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495 lines
17 KiB
C
495 lines
17 KiB
C
/**
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******************************************************************************
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*
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* @file pios_board.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board specific static initializers for hardware for the OPOSD board.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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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 as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "inc/openpilot.h"
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#include <pios_board_info.h>
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#include <uavobjectsinit.h>
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#include <hwsettings.h>
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#include <manualcontrolsettings.h>
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#include <gcsreceiver.h>
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#include <taskinfo.h>
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/*
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* Pull in the board-specific static HW definitions.
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* Including .c files is a bit ugly but this allows all of
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* the HW definitions to be const and static to limit their
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* scope.
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*
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* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
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*/
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#include "../board_hw_defs.c"
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/* Private macro -------------------------------------------------------------*/
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#define countof(a) (sizeof(a) / sizeof(*(a)))
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/* Private variables ---------------------------------------------------------*/
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#if defined(PIOS_INCLUDE_ADC)
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#include <pios_adc_priv.h>
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void PIOS_ADC_DMC_irq_handler(void);
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void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
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struct pios_adc_cfg pios_adc_cfg = {
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.adc_dev = ADC1,
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.dma = {
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.irq = {
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.flags = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4),
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.init = {
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.NVIC_IRQChannel = DMA2_Stream4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA2_Stream4,
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.init = {
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.DMA_Channel = DMA_Channel_0,
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.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR
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},
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}
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},
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.half_flag = DMA_IT_HTIF4,
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.full_flag = DMA_IT_TCIF4,
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};
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void PIOS_ADC_DMC_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_ADC_DMA_Handler();
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}
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#endif /* if defined(PIOS_INCLUDE_ADC) */
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static void Clock(uint32_t spektrum_id);
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#define PIOS_COM_TELEM_RF_RX_BUF_LEN 128
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#define PIOS_COM_TELEM_RF_TX_BUF_LEN 128
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#define PIOS_COM_AUX_RX_BUF_LEN 512
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#define PIOS_COM_AUX_TX_BUF_LEN 512
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#define PIOS_COM_GPS_RX_BUF_LEN 32
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#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
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#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65
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#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
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#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
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uint32_t pios_com_aux_id;
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uint32_t pios_com_gps_id;
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uint32_t pios_com_telem_usb_id;
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uint32_t pios_com_telem_rf_id;
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uintptr_t pios_uavo_settings_fs_id;
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uintptr_t pios_user_fs_id = 0;
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/**
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* TIM3 is triggered by the HSYNC signal into its ETR line and will divide the
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* APB1_CLOCK to generate a pixel clock that is used by the SPI CLK lines.
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* TIM4 will be synced to it and will divide by that times the pixel width to
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* fire an IRQ when the last pixel of the line has been output. Then the timer will
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* be rearmed and wait for the next HSYNC signal.
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* The critical timing detail is that the task be _DISABLED_ at the end of the line
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* before an extra pixel is clocked out
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* or we will need to configure the DMA task per line
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*/
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#include "pios_tim_priv.h"
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#define NTSC_PX_CLOCK 6797088
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#define PAL_PX_CLOCK 6750130
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#define PX_PERIOD ((PIOS_PERIPHERAL_APB1_CLOCK / NTSC_PX_CLOCK) + 1)
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#define LINE_PERIOD PX_PERIOD * GRAPHICS_WIDTH
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static const TIM_TimeBaseInitTypeDef tim_4_time_base = {
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.TIM_Prescaler = 0, // PIOS_PERIPHERAL_APB1_CLOCK,
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.TIM_ClockDivision = TIM_CKD_DIV1,
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.TIM_CounterMode = TIM_CounterMode_Up,
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.TIM_Period = LINE_PERIOD - 1,
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.TIM_RepetitionCounter = 0x0000,
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};
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static const struct pios_tim_clock_cfg pios_tim4_cfg = {
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.timer = TIM4,
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.time_base_init = &tim_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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}
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};
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void PIOS_Board_Init(void)
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{
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// Delay system
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PIOS_DELAY_Init();
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PIOS_LED_Init(&pios_led_cfg);
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#if defined(PIOS_INCLUDE_SPI)
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/* Set up the SPI interface to the SD card */
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if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) {
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PIOS_Assert(0);
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}
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#if defined(PIOS_INCLUDE_SDCARD)
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/* Enable and mount the SDCard */
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PIOS_SDCARD_Init(pios_spi_sdcard_id);
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PIOS_SDCARD_MountFS(0);
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#endif
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#endif /* PIOS_INCLUDE_SPI */
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#ifdef PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
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uintptr_t flash_id;
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PIOS_Flash_Internal_Init(&flash_id, &flash_internal_cfg);
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PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id);
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#elif !defined(PIOS_USE_SETTINGS_ON_SDCARD)
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#error No setting storage specified. (define PIOS_USE_SETTINGS_ON_SDCARD or INCLUDE_FLASH_SECTOR_SETTINGS)
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#endif
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/* Initialize the task monitor */
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if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
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PIOS_Assert(0);
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}
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/* Initialize UAVObject libraries */
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EventDispatcherInitialize();
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UAVObjInitialize();
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HwSettingsInitialize();
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#ifdef PIOS_INCLUDE_WDG
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/* Initialize watchdog as early as possible to catch faults during init */
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PIOS_WDG_Init();
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#endif /* PIOS_INCLUDE_WDG */
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/* Initialize the alarms library */
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AlarmsInitialize();
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/* Initialize the delayed callback library */
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CallbackSchedulerInitialize();
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/* IAP System Setup */
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PIOS_IAP_Init();
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uint16_t boot_count = PIOS_IAP_ReadBootCount();
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if (boot_count < 3) {
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PIOS_IAP_WriteBootCount(++boot_count);
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AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
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} else {
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/* Too many failed boot attempts, force hwsettings to defaults */
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HwSettingsSetDefaults(HwSettingsHandle(), 0);
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AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
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}
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#if defined(PIOS_INCLUDE_RTC)
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/* Initialize the real-time clock and its associated tick */
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PIOS_RTC_Init(&pios_rtc_main_cfg);
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if (!PIOS_RTC_RegisterTickCallback(Clock, 0)) {
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PIOS_DEBUG_Assert(0);
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}
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#endif
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#if defined(PIOS_INCLUDE_USB)
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/* Initialize board specific USB data */
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PIOS_USB_BOARD_DATA_Init();
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/* Flags to determine if various USB interfaces are advertised */
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bool usb_hid_present = false;
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bool usb_cdc_present = false;
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#if defined(PIOS_INCLUDE_USB_CDC)
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if (PIOS_USB_DESC_HID_CDC_Init()) {
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PIOS_Assert(0);
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}
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usb_hid_present = true;
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usb_cdc_present = true;
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#else
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if (PIOS_USB_DESC_HID_ONLY_Init()) {
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PIOS_Assert(0);
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}
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usb_hid_present = true;
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#endif
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uint32_t pios_usb_id;
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PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
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#if defined(PIOS_INCLUDE_USB_CDC)
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uint8_t hwsettings_usb_vcpport;
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/* Configure the USB VCP port */
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HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
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if (!usb_cdc_present) {
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/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
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hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
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}
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switch (hwsettings_usb_vcpport) {
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case HWSETTINGS_USB_VCPPORT_DISABLED:
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break;
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case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
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#if defined(PIOS_INCLUDE_COM)
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{
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uint32_t pios_usb_cdc_id;
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if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
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rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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#endif /* PIOS_INCLUDE_COM */
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break;
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case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
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#if defined(PIOS_INCLUDE_COM)
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{
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uint32_t pios_usb_cdc_id;
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if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
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rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
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tx_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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#endif /* PIOS_INCLUDE_COM */
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break;
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}
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#endif /* PIOS_INCLUDE_USB_CDC */
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#if defined(PIOS_INCLUDE_USB_HID)
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/* Configure the usb HID port */
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uint8_t hwsettings_usb_hidport;
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HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
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if (!usb_hid_present) {
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/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
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hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
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}
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switch (hwsettings_usb_hidport) {
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case HWSETTINGS_USB_HIDPORT_DISABLED:
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break;
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case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
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#if defined(PIOS_INCLUDE_COM)
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{
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uint32_t pios_usb_hid_id;
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if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
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rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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#endif /* PIOS_INCLUDE_COM */
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break;
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}
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#endif /* PIOS_INCLUDE_USB_HID */
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if (usb_hid_present || usb_cdc_present) {
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PIOS_USBHOOK_Activate();
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}
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#endif /* PIOS_INCLUDE_USB */
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#if defined(PIOS_INCLUDE_COM)
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#if defined(PIOS_INCLUDE_GPS)
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uint32_t pios_usart_gps_id;
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if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
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PIOS_Assert(0);
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}
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uint8_t *gps_rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
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PIOS_Assert(gps_rx_buffer);
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if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
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gps_rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
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NULL, 0)) {
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PIOS_Assert(0);
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}
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#endif /* PIOS_INCLUDE_GPS */
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#if defined(PIOS_INCLUDE_COM_AUX)
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{
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uint32_t pios_usart_aux_id;
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if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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uint8_t *aux_rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_AUX_RX_BUF_LEN);
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uint8_t *aux_tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_AUX_TX_BUF_LEN);
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PIOS_Assert(aux_rx_buffer);
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PIOS_Assert(aux_tx_buffer);
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if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
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aux_rx_buffer, PIOS_COM_AUX_RX_BUF_LEN,
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aux_tx_buffer, PIOS_COM_AUX_TX_BUF_LEN)) {
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PIOS_DEBUG_Assert(0);
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}
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}
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#else
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pios_com_aux_id = 0;
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#endif /* PIOS_INCLUDE_COM_AUX */
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#if defined(PIOS_INCLUDE_COM_TELEM)
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{ /* Eventually add switch for this port function */
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uint32_t pios_usart_telem_rf_id;
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if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) {
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PIOS_Assert(0);
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}
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uint8_t *telem_rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
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uint8_t *telem_tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
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PIOS_Assert(telem_rx_buffer);
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PIOS_Assert(telem_tx_buffer);
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if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
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telem_rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
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telem_tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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#else
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pios_com_telem_rf_id = 0;
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#endif /* PIOS_INCLUDE_COM_TELEM */
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#endif /* PIOS_INCLUDE_COM */
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/* Configure FlexiPort */
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/* uint8_t hwsettings_rv_flexiport;
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HwSettingsRV_FlexiPortGet(&hwsettings_rv_flexiport);
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switch (hwsettings_rv_flexiport) {
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case HWSETTINGS_RV_FLEXIPORT_DISABLED:
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break;
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case HWSETTINGS_RV_FLEXIPORT_I2C:*/
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#if defined(PIOS_INCLUDE_I2C)
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{
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if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
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PIOS_Assert(0);
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}
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}
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#endif /* PIOS_INCLUDE_I2C */
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/* break;
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case HWSETTINGS_RV_FLEXIPORT_DSM2:
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case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
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case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
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{
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enum pios_dsm_proto proto;
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switch (hwsettings_rv_flexiport) {
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case HWSETTINGS_RV_FLEXIPORT_DSM2:
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proto = PIOS_DSM_PROTO_DSM2;
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break;
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case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
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proto = PIOS_DSM_PROTO_DSMX10BIT;
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break;
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case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
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proto = PIOS_DSM_PROTO_DSMX11BIT;
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break;
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default:
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PIOS_Assert(0);
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break;
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}
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//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
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PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
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&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
|
|
}
|
|
break;
|
|
case HWSETTINGS_RV_FLEXIPORT_COMAUX:
|
|
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
|
|
break;
|
|
case HWSETTINGS_RV_FLEXIPORT_COMBRIDGE:
|
|
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
|
break;
|
|
}*/
|
|
/* hwsettings_rv_flexiport */
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_WAVE)
|
|
PIOS_WavPlay_Init(&pios_dac_cfg);
|
|
#endif
|
|
|
|
// ADC system
|
|
#if defined(PIOS_INCLUDE_ADC)
|
|
PIOS_ADC_Init(&pios_adc_cfg);
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_VIDEO)
|
|
PIOS_TIM_InitClock(&tim_8_cfg);
|
|
PIOS_Servo_Init(&pios_servo_cfg);
|
|
// Start the pixel and line clock counter
|
|
// PIOS_TIM_InitClock(&pios_tim4_cfg);
|
|
PIOS_Video_Init(&pios_video_cfg);
|
|
#endif
|
|
}
|
|
|
|
uint16_t supv_timer = 0;
|
|
|
|
static void Clock(__attribute__((unused)) uint32_t spektrum_id)
|
|
{
|
|
/* 125hz */
|
|
++supv_timer;
|
|
if (supv_timer >= 625) {
|
|
supv_timer = 0;
|
|
timex.sec++;
|
|
}
|
|
if (timex.sec >= 60) {
|
|
timex.sec = 0;
|
|
timex.min++;
|
|
}
|
|
if (timex.min >= 60) {
|
|
timex.min = 0;
|
|
timex.hour++;
|
|
}
|
|
if (timex.hour >= 99) {
|
|
timex.hour = 0;
|
|
}
|
|
}
|