void boardsupport_init(void)
{
central_data_t *central_data;
irq_initialize_vectors();
cpu_irq_enable();
Disable_global_interrupt();
sysclk_init();
//delay_init(sysclk_get_cpu_hz());
INTC_init_interrupts();
central_data=central_data_get_pointer_to_struct();
#ifdef TELEMETRY_USE_UART
uart_int_set_usart_conf(TELEMETRY_UART_INDEX, asv_debug_uart_conf());
//uart configuration
uart_int_init(TELEMETRY_UART_INDEX);
uart_int_register_write_stream(uart_int_get_uart_handle(TELEMETRY_UART_INDEX), &(central_data->wired_out_stream));
// Registering streams
buffer_make_buffered_stream_lossy(&(wired_in_buffer), &(central_data->wired_in_stream));
uart_int_register_read_stream(uart_int_get_uart_handle(TELEMETRY_UART_INDEX), &(central_data->wired_in_stream));
central_data->debug_in_stream=¢ral_data->wired_in_stream;
central_data->debug_out_stream=¢ral_data->wired_out_stream;
#endif
central_data_init();
Enable_global_interrupt();
}
void acoustic_init(audio_t* audio_data,
int32_t UID,
ahrs_t* ahrs,
Position_estimation* position_estimation,
remote_t* remote,
navigation_t* navigation,
stabilisation_copter_t* stabilisation_copter,
control_command_t* controls_nav,
Mavlink_waypoint_handler* waypoint_handler,
byte_stream_t* telemetry_down_stream)
{
//init dependencies
audio_data->ahrs = ahrs;
audio_data->position_estimation = position_estimation;
audio_data->remote = remote;
audio_data->navigation = navigation;
audio_data->stabilisation_copter = stabilisation_copter;
audio_data->controls_nav = controls_nav;
audio_data->waypoint_handler = waypoint_handler;
audio_data->telemetry_down_stream = telemetry_down_stream;
// uart setting
usart_config_t usart_conf_audio = {};
usart_conf_audio.mode = UART_IN;
usart_conf_audio.uart_device.uart = (avr32_usart_t*)&AVR32_USART2;
usart_conf_audio.uart_device.IRQ = AVR32_USART2_IRQ;
usart_conf_audio.uart_device.receive_stream = NULL;
usart_conf_audio.options = {};
usart_conf_audio.options.baudrate = 57600;
usart_conf_audio.options.charlength = 8;
usart_conf_audio.options.paritytype = USART_NO_PARITY;
usart_conf_audio.options.stopbits = USART_1_STOPBIT;
usart_conf_audio.options.channelmode = USART_NORMAL_CHMODE;
usart_conf_audio.rx_pin_map = {AVR32_USART2_RXD_0_1_PIN, AVR32_USART2_RXD_0_1_FUNCTION};
usart_conf_audio.tx_pin_map = {AVR32_USART2_TXD_0_1_PIN, AVR32_USART2_TXD_0_1_FUNCTION};
uart_int_set_usart_conf(UID, &usart_conf_audio);
//uart configuration
uart_int_init(UID);
//uart_int_register_write_stream(uart_int_get_uart_handle(UID), &(centralData->audio_stream_out));
// Registering streams
buffer_make_buffered_stream_lossy(&(audio_data->audio_buffer), &(audio_data->audio_stream_in));
uart_int_register_read_stream(uart_int_get_uart_handle(UID), &(audio_data->audio_stream_in));
}
void initialise_board(void) {
int i;
central_data_t *central_data=central_data_get_pointer_to_struct();
irq_initialize_vectors();
cpu_irq_enable();
Disable_global_interrupt();
// Initialize the sleep manager
sleepmgr_init();
sysclk_init();
INTC_init_interrupts();
delay_init(sysclk_get_cpu_hz());
time_keeper_init();
// time_keeper_init_synchronisation();
init_LEDs();
switch_LED(1, LED_ON);
switch_LED(0, LED_ON);
pwm_servos_init(true);
// set up UART for main telemetry
uart_int_set_usart_conf(0, asv_xbee_uart_conf());
uart_int_init(0);
uart_int_register_write_stream(uart_int_get_uart_handle(0), ¢ral_data->xbee_out_stream);
//init_UART_DMA(0);
//register_write_stream_dma(get_UART_handle(0), ¢ral_data->xbee_out_stream);
buffer_make_buffered_stream(&(central_data->xbee_in_buffer), &(central_data->xbee_in_stream));
uart_int_register_read_stream(uart_int_get_uart_handle(0), &(central_data->xbee_in_stream));
uart_int_set_usart_conf(4, asv_debug_uart_conf());
uart_int_init(4);
uart_int_register_write_stream(uart_int_get_uart_handle(4), ¢ral_data->wired_out_stream);
//init_UART_DMA(0);
//register_write_stream_dma(get_UART_handle(0), ¢ral_data->wired_out_stream);
buffer_make_buffered_stream(&(central_data->wired_in_buffer), &(central_data->wired_in_stream));
uart_int_register_read_stream(uart_int_get_uart_handle(4), &(central_data->wired_in_stream));
// set up UART for GPS
uart_int_set_usart_conf(3, asv_gps_uart_conf());
uart_int_init(3);
uart_int_register_write_stream(uart_int_get_uart_handle(3), ¢ral_data->gps_out_stream);
buffer_make_buffered_stream(&(central_data->gps_in_buffer), &(central_data->gps_in_stream));
uart_int_register_read_stream(uart_int_get_uart_handle(3), &(central_data->gps_in_stream));
multistream_init(¢ral_data->multi_telemetry_down_stream);
multistream_init(¢ral_data->multi_telemetry_up_stream);
multistream_add_stream(¢ral_data->multi_telemetry_down_stream, ¢ral_data->wired_out_stream);
multistream_add_stream(¢ral_data->multi_telemetry_down_stream, ¢ral_data->xbee_out_stream);
multistream_add_stream(¢ral_data->multi_telemetry_up_stream, ¢ral_data->wired_in_stream);
multistream_add_stream(¢ral_data->multi_telemetry_up_stream, ¢ral_data->xbee_in_stream);
/*
can_bus_init(1, asv_can1_conf());
can_bus_register_write_stream(¢ral_data->ext_can_out_stream_data, ¢ral_data->ext_can_out_stream, 1, MAVLINK_COMPONENT_ID, 0x3ff);
can_bus_register_read_stream(¢ral_data->ext_can_in_stream_data, ¢ral_data->ext_can_in_stream, 1, MAVLINK_COMPONENT_ID, 0x00);
*/
// set telemetry stream for mavlink
//central_data->telemetry_down_stream=&(central_data->xbee_out_stream);
//central_data->telemetry_up_stream =&(central_data->xbee_in_stream);
//central_data->telemetry_down_stream=&(central_data->wired_out_stream);
//central_data->telemetry_up_stream =&(central_data->wired_in_stream);
central_data->telemetry_down_stream= multistream_get_stream(¢ral_data->multi_telemetry_down_stream);
central_data->telemetry_up_stream = multistream_get_stream(¢ral_data->multi_telemetry_up_stream);
central_data->debug_out_stream=¢ral_data->wired_out_stream;
central_data->debug_in_stream=¢ral_data->wired_in_stream;
//central_data->debug_out_stream = ¢ral_data->xbee_out_stream;
//central_data->debug_in_stream = ¢ral_data->xbee_in_stream;
print_util_dbg_print_init(central_data->debug_out_stream);
// init error handler as plain text until mavlink is configured
error_handler_init_plaintext(central_data->debug_out_stream);
// init mavlink
// Init mavlink communication
mavlink_communication_conf_t mavlink_config =
{
.scheduler_config =
{
.max_task_count = 30,
.schedule_strategy = ROUND_ROBIN,
.debug = true
},
.mavlink_stream_config =
{
.rx_stream = central_data->telemetry_up_stream,
.tx_stream = central_data->telemetry_down_stream,
.sysid = MAVLINK_SYS_ID,
.compid = MAVLINK_COMPONENT_ID,
.use_dma = false
},
.message_handler_config =
