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move firmware dependent code in downlink at the correct place

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This commit is contained in:
Gautier Hattenberger
2011-12-08 22:53:06 +01:00
parent 23cac09efb
commit 09b09763c3
16 changed files with 36 additions and 45 deletions
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conf/autopilot/subsystems/fixedwing/autopilot.makefile
+2
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@@ -160,6 +160,7 @@ fbw_CFLAGS += -DFBW
fbw_srcs += $(SRC_FIRMWARE)/main_fbw.c
fbw_srcs += subsystems/electrical.c
fbw_srcs += $(SRC_FIXEDWING)/commands.c
fbw_srcs += $(SRC_FIRMWARE)/fbw_downlink.c
######################################################################
##
@@ -169,6 +170,7 @@ fbw_srcs += $(SRC_FIXEDWING)/commands.c
ap_CFLAGS += -DAP
ap_srcs += $(SRC_FIRMWARE)/main_ap.c
ap_srcs += $(SRC_FIXEDWING)/estimator.c
ap_srcs += $(SRC_FIRMWARE)/ap_downlink.c
######################################################################
conf/settings/basic.xml
+2 -2
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@@ -21,8 +21,8 @@
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="subsystems/datalink/downlink" values="Default|Minimal|Extremal"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="subsystems/datalink/downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink" values="Default|Minimal|Extremal"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="firmwares/fixedwing/fbw_downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
</dl_settings>
conf/settings/basic_infrared.xml
+2 -2
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@@ -21,8 +21,8 @@
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="subsystems/datalink/downlink" values="Default|Minimal|Extremal"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="subsystems/datalink/downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink" values="Default|Minimal|Extremal"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="firmwares/fixedwing/fbw_downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
</dl_settings>
conf/settings/basic_ins.xml
+2 -2
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@@ -21,8 +21,8 @@
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="subsystems/datalink/downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="subsystems/datalink/downlink" values="Default|Debug"/>
<dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="firmwares/fixedwing/fbw_downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
</dl_settings>
conf/settings/flight_params.xml
+2 -2
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@@ -26,8 +26,8 @@
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="subsystems/datalink/downlink" values="Default|Minimal|Extremal"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="subsystems/datalink/downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink" values="Default|Minimal|Extremal"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="firmwares/fixedwing/fbw_downlink" values="Default|Debug"/>
</dl_settings>
conf/settings/lisa.xml
+1 -1
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@@ -24,7 +24,7 @@
</dl_setting>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle">
</dl_setting>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
</dl_settings>
conf/settings/tuning.xml
+2 -2
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@@ -17,8 +17,8 @@
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="subsystems/datalink/downlink" values="Default|Minimal|Extremal"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="subsystems/datalink/downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink" values="Default|Minimal|Extremal"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="firmwares/fixedwing/fbw_downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
conf/settings/tuning_infrared.xml
+2 -2
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@@ -17,8 +17,8 @@
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="subsystems/datalink/downlink" values="Default|Minimal|Extremal"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="subsystems/datalink/downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink" values="Default|Minimal|Extremal"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="firmwares/fixedwing/fbw_downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
conf/settings/tuning_ins.xml
+2 -2
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@@ -17,8 +17,8 @@
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="subsystems/datalink/downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="subsystems/datalink/downlink" values="Default|Debug"/>
<dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="firmwares/fixedwing/fbw_downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
conf/settings/tuning_ins_dcm.xml
+2 -2
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@@ -17,8 +17,8 @@
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="subsystems/datalink/downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="subsystems/datalink/downlink" values="Default|Debug"/>
<dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="firmwares/fixedwing/fbw_downlink" values="Default|Debug"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
conf/settings/tuning_loiter.xml
+2 -2
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@@ -17,8 +17,8 @@
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="subsystems/datalink/downlink"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="subsystems/datalink/downlink"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="firmwares/fixedwing/fbw_downlink"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
conf/settings/tuning_pers.xml
+2 -2
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@@ -17,8 +17,8 @@
<dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="subsystems/datalink/downlink"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="subsystems/datalink/downlink"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="firmwares/fixedwing/fbw_downlink"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
sw/airborne/firmwares/fixedwing/ap_downlink.h
+6
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@@ -39,7 +39,9 @@
#include "generated/airframe.h"
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
#include "subsystems/datalink/downlink.h"
#include "messages.h"
@@ -53,6 +55,10 @@
#define Downlink(x) {}
#endif
#ifdef AP
/** Telemetry mode for AP process: index in the telemetry.xml file */
extern uint8_t telemetry_mode_Ap_DefaultChannel;
#endif
#define PERIODIC_SEND_ALIVE(_chan) DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM);
sw/airborne/firmwares/fixedwing/fbw_downlink.h
+7
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@@ -48,9 +48,16 @@
#include "subsystems/electrical.h"
#include "inter_mcu.h"
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_FBW_DEVICE
#endif
#include "subsystems/datalink/downlink.h"
#ifdef FBW
/** Telemetry mode for FBW process: index in the telemetry.xml file */
extern uint8_t telemetry_mode_Fbw_DefaultChannel;
#endif
#define PERIODIC_SEND_COMMANDS(_chan) DOWNLINK_SEND_COMMANDS(_chan, COMMANDS_NB, commands)
#ifdef RADIO_CONTROL
sw/airborne/subsystems/datalink/downlink.c
-14
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@@ -31,20 +31,6 @@
#include "std.h"
#include "generated/airframe.h"
#ifdef FBW
#ifndef TELEMETRY_MODE_FBW
#define TELEMETRY_MODE_FBW 0
#endif
uint8_t telemetry_mode_Fbw_DefaultChannel = TELEMETRY_MODE_FBW;
#endif /** FBW */
#ifdef AP
#ifndef TELEMETRY_MODE_AP
#define TELEMETRY_MODE_AP 0
#endif
uint8_t telemetry_mode_Ap_DefaultChannel = TELEMETRY_MODE_AP;
#endif /** AP */
uint8_t downlink_nb_ovrn;
uint16_t downlink_nb_bytes;
uint16_t downlink_nb_msgs;
sw/airborne/subsystems/datalink/downlink.h
-10
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@@ -62,16 +62,6 @@
#define DefaultChannel DOWNLINK_TRANSPORT
#endif
#ifdef AP
/** Telemetry mode for AP process: index in the telemetry.xml file */
extern uint8_t telemetry_mode_Ap_DefaultChannel;
#endif
#ifdef FBW
/** Telemetry mode for FBW process: index in the telemetry.xml file */
extern uint8_t telemetry_mode_Fbw_DefaultChannel;
#endif
/** Counter of messages not sent because of unavailibity of the output buffer*/
extern uint8_t downlink_nb_ovrn;
extern uint16_t downlink_nb_bytes;