[mcu] move mcu peripheral event functions to common mcu_event

sw/airborne/firmwares/fixedwing/main_ap.c

@@ -692,16 +692,10 @@ void event_task_ap(void)
 {
 
 #ifndef SINGLE_MCU
-#if USE_I2C0 || USE_I2C1 || USE_I2C2 || USE_I2C3
+  /* for SINGLE_MCU done in main_fbw */
-  i2c_event();
+  /* event functions for mcu peripherals, like i2c, uart, etc.. */
-#endif
+  mcu_event();
-
+#endif /* SINGLE_MCU */
-  uart_event();
-#endif
-
-#if USE_USB_SERIAL
-  VCOM_event();
-#endif
 
 #if USE_AHRS && USE_IMU
   ImuEvent(on_gyro_event, on_accel_event, on_mag_event);

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -193,13 +193,8 @@ void event_task_fbw(void)
   RadioControlEvent(handle_rc_frame);
 #endif
 
-#if USE_I2C0 || USE_I2C1 || USE_I2C2 || USE_I2C3
+  /* event functions for mcu peripherals, like i2c, uart, etc.. */
-  i2c_event();
+  mcu_event();
-#endif
-
-#ifndef SITL
-  uart_event();
-#endif
 
 #ifdef INTER_MCU
 #if defined MCU_SPI_LINK | defined MCU_UART_LINK

sw/airborne/firmwares/rotorcraft/main.c

@@ -33,11 +33,6 @@
 #include <inttypes.h>
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
-#include "mcu_periph/i2c.h"
-#include "mcu_periph/uart.h"
-#if USE_UDP
-#include "mcu_periph/udp.h"
-#endif
 #include "led.h"
 
 #include "subsystems/datalink/telemetry.h"
@@ -85,10 +80,6 @@ PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BO
 #include "generated/modules.h"
 #include "subsystems/abi.h"
 
-#if USE_USB_SERIAL
-#include "mcu_periph/usb_serial.h"
-#endif
-
 /* if PRINT_CONFIG is defined, print some config options */
 PRINT_CONFIG_VAR(PERIODIC_FREQUENCY)
 
@@ -317,20 +308,8 @@ STATIC_INLINE void failsafe_check(void)
 
 STATIC_INLINE void main_event(void)
 {
-
+  /* event functions for mcu peripherals, like i2c, uart, etc.. */
-  i2c_event();
+  mcu_event();
-
-#ifndef SITL
-  uart_event();
-#endif
-
-#if USE_UDP
-  udp_event();
-#endif
-
-#if USE_USB_SERIAL
-  VCOM_event();
-#endif
 
   DatalinkEvent();
 

sw/airborne/firmwares/setup/setup_actuators.c

@@ -86,11 +86,8 @@ static inline void main_periodic(void)
 
 static inline void main_event(void)
 {
-#if USE_UDP
+  mcu_event();
-  udp_event();
+
-#else
-  uart_event();
-#endif
   DatalinkEvent();
 }
 

sw/airborne/mcu.c

@@ -39,9 +39,11 @@
 #endif
 #endif
 #if USE_UART0 || USE_UART1 || USE_UART2 || USE_UART3 || USE_UART4 || USE_UART5 || USE_UART6
+#define USING_UART 1
 #include "mcu_periph/uart.h"
 #endif
 #if USE_I2C0 || USE_I2C1 || USE_I2C2 || USE_I2C3
+#define USING_I2C 1
 #include "mcu_periph/i2c.h"
 #endif
 #if USE_ADC
@@ -172,3 +174,22 @@ void mcu_init(void)
 #endif /* PERIPHERALS_AUTO_INIT */
 
 }
+
+void mcu_event(void)
+{
+#if USING_I2C
+  i2c_event();
+#endif
+
+#if USING_UART
+  uart_event();
+#endif
+
+#if USE_UDP
+  udp_event();
+#endif
+
+#if USE_USB_SERIAL
+  VCOM_event();
+#endif
+}

sw/airborne/mcu.h

@@ -43,6 +43,12 @@
  */
 extern void mcu_init(void);
 
+/**
+ * MCU event functions.
+ * Calls the event functions of used peripherals like i2c, uart, etc.
+ */
+extern void mcu_event(void);
+
 /** @}*/
 
 #endif /* MCU_H */

sw/airborne/test/generic_uart_tunnel.c

@@ -60,6 +60,7 @@ static inline void main_periodic_task(void)
 
 static inline void main_event_task(void)
 {
+  mcu_event();
 
   if (uart_char_available(&uart2)) {
     uart_transmit(&uart1, uart_getch(&uart2));
@@ -68,5 +69,4 @@ static inline void main_event_task(void)
   if (uart_char_available(&uart1)) {
     uart_transmit(&uart2, uart_getch(&uart1));
   }
-
 }

sw/airborne/test/mcu_periph/test_adc.c

@@ -103,5 +103,5 @@ static inline void main_periodic_task(void)
 
 static inline void main_event_task(void)
 {
-
+  mcu_event();
 }

sw/airborne/test/peripherals/test_ami601.c

@@ -71,9 +71,9 @@ static inline void main_periodic_task(void)
 
 static inline void main_event_task(void)
 {
+  mcu_event();
 
   AMI601Event(on_mag);
-
 }
 
 static inline void on_mag(void)
@@ -82,5 +82,4 @@ static inline void on_mag(void)
   ami601_status = AMI601_IDLE;
   struct Int32Vect3 bla = {ami601_values[0], ami601_values[1], ami601_values[2]};
   DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice, &bla.x, &bla.y, &bla.z);
-
 }

sw/airborne/test/peripherals/test_lis302dl_spi.c

@@ -88,6 +88,8 @@ static inline void main_periodic_task(void)
 
 static inline void main_event_task(void)
 {
+  mcu_event();
+
   if (sys_time.nb_sec > 1) {
     lis302dl_spi_event(&lis302);
   }

sw/airborne/test/peripherals/test_ms2100.c

@@ -71,6 +71,8 @@ static inline void main_periodic_task(void)
 
 static inline void main_event_task(void)
 {
+  mcu_event();
+
   ms2100_event(&ms2100);
   if (ms2100.status == MS2100_DATA_AVAILABLE) {
     RunOnceEvery(10, {

sw/airborne/test/subsystems/test_ahrs.c

@@ -96,11 +96,7 @@ static inline void main_periodic_task(void)
 
 static inline void main_event_task(void)
 {
-#if USE_UDP
+  mcu_event();
-  udp_event();
-#else
-  uart_event();
-#endif
   ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
 }
 

sw/airborne/test/subsystems/test_imu.c

@@ -116,11 +116,7 @@ static inline void main_periodic_task(void)
 
 static inline void main_event_task(void)
 {
-#if USE_UDP
+  mcu_event();
-  udp_event();
-#else
-  uart_event();
-#endif
   ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
 }
 

sw/airborne/test/subsystems/test_radio_control.c

@@ -86,11 +86,7 @@ static inline void main_periodic_task(void)
 
 static inline void main_event_task(void)
 {
-#if USE_UDP
+  mcu_event();
-  udp_event();
-#else
-  uart_event();
-#endif
   RadioControlEvent(main_on_radio_control_frame);
 }
 

sw/airborne/test/subsystems/test_settings.c

@@ -88,11 +88,7 @@ static inline void main_periodic(void)
 
 static inline void main_event(void)
 {
-#if USE_UDP
+  mcu_event();
-  udp_event();
-#else
-  uart_event();
-#endif
   DatalinkEvent();
 }
 

sw/airborne/test/test_baro_board.c

@@ -104,5 +104,6 @@ static inline void main_periodic_task(void)
 
 static inline void main_event_task(void)
 {
+  mcu_event();
   BaroEvent();
 }

sw/airborne/test/test_datalink.c

@@ -59,6 +59,7 @@ static inline void main_periodic(void)
 
 static inline void main_event(void)
 {
+  mcu_event();
   DatalinkEvent();
 }
 

sw/airborne/test/test_manual.c

@@ -108,6 +108,7 @@ static inline void main_periodic(void)
 
 static inline void main_event(void)
 {
+  mcu_event();
   DatalinkEvent();
   RadioControlEvent(on_rc_frame);
 }

sw/airborne/test/test_telemetry.c

@@ -65,9 +65,5 @@ static inline void main_periodic(void)
 
 static inline void main_event(void)
 {
-#if USE_UDP
+  mcu_event();
-  udp_event();
-#else
-  uart_event();
-#endif
 }