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/pid.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     mixerInit(masterConfig.mixerMode, masterConfig.customMixer);
 182
 183     memset(&pwm_params, 0, sizeof(pwm_params));
 184     // when using airplane/wing mixer, servo/motor outputs are remapped
 185     if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING)
 186         pwm_params.airplane = true;
 187     else
 188         pwm_params.airplane = false;
 189 #if defined(USE_USART2) && defined(STM32F10X)
 190     pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
 191 #endif
 192     pwm_params.useVbat = feature(FEATURE_VBAT);
 193     pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
 194     pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
 195     pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
 196     pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER)
 197         && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
 198     pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
 199     pwm_params.usePPM = feature(FEATURE_RX_PPM);
 200     pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
 201     pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
 202     pwm_params.useServos = isMixerUsingServos();
 203     pwm_params.extraServos = currentProfile->gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
 204     pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
 205     pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
 206     pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC (default, overridden below)
 207     if (feature(FEATURE_3D))
 208         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
 209     if (pwm_params.motorPwmRate > 500)
 210         pwm_params.idlePulse = 0; // brushed motors
 211     pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
 212
 213     pwmRxInit(masterConfig.inputFilteringMode);
 214
 215     pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
 216
 217     mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
 218
 219 #ifdef BEEPER
 220     beeperConfig_t beeperConfig = {
 221         .gpioPin = BEEP_PIN,
 222         .gpioPort = BEEP_GPIO,
 223         .gpioPeripheral = BEEP_PERIPHERAL,
 224 #ifdef BEEPER_INVERTED
 225         .gpioMode = Mode_Out_PP,
 226         .isInverted = true
 227 #else
 228         .gpioMode = Mode_Out_OD,
 229         .isInverted = false
 230 #endif
 231     };
 232 #ifdef NAZE
 233     if (hardwareRevision >= NAZE32_REV5) {
 234         // naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
 235         beeperConfig.gpioMode = Mode_Out_PP;
 236         beeperConfig.isInverted = true;
 237     }
 238 #endif
 239
 240     beeperInit(&beeperConfig);
 241 #endif
 242
 243 #ifdef INVERTER
 244     initInverter();
 245 #endif
 246
 247
 248 #ifdef USE_SPI
 249     spiInit(SPI1);
 250     spiInit(SPI2);
 251 #endif
 252
 253 #ifdef USE_HARDWARE_REVISION_DETECTION
 254     updateHardwareRevision();
 255 #endif
 256
 257 #ifdef USE_I2C
 258 #if defined(NAZE)
 259     if (hardwareRevision != NAZE32_SP) {
 260         i2cInit(I2C_DEVICE);
 261     }
 262 #elif defined(CC3D)
 263     if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
 264         i2cInit(I2C_DEVICE);
 265     }
 266 #else
 267     i2cInit(I2C_DEVICE);
 268 #endif
 269 #endif
 270
 271 #ifdef USE_ADC
 272     drv_adc_config_t adc_params;
 273
 274     adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
 275     adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
 276     adc_params.enableExternal1 = false;
 277 #ifdef OLIMEXINO
 278     adc_params.enableExternal1 = true;
 279 #endif
 280 #ifdef NAZE
 281     // optional ADC5 input on rev.5 hardware
 282     adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5);
 283 #endif
 284
 285     adcInit(&adc_params);
 286 #endif
 287
 288
 289     initBoardAlignment(&masterConfig.boardAlignment);
 290
 291 #ifdef DISPLAY
 292     if (feature(FEATURE_DISPLAY)) {
 293         displayInit(&masterConfig.rxConfig);
 294     }
 295 #endif
 296
 297     sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination);
 298
 299     // if gyro was not detected due to whatever reason, we give up now.
 300     if (!sensorsOK)
 301         failureMode(3);
 302
 303     LED1_ON;
 304     LED0_OFF;
 305     for (i = 0; i < 10; i++) {
 306         LED1_TOGGLE;
 307         LED0_TOGGLE;
 308         delay(25);
 309         BEEP_ON;
 310         delay(25);
 311         BEEP_OFF;
 312     }
 313     LED0_OFF;
 314     LED1_OFF;
 315
 316 #ifdef MAG
 317     if (sensors(SENSOR_MAG))
 318         compassInit();
 319 #endif
 320
 321     imuInit();
 322
 323     serialInit(&masterConfig.serialConfig);
 324
 325     failsafe = failsafeInit(&masterConfig.rxConfig);
 326     beepcodeInit(failsafe);
 327     rxInit(&masterConfig.rxConfig, failsafe);
 328
 329 #ifdef GPS
 330     if (feature(FEATURE_GPS)) {
 331         gpsInit(
 332             &masterConfig.serialConfig,
 333             &masterConfig.gpsConfig
 334         );
 335         navigationInit(
 336             &currentProfile->gpsProfile,
 337             &currentProfile->pidProfile
 338         );
 339     }
 340 #endif
 341
 342 #ifdef SONAR
 343     if (feature(FEATURE_SONAR)) {
 344         sonarInit();
 345     }
 346 #endif
 347
 348 #ifdef LED_STRIP
 349     ledStripInit(masterConfig.ledConfigs, masterConfig.colors, failsafe);
 350
 351     if (feature(FEATURE_LED_STRIP)) {
 352         ledStripEnable();
 353     }
 354 #endif
 355
 356 #ifdef TELEMETRY
 357     if (feature(FEATURE_TELEMETRY))
 358         telemetryInit();
 359 #endif
 360
 361 #ifdef BLACKBOX
 362     initBlackbox();
 363 #endif
 364
 365     previousTime = micros();
 366
 367     if (masterConfig.mixerMode == MIXER_GIMBAL) {
 368         accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
 369     }
 370     gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
 371 #ifdef BARO
 372     baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
 373 #endif
 374
 375     // start all timers
 376     // TODO - not implemented yet
 377     timerStart();
 378
 379     ENABLE_STATE(SMALL_ANGLE);
 380     DISABLE_ARMING_FLAG(PREVENT_ARMING);
 381
 382 #ifdef SOFTSERIAL_LOOPBACK
 383     // FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
 384     loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
 385     if (!loopbackPort->vTable) {
 386         loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
 387     }
 388     serialPrint(loopbackPort, "LOOPBACK\r\n");
 389 #endif
 390
 391     // Now that everything has powered up the voltage and cell count be determined.
 392
 393     if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER))
 394         batteryInit(&masterConfig.batteryConfig);
 395
 396 #ifdef DISPLAY
 397     if (feature(FEATURE_DISPLAY)) {
 398 #ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
 399         displayShowFixedPage(PAGE_GPS);
 400 #else
 401         displayResetPageCycling();
 402         displayEnablePageCycling();
 403 #endif
 404     }
 405 #endif
 406
 407 #ifdef CJMCU
 408     LED2_ON;
 409 #endif
 410 }
 411
 412 #ifdef SOFTSERIAL_LOOPBACK
 413 void processLoopback(void) {
 414     if (loopbackPort) {
 415         uint8_t bytesWaiting;
 416         while ((bytesWaiting = serialTotalBytesWaiting(loopbackPort))) {
 417             uint8_t b = serialRead(loopbackPort);
 418             serialWrite(loopbackPort, b);
 419         };
 420     }
 421 }
 422 #else
 423 #define processLoopback()
 424 #endif
 425
 426 int main(void) {
 427     init();
 428
 429     while (1) {
 430         loop();
 431         processLoopback();
 432     }
 433 }
 434
 435 void HardFault_Handler(void)
 436 {
 437     // fall out of the sky
 438     writeAllMotors(masterConfig.escAndServoConfig.mincommand);
 439     while (1);
 440 }