/**
* @brief Initialise the module
*
* @return -1 if initialisation failed on success
*/
static int32_t RadioComBridgeInitialize(void)
{
// allocate and initialize the static data storage only if module is enabled
data =
(RadioComBridgeData *) PIOS_malloc(sizeof(RadioComBridgeData));
if (!data) {
return -1;
}
// Initialize the UAVObjects that we use
RFM22BStatusInitialize();
ObjectPersistenceInitialize();
RFM22BReceiverInitialize();
RadioComBridgeStatsInitialize();
// Initialise UAVTalk
data->telemUAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
data->radioUAVTalkCon = UAVTalkInitialize(&RadioSendHandler);
// Initialize the queues.
data->uavtalkEventQueue = PIOS_Queue_Create(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
data->radioEventQueue = PIOS_Queue_Create(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
// Initialize the statistics.
data->telemetryTxRetries = 0;
data->radioTxRetries = 0;
data->parseUAVTalk = true;
return 0;
}
/**
* Initialize the module, called on startup.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModInitialize(void)
{
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
SystemSettingsInitialize();
SystemStatsInitialize();
ObjectPersistenceInitialize();
#if defined(DIAGNOSTICS)
TaskInfoInitialize();
I2CStatsInitialize();
WatchdogStatusInitialize();
#endif
SystemModStart();
return 0;
}
/**
* Function used to initialize the first instance of each object.
* This file is automatically updated by the UAVObjectGenerator.
*/
void UAVObjectsInitializeAll()
{
ActuatorCommandInitialize();
ActuatorDesiredInitialize();
ActuatorSettingsInitialize();
AHRSCalibrationInitialize();
AHRSSettingsInitialize();
AhrsStatusInitialize();
AttitudeActualInitialize();
AttitudeDesiredInitialize();
AttitudeRawInitialize();
AttitudeSettingsInitialize();
BaroAltitudeInitialize();
ExampleObject1Initialize();
ExampleObject2Initialize();
ExampleSettingsInitialize();
FlightBatteryStateInitialize();
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
GPSPositionInitialize();
GPSSatellitesInitialize();
GPSTimeInitialize();
HomeLocationInitialize();
ManualControlCommandInitialize();
ManualControlSettingsInitialize();
MixerSettingsInitialize();
MixerStatusInitialize();
ObjectPersistenceInitialize();
PositionActualInitialize();
StabilizationSettingsInitialize();
SystemAlarmsInitialize();
SystemSettingsInitialize();
SystemStatsInitialize();
TelemetrySettingsInitialize();
VTOLSettingsInitialize();
VTOLStatusInitialize();
}
/**
* Initialize the module, called on startup.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModInitialize(void)
{
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
SystemSettingsInitialize();
SystemStatsInitialize();
FlightStatusInitialize();
ObjectPersistenceInitialize();
#if defined(DIAG_TASKS)
TaskInfoInitialize();
#endif
#if defined(WDG_STATS_DIAGNOSTICS)
WatchdogStatusInitialize();
#endif
objectPersistenceQueue = PIOS_Queue_Create(1, sizeof(UAVObjEvent));
if (objectPersistenceQueue == NULL)
return -1;
SystemModStart();
return 0;
}