void tabs_init(void)
{
/* add mavlink parameters */
params_add(params_tabs);
/* build tab list from config */
build_tab_list();
/* 5 seconds on tab 0 */
load_tab(0);
add_timer(TIMER_ONCE, 5000, start_tab_switch_task, &config.tab_sw);
}
void tabs_init(void)
{
static struct mavlink_callback *mav_cbk = NULL;
static struct timer *tab_timer = NULL;
unsigned char msgid;
void *cbk;
params_add(params_tabs);
/* build tab list from config */
build_tab_list();
switch (config.tab_change.mode) {
case TAB_CHANGE_CHANNEL:
case TAB_CHANGE_TOGGLE:
default:
msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
cbk = tab_switch_channel_cbk;
val = 0;
break;
case TAB_CHANGE_FLIGHTMODE:
msgid = MAVLINK_MSG_ID_HEARTBEAT;
cbk = tab_switch_flightmode_cbk;
tmr = TAB_TIMER_IDLE;
case TAB_CHANGE_DEMO:
cbk = NULL;
tmr = 0;
break;
}
/* track required mavlink data */
if (cbk != NULL) {
if (mav_cbk == NULL) {
mav_cbk = add_mavlink_callback(msgid, cbk,
CALLBACK_PERSISTENT, &config.tab_change);
} else {
mav_cbk->msgid = msgid;
mav_cbk->cbk = cbk;
}
}
/* tab switching task (100ms) */
if (tab_timer == NULL)
tab_timer = add_timer(TIMER_ALWAYS, 1, tab_switch_task,
&config.tab_change);
}
int main(void) {
extern int __C30_UART; __C30_UART = 2;
unsigned char i;
unsigned char in_config = 0;
char c;
/* generic hw init */
hw_init();
/* real time clock init */
clock_init();
/* adc init */
adc_init();
/* init uart2 */
uart_init2(UART_PORT_TELEMETRY);
/* init video driver */
init_video();
/* try to load config from flash */
load_config();
/* video driver config */
video_apply_config(&config.video);
/* init widgets */
widgets_init();
/* enable all interrupts */
SRbits.IPL = 0;
CORCONbits.IPL3 = 1;
/* TODO: rework config entry */
/* check for config entry */
for (i = 0; i < 8; i++) {
while (uart_getc2(&c) == 0) {
widgets_process();
render_process();
ClrWdt();
}
if (c != '!')
break;
}
if (i == 8) {
in_config = 1;
while (in_config) {
in_config = config_osd();
widgets_process();
render_process();
ClrWdt();
}
}
/* re-build tab list */
build_tab_list();
uart_set_baudrate2(config.baudrate);
init_home_process();
init_flight_stats_process();
for (;;) {
mavlink_process();
widgets_process();
render_process();
clock_process();
ClrWdt();
}
return 0;
}
