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Move MSP/OSD/CMS initialization to be near the end of the init process 

Helps prevent the USB VCP device from being initialized until the firmware is ready to accept connections. Previously the USB device would be initialized early in the process and the firmware still had lots of initialization following until it would be ready to accept connections. May help prevent connection failures if attempting to connect as soon as the serial port appears.
This commit is contained in:
Bruce Luckcuck 2019-12-03 09:01:10 -05:00
parent 4ed9382b93
commit 7853782486
1 changed files with 87 additions and 86 deletions
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173
src/main/fc/init.c
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@ -769,96 +769,10 @@ void init(void)
imuInit();
mspInit();
mspSerialInit();
failsafeInit();
rxInit();
/*
* 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;
#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) {
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.
osdDisplayPort = max7456DisplayPortInit(vcdProfile());
if (osdDisplayPort || device == 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) {
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);
}
#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();
}
#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
#ifdef USE_GPS
if (featureIsEnabled(FEATURE_GPS)) {
gpsInit();
@ -999,6 +913,93 @@ void init(void)
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;
#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) {
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.
osdDisplayPort = max7456DisplayPortInit(vcdProfile());
if (osdDisplayPort || device == 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) {
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);
}
#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();
}
#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
setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
tasksInit();