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84e1a81f8b
This move and rework also breaks the dependency of the task monitor on the UAVO subsystem, and pushes the responsibility for updating the TaskInfo UAVO into the System module. +review OPReview
144 lines
3.1 KiB
C
144 lines
3.1 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_udp_priv.h>
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#include <pios_com_priv.h>
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#include <uavobjectsinit.h>
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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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/* 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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/* 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 PiOS library */
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PIOS_COM_Init();
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}
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const struct pios_udp_cfg pios_udp0_cfg = {
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.ip = "0.0.0.0",
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.port = 9000,
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};
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const struct pios_udp_cfg pios_udp1_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_udp2_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_udp_cfg pios_udp3_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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/*
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* Board specific number of devices.
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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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* 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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struct pios_com_dev pios_com_devs[] = {
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{
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.id = PIOS_UDP_TELEM,
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.driver = &pios_udp_com_driver,
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},
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{
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.id = PIOS_UDP_GPS,
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.driver = &pios_udp_com_driver,
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},
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{
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.id = PIOS_UDP_LOCAL,
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.driver = &pios_udp_com_driver,
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},
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#ifdef PIOS_COM_AUX
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{
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.id = PIOS_UDP_AUX,
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.driver = &pios_udp_com_driver,
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},
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#endif
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};
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const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
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/**
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* @}
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*/
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