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LP-437 - Support for Sparky2
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14080021b2
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@ -212,6 +212,7 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
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#define PIOS_COM_MSP_RX_BUF_LEN 64
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#define PIOS_COM_MAVLINK_TX_BUF_LEN 128
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#define PIOS_COM_MAVLINK_RX_BUF_LEN 128
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#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
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#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
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@ -231,6 +232,7 @@ uint32_t pios_com_vcp_id = 0;
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#if defined(PIOS_INCLUDE_RFM22B)
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uint32_t pios_rfm22b_id = 0;
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#include <pios_rfm22b_com.h>
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#endif
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uintptr_t pios_uavo_settings_fs_id;
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@ -937,6 +939,32 @@ void PIOS_Board_Init(void)
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/* Reinitialize the modem. */
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PIOS_RFM22B_Reinit(pios_rfm22b_id);
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// TODO: this is in preparation for full mavlink support and is used by LP-368
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uint16_t mavlink_rx_size = PIOS_COM_MAVLINK_RX_BUF_LEN;
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uint8_t hwsettings_radioaux;
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HwSettingsRadioAuxStreamGet(&hwsettings_radioaux);
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switch (hwsettings_radioaux) {
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case HWSETTINGS_RADIOAUXSTREAM_DEBUGCONSOLE:
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case HWSETTINGS_RADIOAUXSTREAM_DISABLED:
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break;
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case HWSETTINGS_RADIOAUXSTREAM_MAVLINK:
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{
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uint8_t *auxrx_buffer = 0;
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if (mavlink_rx_size) {
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auxrx_buffer = (uint8_t *)pios_malloc(mavlink_rx_size);
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}
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uint8_t *auxtx_buffer = (uint8_t *)pios_malloc(PIOS_COM_MAVLINK_TX_BUF_LEN);
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PIOS_Assert(auxrx_buffer);
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PIOS_Assert(auxtx_buffer);
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if (PIOS_COM_Init(&pios_com_mavlink_id, &pios_rfm22b_aux_com_driver, pios_rfm22b_id,
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auxrx_buffer, mavlink_rx_size,
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auxtx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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}
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}
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} else {
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oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
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