rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Ah, finally fixed spektrum stuff. after PWM rewrite, spektrum init ended up before pwm init, so when rcReadRawFunc was assigned, it was always set to PWM. oops. Thanks to Cerberis @ irc for the patch. 

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@240 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-01-05 01:13:18 +00:00
parent 006e6629f6
commit bd08f337e7
2 changed files with 3064 additions and 3064 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5818
obj/baseflight.hex
View File

File diff suppressed because it is too large Load Diff

310
src/main.c
View File

@ -1,156 +1,156 @@
#include "board.h" #include "board.h"
#include "mw.h" #include "mw.h"
extern uint8_t useServo;
extern rcReadRawDataPtr rcReadRawFunc;
// two receiver read functions
extern uint16_t pwmReadRawRC(uint8_t chan);
extern uint16_t spektrumReadRawRC(uint8_t chan);
static void _putc(void *p, char c)
{
uartWrite(c);
}
int main(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
drv_adc_config_t adc_params;
#if 0
// PC12, PA15
// using this to write asm for bootloader :)
RCC->APB2ENR |= RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO; // GPIOA/C+AFIO only
AFIO->MAPR &= 0xF0FFFFFF;
AFIO->MAPR = 0x02000000;
GPIOA->CRH = 0x34444444; // PIN 15 Output 50MHz
GPIOA->BRR = 0x8000; // set low 15
GPIOC->CRH = 0x44434444; // PIN 12 Output 50MHz
GPIOC->BRR = 0x1000; // set low 12
#endif
#if 0
// using this to write asm for bootloader :)
RCC->APB2ENR |= RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO; // GPIOB + AFIO
AFIO->MAPR &= 0xF0FFFFFF;
AFIO->MAPR = 0x02000000;
GPIOB->BRR = 0x18; // set low 4 & 3
GPIOB->CRL = 0x44433444; // PIN 4 & 3 Output 50MHz
#endif
systemInit();
init_printf(NULL, _putc);
checkFirstTime(false);
readEEPROM();
// configure power ADC
if (cfg.power_adc_channel > 0 && (cfg.power_adc_channel == 1 || cfg.power_adc_channel == 9))
adc_params.powerAdcChannel = cfg.power_adc_channel;
else {
adc_params.powerAdcChannel = 0;
cfg.power_adc_channel = 0;
}
adcInit(&adc_params); extern uint8_t useServo;
extern rcReadRawDataPtr rcReadRawFunc;
serialInit(cfg.serial_baudrate);
// two receiver read functions
// We have these sensors extern uint16_t pwmReadRawRC(uint8_t chan);
#ifndef FY90Q extern uint16_t spektrumReadRawRC(uint8_t chan);
// AfroFlight32
sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG); static void _putc(void *p, char c)
#else {
// FY90Q uartWrite(c);
sensorsSet(SENSOR_ACC); }
#endif
if (feature(FEATURE_SPEKTRUM)) { int main(void)
spektrumInit(); {
rcReadRawFunc = spektrumReadRawRC; uint8_t i;
} else { drv_pwm_config_t pwm_params;
// spektrum and GPS are mutually exclusive drv_adc_config_t adc_params;
// Optional GPS - available in both PPM and PWM input mode, in PWM input, reduces number of available channels by 2.
if (feature(FEATURE_GPS)) #if 0
gpsInit(cfg.gps_baudrate); // PC12, PA15
} // using this to write asm for bootloader :)
#ifdef SONAR RCC->APB2ENR |= RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO; // GPIOA/C+AFIO only
// sonar stuff only works with PPM AFIO->MAPR &= 0xF0FFFFFF;
if (feature(FEATURE_PPM)) { AFIO->MAPR = 0x02000000;
if (feature(FEATURE_SONAR)) GPIOA->CRH = 0x34444444; // PIN 15 Output 50MHz
Sonar_init(); GPIOA->BRR = 0x8000; // set low 15
} GPIOC->CRH = 0x44434444; // PIN 12 Output 50MHz
#endif GPIOC->BRR = 0x1000; // set low 12
#endif
mixerInit(); // this will set useServo var depending on mixer type
// when using airplane/wing mixer, servo/motor outputs are remapped #if 0
if (cfg.mixerConfiguration == MULTITYPE_AIRPLANE || cfg.mixerConfiguration == MULTITYPE_FLYING_WING) // using this to write asm for bootloader :)
pwm_params.airplane = true; RCC->APB2ENR |= RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO; // GPIOB + AFIO
else AFIO->MAPR &= 0xF0FFFFFF;
pwm_params.airplane = false; AFIO->MAPR = 0x02000000;
pwm_params.useUART = feature(FEATURE_GPS) || feature(FEATURE_SPEKTRUM); // spektrum support uses UART too GPIOB->BRR = 0x18; // set low 4 & 3
pwm_params.usePPM = feature(FEATURE_PPM); GPIOB->CRL = 0x44433444; // PIN 4 & 3 Output 50MHz
pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum #endif
pwm_params.useServos = useServo;
pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX; systemInit();
pwm_params.motorPwmRate = cfg.motor_pwm_rate; init_printf(NULL, _putc);
pwm_params.servoPwmRate = cfg.servo_pwm_rate;
switch (cfg.power_adc_channel) { checkFirstTime(false);
case 1: readEEPROM();
pwm_params.adcChannel = PWM2;
break; // configure power ADC
case 9: if (cfg.power_adc_channel > 0 && (cfg.power_adc_channel == 1 || cfg.power_adc_channel == 9))
pwm_params.adcChannel = PWM8; adc_params.powerAdcChannel = cfg.power_adc_channel;
break; else {
default: adc_params.powerAdcChannel = 0;
pwm_params.adcChannel = 0; cfg.power_adc_channel = 0;
break; }
}
adcInit(&adc_params);
pwmInit(&pwm_params);
serialInit(cfg.serial_baudrate);
// configure PWM/CPPM read function. spektrum will override that
rcReadRawFunc = pwmReadRawRC; // We have these sensors
#ifndef FY90Q
LED1_ON; // AfroFlight32
LED0_OFF; sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
for (i = 0; i < 10; i++) { #else
LED1_TOGGLE; // FY90Q
LED0_TOGGLE; sensorsSet(SENSOR_ACC);
delay(25); #endif
BEEP_ON;
delay(25); mixerInit(); // this will set useServo var depending on mixer type
BEEP_OFF; // when using airplane/wing mixer, servo/motor outputs are remapped
} if (cfg.mixerConfiguration == MULTITYPE_AIRPLANE || cfg.mixerConfiguration == MULTITYPE_FLYING_WING)
LED0_OFF; pwm_params.airplane = true;
LED1_OFF; else
pwm_params.airplane = false;
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead. pwm_params.useUART = feature(FEATURE_GPS) || feature(FEATURE_SPEKTRUM); // spektrum support uses UART too
sensorsAutodetect(); pwm_params.usePPM = feature(FEATURE_PPM);
imuInit(); // Mag is initialized inside imuInit pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum
pwm_params.useServos = useServo;
// Check battery type/voltage pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
if (feature(FEATURE_VBAT)) pwm_params.motorPwmRate = cfg.motor_pwm_rate;
batteryInit(); pwm_params.servoPwmRate = cfg.servo_pwm_rate;
switch (cfg.power_adc_channel) {
previousTime = micros(); case 1:
if (cfg.mixerConfiguration == MULTITYPE_GIMBAL) pwm_params.adcChannel = PWM2;
calibratingA = 400; break;
calibratingG = 1000; case 9:
f.SMALL_ANGLES_25 = 1; pwm_params.adcChannel = PWM8;
break;
// loopy default:
while (1) { pwm_params.adcChannel = 0;
loop(); break;
} }
}
pwmInit(&pwm_params);
void HardFault_Handler(void)
{ // configure PWM/CPPM read function. spektrum below will override that
// fall out of the sky rcReadRawFunc = pwmReadRawRC;
writeAllMotors(cfg.mincommand);
while (1); if (feature(FEATURE_SPEKTRUM)) {
} spektrumInit();
rcReadRawFunc = spektrumReadRawRC;
} else {
// spektrum and GPS are mutually exclusive
// Optional GPS - available in both PPM and PWM input mode, in PWM input, reduces number of available channels by 2.
if (feature(FEATURE_GPS))
gpsInit(cfg.gps_baudrate);
}
#ifdef SONAR
// sonar stuff only works with PPM
if (feature(FEATURE_PPM)) {
if (feature(FEATURE_SONAR))
Sonar_init();
}
#endif
LED1_ON;
LED0_OFF;
for (i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
BEEP_ON;
delay(25);
BEEP_OFF;
}
LED0_OFF;
LED1_OFF;
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsAutodetect();
imuInit(); // Mag is initialized inside imuInit
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit();
previousTime = micros();
if (cfg.mixerConfiguration == MULTITYPE_GIMBAL)
calibratingA = 400;
calibratingG = 1000;
f.SMALL_ANGLES_25 = 1;
// loopy
while (1) {
loop();
}
}
void HardFault_Handler(void)
{
// fall out of the sky
writeAllMotors(cfg.mincommand);
while (1);
}