/**
* @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;
}
extern int32_t PIOS_RFM22B_Rcvr_Init(uintptr_t * rfm22b_rcvr_id, uint32_t rfm22b_id)
{
struct pios_rfm22b_rcvr_dev *rfm22b_rcvr_dev;
/* Allocate the device structure */
rfm22b_rcvr_dev =
(struct pios_rfm22b_rcvr_dev *)PIOS_RFM22B_Rcvr_alloc();
if (!rfm22b_rcvr_dev) {
return -1;
}
/* Register uavobj callback */
RFM22BReceiverInitialize();
*rfm22b_rcvr_id = (uintptr_t) rfm22b_rcvr_dev;
PIOS_RFM22B_RegisterRcvr(rfm22b_id, *rfm22b_rcvr_id);
/* Register the failsafe timer callback. */
if (!PIOS_RTC_RegisterTickCallback
(PIOS_RFM22B_Rcvr_Supervisor, *rfm22b_rcvr_id)) {
PIOS_DEBUG_Assert(0);
}
return 0;
}
