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228 lines
6.3 KiB
C
228 lines
6.3 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 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 "inc/openpilot.h"
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#include <pios_com_priv.h>
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#include <pios_tcp_priv.h>
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#include <pios_udp_priv.h>
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#include <pios_rcvr_priv.h>
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#include <pios_gcsrcvr_priv.h>
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#include <uavobjectsinit.h>
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#include <accelssensor.h>
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#include <barosensor.h>
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#include <gpspositionsensor.h>
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#include <gyrosensor.h>
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#include <magsensor.h>
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#include <manualcontrolsettings.h>
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void Stack_Change() {}
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void Stack_Change_Weak() {}
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const struct pios_tcp_cfg pios_tcp_telem_cfg = {
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.ip = "0.0.0.0",
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.port = 9001,
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};
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const struct pios_udp_cfg pios_udp_telem_cfg = {
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.ip = "0.0.0.0",
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.port = 9001,
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};
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const struct pios_tcp_cfg pios_tcp_gps_cfg = {
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.ip = "0.0.0.0",
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.port = 9001,
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};
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const struct pios_tcp_cfg pios_tcp_debug_cfg = {
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.ip = "0.0.0.0",
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.port = 9002,
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};
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#ifdef PIOS_COM_AUX
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/*
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* AUX USART
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*/
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const struct pios_tcp_cfg pios_tcp_aux_cfg = {
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.ip = "0.0.0.0",
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.port = 9003,
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};
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#endif
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#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
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#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
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#define PIOS_COM_GPS_RX_BUF_LEN 96
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/*
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* Board specific number of devices.
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*/
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/*
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struct pios_udp_dev pios_udp_devs[] = {
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#define PIOS_UDP_TELEM 0
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{
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.cfg = &pios_udp0_cfg,
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},
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#define PIOS_UDP_GPS 1
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{
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.cfg = &pios_udp1_cfg,
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},
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#define PIOS_UDP_LOCAL 2
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{
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.cfg = &pios_udp2_cfg,
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},
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#ifdef PIOS_COM_AUX
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#define PIOS_UDP_AUX 3
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{
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.cfg = &pios_udp3_cfg,
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},
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#endif
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};
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uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
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*/
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/*
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* COM devices
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*/
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/*
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* Board specific number of devices.
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*/
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extern const struct pios_com_driver pios_serial_com_driver;
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extern const struct pios_com_driver pios_udp_com_driver;
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extern const struct pios_com_driver pios_tcp_com_driver;
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uint32_t pios_com_telem_rf_id;
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uint32_t pios_com_telem_usb_id;
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uint32_t pios_com_gps_id;
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uint32_t pios_com_aux_id;
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uint32_t pios_com_spectrum_id;
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uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
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/**
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* PIOS_Board_Init()
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* initializes all the core systems 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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{
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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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UAVObjectsInitializeAll();
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AccelSensorInitialize();
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BaroSensorInitialize();
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MagSensorInitialize();
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GPSPositionSensorInitialize();
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GyroSensorInitialize();
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/* Initialize the alarms library */
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AlarmsInitialize();
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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 the delayed callback library */
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CallbackSchedulerInitialize();
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#if defined(PIOS_INCLUDE_COM)
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#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 1
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{
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uint32_t pios_tcp_telem_rf_id;
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if (PIOS_TCP_Init(&pios_tcp_telem_rf_id, &pios_tcp_telem_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_TELEM_RF_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_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_rf_id, &pios_tcp_com_driver, pios_tcp_telem_rf_id,
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rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
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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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#endif /* PIOS_INCLUDE_TELEMETRY_RF */
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#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 0
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{
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uint32_t pios_udp_telem_rf_id;
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if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_telem_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_TELEM_RF_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_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_rf_id, &pios_udp_com_driver, pios_udp_telem_rf_id,
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rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
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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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#endif /* PIOS_INCLUDE_TELEMETRY_RF */
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#if defined(PIOS_INCLUDE_GPS)
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{
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uint32_t pios_tcp_gps_id;
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if (PIOS_TCP_Init(&pios_tcp_gps_id, &pios_tcp_gps_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_GPS_RX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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if (PIOS_COM_Init(&pios_com_gps_id, &pios_tcp_com_driver, pios_tcp_gps_id,
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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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}
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#endif /* PIOS_INCLUDE_GPS */
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#endif /* if defined(PIOS_INCLUDE_COM) */
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#if defined(PIOS_INCLUDE_GCSRCVR)
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GCSReceiverInitialize();
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uint32_t pios_gcsrcvr_id;
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PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
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uint32_t pios_gcsrcvr_rcvr_id;
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if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
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PIOS_Assert(0);
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}
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
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#endif /* PIOS_INCLUDE_GCSRCVR */
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}
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/**
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* @}
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*/
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