/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /* AP_Periph main firmware To flash this firmware on Linux use: st-flash write build/f103-periph/bin/AP_Periph.bin 0x8006000 */ #include #include "AP_Periph.h" #include "hal.h" #include #include extern const AP_HAL::HAL &hal; AP_Periph_FW periph; void setup(); void loop(); const AP_HAL::HAL& hal = AP_HAL::get_HAL(); void setup(void) { periph.init(); } void loop(void) { periph.update(); } static uint32_t start_ms; void AP_Periph_FW::init() { hal.uartA->begin(AP_SERIALMANAGER_CONSOLE_BAUD, 32, 128); hal.uartB->begin(115200, 32, 128); load_parameters(); can_start(); serial_manager.init(); #ifdef HAL_BOARD_AP_PERIPH_ZUBAXGNSS // setup remapping register for ZubaxGNSS uint32_t mapr = AFIO->MAPR; mapr &= ~AFIO_MAPR_SWJ_CFG; mapr |= AFIO_MAPR_SWJ_CFG_JTAGDISABLE; AFIO->MAPR = mapr | AFIO_MAPR_CAN_REMAP_REMAP2 | AFIO_MAPR_SPI3_REMAP; #endif #ifdef HAL_PERIPH_ENABLE_GPS gps.init(serial_manager); #endif #ifdef HAL_PERIPH_ENABLE_MAG compass.init(); #endif #ifdef HAL_PERIPH_ENABLE_BARO baro.init(); baro.calibrate(false); #endif #ifdef HAL_PERIPH_NEOPIXEL_COUNT hal.rcout->init(); hal.rcout->set_neopixel_num_LEDs(HAL_PERIPH_NEOPIXEL_CHAN, HAL_PERIPH_NEOPIXEL_COUNT); #endif #ifdef HAL_PERIPH_ENABLE_ADSB adsb_init(); #endif #ifdef HAL_PERIPH_ENABLE_AIRSPEED airspeed.init(); #endif #ifdef HAL_PERIPH_ENABLE_RANGEFINDER rangefinder.init(ROTATION_NONE); #endif start_ms = AP_HAL::millis(); } #if defined(HAL_PERIPH_NEOPIXEL_COUNT) && HAL_PERIPH_NEOPIXEL_COUNT == 8 /* rotating rainbow pattern on startup */ static void update_rainbow() { static bool rainbow_done; if (rainbow_done) { return; } uint32_t now = AP_HAL::millis(); if (now-start_ms > 1500) { rainbow_done = true; hal.rcout->set_neopixel_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN, 0xFF, 0, 0, 0); hal.rcout->neopixel_send(); return; } static uint32_t last_update_ms; const uint8_t step_ms = 30; if (now - last_update_ms < step_ms) { return; } const struct { uint8_t red; uint8_t green; uint8_t blue; } rgb_rainbow[] = { { 255, 0, 0 }, { 255, 127, 0 }, { 255, 255, 0 }, { 0, 255, 0 }, { 0, 0, 255 }, { 75, 0, 130 }, { 143, 0, 255 }, { 0, 0, 0 }, }; last_update_ms = now; static uint8_t step; const uint8_t nsteps = ARRAY_SIZE(rgb_rainbow); float brightness = 0.3; for (uint8_t n=0; n<8; n++) { uint8_t i = (step + n) % nsteps; hal.rcout->set_neopixel_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN, 1U<neopixel_send(); } #endif void AP_Periph_FW::update() { static uint32_t last_led_ms; uint32_t now = AP_HAL::millis(); if (now - last_led_ms > 1000) { last_led_ms = now; palToggleLine(HAL_GPIO_PIN_LED); #if 0 #ifdef HAL_PERIPH_ENABLE_GPS hal.uartA->printf("GPS status: %u\n", (unsigned)gps.status()); #endif #ifdef HAL_PERIPH_ENABLE_MAG const Vector3f &field = compass.get_field(); hal.uartA->printf("MAG (%d,%d,%d)\n", int(field.x), int(field.y), int(field.z)); #endif #ifdef HAL_PERIPH_ENABLE_BARO hal.uartA->printf("BARO H=%u P=%.2f T=%.2f\n", baro.healthy(), baro.get_pressure(), baro.get_temperature()); #endif hal.scheduler->delay(1); show_stack_usage(); #endif #ifdef HAL_PERIPH_NEOPIXEL_COUNT hal.rcout->set_neopixel_num_LEDs(HAL_PERIPH_NEOPIXEL_CHAN, HAL_PERIPH_NEOPIXEL_COUNT); #endif } can_update(); hal.scheduler->delay(1); #if defined(HAL_PERIPH_NEOPIXEL_COUNT) && HAL_PERIPH_NEOPIXEL_COUNT == 8 update_rainbow(); #endif #ifdef HAL_PERIPH_ENABLE_ADSB adsb_update(); #endif } AP_HAL_MAIN();