src/main/main.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20 #include <stdlib.h>
  21 #include <string.h>
  22
  23 #include "platform.h"
  24
  25 #include "common/axis.h"
  26 #include "common/color.h"
  27 #include "common/atomic.h"
  28 #include "common/maths.h"
  29
  30 #include "drivers/nvic.h"
  31
  32 #include "drivers/sensor.h"
  33 #include "drivers/system.h"
  34 #include "drivers/gpio.h"
  35 #include "drivers/light_led.h"
  36 #include "drivers/sound_beeper.h"
  37 #include "drivers/timer.h"
  38 #include "drivers/serial.h"
  39 #include "drivers/serial_softserial.h"
  40 #include "drivers/serial_uart.h"
  41 #include "drivers/accgyro.h"
  42 #include "drivers/compass.h"
  43 #include "drivers/pwm_mapping.h"
  44 #include "drivers/pwm_rx.h"
  45 #include "drivers/adc.h"
  46 #include "drivers/bus_i2c.h"
  47 #include "drivers/bus_spi.h"
  48 #include "drivers/inverter.h"
  49
  50 #include "rx/rx.h"
  51
  52 #include "io/serial.h"
  53 #include "io/gps.h"
  54 #include "io/escservo.h"
  55 #include "io/rc_controls.h"
  56 #include "io/gimbal.h"
  57 #include "io/ledstrip.h"
  58 #include "io/display.h"
  59
  60 #include "sensors/sensors.h"
  61 #include "sensors/sonar.h"
  62 #include "sensors/barometer.h"
  63 #include "sensors/compass.h"
  64 #include "sensors/acceleration.h"
  65 #include "sensors/gyro.h"
  66 #include "sensors/battery.h"
  67 #include "sensors/boardalignment.h"
  68
  69 #include "telemetry/telemetry.h"
  70 #include "blackbox/blackbox.h"
  71
  72 #include "flight/flight.h"
  73 #include "flight/imu.h"
  74 #include "flight/mixer.h"
  75 #include "flight/failsafe.h"
  76 #include "flight/navigation.h"
  77
  78 #include "config/runtime_config.h"
  79 #include "config/config.h"
  80 #include "config/config_profile.h"
  81 #include "config/config_master.h"
  82
  83 #ifdef USE_HARDWARE_REVISION_DETECTION
  84 #include "hardware_revision.h"
  85 #endif
  86
  87 #include "build_config.h"
  88
  89 #ifdef DEBUG_SECTION_TIMES
  90 uint32_t sectionTimes[2][4];
  91 #endif
  92 extern uint32_t previousTime;
  93
  94 #ifdef SOFTSERIAL_LOOPBACK
  95 serialPort_t *loopbackPort;
  96 #endif
  97
  98 failsafe_t *failsafe;
  99
 100 void printfSupportInit(void);
 101 void timerInit(void);
 102 void telemetryInit(void);
 103 void serialInit(serialConfig_t *initialSerialConfig);
 104 failsafe_t* failsafeInit(rxConfig_t *intialRxConfig);
 105 pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init);
 106 void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMixers);
 107 void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
 108 void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
 109 void beepcodeInit(failsafe_t *initialFailsafe);
 110 void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
 111 void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
 112 bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int8_t magHardwareToUse, int16_t magDeclinationFromConfig);
 113 void imuInit(void);
 114 void displayInit(rxConfig_t *intialRxConfig);
 115 void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse, failsafe_t* failsafeToUse);
 116 void loop(void);
 117 void spektrumBind(rxConfig_t *rxConfig);
 118
 119 #ifdef STM32F303xC
 120 // from system_stm32f30x.c
 121 void SetSysClock(void);
 122 #endif
 123 #ifdef STM32F10X
 124 // from system_stm32f10x.c
 125 void SetSysClock(bool overclock);
 126 #endif
 127
 128 void init(void)
 129 {
 130     uint8_t i;
 131     drv_pwm_config_t pwm_params;
 132     bool sensorsOK = false;
 133
 134     printfSupportInit();
 135
 136     initEEPROM();
 137
 138     ensureEEPROMContainsValidData();
 139     readEEPROM();
 140
 141 #ifdef STM32F303
 142     // start fpu
 143     SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
 144 #endif
 145
 146 #ifdef STM32F303xC
 147     SetSysClock();
 148 #endif
 149 #ifdef STM32F10X
 150     // Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
 151     // Configure the Flash Latency cycles and enable prefetch buffer
 152     SetSysClock(masterConfig.emf_avoidance);
 153 #endif
 154
 155 #ifdef USE_HARDWARE_REVISION_DETECTION
 156     detectHardwareRevision();
 157 #endif
 158
 159     systemInit();
 160
 161     ledInit();
 162
 163     #ifdef SPEKTRUM_BIND
 164     if (feature(FEATURE_RX_SERIAL)) {
 165         switch (masterConfig.rxConfig.serialrx_provider) {
 166             case SERIALRX_SPEKTRUM1024:
 167             case SERIALRX_SPEKTRUM2048:
 168                 // Spektrum satellite binding if enabled on startup.
 169                 // Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
 170                 // The rest of Spektrum initialization will happen later - via spektrumInit()
 171                 spektrumBind(&masterConfig.rxConfig);
 172                 break;
 173         }
 174     }
 175 #endif
 176
 177     delay(100);
 178
 179     timerInit();  // timer must be initialized before any channel is allocated
 180
 181 #ifdef BEEPER
 182     beeperConfig_t beeperConfig = {
 183         .gpioMode = Mode_Out_OD,
 184         .gpioPin = BEEP_PIN,
 185         .gpioPort = BEEP_GPIO,
 186         .gpioPeripheral = BEEP_PERIPHERAL,
 187         .isInverted = false
 188     };
 189 #ifdef NAZE
 190     if (hardwareRevision >= NAZE32_REV5) {
 191         // naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
 192         beeperConfig.gpioMode = Mode_Out_PP;
 193         beeperConfig.isInverted = true;
 194     }
 195 #endif
 196
 197     beeperInit(&beeperConfig);
 198 #endif
 199
 200 #ifdef INVERTER
 201     initInverter();
 202 #endif
 203
 204
 205 #ifdef USE_SPI
 206     spiInit(SPI1);
 207     spiInit(SPI2);
 208 #endif
 209
 210 #ifdef USE_HARDWARE_REVISION_DETECTION
 211     updateHardwareRevision();
 212 #endif
 213
 214 #ifdef USE_I2C
 215 #if defined(NAZE)
 216     if (hardwareRevision != NAZE32_SP) {
 217         i2cInit(I2C_DEVICE);
 218     }
 219 #elif defined(CC3D)
 220     if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
 221         i2cInit(I2C_DEVICE);
 222     }
 223 #else
 224     i2cInit(I2C_DEVICE);
 225 #endif
 226 #endif
 227
 228 #ifdef USE_ADC
 229     drv_adc_config_t adc_params;
 230
 231     adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
 232     adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
 233     adc_params.enableExternal1 = false;
 234 #ifdef OLIMEXINO
 235     adc_params.enableExternal1 = true;
 236 #endif
 237 #ifdef NAZE
 238     // optional ADC5 input on rev.5 hardware
 239     adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5);
 240 #endif
 241
 242     adcInit(&adc_params);
 243 #endif
 244
 245
 246     initBoardAlignment(&masterConfig.boardAlignment);
 247
 248 #ifdef DISPLAY
 249     if (feature(FEATURE_DISPLAY)) {
 250         displayInit(&masterConfig.rxConfig);
 251     }
 252 #endif
 253
 254     // We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
 255     sensorsSet(SENSORS_SET);
 256     // drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
 257     sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination);
 258
 259     // if gyro was not detected due to whatever reason, we give up now.
 260     if (!sensorsOK)
 261         failureMode(3);
 262
 263     LED1_ON;
 264     LED0_OFF;
 265     for (i = 0; i < 10; i++) {
 266         LED1_TOGGLE;
 267         LED0_TOGGLE;
 268         delay(25);
 269         BEEP_ON;
 270         delay(25);
 271         BEEP_OFF;
 272     }
 273     LED0_OFF;
 274     LED1_OFF;
 275
 276     imuInit();
 277     mixerInit(masterConfig.mixerMode, masterConfig.customMixer);
 278
 279 #ifdef MAG
 280     if (sensors(SENSOR_MAG))
 281         compassInit();
 282 #endif
 283
 284     serialInit(&masterConfig.serialConfig);
 285
 286     memset(&pwm_params, 0, sizeof(pwm_params));
 287     // when using airplane/wing mixer, servo/motor outputs are remapped
 288     if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING)
 289         pwm_params.airplane = true;
 290     else
 291         pwm_params.airplane = false;
 292 #if defined(SERIAL_PORT_USART2) && defined(STM32F10X)
 293     pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
 294 #endif
 295     pwm_params.useVbat = feature(FEATURE_VBAT);
 296     pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
 297     pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
 298     pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
 299     pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER)
 300         && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
 301     pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
 302     pwm_params.usePPM = feature(FEATURE_RX_PPM);
 303     pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
 304     pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
 305     pwm_params.useServos = isMixerUsingServos();
 306     pwm_params.extraServos = currentProfile->gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
 307     pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
 308     pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
 309     pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC (default, overridden below)
 310     if (feature(FEATURE_3D))
 311         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
 312     if (pwm_params.motorPwmRate > 500)
 313         pwm_params.idlePulse = 0; // brushed motors
 314     pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
 315
 316     pwmRxInit(masterConfig.inputFilteringMode);
 317
 318     pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
 319
 320     mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
 321
 322     failsafe = failsafeInit(&masterConfig.rxConfig);
 323     beepcodeInit(failsafe);
 324     rxInit(&masterConfig.rxConfig, failsafe);
 325
 326 #ifdef GPS
 327     if (feature(FEATURE_GPS)) {
 328         gpsInit(
 329             &masterConfig.serialConfig,
 330             &masterConfig.gpsConfig
 331         );
 332         navigationInit(
 333             &currentProfile->gpsProfile,
 334             &currentProfile->pidProfile
 335         );
 336     }
 337 #endif
 338
 339 #ifdef SONAR
 340     if (feature(FEATURE_SONAR)) {
 341         sonarInit();
 342     }
 343 #endif
 344
 345 #ifdef LED_STRIP
 346     ledStripInit(masterConfig.ledConfigs, masterConfig.colors, failsafe);
 347
 348     if (feature(FEATURE_LED_STRIP)) {
 349         ledStripEnable();
 350     }
 351 #endif
 352
 353 #ifdef TELEMETRY
 354     if (feature(FEATURE_TELEMETRY))
 355         telemetryInit();
 356 #endif
 357
 358 #ifdef BLACKBOX
 359     initBlackbox();
 360 #endif
 361
 362     previousTime = micros();
 363
 364     if (masterConfig.mixerMode == MIXER_GIMBAL) {
 365         accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
 366     }
 367     gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
 368 #ifdef BARO
 369     baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
 370 #endif
 371
 372     // start all timers
 373     // TODO - not implemented yet
 374     timerStart();
 375
 376     ENABLE_STATE(SMALL_ANGLE);
 377     DISABLE_ARMING_FLAG(PREVENT_ARMING);
 378
 379 #ifdef SOFTSERIAL_LOOPBACK
 380     // FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
 381     loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
 382     if (!loopbackPort->vTable) {
 383         loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
 384     }
 385     serialPrint(loopbackPort, "LOOPBACK\r\n");
 386 #endif
 387
 388     // Now that everything has powered up the voltage and cell count be determined.
 389
 390     // Check battery type/voltage
 391     if (feature(FEATURE_VBAT))
 392         batteryInit(&masterConfig.batteryConfig);
 393
 394 #ifdef DISPLAY
 395     if (feature(FEATURE_DISPLAY)) {
 396 #ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
 397         displayShowFixedPage(PAGE_GPS);
 398 #else
 399         displayEnablePageCycling();
 400 #endif
 401     }
 402 #endif
 403
 404 #ifdef CJMCU
 405     LED2_ON;
 406 #endif
 407 }
 408
 409 #ifdef SOFTSERIAL_LOOPBACK
 410 void processLoopback(void) {
 411     if (loopbackPort) {
 412         uint8_t bytesWaiting;
 413         while ((bytesWaiting = serialTotalBytesWaiting(loopbackPort))) {
 414             uint8_t b = serialRead(loopbackPort);
 415             serialWrite(loopbackPort, b);
 416         };
 417     }
 418 }
 419 #else
 420 #define processLoopback()
 421 #endif
 422
 423 int main(void) {
 424     init();
 425
 426     while (1) {
 427         loop();
 428         processLoopback();
 429     }
 430 }
 431
 432 void HardFault_Handler(void)
 433 {
 434     // fall out of the sky
 435     writeAllMotors(masterConfig.escAndServoConfig.mincommand);
 436     while (1);
 437 }