2018-02-02 16:35:18 -04:00
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/*
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(c) 2017 night_ghost@ykoctpa.ru
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*/
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#pragma GCC optimize ("O2")
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
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#include <assert.h>
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#include <AP_HAL_F4Light/AP_HAL_F4Light.h>
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#include "AP_HAL_F4Light_Namespace.h"
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#include "AP_HAL_F4Light_Private.h"
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#include "HAL_F4Light_Class.h"
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#include "RCInput.h"
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#include "Util.h"
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#include <AP_Param_Helper/AP_Param_Helper.h>
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#include "UART_PPM.h"
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#if defined(USE_SOFTSERIAL)
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#include "UART_SoftDriver.h"
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#endif
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#if defined(BOARD_SDCARD_NAME) || defined(BOARD_DATAFLASH_FATFS)
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#include "sd/SD.h"
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#endif
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#if defined(BOARD_OSD_CS_PIN)
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#include "UART_OSD.h"
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#endif
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#if defined(USB_MASSSTORAGE)
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#include "massstorage/mass_storage.h"
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#endif
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using namespace F4Light;
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static F4Light::I2CDeviceManager i2c_mgr_instance;
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// XXX make sure these are assigned correctly
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static USBDriver USB_Driver(1); // ACM
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static UARTDriver uart1Driver(_USART1); // main port
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static UARTDriver uart6Driver(_USART6); // pin 7&8(REVO)/5&6(RevoMini) of input port
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#ifdef BOARD_HAS_UART3
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static UARTDriver uart3Driver(_USART3); // flexi port
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// static SerialDriver IN_CCM softDriver(BOARD_SOFTSERIAL_TX, BOARD_SOFTSERIAL_RX, false); // pin 7&8 of input port
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#endif
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#if defined(BOARD_SOFT_UART3) || defined(USE_SOFTSERIAL)
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static SerialDriver IN_CCM softDriver(BOARD_SOFTSERIAL_TX, BOARD_SOFTSERIAL_RX, false);
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#endif
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#ifdef BOARD_OSD_CS_PIN
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static UART_OSD uartOSDdriver;
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#endif
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#if defined(BOARD_USART4_RX_PIN) && defined( BOARD_USART4_TX_PIN)
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static UARTDriver uart4Driver(_UART4); // pin 5&6 of servo port
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#endif
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static UART_PPM uartPPM2(1); // PPM2 input
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static UART_PPM uartPPM1(0); // PPM1 input
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// only for DSM satellite, served in rc_input
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//static UARTDriver uart5Driver(_UART5,0); // D26/PD2 6 EXTI_RFM22B / UART5_RX input-only UART for DSM satellite
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/*
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input port pinout
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1 2 3 4 5 6 7 8
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pin b14 b15 c6 c7 c8 c9
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gnd vcc PPM buzz 6_tx 6_rx Sscl Ssda
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USE_SOFTSERIAL -> S_tx S_rx
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servos -> srv7 srv8 srv9 srv10 srv11 srv12
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*/
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/* OPLINK AIR port pinout
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1 2 3 4 5 6 7
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gnd +5 26 103
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rx pow
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*/
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static F4Light::SPIDeviceManager spiDeviceManager;
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static AnalogIn analogIn IN_CCM;
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static Storage storageDriver;
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static GPIO gpioDriver;
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static RCInput rcinDriver;
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static RCOutput rcoutDriver;
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static Scheduler schedulerInstance;
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static Util utilInstance;
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HAL_state HAL_F4Light::state;
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//const AP_HAL::UARTDriver** HAL_F4Light::uarts[] = { &uartA, &uartB, &uartC, &uartD, &uartE, &uartF };
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/*
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AP_HAL::UARTDriver* _uartA, // console
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AP_HAL::UARTDriver* _uartB, // 1st GPS
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AP_HAL::UARTDriver* _uartC, // telem1
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AP_HAL::UARTDriver* _uartD, // telem2
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AP_HAL::UARTDriver* _uartE, // 2nd GPS
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AP_HAL::UARTDriver* _uartF, // extra1
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AP_SerialManager.cpp line 159
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// initialise pointers to serial ports
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state[1].uart = hal.uartC; // serial1, uartC, normally telem1
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state[2].uart = hal.uartD; // serial2, uartD, normally telem2
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state[3].uart = hal.uartB; // serial3, uartB, normally 1st GPS
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state[4].uart = hal.uartE; // serial4, uartE, normally 2nd GPS
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state[5].uart = hal.uartF; // serial5
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*/
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HAL_F4Light::HAL_F4Light() :
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AP_HAL::HAL(
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&USB_Driver, // uartA - USB console - Serial0
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&uart6Driver, // uartB - pin 7&8(REVO)/5&6(RevoMini) of input port - for GPS - Serial3
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&uart1Driver, // uartC - main port - for telemetry - Serial1
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#if BOARD_UARTS_LAYOUT == 1 // Revolution
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&uart3Driver, // uartD - flexi port - Serial2
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&uart4Driver, // uartE - PWM pins 5&6 - Serial4
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&softDriver, // uartF - soft UART on pins 7&8 - Serial5
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#elif BOARD_UARTS_LAYOUT == 2 // Airbot
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&uart4Driver, // uartD - PWM pins 5&6 - Serial2
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&uartPPM2, // uartE - input data from PPM2 pin - Serial4
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&uartPPM1, // uartF - input data from PPM1 pin - Serial5
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#elif BOARD_UARTS_LAYOUT == 3 // AirbotV2
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&uartOSDdriver, // uartD - OSD emulated UART - Serial2
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&uart4Driver, // uartE - PWM pins 5&6 - Serial4
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&uartPPM2, // uartF - input data from PPM2 pin - Serial5
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#elif BOARD_UARTS_LAYOUT == 4 // MiniOSD
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NULL,
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NULL,
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NULL,
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#elif BOARD_UARTS_LAYOUT == 5 // MicroOSD
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NULL,
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NULL,
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NULL,
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#elif BOARD_UARTS_LAYOUT == 6 // MatekF405_OSD
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NULL,
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NULL,
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NULL,
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#elif BOARD_UARTS_LAYOUT == 7 // Cl_Racing F4
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&uartOSDdriver, // uartD - OSD emulated UART - Serial2
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&uartPPM1, // uartE - input data from PPM1 pin - Serial4
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NULL, // no uartF
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#else
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#error no BOARD_UARTS_LAYOUT!
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#endif
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&i2c_mgr_instance, // I2C
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&spiDeviceManager, // spi
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&analogIn, // analogin
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&storageDriver, // storage
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&HAL_CONSOLE, // console via radio or USB on per-board basis
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&gpioDriver, // gpio
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&rcinDriver, // rcinput
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&rcoutDriver, // rcoutput
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&schedulerInstance, // scheduler
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&utilInstance, // util
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nullptr, // no onboard optical flow
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nullptr // no CAN
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)
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// 0 1 2 3 4 5
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// USB Main Flexi/OSD Uart4 UART6 Soft/Uart4
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, uarts{ &uartA, &uartC, &uartD, &uartE, &uartB, &uartF }
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{
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uint32_t sig = board_get_rtc_register(RTC_CONSOLE_REG);
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if( (sig & ~CONSOLE_PORT_MASK) == CONSOLE_PORT_SIGNATURE) {
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AP_HAL::UARTDriver** up = uarts[sig & CONSOLE_PORT_MASK];
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if(up){
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console = *up;
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}
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}
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}
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extern const AP_HAL::HAL& hal;
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void HAL_F4Light::run(int argc,char* const argv[], Callbacks* callbacks) const
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{
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assert(callbacks);
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/* initialize all drivers and private members here.
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* up to the programmer to do this in the correct order.
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* Scheduler should likely come first. */
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scheduler->init();
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uint32_t start_t = AP_HAL::millis();
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gpio->init();
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rcout->init();
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usart_disable_all();
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{
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#if defined(USB_MASSSTORAGE)
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uint32_t sig = board_get_rtc_register(RTC_MASS_STORAGE_REG);
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if( sig == MASS_STORAGE_SIGNATURE) {
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board_set_rtc_register(0, RTC_MASS_STORAGE_REG);
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#if defined(BOARD_SDCARD_NAME) && defined(BOARD_SDCARD_CS_PIN)
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SD.begin(F4Light::SPIDeviceManager::_get_device(BOARD_SDCARD_NAME));
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#elif defined(BOARD_DATAFLASH_FATFS)
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SD.begin(F4Light::SPIDeviceManager::_get_device(HAL_DATAFLASH_NAME));
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#endif
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state.sd_busy=true;
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massstorage.setup(); // init USB as mass-storage
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}
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else
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#endif
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{
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extern void usb_init(); // init as VCP
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usb_init(); // moved from boards.cpp
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uartA->begin(115200); // uartA is the USB serial port used for the console, so lets make sure it is initialized at boot
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}
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}
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if(console != uartA) {
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console->begin(57600); // init telemetry port as console
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}
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rcin->init();
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storage->init(); // Uses EEPROM.*, flash_stm* reworked
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analogin->init();
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printf("\nHAL startup at %ldms\n", start_t);
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if(!state.sd_busy) {
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#if defined(BOARD_SDCARD_NAME) && defined(BOARD_SDCARD_CS_PIN)
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2018-02-20 07:47:20 -04:00
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printf("\nEnabling SD at %ldms\n", AP_HAL::millis());
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2018-02-02 16:35:18 -04:00
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SD.begin(F4Light::SPIDeviceManager::_get_device(BOARD_SDCARD_NAME));
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#elif defined(BOARD_DATAFLASH_FATFS)
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2018-02-20 07:47:20 -04:00
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printf("\nEnabling DataFlash as SD at %ldms\n", AP_HAL::millis());
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2018-02-02 16:35:18 -04:00
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SD.begin(F4Light::SPIDeviceManager::_get_device(HAL_DATAFLASH_NAME));
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#endif
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#if defined(BOARD_OSD_NAME)
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uartOSDdriver.begin(57600); // init OSD after SD but before call to lateInit(), but only if not in USB_STORAGE
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#endif
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}
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printf("\nHAL init done at %ldms\n", AP_HAL::millis());
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callbacks->setup();
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#if 0 //[ here is too late :( so we need a small hack and call lateInit from Scheduler::register_delay_callback
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// which called when parameters already initialized
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lateInit();
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#endif //]
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scheduler->system_initialized(); // clear bootloader flag
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Scheduler::start_stats_task();
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printf("\nLoop started at %ldms\n", AP_HAL::millis());
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// main application loop hosted here!
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for (;;) {
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callbacks->loop();
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// ((F4Light::Scheduler *)scheduler)->loop(); // to execute stats in main loop
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// ((F4Light::RCInput *)rcin)->loop(); // to execute debug in main loop
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}
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}
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static bool lateInitDone=false;
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void HAL_F4Light::lateInit() {
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if(lateInitDone) return;
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lateInitDone=true;
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{
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uint32_t sig = board_get_rtc_register(RTC_CONSOLE_REG);
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uint8_t port = hal_param_helper->_console_uart;
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if(port < sizeof(uarts)/sizeof(AP_HAL::UARTDriver**) ){
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if( (sig & ~CONSOLE_PORT_MASK) == CONSOLE_PORT_SIGNATURE) {
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if(port != (sig & CONSOLE_PORT_MASK)) { // wrong console - reboot needed
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board_set_rtc_register(CONSOLE_PORT_SIGNATURE | (port & CONSOLE_PORT_MASK), RTC_CONSOLE_REG);
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Scheduler::_reboot(false);
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}
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} else { // no signature - set and check console
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board_set_rtc_register(CONSOLE_PORT_SIGNATURE | (port & CONSOLE_PORT_MASK), RTC_CONSOLE_REG);
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AP_HAL::UARTDriver** up = uarts[port];
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if(up && *up != console) {
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Scheduler::_reboot(false);
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}
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}
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}
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}
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{
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uint32_t g = board_get_rtc_register(RTC_OV_GUARD_REG);
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uint32_t sig = board_get_rtc_register(RTC_OVERCLOCK_REG);
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uint8_t oc = hal_param_helper->_overclock;
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if(g==OV_GUARD_FAIL_SIGNATURE) {
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if(oc==0) {
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board_set_rtc_register(OVERCLOCK_SIGNATURE | oc, RTC_OVERCLOCK_REG); // set default clock
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board_set_rtc_register(0, RTC_OV_GUARD_REG); // and reset failure
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} else printf("\noverclocking failed!\n");
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} else {
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if((sig & ~OVERCLOCK_SIG_MASK ) == OVERCLOCK_SIGNATURE ) { // if correct signature
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board_set_rtc_register(OVERCLOCK_SIGNATURE | oc, RTC_OVERCLOCK_REG); // set required clock in any case
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if((sig & OVERCLOCK_SIG_MASK) != oc) { // if wrong clock
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Scheduler::_reboot(false); // then reboot required
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}
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} else { // no signature, write only if needed
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if(oc) board_set_rtc_register(OVERCLOCK_SIGNATURE | oc, RTC_OVERCLOCK_REG); // set required clock
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}
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}
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}
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{ // one-time connection to COM-port
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uint8_t conn = hal_param_helper->_connect_com;
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if(conn) {
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hal_param_helper->_connect_com = 0;
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hal_param_helper->_connect_com.save();
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if(conn < sizeof(uarts)/sizeof(AP_HAL::UARTDriver**) ){
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AP_HAL::UARTDriver** up = uarts[conn];
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if(up && *up){
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connect_uart(uartA,*up, NULL);
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}
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} else printf("\nWrong HAL_CONNECT_COM selected!");
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}
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}
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#if defined(USB_MASSSTORAGE)
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if(!state.sd_busy){
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uint8_t conn=hal_param_helper->_usb_storage;
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|
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if(conn){
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hal_param_helper->_usb_storage=0;
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hal_param_helper->_usb_storage.save();
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board_set_rtc_register(MASS_STORAGE_SIGNATURE, RTC_MASS_STORAGE_REG);
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Scheduler::_reboot(false);
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}
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}
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#endif
|
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|
|
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
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{ // one-time connection to ESC
|
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|
|
uint8_t conn = hal_param_helper->_connect_esc;
|
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|
|
|
|
|
|
if(conn){
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|
|
|
hal_param_helper->_connect_esc = 0;
|
|
|
|
hal_param_helper->_connect_esc.save();
|
|
|
|
|
|
|
|
conn-=1;
|
|
|
|
|
|
|
|
if(conn < sizeof(uarts)/sizeof(AP_HAL::UARTDriver**) ){
|
|
|
|
AP_HAL::UARTDriver** up = uarts[conn];
|
|
|
|
if(up && *up){
|
|
|
|
RCOutput::do_4way_if(*up);
|
|
|
|
}
|
|
|
|
} else printf("\nWrong HAL_CONNECT_ESC selected!");
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
RCOutput::lateInit(); // 2nd stage - now with loaded parameters
|
|
|
|
|
|
|
|
// all another parameter-dependent inits
|
|
|
|
|
|
|
|
#ifdef BOARD_I2C_FLEXI
|
|
|
|
if(hal_param_helper->_flexi_i2c) {
|
|
|
|
uart3Driver.end();
|
|
|
|
uart3Driver.disable(); // uses Flexi port occupied by I2C
|
|
|
|
printf("\nUART3 disabled by I2C2\n");
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
I2CDevice::lateInit();
|
|
|
|
|
|
|
|
Storage::late_init(hal_param_helper->_eeprom_deferred);
|
|
|
|
|
|
|
|
uint8_t flags=0;
|
|
|
|
|
|
|
|
if(hal_param_helper->_rc_fs) flags |= BOARD_RC_FAILSAFE;
|
|
|
|
|
|
|
|
RCInput::late_init(flags);
|
|
|
|
}
|
|
|
|
|
|
|
|
// 57600 gives ~6500 chars per second or 6 chars per ms
|
|
|
|
void HAL_F4Light::connect_uart(AP_HAL::UARTDriver* uartL,AP_HAL::UARTDriver* uartR, AP_HAL::Proc proc){
|
|
|
|
while(1){
|
|
|
|
bool got=false;
|
|
|
|
if(uartL->available() && uartR->txspace()) { uartR->write(uartL->read()); got=true; }
|
|
|
|
if(uartR->available() && uartL->txspace()) { uartL->write(uartR->read()); got=true; }
|
|
|
|
if(proc) proc();
|
|
|
|
if(!got) Scheduler::yield(100); // give a chance to other threads
|
|
|
|
if(state.disconnect) break; // if USB disconnected
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
static const HAL_F4Light hal_revo;
|
|
|
|
|
|
|
|
const AP_HAL::HAL& AP_HAL::get_HAL() {
|
|
|
|
return hal_revo;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
extern "C" void usb_mass_mal_USBdisconnect();
|
|
|
|
|
|
|
|
void usb_mass_mal_USBdisconnect(){
|
|
|
|
HAL_F4Light::state.sd_busy=false;
|
|
|
|
HAL_F4Light::state.disconnect=true;
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif
|