mirror of
https://bitbucket.org/librepilot/librepilot.git
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310 lines
8.8 KiB
C
310 lines
8.8 KiB
C
/* -*- Mode: c; c-basic-offset: 2; tab-width: 2; indent-tabs-mode: t -*- */
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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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 OpenPilot 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 <pios.h>
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#include <openpilot.h>
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#include <pipxsettings.h>
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#include <board_hw_defs.c>
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#define PIOS_COM_SERIAL_RX_BUF_LEN 256
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#define PIOS_COM_SERIAL_TX_BUF_LEN 256
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#define PIOS_COM_FLEXI_RX_BUF_LEN 256
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#define PIOS_COM_FLEXI_TX_BUF_LEN 128
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#define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
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#define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
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#define PIOS_COM_VCP_USB_RX_BUF_LEN 256
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#define PIOS_COM_VCP_USB_TX_BUF_LEN 256
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uint32_t pios_com_telem_usb_id = 0;
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uint32_t pios_com_telemetry_id;
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uint32_t pios_com_flexi_id;
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uint32_t pios_com_vcp_id;
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uint32_t pios_com_uavtalk_com_id = 0;
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uint32_t pios_com_gcs_com_id = 0;
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uint32_t pios_com_trans_com_id = 0;
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uint32_t pios_com_debug_id = 0;
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uint32_t pios_ppm_rcvr_id = 0;
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/**
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* PIOS_Board_Init()
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* initializes all the core subsystems on this specific hardware
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* called from System/openpilot.c
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*/
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void PIOS_Board_Init(void) {
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/* Delay system */
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PIOS_DELAY_Init();
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/* Initialize UAVObject libraries */
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EventDispatcherInitialize();
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UAVObjInitialize();
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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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#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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#endif /* PIOS_INCLUDE_RTC */
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PipXSettingsInitialize();
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#if defined(PIOS_INCLUDE_LED)
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PIOS_LED_Init(&pios_led_cfg);
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#endif /* PIOS_INCLUDE_LED */
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PipXSettingsData pipxSettings;
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#if defined(PIOS_INCLUDE_FLASH_EEPROM)
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PIOS_EEPROM_Init(&pios_eeprom_cfg);
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/* Read the settings from flash. */
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/* NOTE: We probably need to save/restore the objID here incase the object changed but the size doesn't */
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if (PIOS_EEPROM_Load((uint8_t*)&pipxSettings, sizeof(PipXSettingsData)) == 0)
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PipXSettingsSet(&pipxSettings);
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else
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PipXSettingsGet(&pipxSettings);
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#else
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PipXSettingsGet(&pipxSettings);
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#endif /* PIOS_INCLUDE_FLASH_EEPROM */
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/* Initialize the task monitor library */
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TaskMonitorInitialize();
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#if defined(PIOS_INCLUDE_TIM)
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/* Set up pulse timers */
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PIOS_TIM_InitClock(&tim_1_cfg);
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PIOS_TIM_InitClock(&tim_2_cfg);
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PIOS_TIM_InitClock(&tim_3_cfg);
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PIOS_TIM_InitClock(&tim_4_cfg);
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#endif /* PIOS_INCLUDE_TIM */
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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_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_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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#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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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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pipxSettings.VCPConfig = PIPXSETTINGS_VCPCONFIG_DISABLED;
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}
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switch (pipxSettings.VCPConfig)
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{
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case PIPXSETTINGS_VCPCONFIG_SERIAL:
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case PIPXSETTINGS_VCPCONFIG_DEBUG:
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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_VCP_USB_RX_BUF_LEN);
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_VCP_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_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
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rx_buffer, PIOS_COM_VCP_USB_RX_BUF_LEN,
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tx_buffer, PIOS_COM_VCP_USB_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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switch (pipxSettings.VCPConfig)
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{
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case PIPXSETTINGS_VCPCONFIG_SERIAL:
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pios_com_trans_com_id = pios_com_vcp_id;
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break;
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case PIPXSETTINGS_VCPCONFIG_DEBUG:
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pios_com_debug_id = pios_com_vcp_id;
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break;
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}
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break;
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}
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case PIPXSETTINGS_VCPCONFIG_DISABLED:
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break;
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}
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#endif
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#if defined(PIOS_INCLUDE_USB_HID)
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/* Configure the usb HID port */
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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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#endif /* PIOS_INCLUDE_USB_HID */
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#endif /* PIOS_INCLUDE_USB */
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/* Configure USART1 (telemetry port) */
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switch (pipxSettings.TelemetryConfig)
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{
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case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL:
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case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
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case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
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case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
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{
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uint32_t pios_usart1_id;
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if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) {
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PIOS_Assert(0);
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}
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uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_SERIAL_RX_BUF_LEN);
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_SERIAL_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_telemetry_id, &pios_usart_com_driver, pios_usart1_id,
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rx_buffer, PIOS_COM_SERIAL_RX_BUF_LEN,
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tx_buffer, PIOS_COM_SERIAL_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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switch (pipxSettings.TelemetryConfig)
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{
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case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL:
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pios_com_trans_com_id = pios_com_telemetry_id;
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break;
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case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
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pios_com_uavtalk_com_id = pios_com_telemetry_id;
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break;
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case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
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pios_com_gcs_com_id = pios_com_telemetry_id;
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break;
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case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
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pios_com_debug_id = pios_com_telemetry_id;
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break;
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}
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break;
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}
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case PIPXSETTINGS_TELEMETRYCONFIG_DISABLED:
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break;
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}
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/* Configure USART3 */
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switch (pipxSettings.FlexiConfig)
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{
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case PIPXSETTINGS_FLEXICONFIG_SERIAL:
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case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
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case PIPXSETTINGS_FLEXICONFIG_GCS:
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case PIPXSETTINGS_FLEXICONFIG_DEBUG:
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{
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uint32_t pios_usart3_id;
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if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) {
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PIOS_Assert(0);
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}
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uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_FLEXI_RX_BUF_LEN);
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_FLEXI_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_flexi_id, &pios_usart_com_driver, pios_usart3_id,
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rx_buffer, PIOS_COM_FLEXI_RX_BUF_LEN,
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tx_buffer, PIOS_COM_FLEXI_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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switch (pipxSettings.FlexiConfig)
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{
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case PIPXSETTINGS_FLEXICONFIG_SERIAL:
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pios_com_trans_com_id = pios_com_flexi_id;
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break;
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case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
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pios_com_uavtalk_com_id = pios_com_flexi_id;
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break;
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case PIPXSETTINGS_FLEXICONFIG_GCS:
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pios_com_gcs_com_id = pios_com_flexi_id;
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break;
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case PIPXSETTINGS_FLEXICONFIG_DEBUG:
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pios_com_debug_id = pios_com_flexi_id;
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break;
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}
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break;
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}
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case PIPXSETTINGS_FLEXICONFIG_PPM_IN:
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#if defined(PIOS_INCLUDE_PPM)
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{
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uint32_t pios_ppm_id;
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PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
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if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
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PIOS_Assert(0);
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}
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}
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#endif /* PIOS_INCLUDE_PPM */
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break;
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case PIPXSETTINGS_FLEXICONFIG_PPM_OUT:
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case PIPXSETTINGS_FLEXICONFIG_RSSI:
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case PIPXSETTINGS_FLEXICONFIG_DISABLED:
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break;
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}
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/* Remap AFIO pin */
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GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
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#ifdef PIOS_INCLUDE_ADC
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PIOS_ADC_Init();
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#endif
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PIOS_GPIO_Init();
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}
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/**
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* @}
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*/
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