0c1a6c5c2f
Conflicts: src/test/unit/rc_controls_unittest.cc
530 lines
14 KiB
C
530 lines
14 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include "platform.h"
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#include "common/axis.h"
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#include "common/color.h"
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#include "common/atomic.h"
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#include "common/maths.h"
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#include "drivers/nvic.h"
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#include "drivers/sensor.h"
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#include "drivers/system.h"
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#include "drivers/gpio.h"
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#include "drivers/light_led.h"
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#include "drivers/sound_beeper.h"
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#include "drivers/timer.h"
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#include "drivers/serial.h"
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#include "drivers/serial_softserial.h"
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#include "drivers/serial_uart.h"
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#include "drivers/accgyro.h"
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#include "drivers/compass.h"
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#include "drivers/pwm_mapping.h"
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#include "drivers/pwm_rx.h"
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#include "drivers/adc.h"
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#include "drivers/bus_i2c.h"
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#include "drivers/bus_spi.h"
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#include "drivers/inverter.h"
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#include "drivers/flash_m25p16.h"
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#include "drivers/sonar_hcsr04.h"
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#include "rx/rx.h"
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#include "io/serial.h"
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#include "io/flashfs.h"
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#include "io/gps.h"
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#include "io/escservo.h"
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#include "io/rc_controls.h"
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#include "io/gimbal.h"
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#include "io/ledstrip.h"
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#include "io/display.h"
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#include "sensors/sensors.h"
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#include "sensors/sonar.h"
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#include "sensors/barometer.h"
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#include "sensors/compass.h"
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#include "sensors/acceleration.h"
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#include "sensors/gyro.h"
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#include "sensors/battery.h"
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#include "sensors/boardalignment.h"
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#include "telemetry/telemetry.h"
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#include "blackbox/blackbox.h"
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#include "flight/pid.h"
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#include "flight/imu.h"
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#include "flight/mixer.h"
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#include "flight/failsafe.h"
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#include "flight/navigation.h"
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#include "config/runtime_config.h"
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#include "config/config.h"
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#include "config/config_profile.h"
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#include "config/config_master.h"
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#ifdef USE_HARDWARE_REVISION_DETECTION
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#include "hardware_revision.h"
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#endif
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#include "build_config.h"
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#include "debug.h"
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extern uint32_t previousTime;
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extern uint8_t motorControlEnable;
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#ifdef SOFTSERIAL_LOOPBACK
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serialPort_t *loopbackPort;
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#endif
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void printfSupportInit(void);
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void timerInit(void);
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void telemetryInit(void);
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void serialInit(serialConfig_t *initialSerialConfig, bool softserialEnabled);
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void mspInit(serialConfig_t *serialConfig);
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void cliInit(serialConfig_t *serialConfig);
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void failsafeInit(rxConfig_t *intialRxConfig);
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pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init);
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void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMixers);
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void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
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void rxInit(rxConfig_t *rxConfig);
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void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
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void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
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bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int8_t magHardwareToUse, int16_t magDeclinationFromConfig);
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void imuInit(void);
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void displayInit(rxConfig_t *intialRxConfig);
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void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse);
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void loop(void);
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void spektrumBind(rxConfig_t *rxConfig);
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const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig);
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void sonarInit(const sonarHardware_t *sonarHardware);
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#ifdef STM32F303xC
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// from system_stm32f30x.c
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void SetSysClock(void);
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#endif
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#ifdef STM32F10X
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// from system_stm32f10x.c
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void SetSysClock(bool overclock);
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#endif
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typedef enum {
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SYSTEM_STATE_INITIALISING = 0,
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SYSTEM_STATE_CONFIG_LOADED = (1 << 0),
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SYSTEM_STATE_SENSORS_READY = (1 << 1),
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SYSTEM_STATE_MOTORS_READY = (1 << 2),
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SYSTEM_STATE_READY = (1 << 7)
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} systemState_e;
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static uint8_t systemState = SYSTEM_STATE_INITIALISING;
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void init(void)
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{
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uint8_t i;
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drv_pwm_config_t pwm_params;
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printfSupportInit();
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initEEPROM();
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ensureEEPROMContainsValidData();
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readEEPROM();
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systemState |= SYSTEM_STATE_CONFIG_LOADED;
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#ifdef STM32F303
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// start fpu
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SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
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#endif
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#ifdef STM32F303xC
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SetSysClock();
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#endif
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#ifdef STM32F10X
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// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
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// Configure the Flash Latency cycles and enable prefetch buffer
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SetSysClock(masterConfig.emf_avoidance);
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#endif
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#ifdef USE_HARDWARE_REVISION_DETECTION
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detectHardwareRevision();
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#endif
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systemInit();
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// Latch active features to be used for feature() in the remainder of init().
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latchActiveFeatures();
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ledInit();
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#ifdef SPEKTRUM_BIND
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if (feature(FEATURE_RX_SERIAL)) {
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switch (masterConfig.rxConfig.serialrx_provider) {
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case SERIALRX_SPEKTRUM1024:
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case SERIALRX_SPEKTRUM2048:
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// Spektrum satellite binding if enabled on startup.
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// Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
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// The rest of Spektrum initialization will happen later - via spektrumInit()
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spektrumBind(&masterConfig.rxConfig);
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break;
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}
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}
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#endif
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delay(100);
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timerInit(); // timer must be initialized before any channel is allocated
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serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL));
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mixerInit(masterConfig.mixerMode, masterConfig.customMixer);
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memset(&pwm_params, 0, sizeof(pwm_params));
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#ifdef SONAR
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const sonarHardware_t *sonarHardware = NULL;
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if (feature(FEATURE_SONAR)) {
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sonarHardware = sonarGetHardwareConfiguration(&masterConfig.batteryConfig);
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sonarGPIOConfig_t sonarGPIOConfig = {
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.echoPin = sonarHardware->trigger_pin,
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.triggerPin = sonarHardware->echo_pin,
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.gpio = SONAR_GPIO
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};
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pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
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}
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#endif
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// when using airplane/wing mixer, servo/motor outputs are remapped
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if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING)
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pwm_params.airplane = true;
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else
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pwm_params.airplane = false;
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#if defined(USE_USART2) && defined(STM32F10X)
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pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
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#endif
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#ifdef STM32F303xC
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pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3);
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#endif
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pwm_params.useVbat = feature(FEATURE_VBAT);
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pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
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pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
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pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
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pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER)
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&& masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
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pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
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pwm_params.usePPM = feature(FEATURE_RX_PPM);
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pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
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#ifdef SONAR
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pwm_params.useSonar = feature(FEATURE_SONAR);
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#endif
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#ifdef USE_SERVOS
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pwm_params.useServos = isMixerUsingServos();
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pwm_params.extraServos = currentProfile->gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
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pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
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pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
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#endif
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pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
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pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
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pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
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if (feature(FEATURE_3D))
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pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
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if (pwm_params.motorPwmRate > 500)
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pwm_params.idlePulse = 0; // brushed motors
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pwmRxInit(masterConfig.inputFilteringMode);
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pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
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mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
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if (!feature(FEATURE_ONESHOT125))
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motorControlEnable = true;
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systemState |= SYSTEM_STATE_MOTORS_READY;
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#ifdef BEEPER
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beeperConfig_t beeperConfig = {
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.gpioPin = BEEP_PIN,
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.gpioPort = BEEP_GPIO,
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.gpioPeripheral = BEEP_PERIPHERAL,
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#ifdef BEEPER_INVERTED
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.gpioMode = Mode_Out_PP,
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.isInverted = true
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#else
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.gpioMode = Mode_Out_OD,
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.isInverted = false
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#endif
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};
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#ifdef NAZE
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if (hardwareRevision >= NAZE32_REV5) {
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// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
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beeperConfig.gpioMode = Mode_Out_PP;
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beeperConfig.isInverted = true;
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}
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#endif
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beeperInit(&beeperConfig);
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#endif
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#ifdef INVERTER
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initInverter();
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#endif
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#ifdef USE_SPI
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spiInit(SPI1);
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spiInit(SPI2);
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#endif
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#ifdef USE_HARDWARE_REVISION_DETECTION
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updateHardwareRevision();
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#endif
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#if defined(NAZE)
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if (hardwareRevision == NAZE32_SP) {
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serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
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} else {
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serialRemovePort(SERIAL_PORT_USART3);
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}
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#endif
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#ifdef USE_I2C
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#if defined(NAZE)
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if (hardwareRevision != NAZE32_SP) {
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i2cInit(I2C_DEVICE);
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} else {
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if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
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i2cInit(I2C_DEVICE);
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}
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}
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#elif defined(CC3D)
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if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
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i2cInit(I2C_DEVICE);
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}
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#else
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i2cInit(I2C_DEVICE);
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#endif
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#endif
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#ifdef USE_ADC
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drv_adc_config_t adc_params;
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adc_params.enableVBat = feature(FEATURE_VBAT);
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adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
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adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
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adc_params.enableExternal1 = false;
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#ifdef OLIMEXINO
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adc_params.enableExternal1 = true;
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#endif
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#ifdef NAZE
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// optional ADC5 input on rev.5 hardware
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adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5);
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#endif
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adcInit(&adc_params);
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#endif
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initBoardAlignment(&masterConfig.boardAlignment);
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#ifdef DISPLAY
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if (feature(FEATURE_DISPLAY)) {
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displayInit(&masterConfig.rxConfig);
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}
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#endif
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if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination)) {
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// if gyro was not detected due to whatever reason, we give up now.
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failureMode(3);
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}
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systemState |= SYSTEM_STATE_SENSORS_READY;
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LED1_ON;
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LED0_OFF;
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for (i = 0; i < 10; i++) {
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LED1_TOGGLE;
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LED0_TOGGLE;
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delay(25);
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BEEP_ON;
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delay(25);
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BEEP_OFF;
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}
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LED0_OFF;
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LED1_OFF;
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#ifdef MAG
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if (sensors(SENSOR_MAG))
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compassInit();
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#endif
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imuInit();
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mspInit(&masterConfig.serialConfig);
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#ifdef USE_CLI
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cliInit(&masterConfig.serialConfig);
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#endif
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failsafeInit(&masterConfig.rxConfig);
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rxInit(&masterConfig.rxConfig);
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#ifdef GPS
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if (feature(FEATURE_GPS)) {
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gpsInit(
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&masterConfig.serialConfig,
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&masterConfig.gpsConfig
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);
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navigationInit(
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¤tProfile->gpsProfile,
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¤tProfile->pidProfile
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);
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}
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#endif
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#ifdef SONAR
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if (feature(FEATURE_SONAR)) {
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sonarInit(sonarHardware);
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}
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#endif
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#ifdef LED_STRIP
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ledStripInit(masterConfig.ledConfigs, masterConfig.colors);
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if (feature(FEATURE_LED_STRIP)) {
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ledStripEnable();
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}
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#endif
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#ifdef TELEMETRY
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if (feature(FEATURE_TELEMETRY)) {
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telemetryInit();
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}
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#endif
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#ifdef USE_FLASHFS
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#ifdef NAZE
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if (hardwareRevision == NAZE32_REV5) {
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m25p16_init();
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}
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#endif
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#if defined(SPRACINGF3) || defined(CC3D)
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m25p16_init();
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#endif
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flashfsInit();
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#endif
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#ifdef BLACKBOX
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initBlackbox();
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#endif
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previousTime = micros();
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if (masterConfig.mixerMode == MIXER_GIMBAL) {
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accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
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}
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gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
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#ifdef BARO
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baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
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#endif
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// start all timers
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// TODO - not implemented yet
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timerStart();
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ENABLE_STATE(SMALL_ANGLE);
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DISABLE_ARMING_FLAG(PREVENT_ARMING);
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#ifdef SOFTSERIAL_LOOPBACK
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// FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
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loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
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if (!loopbackPort->vTable) {
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loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
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}
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serialPrint(loopbackPort, "LOOPBACK\r\n");
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#endif
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// Now that everything has powered up the voltage and cell count be determined.
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if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER))
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batteryInit(&masterConfig.batteryConfig);
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#ifdef DISPLAY
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if (feature(FEATURE_DISPLAY)) {
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#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
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displayShowFixedPage(PAGE_GPS);
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#else
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displayResetPageCycling();
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displayEnablePageCycling();
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#endif
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}
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#endif
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#ifdef CJMCU
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LED2_ON;
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#endif
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// Latch active features AGAIN since some may be modified by init().
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latchActiveFeatures();
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motorControlEnable = true;
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systemState |= SYSTEM_STATE_READY;
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}
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#ifdef SOFTSERIAL_LOOPBACK
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void processLoopback(void) {
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if (loopbackPort) {
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uint8_t bytesWaiting;
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while ((bytesWaiting = serialTotalBytesWaiting(loopbackPort))) {
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uint8_t b = serialRead(loopbackPort);
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serialWrite(loopbackPort, b);
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};
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}
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}
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#else
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#define processLoopback()
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#endif
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int main(void) {
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init();
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while (1) {
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loop();
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processLoopback();
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}
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}
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void HardFault_Handler(void)
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{
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// fall out of the sky
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uint8_t requiredState = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
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if ((systemState & requiredState) == requiredState) {
|
|
stopMotors();
|
|
}
|
|
while (1);
|
|
}
|