From 14080021b2f77e077767133fa82528d6bd8e86f3 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Sat, 29 Oct 2016 19:46:10 +0200
Subject: [PATCH] LP-437 - Support for Revolution

---
 .../boards/revolution/firmware/pios_board.c   | 28 +++++++++++++++++++
 shared/uavobjectdefinition/hwsettings.xml     |  3 +-
 2 files changed, 30 insertions(+), 1 deletion(-)

diff --git a/flight/targets/boards/revolution/firmware/pios_board.c b/flight/targets/boards/revolution/firmware/pios_board.c
index 15b0a2f9b..d324ef619 100644
--- a/flight/targets/boards/revolution/firmware/pios_board.c
+++ b/flight/targets/boards/revolution/firmware/pios_board.c
@@ -260,6 +260,7 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
 #define PIOS_COM_MSP_TX_BUF_LEN          128
 #define PIOS_COM_MSP_RX_BUF_LEN          64
 #define PIOS_COM_MAVLINK_TX_BUF_LEN      128
+#define PIOS_COM_MAVLINK_RX_BUF_LEN      128
 
 #if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
 #define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
@@ -279,6 +280,7 @@ uint32_t pios_com_mavlink_id   = 0;
 
 #if defined(PIOS_INCLUDE_RFM22B)
 uint32_t pios_rfm22b_id        = 0;
+#include <pios_rfm22b_com.h>
 #endif
 
 uintptr_t pios_uavo_settings_fs_id;
@@ -997,6 +999,32 @@ void PIOS_Board_Init(void)
 
             /* Reinitialize the modem. */
             PIOS_RFM22B_Reinit(pios_rfm22b_id);
+
+            uint8_t hwsettings_radioaux;
+            HwSettingsRadioAuxStreamGet(&hwsettings_radioaux);
+            // TODO: this is in preparation for full mavlink support and is used by LP-368
+            uint16_t mavlink_rx_size = PIOS_COM_MAVLINK_RX_BUF_LEN;
+
+            switch (hwsettings_radioaux) {
+            case HWSETTINGS_RADIOAUXSTREAM_DEBUGCONSOLE:
+            case HWSETTINGS_RADIOAUXSTREAM_DISABLED:
+                break;
+            case HWSETTINGS_RADIOAUXSTREAM_MAVLINK:
+            {
+                uint8_t *auxrx_buffer = 0;
+                if (mavlink_rx_size) {
+                    auxrx_buffer = (uint8_t *)pios_malloc(mavlink_rx_size);
+                }
+                uint8_t *auxtx_buffer = (uint8_t *)pios_malloc(PIOS_COM_MAVLINK_TX_BUF_LEN);
+                PIOS_Assert(auxrx_buffer);
+                PIOS_Assert(auxtx_buffer);
+                if (PIOS_COM_Init(&pios_com_mavlink_id, &pios_rfm22b_aux_com_driver, pios_rfm22b_id,
+                                  auxrx_buffer, mavlink_rx_size,
+                                  auxtx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
+                    PIOS_Assert(0);
+                }
+            }
+            }
         }
     } else {
         oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml
index fa31c1040..ae30f9ec5 100644
--- a/shared/uavobjectdefinition/hwsettings.xml
+++ b/shared/uavobjectdefinition/hwsettings.xml
@@ -28,7 +28,8 @@
 		<field name="MSPSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="115200"/>
 		<field name="MAVLinkSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
 		<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,RCTransmitter,Disabled" defaultvalue="USBTelemetry"/>
-		<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,DebugConsole,Disabled" defaultvalue="Disabled"/>
+		<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,DebugConsole,Disabled,MAVLink" defaultvalue="Disabled"/>
+        <field name="RadioAuxStream" units="function" type="enum" elements="1" options="DebugConsole,Disabled,MAVLink" defaultvalue="Disabled"/>
 
 		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,CameraControl,GPS,Fault,Altitude,Airspeed,TxPID,Battery,Overo,MagBaro,OsdHk,AutoTune" options="Disabled,Enabled" defaultvalue="Disabled"/>
 		<field name="ADCRouting" units="" type="enum" elementnames="adc0,adc1,adc2,adc3,adc4,adc5,adc6,adc7" options="Disabled,BatteryVoltage,BatteryCurrent,AnalogAirspeed,Generic" defaultvalue="Disabled"/>