hEvent_t I2C_Init(hardware_bit_t* i2c_interrupt, REGISTER i2c_con, REGISTER i2c_stat, REGISTER i2c_trn, REGISTER i2c_rcv, I2C_callbackFunc resetCallback) {
I2C_INTERRUPT = i2c_interrupt;
I2C_CON = i2c_con;
I2C_STAT = i2c_stat;
I2C_TRN = i2c_trn;
I2C_RCV = i2c_rcv;
res_Callback = resetCallback;
/// Register module
hModule_t i2c_module = register_module(&_MODULE_I2C);
/// Register event
I2C_service_handle = register_event_p(i2c_module, &serviceI2C, EVENT_PRIORITY_LOW);
I2C_load();
return I2C_service_handle;
}
void mavlink_init(void)
{
int16_t index;
udb_init_USART(&mavlink_callback_get_byte_to_send, &mavlink_callback_received_byte);
udb_serial_set_rate(MAVLINK_BAUD);
mavlink_process_message_handle = register_event_p(&handleMessage, EVENT_PRIORITY_MEDIUM);
mavlink_system.sysid = MAVLINK_SYSID; // System ID, 1-255, ID of your Plane for GCS
mavlink_system.compid = 1; // Component/Subsystem ID, (1-255) MatrixPilot on UDB is component 1.
// Fill stream rates array with zeros to default all streams off;
for (index = 0; index < MAV_DATA_STREAM_ENUM_END; index++)
streamRates[index] = 0;
// QGroundControl GCS lets user send message to increase stream rate
streamRates[MAV_DATA_STREAM_RC_CHANNELS] = MAVLINK_RATE_RC_CHAN;
streamRates[MAV_DATA_STREAM_RAW_SENSORS] = MAVLINK_RATE_RAW_SENSORS;
streamRates[MAV_DATA_STREAM_POSITION] = MAVLINK_RATE_POSITION;
streamRates[MAV_DATA_STREAM_EXTRA1] = MAVLINK_RATE_SUE;
streamRates[MAV_DATA_STREAM_EXTRA2] = MAVLINK_RATE_POSITION_SENSORS;
}
uint16_t register_event(void(*event_callback)(void))
{
return register_event_p(event_callback, EVENT_PRIORITY_MEDIUM);
}
