Added PPM packet to packet handler, created replacement system module for PipXtreme (PipXtreme module), removed all UAVObjects from PipXtreme, and added parsing of incoming (over USB/COM) UAVTalk stream.

flight/Libraries/inc/packet_handler.h

@@ -46,7 +46,7 @@ typedef enum {
 	PACKET_TYPE_ADJUST_TX_PWR,  // used to ask the other modem to adjust it's tx power
 	PACKET_TYPE_DATA,           // data packet (packet contains user data)
 	PACKET_TYPE_ACKED_DATA,     // data packet that requies an ACK
-	PACKET_TYPE_RECEIVER,       // Receiver relay values
+	PACKET_TYPE_PPM,            // PPM relay values
 	PACKET_TYPE_ACK,
 	PACKET_TYPE_NACK
 } PHPacketType;
@@ -67,6 +67,13 @@ typedef struct {
 	uint8_t data[PH_MAX_DATA + RS_ECC_NPARITY];
 } PHPacket, *PHPacketHandle;
 
+#define PH_PPM_DATA_SIZE(p) ((uint8_t*)(p->ecc) - (uint8_t*)(((PHPacketHandle)p)->data))
+typedef struct {
+	PHPacketHeader header;
+	uint16_t channels[PIOS_RCVR_MAX_CHANNELS];
+	uint8_t ecc[RS_ECC_NPARITY];
+} PHPpmPacket, *PHPpmPacketHandle;
+
 typedef struct {
 	uint8_t txWinSize;
 	uint16_t maxConnections;
@@ -75,13 +82,15 @@ typedef struct {
 
 typedef int32_t (*PHOutputStream)(PHPacketHandle packet);
 typedef void (*PHDataHandler)(uint8_t *data, uint8_t len);
+typedef void (*PHPPMHandler)(uint16_t *channels);
 
-typedef void* PHInstHandle;
+typedef uint32_t PHInstHandle;
 
 // Public functions
 PHInstHandle PHInitialize(PacketHandlerConfig *cfg);
 void PHRegisterOutputStream(PHInstHandle h, PHOutputStream f);
 void PHRegisterDataHandler(PHInstHandle h, PHDataHandler f);
+void PHRegisterPPMHandler(PHInstHandle h, PHPPMHandler f);
 uint32_t PHConnect(PHInstHandle h, uint32_t dest_id);
 PHPacketHandle PHGetRXPacket(PHInstHandle h);
 PHPacketHandle PHGetTXPacket(PHInstHandle h);

flight/Libraries/packet_handler.c

@@ -46,6 +46,7 @@ typedef struct {
 	xSemaphoreHandle lock;
 	PHOutputStream output_stream;
 	PHDataHandler data_handler;
+	PHPPMHandler ppm_handler;
 } PHPacketData, *PHPacketDataHandle;
 
 // Private functions
@@ -112,6 +113,18 @@ void PHRegisterDataHandler(PHInstHandle h, PHDataHandler f)
 	data->data_handler = f;
 }
 
+/**
+ * Register a PPM packet handler
+ * \param[in] h The packet handler instance data pointer.
+ * \param[in] f The PPM handler function
+ */
+void PHRegisterPPMHandler(PHInstHandle h, PHPPMHandler f)
+{
+	PHPacketDataHandle data = (PHPacketDataHandle)h;
+
+	data->ppm_handler = f;
+}
+
 /**
  * Get a packet out of the transmit buffer.
  * \param[in] h The packet handler instance data pointer.
@@ -207,7 +220,7 @@ uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p)
 	case PACKET_TYPE_READY:
 	case PACKET_TYPE_NOTREADY:
 	case PACKET_TYPE_DATA:
-	case PACKET_TYPE_RECEIVER:
+	case PACKET_TYPE_PPM:
 		PHReleaseTXPacket(h, p);
 		break;
 	}
@@ -285,7 +298,13 @@ uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p)
 	}
 	break;
 
-	case PACKET_TYPE_RECEIVER:
+	case PACKET_TYPE_PPM:
+
+		if (!rx_error)
+
+			// Pass on the channels to the PPM handler.
+			if(data->ppm_handler)
+				data->ppm_handler(((PHPpmPacketHandle)p)->channels);
 
 		break;
 
@@ -293,7 +312,7 @@ uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p)
 
 		if (!rx_error)
 
-			// Pass on the data to the receiver handler.
+			// Pass on the data to the data handler.
 			if(data->data_handler)
 				data->data_handler(p->data, p->header.data_size);
 

flight/Modules/PipXtreme/inc/pipxtrememod.h

@@ -0,0 +1,35 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup PipXtremeModule PipXtreme Module
+ * @{ 
+ *
+ * @file       pipxtrememod.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      The PipXtreme system module
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef PIPXTREMEMOD_H
+#define PIPXTREMEMOD_H
+
+int32_t PipXtremeModInitialize(void);
+
+#endif // PIPXTREMEMOD_H

flight/Modules/PipXtreme/pipxtrememod.c

@@ -0,0 +1,238 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @brief The OpenPilot Modules do the majority of the control in OpenPilot.  The 
+ * @ref PipXtremeModule The PipXtreme Module is the equivalanet of the System
+ * Module for the PipXtreme modem.  it starts all the other modules.
+ #  This is done through the @ref PIOS "PIOS Hardware abstraction layer",
+ # which then contains hardware specific implementations
+ * (currently only STM32 supported)
+ *
+ * @{ 
+ * @addtogroup PipXtremeModule PipXtreme Module
+ * @brief Initializes PIOS and other modules runs monitoring
+ * After initializing all the modules runs basic monitoring and
+ * alarms.
+ * @{ 
+ *
+ * @file       pipxtrememod.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      System module
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "systemmod.h"
+
+// Private constants
+#define SYSTEM_UPDATE_PERIOD_MS 1000
+#define LED_BLINK_RATE_HZ 5
+
+#ifndef IDLE_COUNTS_PER_SEC_AT_NO_LOAD
+#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998	// calibrated by running tests/test_cpuload.c
+											  // must be updated if the FreeRTOS or compiler
+											  // optimisation options are changed.
+#endif
+
+#if defined(PIOS_SYSTEM_STACK_SIZE)
+#define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE
+#else
+#define STACK_SIZE_BYTES 924
+#endif
+
+#define TASK_PRIORITY (tskIDLE_PRIORITY+2)
+
+// Private types
+
+// Private variables
+static uint32_t idleCounter;
+static uint32_t idleCounterClear;
+static xTaskHandle systemTaskHandle;
+static bool stackOverflow;
+static bool mallocFailed;
+
+// Private functions
+static void systemTask(void *parameters);
+
+/**
+ * Create the module task.
+ * \returns 0 on success or -1 if initialization failed
+ */
+int32_t PipXtremeModStart(void)
+{
+	// Initialize vars
+	stackOverflow = false;
+	mallocFailed = false;
+	// Create pipxtreme system task
+	xTaskCreate(systemTask, (signed char *)"PipXtreme", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
+	// Register task
+	TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
+
+	return 0;
+}
+
+/**
+ * Initialize the module, called on startup.
+ * \returns 0 on success or -1 if initialization failed
+ */
+int32_t PipXtremeModInitialize(void)
+{
+
+	// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
+
+	// Call the module start function.
+	PipXtremeModStart();
+
+	return 0;
+}
+
+MODULE_INITCALL(PipXtremeModInitialize, 0)
+
+/**
+ * System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
+ */
+static void systemTask(void *parameters)
+{
+	portTickType lastSysTime;
+
+	/* create all modules thread */
+	MODULE_TASKCREATE_ALL;
+
+	if (mallocFailed) {
+		/* We failed to malloc during task creation,
+		 * system behaviour is undefined.  Reset and let
+		 * the BootFault code recover for us.
+		 */
+		PIOS_SYS_Reset();
+	}
+
+#if defined(PIOS_INCLUDE_IAP)
+	/* Record a successful boot */
+	PIOS_IAP_WriteBootCount(0);
+#endif
+
+	// Initialize vars
+	idleCounter = 0;
+	idleCounterClear = 0;
+	lastSysTime = xTaskGetTickCount();
+
+	// Main system loop
+	while (1) {
+
+		// Flash the heartbeat LED
+#if defined(PIOS_LED_HEARTBEAT)
+		PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
+#endif	/* PIOS_LED_HEARTBEAT */
+
+		// Wait until next period
+		vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
+	}
+}
+
+#ifdef NEVER
+/**
+ * Called periodically to update the system stats
+ */
+static uint16_t GetFreeIrqStackSize(void)
+{
+	uint32_t i = 0x200;
+
+#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
+extern uint32_t _irq_stack_top;
+extern uint32_t _irq_stack_end;
+uint32_t pattern = 0x0000A5A5;
+uint32_t *ptr = &_irq_stack_end;
+
+#if 1 /* the ugly way accurate but takes more time, useful for debugging */
+	uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3 ) / 4;
+
+	for (i=0; i< stack_size; i++)
+	{
+		if (ptr[i] != pattern)
+		{
+			i=i*4;
+			break;
+		}
+	}
+#else /* faster way but not accurate */
+	if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern)
+	{
+		i = IRQSTACK_LIMIT_CRITICAL - 1;
+	}
+	else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern)
+	{
+		i = IRQSTACK_LIMIT_WARNING - 1;
+	}
+	else
+	{
+		i = IRQSTACK_LIMIT_WARNING;
+	}
+#endif
+#endif
+	return i;
+}
+#endif
+
+/**
+ * Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
+ */
+void vApplicationIdleHook(void)
+{
+	// Called when the scheduler has no tasks to run
+	if (idleCounterClear == 0) {
+		++idleCounter;
+	} else {
+		idleCounter = 0;
+		idleCounterClear = 0;
+	}
+}
+
+/**
+ * Called by the RTOS when a stack overflow is detected.
+ */
+#define DEBUG_STACK_OVERFLOW 0
+void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTaskName)
+{
+	stackOverflow = true;
+#if DEBUG_STACK_OVERFLOW
+	static volatile bool wait_here = true;
+	while(wait_here);
+	wait_here = true;
+#endif
+}
+
+/**
+ * Called by the RTOS when a malloc call fails.
+ */
+#define DEBUG_MALLOC_FAILURES 0
+void vApplicationMallocFailedHook(void)
+{
+	mallocFailed = true;
+#if DEBUG_MALLOC_FAILURES
+	static volatile bool wait_here = true;
+	while(wait_here);
+	wait_here = true;
+#endif
+}
+
+/**
+  * @}
+  * @}
+  */

flight/Modules/RadioComBridge/RadioComBridge.c

@@ -31,7 +31,6 @@
 // ****************
 
 #include <openpilot.h>
-#include <hwsettings.h>
 #include <radiocombridge.h>
 #include <packet_handler.h>
 
@@ -39,6 +38,8 @@
 
 #include "ecc.h"
 
+#undef PIOS_INCLUDE_USB
+
 extern char *debug_msg;
 
 // ****************
@@ -82,8 +83,7 @@ typedef struct {
 	uint32_t com_tx_errors;
 	uint32_t radio_tx_errors;
 
-	// The packet handler.
-	PHInstHandle packet_handler;
+	// The packet timeout.
 	portTickType send_timeout;
 	uint16_t min_packet_size;
 
@@ -143,17 +143,9 @@ static int32_t RadioComBridgeInitialize(void)
 	data->com_tx_errors = 0;
 	data->radio_tx_errors = 0;
 
-	// Initialize the packet handler
-	PacketHandlerConfig phcfg = {
-		.txWinSize = PIOS_PH_TX_WIN_SIZE,
-		.maxConnections = PIOS_PH_MAX_CONNECTIONS,
-		.id = 0x36249acb,
-	};
-	data->packet_handler = PHInitialize(&phcfg);
-
 	// Register the callbacks with the packet handler
-	PHRegisterOutputStream(data->packet_handler, transmitPacket);
-	PHRegisterDataHandler(data->packet_handler, receiveData);
+	PHRegisterOutputStream(pios_packet_handler, transmitPacket);
+	PHRegisterDataHandler(pios_packet_handler, receiveData);
 
 	// Initialize the packet send timeout
 	data->send_timeout = 25; // ms
@@ -176,9 +168,8 @@ static void radio2ComBridgeTask(void *parameters)
 
 		// Receive data from the radio port
 		rx_bytes = PIOS_COM_ReceiveBuffer(data->radio_port, data->radio2com_buf, BRIDGE_BUF_LEN, 500);
-		if (rx_bytes > 0) {
-			PHReceivePacket(data->packet_handler, (PHPacketHandle)data->radio2com_buf);
-		}
+		if (rx_bytes > 0)
+			PHReceivePacket(pios_packet_handler, (PHPacketHandle)data->radio2com_buf);
 	}
 }
 
@@ -196,22 +187,27 @@ static void com2RadioBridgeTask(void * parameters)
 	while (1) {
 #if defined(PIOS_INCLUDE_USB)
 		// Determine input port (USB takes priority over telemetry port)
-		if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB) {
+		if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
 			inputPort = PIOS_COM_TELEM_USB;
-		} else
+		else
 #endif /* PIOS_INCLUDE_USB */
-		{
 			inputPort = data->com_port;
-		}
 
 		// Receive data from the com port
-		//debug_msg = "COM receive";
 		uint32_t cur_rx_bytes = PIOS_COM_ReceiveBuffer(inputPort, data->com2radio_buf +
 							       rx_bytes, BRIDGE_BUF_LEN - rx_bytes, timeout);
-		//debug_msg = "COM receive done";
-		rx_bytes += cur_rx_bytes;
+
+		// Pass the new data through UAVTalk
+		for (uint8_t i = 0; i < cur_rx_bytes; i++) {
+			UAVTalkProcessInputStream(data->uavTalkCon, *(data->com2radio_buf + i + rx_bytes));
+			/*
+			if(UAVTalkIdle(data->uavTalkCon))
+				DEBUG_PRINTF(1, "Idle\n\r");
+			*/
+		}
 
 		// Do we have an data to send?
+		rx_bytes += cur_rx_bytes;
 		if (rx_bytes > 0) {
 
 			// Check how long since last update
@@ -239,7 +235,7 @@ static void com2RadioBridgeTask(void * parameters)
 			if (send_packet)
 			{
 				// Get a TX packet from the packet handler
-				PHPacketHandle p = PHGetTXPacket(data->packet_handler);
+				PHPacketHandle p = PHGetTXPacket(pios_packet_handler);
 
 				// Initialize the packet.
 				//p->header.type = PACKET_TYPE_ACKED_DATA;
@@ -250,17 +246,13 @@ static void com2RadioBridgeTask(void * parameters)
 				memcpy(p->data, data->com2radio_buf, rx_bytes);
 
 				// Transmit the packet
-				PHTransmitPacket(data->packet_handler, p);
+				PHTransmitPacket(pios_packet_handler, p);
 
 				// Reset the timeout
 				timeout = 500;
 				rx_bytes = 0;
 				packet_start_time = 0;
 			}
-
-			// Pass the data through UAVTalk
-			//for (uint8_t i = 0; i < cur_rx_bytes; i++)
-			//UAVTalkProcessInputStream(data->uavTalkCon, data->com2radio_buf[i]);
 		}
 	}
 }
@@ -275,13 +267,14 @@ static void com2RadioBridgeTask(void * parameters)
  */
 static int32_t transmitData(uint8_t *buf, int32_t length)
 {
-	uint32_t inputPort = data->com_port;
+	uint32_t outputPort = data->com_port;
 #if defined(PIOS_INCLUDE_USB)
-	// Determine input port (USB takes priority over telemetry port)
+	// Determine output port (USB takes priority over telemetry port)
 	if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
-		inputPort = PIOS_COM_TELEM_USB;
+		outputPort = PIOS_COM_TELEM_USB;
 #endif /* PIOS_INCLUDE_USB */
-	return PIOS_COM_SendBuffer(inputPort, buf, length);
+	DEBUG_PRINTF(1, "Transmitting UAVTalk data\n\r");
+	return PIOS_COM_SendBuffer(outputPort, buf, length);
 }
 
 /**
@@ -303,8 +296,14 @@ static int32_t transmitPacket(PHPacketHandle p)
  */
 static void receiveData(uint8_t *buf, uint8_t len)
 {
+	uint32_t outputPort = data->com_port;
+#if defined(PIOS_INCLUDE_USB)
+	// Determine output port (USB takes priority over telemetry port)
+	if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
+		outputPort = PIOS_COM_TELEM_USB;
+#endif /* PIOS_INCLUDE_USB */
 	/* Send the received data to the com port */
-	if (PIOS_COM_SendBuffer(data->com_port, buf, len) != len)
+	if (PIOS_COM_SendBuffer(outputPort, buf, len) != len)
 		/* Error on transmit */
 		data->com_tx_errors++;
 }

flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h

@@ -214,20 +214,20 @@ extern uint32_t pios_com_rfm22b_id;
 // PIOS_RCVR
 // See also pios_board.c
 //------------------------
-#define PIOS_RCVR_MAX_DEVS                      3
-#define PIOS_RCVR_MAX_CHANNELS			12
+#define PIOS_RCVR_MAX_DEVS          3
+#define PIOS_RCVR_MAX_CHANNELS      12
 
 //-------------------------
 // Receiver PPM input
 //-------------------------
-#define PIOS_PPM_MAX_DEVS			1
-#define PIOS_PPM_NUM_INPUTS                     12
+#define PIOS_PPM_MAX_DEVS     1
+#define PIOS_PPM_NUM_INPUTS   12
 
 //-------------------------
 // Receiver PWM input
 //-------------------------
-#define PIOS_PWM_MAX_DEVS			1
-#define PIOS_PWM_NUM_INPUTS                     1
+#define PIOS_PWM_MAX_DEVS    1
+#define PIOS_PWM_NUM_INPUTS   1
 
 //-------------------------
 // Servo outputs
@@ -282,6 +282,8 @@ extern uint32_t pios_com_rfm22b_id;
 // Packet Handler
 //-------------------------
 
+uint32_t pios_packet_handler;
+#define PIOS_INCLUDE_PACKET_HANDLER
 #define PIOS_PH_MAX_PACKET 255
 #define PIOS_PH_TX_WIN_SIZE 3
 #define PIOS_PH_MAX_CONNECTIONS 1

flight/PipXtreme/Makefile

@@ -66,7 +66,7 @@ FLASH_TOOL = OPENOCD
 
 # List of modules to include
 OPTMODULES = 
-MODULES = FirmwareIAP RadioComBridge
+MODULES = RadioComBridge
 
 # Paths
 OPSYSTEM = ./System
@@ -123,10 +123,9 @@ ifndef TESTAPP
 ## MODULES
 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 ## OPENPILOT CORE:
-SRC += ${OPMODULEDIR}/System/systemmod.c
+SRC += ${OPMODULEDIR}/PipXtreme/pipxtrememod.c
 SRC += $(OPSYSTEM)/pipxtreme.c
 SRC += $(OPSYSTEM)/pios_board.c
-SRC += $(OPSYSTEM)/alarms.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/eventdispatcher.c
@@ -138,18 +137,6 @@ endif
 
 ## UAVOBJECTS
 ifndef TESTAPP
-SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
-SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
-SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
-SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
-SRC += $(OPUAVSYNTHDIR)/flightstatus.c
-SRC += $(OPUAVSYNTHDIR)/systemstats.c
-SRC += $(OPUAVSYNTHDIR)/systemalarms.c
-SRC += $(OPUAVSYNTHDIR)/systemsettings.c
-SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
-SRC += $(OPUAVSYNTHDIR)/i2cstats.c
-SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
-SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
 SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
 
 endif

flight/PipXtreme/System/pios_board.c

@@ -75,9 +75,6 @@ void PIOS_Board_Init(void) {
 	/* Initialize watchdog as early as possible to catch faults during init */
 	PIOS_WDG_Init();
 
-	/* Initialize the alarms library */
-	AlarmsInitialize();
-
 	/* Initialize IAP */
 	PIOS_IAP_Init();
 
@@ -101,6 +98,10 @@ void PIOS_Board_Init(void) {
 	PIOS_TIM_InitClock(&tim_4_cfg);
 #endif	/* PIOS_INCLUDE_TIM */
 
+#if defined(PIOS_INCLUDE_PACKET_HANDLER)
+	pios_packet_handler = PHInitialize(&pios_ph_cfg);
+#endif /* PIOS_INCLUDE_PACKET_HANDLER */
+
 #if defined(PIOS_INCLUDE_USB)
 	/* Initialize board specific USB data */
 	PIOS_USB_BOARD_DATA_Init();

flight/board_hw_defs/pipxtreme/board_hw_defs.c

@@ -492,3 +492,15 @@ const struct pios_rfm22b_cfg pios_rfm22b_cfg = {
 };
 
 #endif /* PIOS_INCLUDE_RFM22B */
+
+#if defined(PIOS_INCLUDE_PACKET_HANDLER)
+#include <packet_handler.h>
+
+// Initialize the packet handler
+PacketHandlerConfig pios_ph_cfg = {
+	.txWinSize = PIOS_PH_TX_WIN_SIZE,
+	.maxConnections = PIOS_PH_MAX_CONNECTIONS,
+	.id = 0x36249acb,
+};
+
+#endif /* PIOS_INCLUDE_PACKET_HANDLER */