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 "scheduler/scheduler.h"
  26
  27 #include "common/axis.h"
  28 #include "common/color.h"
  29 #include "common/atomic.h"
  30 #include "common/maths.h"
  31
  32 #include "drivers/nvic.h"
  33
  34 #include "drivers/sensor.h"
  35 #include "drivers/system.h"
  36 #include "drivers/gpio.h"
  37 #include "drivers/light_led.h"
  38 #include "drivers/sound_beeper.h"
  39 #include "drivers/timer.h"
  40 #include "drivers/serial.h"
  41 #include "drivers/serial_softserial.h"
  42 #include "drivers/serial_uart.h"
  43 #include "drivers/accgyro.h"
  44 #include "drivers/compass.h"
  45 #include "drivers/pwm_mapping.h"
  46 #include "drivers/pwm_rx.h"
  47 #include "drivers/adc.h"
  48 #include "drivers/bus_i2c.h"
  49 #include "drivers/bus_spi.h"
  50 #include "drivers/inverter.h"
  51 #include "drivers/flash_m25p16.h"
  52 #include "drivers/sonar_hcsr04.h"
  53 #include "drivers/gyro_sync.h"
  54
  55 #include "rx/rx.h"
  56
  57 #include "io/beeper.h"
  58 #include "io/serial.h"
  59 #include "io/flashfs.h"
  60 #include "io/gps.h"
  61 #include "io/escservo.h"
  62 #include "io/rc_controls.h"
  63 #include "io/gimbal.h"
  64 #include "io/ledstrip.h"
  65 #include "io/display.h"
  66
  67 #include "sensors/sensors.h"
  68 #include "sensors/sonar.h"
  69 #include "sensors/barometer.h"
  70 #include "sensors/compass.h"
  71 #include "sensors/acceleration.h"
  72 #include "sensors/gyro.h"
  73 #include "sensors/battery.h"
  74 #include "sensors/boardalignment.h"
  75 #include "sensors/initialisation.h"
  76
  77 #include "telemetry/telemetry.h"
  78 #include "blackbox/blackbox.h"
  79
  80 #include "flight/pid.h"
  81 #include "flight/imu.h"
  82 #include "flight/mixer.h"
  83 #include "flight/failsafe.h"
  84 #include "flight/navigation_rewrite.h"
  85
  86 #include "config/runtime_config.h"
  87 #include "config/config.h"
  88 #include "config/config_profile.h"
  89 #include "config/config_master.h"
  90
  91 #ifdef USE_HARDWARE_REVISION_DETECTION
  92 #include "hardware_revision.h"
  93 #endif
  94
  95 #include "build_config.h"
  96 #include "debug.h"
  97
  98 extern uint8_t motorControlEnable;
  99
 100 #ifdef SOFTSERIAL_LOOPBACK
 101 serialPort_t *loopbackPort;
 102 #endif
 103
 104 void printfSupportInit(void);
 105 void timerInit(void);
 106 void telemetryInit(void);
 107 void serialInit(serialConfig_t *initialSerialConfig, bool softserialEnabled);
 108 void mspInit();
 109 void cliInit(serialConfig_t *serialConfig);
 110 void failsafeInit(rxConfig_t *intialRxConfig, uint16_t deadband3d_throttle);
 111 pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init);
 112 #ifdef USE_SERVOS
 113 void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers, servoMixer_t *customServoMixers);
 114 #else
 115 void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
 116 #endif
 117 void mixerUsePWMIOConfiguration(void);
 118 void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationConditions);
 119 void gpsPreInit(gpsConfig_t *initialGpsConfig);
 120 void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
 121 void imuInit(void);
 122 void displayInit(rxConfig_t *intialRxConfig);
 123 void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse);
 124 void spektrumBind(rxConfig_t *rxConfig);
 125
 126 #ifdef STM32F303xC
 127 // from system_stm32f30x.c
 128 void SetSysClock(void);
 129 #endif
 130 #ifdef STM32F10X
 131 // from system_stm32f10x.c
 132 void SetSysClock(bool overclock);
 133 #endif
 134
 135 typedef enum {
 136     SYSTEM_STATE_INITIALISING   = 0,
 137     SYSTEM_STATE_CONFIG_LOADED  = (1 << 0),
 138     SYSTEM_STATE_SENSORS_READY  = (1 << 1),
 139     SYSTEM_STATE_MOTORS_READY   = (1 << 2),
 140     SYSTEM_STATE_READY          = (1 << 7)
 141 } systemState_e;
 142
 143 static uint8_t systemState = SYSTEM_STATE_INITIALISING;
 144
 145 void flashLedsAndBeep(void)
 146 {
 147     LED1_ON;
 148     LED0_OFF;
 149     for (uint8_t i = 0; i < 10; i++) {
 150         LED1_TOGGLE;
 151         LED0_TOGGLE;
 152         delay(25);
 153         if (!(getPreferedBeeperOffMask() & (1 << (BEEPER_SYSTEM_INIT - 1))))
 154                 BEEP_ON;
 155         delay(25);
 156         BEEP_OFF;
 157     }
 158     LED0_OFF;
 159     LED1_OFF;
 160 }
 161
 162 void init(void)
 163 {
 164     uint8_t i;
 165     drv_pwm_config_t pwm_params;
 166
 167     printfSupportInit();
 168
 169     initEEPROM();
 170
 171     ensureEEPROMContainsValidData();
 172     readEEPROM();
 173
 174     systemState |= SYSTEM_STATE_CONFIG_LOADED;
 175
 176 #ifdef STM32F303
 177     // start fpu
 178     SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
 179 #endif
 180
 181 #ifdef STM32F303xC
 182     SetSysClock();
 183 #endif
 184 #ifdef STM32F10X
 185     // Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
 186     // Configure the Flash Latency cycles and enable prefetch buffer
 187     SetSysClock(masterConfig.emf_avoidance);
 188 #endif
 189     i2cSetOverclock(masterConfig.i2c_overclock);
 190
 191 #ifdef USE_HARDWARE_REVISION_DETECTION
 192     detectHardwareRevision();
 193 #endif
 194
 195     systemInit();
 196
 197     // Latch active features to be used for feature() in the remainder of init().
 198     latchActiveFeatures();
 199
 200     ledInit();
 201
 202 #ifdef SPEKTRUM_BIND
 203     if (feature(FEATURE_RX_SERIAL)) {
 204         switch (masterConfig.rxConfig.serialrx_provider) {
 205             case SERIALRX_SPEKTRUM1024:
 206             case SERIALRX_SPEKTRUM2048:
 207                 // Spektrum satellite binding if enabled on startup.
 208                 // Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
 209                 // The rest of Spektrum initialization will happen later - via spektrumInit()
 210                 spektrumBind(&masterConfig.rxConfig);
 211                 break;
 212         }
 213     }
 214 #endif
 215
 216     delay(500);
 217
 218     timerInit();  // timer must be initialized before any channel is allocated
 219
 220     serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL));
 221
 222 #ifdef USE_SERVOS
 223     mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer, masterConfig.customServoMixer);
 224 #else
 225     mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
 226 #endif
 227
 228     memset(&pwm_params, 0, sizeof(pwm_params));
 229
 230 #ifdef SONAR
 231     sonarGPIOConfig_t sonarGPIOConfig;
 232     if (feature(FEATURE_SONAR)) {
 233         const sonarHcsr04Hardware_t *sonarHardware = sonarGetHardwareConfiguration(masterConfig.batteryConfig.currentMeterType);
 234         sonarGPIOConfig.gpio = sonarHardware->echo_gpio;
 235         sonarGPIOConfig.triggerPin = sonarHardware->echo_pin;
 236         sonarGPIOConfig.echoPin = sonarHardware->trigger_pin;
 237         pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
 238     }
 239     pwm_params.useSonar = feature(FEATURE_SONAR);
 240 #endif
 241
 242     // when using airplane/wing mixer, servo/motor outputs are remapped
 243     if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE)
 244         pwm_params.airplane = true;
 245     else
 246         pwm_params.airplane = false;
 247 #if defined(USE_USART2) && defined(STM32F10X)
 248     pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
 249 #endif
 250 #ifdef STM32F303xC
 251     pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3);
 252 #endif
 253     pwm_params.useVbat = feature(FEATURE_VBAT);
 254     pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
 255     pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
 256     pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
 257     pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER)
 258         && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
 259     pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
 260     pwm_params.usePPM = feature(FEATURE_RX_PPM);
 261     pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
 262
 263 #ifdef USE_SERVOS
 264     pwm_params.useServos = isServoOutputEnabled();
 265     pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
 266     pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
 267     pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
 268 #endif
 269
 270     pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
 271     pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
 272     pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
 273     if (feature(FEATURE_3D))
 274         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
 275     if (pwm_params.motorPwmRate > 500)
 276         pwm_params.idlePulse = 0; // brushed motors
 277
 278     pwmRxInit(masterConfig.inputFilteringMode);
 279
 280     // pwmInit() needs to be called as soon as possible for ESC compatibility reasons
 281     pwmInit(&pwm_params);
 282
 283     mixerUsePWMIOConfiguration();
 284
 285     if (!feature(FEATURE_ONESHOT125))
 286         motorControlEnable = true;
 287
 288     systemState |= SYSTEM_STATE_MOTORS_READY;
 289
 290 #ifdef BEEPER
 291     beeperConfig_t beeperConfig = {
 292         .gpioPeripheral = BEEP_PERIPHERAL,
 293         .gpioPin = BEEP_PIN,
 294         .gpioPort = BEEP_GPIO,
 295 #ifdef BEEPER_INVERTED
 296         .gpioMode = Mode_Out_PP,
 297         .isInverted = true
 298 #else
 299         .gpioMode = Mode_Out_OD,
 300         .isInverted = false
 301 #endif
 302     };
 303 #ifdef NAZE
 304     if (hardwareRevision >= NAZE32_REV5) {
 305         // naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
 306         beeperConfig.gpioMode = Mode_Out_PP;
 307         beeperConfig.isInverted = true;
 308     }
 309 #endif
 310
 311     beeperInit(&beeperConfig);
 312 #endif
 313
 314 #ifdef INVERTER
 315     initInverter();
 316 #endif
 317
 318
 319 #ifdef USE_SPI
 320     spiInit(SPI1);
 321     spiInit(SPI2);
 322 #endif
 323
 324 #ifdef USE_HARDWARE_REVISION_DETECTION
 325     updateHardwareRevision();
 326 #endif
 327
 328 #if defined(NAZE)
 329     if (hardwareRevision == NAZE32_SP) {
 330         serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
 331     } else  {
 332         serialRemovePort(SERIAL_PORT_USART3);
 333     }
 334 #endif
 335
 336 #if defined(SPRACINGF3) && defined(SONAR) && defined(USE_SOFTSERIAL2)
 337     if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
 338         serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
 339     }
 340 #endif
 341
 342
 343 #ifdef USE_I2C
 344 #if defined(NAZE)
 345     if (hardwareRevision != NAZE32_SP) {
 346         i2cInit(I2C_DEVICE);
 347     } else {
 348         if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
 349             i2cInit(I2C_DEVICE);
 350         }
 351     }
 352 #elif defined(CC3D)
 353     if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
 354         i2cInit(I2C_DEVICE);
 355     }
 356 #else
 357     i2cInit(I2C_DEVICE);
 358 #endif
 359 #endif
 360
 361 #ifdef USE_ADC
 362     drv_adc_config_t adc_params;
 363
 364     adc_params.enableVBat = feature(FEATURE_VBAT);
 365     adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
 366     adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
 367     adc_params.enableExternal1 = false;
 368 #ifdef OLIMEXINO
 369     adc_params.enableExternal1 = true;
 370 #endif
 371 #ifdef NAZE
 372     // optional ADC5 input on rev.5 hardware
 373     adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5);
 374 #endif
 375
 376     adcInit(&adc_params);
 377 #endif
 378
 379     initBoardAlignment(&masterConfig.boardAlignment);
 380
 381 #ifdef DISPLAY
 382     if (feature(FEATURE_DISPLAY)) {
 383         displayInit(&masterConfig.rxConfig);
 384     }
 385 #endif
 386
 387 #ifdef GPS
 388     if (feature(FEATURE_GPS)) {
 389         gpsPreInit(&masterConfig.gpsConfig);
 390     }
 391 #endif
 392
 393     // Set gyro sampling rate divider before initialization
 394     gyroSetSampleRate(masterConfig.looptime, masterConfig.gyro_lpf, masterConfig.gyroSync, masterConfig.gyroSyncDenominator);
 395
 396     if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf,
 397         masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, currentProfile->mag_declination)) {
 398
 399         // if gyro was not detected due to whatever reason, we give up now.
 400         failureMode(FAILURE_MISSING_ACC);
 401     }
 402
 403     systemState |= SYSTEM_STATE_SENSORS_READY;
 404
 405     LED1_ON;
 406     LED0_OFF;
 407     for (i = 0; i < 10; i++) {
 408         LED1_TOGGLE;
 409         LED0_TOGGLE;
 410         delay(25);
 411         BEEP_ON;
 412         delay(25);
 413         BEEP_OFF;
 414     }
 415     LED0_OFF;
 416     LED1_OFF;
 417
 418 #ifdef MAG
 419     if (sensors(SENSOR_MAG))
 420         compassInit();
 421 #endif
 422
 423     imuInit();
 424
 425     mspInit(&masterConfig.serialConfig);
 426
 427 #ifdef USE_CLI
 428     cliInit(&masterConfig.serialConfig);
 429 #endif
 430
 431     failsafeInit(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
 432
 433     rxInit(&masterConfig.rxConfig, currentProfile->modeActivationConditions);
 434
 435 #ifdef GPS
 436     if (feature(FEATURE_GPS)) {
 437         gpsInit(
 438             &masterConfig.serialConfig,
 439             &masterConfig.gpsConfig
 440         );
 441     }
 442 #endif
 443
 444 #ifdef NAV
 445         navigationInit(
 446             &masterConfig.navConfig,
 447             &currentProfile->pidProfile,
 448             &currentProfile->rcControlsConfig,
 449             &masterConfig.rxConfig,
 450             &masterConfig.flight3DConfig,
 451             &masterConfig.escAndServoConfig
 452         );
 453 #endif
 454
 455 #ifdef SONAR
 456     if (feature(FEATURE_SONAR)) {
 457         sonarInit();
 458     }
 459 #endif
 460
 461 #ifdef LED_STRIP
 462     ledStripInit(masterConfig.ledConfigs, masterConfig.colors);
 463
 464     if (feature(FEATURE_LED_STRIP)) {
 465         ledStripEnable();
 466     }
 467 #endif
 468
 469 #ifdef TELEMETRY
 470     if (feature(FEATURE_TELEMETRY)) {
 471         telemetryInit();
 472     }
 473 #endif
 474
 475 #ifdef USE_FLASHFS
 476 #ifdef NAZE
 477     if (hardwareRevision == NAZE32_REV5) {
 478         m25p16_init();
 479     }
 480 #elif defined(USE_FLASH_M25P16)
 481     m25p16_init();
 482 #endif
 483
 484     flashfsInit();
 485 #endif
 486
 487 #ifdef BLACKBOX
 488     initBlackbox();
 489 #endif
 490
 491     gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
 492 #ifdef BARO
 493     baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
 494 #endif
 495
 496     // start all timers
 497     // TODO - not implemented yet
 498     timerStart();
 499
 500     ENABLE_STATE(SMALL_ANGLE);
 501     DISABLE_ARMING_FLAG(PREVENT_ARMING);
 502
 503 #ifdef SOFTSERIAL_LOOPBACK
 504     // FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
 505     loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
 506     if (!loopbackPort->vTable) {
 507         loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
 508     }
 509     serialPrint(loopbackPort, "LOOPBACK\r\n");
 510 #endif
 511
 512     // Now that everything has powered up the voltage and cell count be determined.
 513
 514     if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER))
 515         batteryInit(&masterConfig.batteryConfig);
 516
 517 #ifdef CJMCU
 518     LED2_ON;
 519 #endif
 520
 521     // Latch active features AGAIN since some may be modified by init().
 522     latchActiveFeatures();
 523     motorControlEnable = true;
 524
 525     systemState |= SYSTEM_STATE_READY;
 526 }
 527
 528 #ifdef SOFTSERIAL_LOOPBACK
 529 void processLoopback(void) {
 530     if (loopbackPort) {
 531         uint8_t bytesWaiting;
 532         while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) {
 533             uint8_t b = serialRead(loopbackPort);
 534             serialWrite(loopbackPort, b);
 535         };
 536     }
 537 }
 538 #else
 539 #define processLoopback()
 540 #endif
 541
 542 int main(void) {
 543     init();
 544
 545     /* Setup scheduler */
 546     schedulerInit();
 547
 548     rescheduleTask(TASK_GYROPID, targetLooptime);
 549     setTaskEnabled(TASK_GYROPID, true);
 550
 551     setTaskEnabled(TASK_SERIAL, true);
 552 #ifdef BEEPER
 553     setTaskEnabled(TASK_BEEPER, true);
 554 #endif
 555     setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
 556     setTaskEnabled(TASK_RX, true);
 557 #ifdef GPS
 558     setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
 559 #endif
 560 #ifdef MAG
 561     setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
 562 #endif
 563 #ifdef BARO
 564     setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
 565 #endif
 566 #ifdef SONAR
 567     setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
 568 #endif
 569 #ifdef DISPLAY
 570     setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY));
 571 #endif
 572 #ifdef TELEMETRY
 573     setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
 574 #endif
 575 #ifdef LED_STRIP
 576     setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
 577 #endif
 578
 579     while (1) {
 580         scheduler();
 581         processLoopback();
 582     }
 583 }
 584
 585 void HardFault_Handler(void)
 586 {
 587     // fall out of the sky
 588     uint8_t requiredState = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
 589     if ((systemState & requiredState) == requiredState) {
 590         stopMotors();
 591     }
 592     while (1);
 593 }