USE_TARGET_CONFIG/targetConfigure() when using CONFIG_IN_EXTERNAL_FLASH.
//
//
// IMPORTANT: all default flash and pin configurations must be valid for the target after pgResetAll() is called.
// Target designers must ensure other devices connected the same SPI/QUADSPI interface as the flash chip do not
// cause communication issues with the flash chip. e.g. use external pullups on SPI/QUADSPI CS lines.
//
pgResetAll();
#ifdef TARGET_BUS_INIT
#error "CONFIG_IN_EXTERNAL_FLASH and TARGET_BUS_INIT are mutually exclusive"
#endif
configureSPIAndQuadSPI();
initFlags |= SPI_AND_QSPI_INIT_ATTEMPTED;
#ifndef USE_FLASH_CHIP
#error "CONFIG_IN_EXTERNAL_FLASH requires USE_FLASH_CHIP to be defined."
#endif
bool haveFlash = flashInit(flashConfig());
if (!haveFlash) {
failureMode(FAILURE_EXTERNAL_FLASH_INIT_FAILED);
}
initFlags |= FLASH_INIT_ATTEMPTED;
#endif // CONFIG_IN_EXTERNAL_FLASH
initEEPROM();
ensureEEPROMStructureIsValid();
bool readSuccess = readEEPROM();
#if defined(USE_BOARD_INFO)
initBoardInformation();
#endif
if (!readSuccess || !isEEPROMVersionValid() || strncasecmp(systemConfig()->boardIdentifier, TARGET_BOARD_IDENTIFIER, sizeof(TARGET_BOARD_IDENTIFIER))) {
resetEEPROM(false);
}
systemState |= SYSTEM_STATE_CONFIG_LOADED;
#ifdef USE_BRUSHED_ESC_AUTODETECT
// Now detect again with the actually configured pin for motor 1, if it is not the default pin.
ioTag_t configuredMotorIoTag = motorConfig()->dev.ioTags[0];
if (configuredMotorIoTag && configuredMotorIoTag != motorIoTag) {
detectBrushedESC(configuredMotorIoTag);
}
#endif
debugMode = systemConfig()->debug_mode;
#ifdef TARGET_PREINIT
targetPreInit();
#endif
#if !defined(USE_FAKE_LED)
ledInit(statusLedConfig());
#endif
LED2_ON;
#ifdef USE_EXTI
EXTIInit();
#endif
#if defined(USE_BUTTONS)
buttonsInit();
delayMicroseconds(10); // allow configuration to settle // XXX Could be removed, too?
// Allow EEPROM reset with two-button-press without power cycling in DEBUG build
#ifdef DEBUG
#define EEPROM_RESET_PRECONDITION true
#else
#define EEPROM_RESET_PRECONDITION (!isMPUSoftReset())
#endif
if (EEPROM_RESET_PRECONDITION) {
#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(false);
#ifdef USE_PERSISTENT_OBJECTS
persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_NONE);
#endif
systemReset();
}
delay(1000);
LED0_TOGGLE;
}
} while (bothButtonsHeld);
#endif
}
#undef EEPROM_RESET_PRECONDITION
#endif // USE_BUTTONS
// Note that spektrumBind checks if a call is immediately after
// hard reset (including power cycle), so it should be called before
// systemClockSetHSEValue and OverclockRebootIfNecessary, as these
// may cause soft reset which will prevent spektrumBind not to execute
// the bind procedure.
#if defined(USE_SPEKTRUM_BIND)
if (featureIsEnabled(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
#if defined(STM32F4) || defined(STM32G4)
// F4 has non-8MHz boards
// G4 for Betaflight allow 24 or 27MHz oscillator
systemClockSetHSEValue(systemConfig()->hseMhz * 1000000U);
#endif
#ifdef USE_OVERCLOCK
OverclockRebootIfNecessary(systemConfig()->cpu_overclock);
#endif
// Configure MCO output after config is stable
#ifdef USE_MCO
// Note that mcoConfigure must be augmented with an additional argument to
// indicate which device instance to configure when MCO and MCO2 are both supported
#if defined(STM32F4) || defined(STM32F7)
// F4 and F7 support MCO on PA8 and MCO2 on PC9, but only MCO2 is supported for now
mcoConfigure(MCODEV_2, mcoConfig(MCODEV_2));
#elif defined(STM32G4)
// G4 only supports one MCO on PA8
mcoConfigure(MCODEV_1, mcoConfig(MCODEV_1));
#else
#error Unsupported MCU
#endif
#endif // USE_MCO
#ifdef USE_TIMER
timerInit(); // timer must be initialized before any channel is allocated
#endif
#ifdef BUS_SWITCH_PIN
busSwitchInit();
#endif
#if defined(USE_UART) && !defined(SIMULATOR_BUILD)
uartPinConfigure(serialPinConfig());
#endif
#if defined(AVOID_UART1_FOR_PWM_PPM)
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL),
featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART2_FOR_PWM_PPM)
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL),
featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART3_FOR_PWM_PPM)
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL),
featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
#else
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
#endif
mixerInit(mixerConfig()->mixerMode);
mixerConfigureOutput();
uint16_t idlePulse = motorConfig()->mincommand;
if (featureIsEnabled(FEATURE_3D)) {
idlePulse = flight3DConfig()->neutral3d;
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
idlePulse = 0; // brushed motors
}
#ifdef USE_MOTOR
/* 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;
#else
UNUSED(idlePulse);
#endif
if (0) {}
#if defined(USE_PPM)
else if (featureIsEnabled(FEATURE_RX_PPM)) {
ppmRxInit(ppmConfig());
}
#endif
#if defined(USE_PWM)
else if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
pwmRxInit(pwmConfig());
}
#endif
#ifdef USE_BEEPER
beeperInit(beeperDevConfig());
#endif
/* temp until PGs are implemented. */
#if defined(USE_INVERTER) && !defined(SIMULATOR_BUILD)
initInverters(serialPinConfig());
#endif
#ifdef TARGET_BUS_INIT
targetBusInit();
#else
// Depending on compilation options SPI/QSPI initialisation may already be done.
if (!(initFlags & SPI_AND_QSPI_INIT_ATTEMPTED)) {
configureSPIAndQuadSPI();
initFlags |= SPI_AND_QSPI_INIT_ATTEMPTED;
}
#ifdef USE_USB_MSC
/* MSC mode will start after init, but will not allow scheduler to run,
* so there is no bottleneck in reading and writing data */
mscInit();
if (mscCheckBoot() || mscCheckButton()) {
ledInit(statusLedConfig());
#if defined(USE_FLASHFS)
// If the blackbox device is onboard flash, then initialize and scan
// it to identify the log files *before* starting the USB device to
// prevent timeouts of the mass storage device.
if (blackboxConfig()->device == BLACKBOX_DEVICE_FLASH) {
emfat_init_files();
}
#endif
if (mscStart() == 0) {
mscWaitForButton();
} else {
systemResetFromMsc();
}
}
#endif
#ifdef USE_PERSISTENT_MSC_RTC
// if we didn't enter MSC mode then clear the persistent RTC value
persistentObjectWrite(PERSISTENT_OBJECT_RTC_HIGH, 0);
persistentObjectWrite(PERSISTENT_OBJECT_RTC_LOW, 0);
#endif
#ifdef USE_I2C
i2cHardwareConfigure(i2cConfig(0));
// 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
#if defined(STM32H7) && defined(USE_SDCARD_SDIO) // H7 only for now, likely should be applied to F4/F7 too
if (!(initFlags & SD_INIT_ATTEMPTED)) {
sdioPinConfigure();
SDIO_GPIO_Init();
}
#endif
#ifdef USE_VTX_RTC6705
bool useRTC6705 = rtc6705IOInit(vtxIOConfig());
#endif
#ifdef USE_CAMERA_CONTROL
cameraControlInit();
#endif
#ifdef USE_ADC
adcInit(adcConfig());
#endif
initBoardAlignment(boardAlignment());
if (!sensorsAutodetect()) {
// if gyro was not detected due to whatever reason, notify and don't arm.
if (true
#if defined(USE_UNIFIED_TARGET)
&& isSystemConfigured()
#endif
) {
indicateFailure(FAILURE_MISSING_ACC, 2);
}
setArmingDisabled(ARMING_DISABLED_NO_GYRO);
}
systemState |= SYSTEM_STATE_SENSORS_READY;
// Set the targetLooptime based on the detected gyro sampleRateHz and pid_process_denom
gyroSetTargetLooptime(pidConfig()->pid_process_denom);
// Validate and correct the gyro config or PID loop time if needed
validateAndFixGyroConfig();
// Now reset the targetLooptime as it's possible for the validation to change the pid_process_denom
gyroSetTargetLooptime(pidConfig()->pid_process_denom);
// Finally initialize the gyro filtering
gyroInitFilters();
pidInit(currentPidProfile);
mixerInitProfile();
#ifdef USE_PID_AUDIO
pidAudioInit();
#endif
#ifdef USE_SERVOS
servosInit();
servoConfigureOutput();
if (isMixerUsingServos()) {
//pwm_params.useChannelForwarding = featureIsEnabled(FEATURE_CHANNEL_FORWARDING);
servoDevInit(&servoConfig()->dev);
}
servosFilterInit();
#endif
#ifdef USE_PINIO
pinioInit(pinioConfig());
#endif
#ifdef USE_PIN_PULL_UP_DOWN
pinPullupPulldownInit();
#endif
#ifdef USE_PINIOBOX
pinioBoxInit(pinioBoxConfig());
#endif
LED1_ON;
LED0_OFF;
LED2_OFF;
for (int i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
#if defined(USE_BEEPER)
delay(25);
if (!(beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(BEEPER_SYSTEM_INIT))) {
BEEP_ON;
}
delay(25);
BEEP_OFF;
#else
delay(50);
#endif
}
LED0_OFF;
LED1_OFF;
imuInit();
failsafeInit();
rxInit();
#ifdef USE_GPS
if (featureIsEnabled(FEATURE_GPS)) {
gpsInit();
}
#endif
#ifdef USE_LED_STRIP
ledStripInit();
if (featureIsEnabled(FEATURE_LED_STRIP)) {
ledStripEnable();
}
#endif
#ifdef USE_TELEMETRY
if (featureIsEnabled(FEATURE_TELEMETRY)) {
telemetryInit();
}
#endif
#ifdef USE_ESC_SENSOR
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
escSensorInit();
}
#endif
#ifdef USE_USB_DETECT
usbCableDetectInit();
#endif
#ifdef USE_TRANSPONDER
if (featureIsEnabled(FEATURE_TRANSPONDER)) {
transponderInit();
transponderStartRepeating();
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
}
#endif
#ifdef USE_FLASH_CHIP
if (!(initFlags & FLASH_INIT_ATTEMPTED)) {
flashInit(flashConfig());
initFlags |= FLASH_INIT_ATTEMPTED;
}
#endif
#ifdef USE_FLASHFS
flashfsInit();
#endif
#ifdef USE_BLACKBOX
#ifdef USE_SDCARD
if (blackboxConfig()->device == BLACKBOX_DEVICE_SDCARD) {
if (sdcardConfig()->mode) {
if (!(initFlags & SD_INIT_ATTEMPTED)) {
initFlags |= SD_INIT_ATTEMPTED;
sdCardAndFSInit();
}
}
}
#endif
blackboxInit();
#endif
#ifdef USE_ACC
if (mixerConfig()->mixerMode == MIXER_GIMBAL) {
accStartCalibration();
}
#endif
gyroStartCalibration(false);
#ifdef USE_BARO
baroStartCalibration();
#endif
#if defined(USE_VTX_COMMON) || defined(USE_VTX_CONTROL)
vtxTableInit();
#endif
#ifdef USE_VTX_CONTROL
vtxControlInit();
#if defined(USE_VTX_COMMON)
vtxCommonInit();
#endif
#ifdef USE_VTX_SMARTAUDIO
vtxSmartAudioInit();
#endif
#ifdef USE_VTX_TRAMP
vtxTrampInit();
#endif
#ifdef USE_VTX_RTC6705
if (!vtxCommonDevice() && useRTC6705) { // external VTX takes precedence when configured.
vtxRTC6705Init();
}
#endif
#endif // VTX_CONTROL
#ifdef USE_TIMER
// start all timers
// TODO - not implemented yet
timerStart();
#endif
#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_RCDEVICE
rcdeviceInit();
#endif // USE_RCDEVICE
#ifdef USE_PERSISTENT_STATS
statsInit();
#endif
// Initialize MSP
mspInit();
mspSerialInit();
/*
* CMS, display devices and OSD
*/
#ifdef USE_CMS
cmsInit();
#endif
#if (defined(USE_OSD) || (defined(USE_MSP_DISPLAYPORT) && defined(USE_CMS)))
displayPort_t *osdDisplayPort = NULL;
osdDisplayPortDevice_e osdDisplayPortDevice = OSD_DISPLAYPORT_DEVICE_NONE;
#endif
#if defined(USE_OSD)
//The OSD need to be initialised after GYRO to avoid GYRO initialisation failure on some targets
if (featureIsEnabled(FEATURE_OSD)) {
osdDisplayPortDevice_e device = osdConfig()->displayPortDevice;
switch(device) {
case OSD_DISPLAYPORT_DEVICE_AUTO:
FALLTHROUGH;
#if defined(USE_FRSKYOSD)
// Test OSD_DISPLAYPORT_DEVICE_FRSKYOSD first, since an FC could
// have a builtin MAX7456 but also an FRSKYOSD connected to an
// uart.
case OSD_DISPLAYPORT_DEVICE_FRSKYOSD:
osdDisplayPort = frskyOsdDisplayPortInit(vcdProfile()->video_system);
if (osdDisplayPort || device == OSD_DISPLAYPORT_DEVICE_FRSKYOSD) {
osdDisplayPortDevice = OSD_DISPLAYPORT_DEVICE_FRSKYOSD;
break;
}
FALLTHROUGH;
#endif
#if defined(USE_MAX7456)
case OSD_DISPLAYPORT_DEVICE_MAX7456:
// If there is a max7456 chip for the OSD configured and detectd then use it.
if (max7456DisplayPortInit(vcdProfile(), &osdDisplayPort) || device == OSD_DISPLAYPORT_DEVICE_MAX7456) {
osdDisplayPortDevice = OSD_DISPLAYPORT_DEVICE_MAX7456;
break;
}
FALLTHROUGH;
#endif
#if defined(USE_CMS) && defined(USE_MSP_DISPLAYPORT) && defined(USE_OSD_OVER_MSP_DISPLAYPORT)
case OSD_DISPLAYPORT_DEVICE_MSP:
osdDisplayPort = displayPortMspInit();
if (osdDisplayPort || device == OSD_DISPLAYPORT_DEVICE_MSP) {
osdDisplayPortDevice = OSD_DISPLAYPORT_DEVICE_MSP;
break;
}
FALLTHROUGH;
#endif
// Other device cases can be added here
case OSD_DISPLAYPORT_DEVICE_NONE:
default:
break;
}
// osdInit will register with CMS by itself.
osdInit(osdDisplayPort, osdDisplayPortDevice);
if (osdDisplayPortDevice == OSD_DISPLAYPORT_DEVICE_NONE) {
featureDisableImmediate(FEATURE_OSD);
}
}
#endif // USE_OSD
#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 (featureIsEnabled(FEATURE_DASHBOARD)) {
dashboardInit();
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
dashboardShowFixedPage(PAGE_GPS);
#else
dashboardResetPageCycling();
dashboardEnablePageCycling();
#endif
}
#endif
#if defined(USE_CMS) && defined(USE_SPEKTRUM_CMS_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
// Register the srxl Textgen telemetry sensor as a displayport device
cmsDisplayPortRegister(displayPortSrxlInit());
#endif
#if defined(USE_CMS) && defined(USE_CRSF_CMS_TELEMETRY)
cmsDisplayPortRegister(displayPortCrsfInit());
#endif
setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
#ifdef USE_MOTOR
motorPostInit();
motorEnable();
#endif
swdPinsInit();
unusedPinsInit();
tasksInit();
systemState |= SYSTEM_STATE_READY;
}
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