Browse Source
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.
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-3a2d53b20e61master
timecop@gmail.com
12 years ago
2 changed files with 3065 additions and 3065 deletions
-
5818obj/baseflight.hex
-
312src/main.c
5818
obj/baseflight.hex
File diff suppressed because it is too large
View File
File diff suppressed because it is too large
View File
@ -1,156 +1,156 @@ |
|||
#include "board.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); |
|||
|
|||
serialInit(cfg.serial_baudrate); |
|||
|
|||
// We have these sensors |
|||
#ifndef FY90Q |
|||
// AfroFlight32 |
|||
sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG); |
|||
#else |
|||
// FY90Q |
|||
sensorsSet(SENSOR_ACC); |
|||
#endif |
|||
|
|||
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 |
|||
|
|||
mixerInit(); // this will set useServo var depending on mixer type |
|||
// when using airplane/wing mixer, servo/motor outputs are remapped |
|||
if (cfg.mixerConfiguration == MULTITYPE_AIRPLANE || cfg.mixerConfiguration == MULTITYPE_FLYING_WING) |
|||
pwm_params.airplane = true; |
|||
else |
|||
pwm_params.airplane = false; |
|||
pwm_params.useUART = feature(FEATURE_GPS) || feature(FEATURE_SPEKTRUM); // spektrum support uses UART too |
|||
pwm_params.usePPM = feature(FEATURE_PPM); |
|||
pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum |
|||
pwm_params.useServos = useServo; |
|||
pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX; |
|||
pwm_params.motorPwmRate = cfg.motor_pwm_rate; |
|||
pwm_params.servoPwmRate = cfg.servo_pwm_rate; |
|||
switch (cfg.power_adc_channel) { |
|||
case 1: |
|||
pwm_params.adcChannel = PWM2; |
|||
break; |
|||
case 9: |
|||
pwm_params.adcChannel = PWM8; |
|||
break; |
|||
default: |
|||
pwm_params.adcChannel = 0; |
|||
break; |
|||
} |
|||
|
|||
pwmInit(&pwm_params); |
|||
|
|||
// configure PWM/CPPM read function. spektrum will override that |
|||
rcReadRawFunc = pwmReadRawRC; |
|||
|
|||
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); |
|||
} |
|||
#include "board.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); |
|||
|
|||
serialInit(cfg.serial_baudrate); |
|||
|
|||
// We have these sensors |
|||
#ifndef FY90Q |
|||
// AfroFlight32 |
|||
sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG); |
|||
#else |
|||
// FY90Q |
|||
sensorsSet(SENSOR_ACC); |
|||
#endif |
|||
|
|||
mixerInit(); // this will set useServo var depending on mixer type |
|||
// when using airplane/wing mixer, servo/motor outputs are remapped |
|||
if (cfg.mixerConfiguration == MULTITYPE_AIRPLANE || cfg.mixerConfiguration == MULTITYPE_FLYING_WING) |
|||
pwm_params.airplane = true; |
|||
else |
|||
pwm_params.airplane = false; |
|||
pwm_params.useUART = feature(FEATURE_GPS) || feature(FEATURE_SPEKTRUM); // spektrum support uses UART too |
|||
pwm_params.usePPM = feature(FEATURE_PPM); |
|||
pwm_params.enableInput = !feature(FEATURE_SPEKTRUM); // disable inputs if using spektrum |
|||
pwm_params.useServos = useServo; |
|||
pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX; |
|||
pwm_params.motorPwmRate = cfg.motor_pwm_rate; |
|||
pwm_params.servoPwmRate = cfg.servo_pwm_rate; |
|||
switch (cfg.power_adc_channel) { |
|||
case 1: |
|||
pwm_params.adcChannel = PWM2; |
|||
break; |
|||
case 9: |
|||
pwm_params.adcChannel = PWM8; |
|||
break; |
|||
default: |
|||
pwm_params.adcChannel = 0; |
|||
break; |
|||
} |
|||
|
|||
pwmInit(&pwm_params); |
|||
|
|||
// configure PWM/CPPM read function. spektrum below will override that |
|||
rcReadRawFunc = pwmReadRawRC; |
|||
|
|||
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); |
|||
} |
|||
Write
Preview
Loading…
Cancel
Save
Reference in new issue