rotormanandRisto
80a51837c1
Added special UART4 init to sample if FlySky sticks are present or not. Added boolean globalData.flyskygimbals to save the detection result. Removed FLYSKY_HALL_STICKS and FLYSKY_HALL_STICKS_REVERSE CMake build options. Tested on two RM TX16S radios, one with FlySky digital hall sticks and second with stock analog sticks.
361 lines
10 KiB
C++
361 lines
10 KiB
C++
/*
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* Copyright (C) EdgeTX
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*
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* Based on code named
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* opentx - https://github.com/opentx/opentx
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program 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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#include "opentx.h"
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#include "hal/adc_driver.h"
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#if !defined(PCBX12S)
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#include "../common/arm/stm32/stm32_hal_adc.h"
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#define ADC_DRIVER stm32_hal_adc_driver
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#else
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#include "x12s_adc_driver.h"
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#define ADC_DRIVER x12s_adc_driver
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#endif
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#if defined(__cplusplus)
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extern "C" {
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#endif
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#include "usb_dcd_int.h"
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#include "usb_bsp.h"
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#if defined(__cplusplus)
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}
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#endif
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extern void flysky_hall_stick_check_init(void);
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extern void flysky_hall_stick_init(void);
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extern void flysky_hall_stick_loop( void );
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HardwareOptions hardwareOptions;
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bool boardBacklightOn = false;
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void watchdogInit(unsigned int duration)
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{
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IWDG->KR = 0x5555; // Unlock registers
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IWDG->PR = 3; // Divide by 32 => 1kHz clock
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IWDG->KR = 0x5555; // Unlock registers
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IWDG->RLR = duration;
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IWDG->KR = 0xAAAA; // reload
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IWDG->KR = 0xCCCC; // start
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}
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#if defined(AUX_SERIAL_PWR_GPIO)
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void auxSerialPowerOn()
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{
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GPIO_SetBits(AUX_SERIAL_PWR_GPIO, AUX_SERIAL_PWR_GPIO_PIN);
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}
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void auxSerialPowerOff()
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{
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GPIO_ResetBits(AUX_SERIAL_PWR_GPIO, AUX_SERIAL_PWR_GPIO_PIN);
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}
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#endif
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#if defined(AUX2_SERIAL_PWR_GPIO)
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void aux2SerialPowerOn()
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{
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GPIO_SetBits(AUX2_SERIAL_PWR_GPIO, AUX2_SERIAL_PWR_GPIO_PIN);
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}
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void aux2SerialPowerOff()
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{
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GPIO_ResetBits(AUX2_SERIAL_PWR_GPIO, AUX2_SERIAL_PWR_GPIO_PIN);
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}
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#endif
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#if HAS_SPORT_UPDATE_CONNECTOR()
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void sportUpdateInit()
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = SPORT_UPDATE_PWR_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
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GPIO_Init(SPORT_UPDATE_PWR_GPIO, &GPIO_InitStructure);
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}
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void sportUpdatePowerOn()
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{
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GPIO_SetBits(SPORT_UPDATE_PWR_GPIO, SPORT_UPDATE_PWR_GPIO_PIN);
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}
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void sportUpdatePowerOff()
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{
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GPIO_ResetBits(SPORT_UPDATE_PWR_GPIO, SPORT_UPDATE_PWR_GPIO_PIN);
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}
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void sportUpdatePowerInit()
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{
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if (g_eeGeneral.sportUpdatePower == 1)
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sportUpdatePowerOn();
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else
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sportUpdatePowerOff();
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}
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#endif
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void boardInit()
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{
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RCC_AHB1PeriphClockCmd(PWR_RCC_AHB1Periph |
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PCBREV_RCC_AHB1Periph |
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LED_RCC_AHB1Periph |
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LCD_RCC_AHB1Periph |
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BACKLIGHT_RCC_AHB1Periph |
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KEYS_BACKLIGHT_RCC_AHB1Periph |
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SD_RCC_AHB1Periph |
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AUDIO_RCC_AHB1Periph |
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KEYS_RCC_AHB1Periph |
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ADC_RCC_AHB1Periph |
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#if defined(RADIO_FAMILY_T16)
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FLYSKY_HALL_RCC_AHB1Periph |
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#endif
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#if defined(IMU_LSM6DS33)
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I2C_B2_RCC_AHB1Periph |
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#else
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AUX_SERIAL_RCC_AHB1Periph |
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#endif
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AUX2_SERIAL_RCC_AHB1Periph |
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TELEMETRY_RCC_AHB1Periph |
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TRAINER_RCC_AHB1Periph |
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BT_RCC_AHB1Periph |
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AUDIO_RCC_AHB1Periph |
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HAPTIC_RCC_AHB1Periph |
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INTMODULE_RCC_AHB1Periph |
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EXTMODULE_RCC_AHB1Periph |
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I2C_B1_RCC_AHB1Periph |
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GPS_RCC_AHB1Periph |
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SPORT_UPDATE_RCC_AHB1Periph |
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TOUCH_INT_RCC_AHB1Periph |
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TOUCH_RST_RCC_AHB1Periph,
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ENABLE);
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RCC_APB1PeriphClockCmd(ROTARY_ENCODER_RCC_APB1Periph |
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INTERRUPT_xMS_RCC_APB1Periph |
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ADC_RCC_APB1Periph |
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TIMER_2MHz_RCC_APB1Periph |
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AUDIO_RCC_APB1Periph |
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#if defined(RADIO_FAMILY_T16)
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FLYSKY_HALL_RCC_APB1Periph |
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#endif
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#if defined(IMU_LSM6DS33)
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I2C_B2_RCC_APB1Periph |
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#else
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AUX_SERIAL_RCC_APB1Periph |
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#endif
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AUX2_SERIAL_RCC_APB1Periph |
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TELEMETRY_RCC_APB1Periph |
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TRAINER_RCC_APB1Periph |
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AUDIO_RCC_APB1Periph |
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INTMODULE_RCC_APB1Periph |
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EXTMODULE_RCC_APB1Periph |
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I2C_B1_RCC_APB1Periph |
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MIXER_SCHEDULER_TIMER_RCC_APB1Periph |
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GPS_RCC_APB1Periph |
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BACKLIGHT_RCC_APB1Periph,
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ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG |
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LCD_RCC_APB2Periph |
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ADC_RCC_APB2Periph |
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HAPTIC_RCC_APB2Periph |
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INTMODULE_RCC_APB2Periph |
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EXTMODULE_RCC_APB2Periph |
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TELEMETRY_RCC_APB2Periph |
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BT_RCC_APB2Periph |
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AUX_SERIAL_RCC_APB2Periph |
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AUX2_SERIAL_RCC_APB2Periph |
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GPS_RCC_APB2Periph |
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BACKLIGHT_RCC_APB2Periph,
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ENABLE);
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pwrInit();
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pwrOn();
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delaysInit();
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__enable_irq();
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#if defined(DEBUG) && defined(AUX_SERIAL)
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auxSerialInit(UART_MODE_DEBUG, 0); // default serial mode (None if DEBUG not defined)
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#endif
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#if defined(DEBUG) && defined(AUX2_SERIAL)
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aux2SerialInit(UART_MODE_DEBUG, 0); // default serial mode (None if DEBUG not defined)
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#endif
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TRACE("\nHorus board started :)");
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TRACE("RCC->CSR = %08x", RCC->CSR);
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audioInit();
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// we need to initialize g_FATFS_Obj here, because it is in .ram section (because of DMA access)
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// and this section is un-initialized
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memset(&g_FATFS_Obj, 0, sizeof(g_FATFS_Obj));
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keysInit();
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rotaryEncoderInit();
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#if NUM_PWMSTICKS > 0
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sticksPwmInit();
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delay_ms(20);
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if (pwm_interrupt_count < 32) {
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hardwareOptions.sticksPwmDisabled = true;
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}
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#endif
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lcdInit();
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backlightInit();
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globalData.flyskygimbals = false;
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#if defined(RADIO_FAMILY_T16) || defined(PCBNV14)
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flysky_hall_stick_check_init();
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// Wait 70ms for FlySky gimbals to respond. According to LA trace, minimally 23ms is required
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for (uint8_t ui8 = 0; ui8 < 70; ui8++)
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{
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flysky_hall_stick_loop();
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delay_ms(1);
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if (globalData.flyskygimbals)
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{
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break;
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}
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}
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#endif
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if (globalData.flyskygimbals)
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{
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flysky_hall_stick_init();
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}
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if (!adcInit(&ADC_DRIVER))
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TRACE("adcInit failed");
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#if defined(IMU_LSM6DS33)
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imu_lsm6ds33_init();
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#endif
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init2MhzTimer();
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init1msTimer();
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usbInit();
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hapticInit();
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#if defined(BLUETOOTH)
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bluetoothInit(BLUETOOTH_DEFAULT_BAUDRATE, true);
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#endif
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#if defined(INTERNAL_GPS)
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gpsInit(GPS_USART_BAUDRATE);
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#endif
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#if defined(DEBUG)
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DBGMCU_APB1PeriphConfig(DBGMCU_IWDG_STOP|DBGMCU_TIM1_STOP|DBGMCU_TIM2_STOP|DBGMCU_TIM3_STOP|DBGMCU_TIM4_STOP|DBGMCU_TIM5_STOP|DBGMCU_TIM6_STOP|DBGMCU_TIM7_STOP|DBGMCU_TIM8_STOP|DBGMCU_TIM9_STOP|DBGMCU_TIM10_STOP|DBGMCU_TIM11_STOP|DBGMCU_TIM12_STOP|DBGMCU_TIM13_STOP|DBGMCU_TIM14_STOP, ENABLE);
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#endif
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ledInit();
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#if defined(USB_CHARGER)
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usbChargerInit();
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#endif
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#if HAS_SPORT_UPDATE_CONNECTOR()
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sportUpdateInit();
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#endif
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ledBlue();
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#if defined(RTCLOCK) && !defined(COPROCESSOR)
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rtcInit(); // RTC must be initialized before rambackupRestore() is called
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#endif
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}
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void boardOff()
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{
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backlightEnable(0);
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while (pwrPressed()) {
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WDG_RESET();
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}
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SysTick->CTRL = 0; // turn off systick
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#if defined(PCBX12S)
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// Shutdown the Audio amp
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = AUDIO_SHUTDOWN_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
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GPIO_Init(AUDIO_SHUTDOWN_GPIO, &GPIO_InitStructure);
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GPIO_ResetBits(AUDIO_SHUTDOWN_GPIO, AUDIO_SHUTDOWN_GPIO_PIN);
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#endif
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// Shutdown the Haptic
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hapticDone();
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#if defined(RTC_BACKUP_RAM)
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_BKPSRAM, DISABLE);
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PWR_BackupRegulatorCmd(DISABLE);
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#endif
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RTC->BKP0R = SHUTDOWN_REQUEST;
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pwrOff();
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// We reach here only in forced power situations, such as hw-debugging with external power
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// Enter STM32 stop mode / deep-sleep
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// Code snippet from ST Nucleo PWR_EnterStopMode example
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#define PDMode 0x00000000U
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#if defined(PWR_CR_MRUDS) && defined(PWR_CR_LPUDS) && defined(PWR_CR_FPDS)
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MODIFY_REG(PWR->CR, (PWR_CR_PDDS | PWR_CR_LPDS | PWR_CR_FPDS | PWR_CR_LPUDS | PWR_CR_MRUDS), PDMode);
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#elif defined(PWR_CR_MRLVDS) && defined(PWR_CR_LPLVDS) && defined(PWR_CR_FPDS)
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MODIFY_REG(PWR->CR, (PWR_CR_PDDS | PWR_CR_LPDS | PWR_CR_FPDS | PWR_CR_LPLVDS | PWR_CR_MRLVDS), PDMode);
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#else
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MODIFY_REG(PWR->CR, (PWR_CR_PDDS| PWR_CR_LPDS), PDMode);
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#endif /* PWR_CR_MRUDS && PWR_CR_LPUDS && PWR_CR_FPDS */
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/* Set SLEEPDEEP bit of Cortex System Control Register */
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SET_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SLEEPDEEP_Msk));
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// To avoid HardFault at return address, end in an endless loop
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while (1) {
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}
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}
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#if defined (RADIO_TX16S)
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#define BATTERY_DIVIDER 1495
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#else
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#define BATTERY_DIVIDER 1629
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#endif
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uint16_t getBatteryVoltage()
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{
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int32_t instant_vbat = anaIn(TX_VOLTAGE); // using filtered ADC value on purpose
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return (uint16_t)((instant_vbat * (1000 + g_eeGeneral.txVoltageCalibration)) / BATTERY_DIVIDER);
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}
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bool isBacklightEnabled()
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{
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if(globalData.unexpectedShutdown)
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return true;
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return boardBacklightOn;
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}
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