static void TaskHIDTest(void *pvParameters)
{
uint8_t byte;
uint8_t line_buffer[128];
uint16_t line_ix = 0;
for(;;)
{
/* HID Loopback Test */
#if 0
if(PIOS_COM_ReceiveBufferUsed(COM_USB_HID) != 0) {
byte = PIOS_COM_ReceiveBuffer(COM_USB_HID);
if(byte == '\r' || byte == '\n' || byte == 0) {
PIOS_COM_SendFormattedString(COM_USB_HID, "RX: %s\r", line_buffer);
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
line_ix = 0;
} else if(line_ix < sizeof(line_buffer)) {
line_buffer[line_ix++] = byte;
line_buffer[line_ix] = 0;
}
}
#endif
/* HID Loopback Test */
if(PIOS_COM_ReceiveBufferUsed(COM_USART2) != 0) {
byte = PIOS_COM_ReceiveBuffer(COM_USART2);
#if 0
if(byte == '\r' || byte == '\n' || byte == 0) {
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
line_ix = 0;
} else if(line_ix < sizeof(line_buffer)) {
line_buffer[line_ix++] = byte;
line_buffer[line_ix] = 0;
}
#endif
PIOS_COM_SendChar(COM_DEBUG_USART, (char)byte);
}
}
}
/**
* PIOS_Board_Init()
*/
void PIOS_Board_Init(void)
{
/* Delay system */
PIOS_DELAY_Init();
/* Initialize UAVObject libraries */
// EventDispatcherInitialize();
// UAVObjInitialize();
// HwSettingsInitialize();
// ManualControlSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
/* Initialize the alarms library */
// AlarmsInitialize();
/* Initialize the task monitor library */
// TaskMonitorInitialize();
#if 0 // XXX this is all very wrong now
#if defined(PIOS_INCLUDE_SBUS)
{
uint32_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_id;
if (PIOS_SBUS_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SBUS */
#if defined(PIOS_INCLUDE_SPEKTRUM)
{
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_main_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
#endif
#if defined(PIOS_COM_AUX)
uint32_t pios_usart_aux_id;
if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
PIOS_DEBUG_Assert(0);
}
static uint8_t rx_buffer[128];
static uint8_t tx_buffer[128];
if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
rx_buffer, 128,
tx_buffer, 128)) {
PIOS_Assert(0);
}
#endif
PIOS_COM_SendFormattedString(PIOS_COM_AUX, "PX2IO starting...\r\n");
/* Bring up the I2C slave interface */
PIOS_I2C_Slave_Init(pios_i2c_slave_id, &i2c_slave_cfg);
PIOS_Servo_Init();
// PIOS_ADC_INIT();
PIOS_GPIO_Init();
/* Configure the selected receiver */
/* XXX we don't have these settings until we have config from FMU ... */
#if defined(PIOS_INCLUDE_PPM)
#if !defined(PIOS_INCLUDE_RTC)
# error PPM requires RTC
#endif
PIOS_PPM_Init();
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif /* PIOS_INCLUDE_PPM */
#if defined(PIOS_INCLUDE_SPEKTRUM)
if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM ||
hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) {
uint32_t pios_spektrum_rcvr_id;
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
#if defined(PIOS_INCLUDE_SBUS)
if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) {
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < SBUS_NUMBER_OF_CHANNELS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_sbus_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
}
#endif /* PIOS_INCLUDE_SBUS */
//PIOS_WDG_Init();
}
