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Move MSP/OSD/CMS initialization to be near the end of the init… (#9258) 

Move MSP/OSD/CMS initialization to be near the end of the init process
This commit is contained in:
Michael Keller 2019-12-05 13:36:12 +13:00 committed by GitHub
parent ef4da5ab3c 7853782486
commit b18478f43e
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GPG Key ID: 4AEE18F83AFDEB23
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(); imuInit();
mspInit();
mspSerialInit();
failsafeInit(); failsafeInit();
rxInit(); 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 #ifdef USE_GPS
if (featureIsEnabled(FEATURE_GPS)) { if (featureIsEnabled(FEATURE_GPS)) {
gpsInit(); gpsInit();
@ -999,6 +913,93 @@ void init(void)
statsInit(); statsInit();
#endif #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); setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
tasksInit(); tasksInit();