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Code Issues Releases Activity

LP-437 - Support for Sparky2

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This commit is contained in:
Alessio Morale 2016-10-29 19:57:33 +02:00
parent 14080021b2
commit e39a5a92bc
1 changed files with 28 additions and 0 deletions
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28
flight/targets/boards/sparky2/firmware/pios_board.c
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@ -212,6 +212,7 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#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
@ -231,6 +232,7 @@ uint32_t pios_com_vcp_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;
@ -937,6 +939,32 @@ void PIOS_Board_Init(void)
/* Reinitialize the modem. */
PIOS_RFM22B_Reinit(pios_rfm22b_id);
// 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;
uint8_t hwsettings_radioaux;
HwSettingsRadioAuxStreamGet(&hwsettings_radioaux);
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;