/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t TelemetryInitialize(void)
{
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
// Initialize vars
timeOfLastObjectUpdate = 0;
// Create object queues
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#endif
// Update telemetry settings
telemetryPort = PIOS_COM_TELEM_RF;
HwSettingsInitialize();
updateSettings();
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&transmitData);
#ifdef PIOS_INCLUDE_RFM22B
radioUavTalkCon = UAVTalkInitialize(&transmitData);
#endif
// Create periodic event that will be used to update the telemetry stats
txErrors = 0;
txRetries = 0;
UAVObjEvent ev;
memset(&ev, 0, sizeof(UAVObjEvent));
EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
return 0;
}
/**
* @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;
}
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t TelemetryInitialize(void)
{
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
// Initialize vars
timeOfLastObjectUpdate = 0;
// Create object queues
queue = PIOS_Queue_Create(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
priorityQueue = PIOS_Queue_Create(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#endif
// Update telemetry settings
updateSettings();
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&transmitData);
// Create periodic event that will be used to update the telemetry stats
txErrors = 0;
txRetries = 0;
UAVObjEvent ev;
memset(&ev, 0, sizeof(UAVObjEvent));
EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
SessionManagingInitialize();
SessionManagingConnectCallback(session_managing_updated);
//register the new uavo instance callback function in the uavobjectmanager
UAVObjRegisterNewInstanceCB(update_object_instances);
return 0;
}
/**
* Initialise the UAVORelay module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t UAVORelayInitialize(void)
{
// TODO: make selectable
uavorelay_com_id = pios_com_can_id;
#ifdef MODULE_UAVORelay_BUILTIN
module_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_UAVORELAY] == MODULESETTINGS_ADMINSTATE_ENABLED) {
module_enabled = true;
} else {
module_enabled = false;
}
#endif
if (!uavorelay_com_id)
module_enabled = false;
if (!module_enabled)
return -1;
// Create object queues
queue = PIOS_Queue_Create(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&send_data);
CameraDesiredInitialize();
return 0;
}
/**
* Initialise the Logging module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t LoggingInitialize(void)
{
// TODO: make selectable
logging_com_id = PIOS_COM_LOGGING;
#ifdef MODULE_Logging_BUILTIN
module_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_LOGGING] == MODULESETTINGS_ADMINSTATE_ENABLED) {
module_enabled = true;
} else {
module_enabled = false;
}
#endif
if (!logging_com_id)
module_enabled = false;
if (!module_enabled)
return -1;
LoggingStatsInitialize();
LoggingSettingsInitialize();
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&send_data);
return 0;
}
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t TelemetryInitialize(void)
{
UAVObjEvent ev;
// Initialize vars
timeOfLastObjectUpdate = 0;
// Create object queues
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#endif
// Get telemetry settings object
updateSettings();
// Initialise UAVTalk
UAVTalkInitialize(&transmitData);
// Process all registered objects and connect queue for updates
UAVObjIterate(®isterObject);
// Create periodic event that will be used to update the telemetry stats
txErrors = 0;
txRetries = 0;
memset(&ev, 0, sizeof(UAVObjEvent));
EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
TelemetrySettingsConnectQueue(priorityQueue);
return 0;
}
/**
* Initialise the overosync module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t OveroSyncInitialize(void)
{
#ifdef MODULE_OVEROSYNC_BUILTIN
overoEnabled = true;
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_OVERO] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
overoEnabled = true;
// Create object queues
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
} else {
overoEnabled = false;
return -1;
}
#endif
OveroSyncStatsInitialize();
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&packData);
return 0;
}
/**
* Initialise the overo sync module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t OveroSyncInitialize(void)
{
#ifdef MODULE_OveroSync_BUILTIN
module_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_OVEROSYNC] == MODULESETTINGS_ADMINSTATE_ENABLED) {
module_enabled = true;
} else {
module_enabled = false;
}
#endif
if (!module_enabled)
return -1;
// Create object queues
queue = PIOS_Queue_Create(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
OveroSyncStatsInitialize();
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&pack_data);
return 0;
}
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t OveroSyncInitialize(void)
{
OveroSyncStatsInitialize();
// Create object queues
queue = PIOS_Queue_Create(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&packData);
return 0;
}
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t TelemetryInitialize(void)
{
UAVObjEvent ev;
// Initialize vars
timeOfLastObjectUpdate = 0;
// Create object queues
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#endif
// Get telemetry settings object
updateSettings();
// Initialise UAVTalk
UAVTalkInitialize(&transmitData);
// Process all registered objects and connect queue for updates
UAVObjIterate(®isterObject);
// Create periodic event that will be used to update the telemetry stats
txErrors = 0;
txRetries = 0;
memset(&ev, 0, sizeof(UAVObjEvent));
EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
TelemetrySettingsConnectQueue(priorityQueue);
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
#endif
return 0;
}
/**
* Initialise the Logging module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t LoggingInitialize(void)
{
if (PIOS_COM_OPENLOG) {
logging_com_id = PIOS_COM_OPENLOG;
destination_spi_flash = false;
}
else if (PIOS_COM_SPIFLASH) {
logging_com_id = PIOS_COM_SPIFLASH;
destination_spi_flash = true;
}
#ifdef MODULE_Logging_BUILTIN
module_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_LOGGING] == MODULESETTINGS_ADMINSTATE_ENABLED) {
module_enabled = true;
} else {
module_enabled = false;
}
#endif
if (!logging_com_id)
module_enabled = false;
if (!module_enabled)
return -1;
LoggingStatsInitialize();
LoggingSettingsInitialize();
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&send_data);
return 0;
}
