Merge pull request #1140 from paparazzi/link_device

Use the generic device interface for receiving data stream (transmission was already done).

Tested on stm32f4 (xbee_api, ublox over uart, log), lpc21 (transparant), ardrone2 (udp, ublox over ftdi)

This is also a necessary step to continue the rt_chibios integration due to conflicting definition of peripherals (when used with uppercase).

conf/airframes/examples/demo.xml

@@ -91,7 +91,7 @@ demo5.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 demo5.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=uart0
 demo5.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
-demo5.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=UART0
+demo5.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=uart0
 
 
 #
@@ -117,7 +117,7 @@ demo6.srcs += $(SRC_ARCH)/usb_ser_hw.c
 demo6.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=usb_serial
 demo6.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
-//demo6.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=UART0
+//demo6.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=uart0
 
 
 
@@ -137,7 +137,7 @@ test_spk.CFLAGS += -DUSE_LED
 test_spk.srcs += $(SRC_ARCH)/armVIC.c
 
 test_spk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
-test_spk.CFLAGS += -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=UsbS -DDATALINK=PPRZ
+test_spk.CFLAGS += -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=usb_serial -DDATALINK=PPRZ
 test_spk.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/usb_ser_hw.c subsystems/datalink/pprz_transport.c
 test_spk.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
 test_spk.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c

conf/airframes/wind_tunnel.xml

@@ -27,7 +27,7 @@ ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=uart0
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
-ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=UART0
+ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=uart0
 #ap.srcs += $(BOOZ)/booz_datalink.c
 
 ap.srcs += $(WIND_TUNNEL)/wt_servo.c
@@ -57,7 +57,7 @@ mb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 mb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=uart0
 mb.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
-mb.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=UART0
+mb.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=uart0
 
 mb.srcs += $(WIND_TUNNEL)/wt_servo.c
 

conf/firmwares/setup.makefile

@@ -108,7 +108,7 @@ setup_actuators.srcs   += mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 setup_actuators.CFLAGS += -DUSE_$(MODEM_PORT)
 setup_actuators.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 SETUP_ACTUATORS_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
-setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(SETUP_ACTUATORS_MODEM_PORT_LOWER) -DPPRZ_UART=$(MODEM_PORT)
+setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(SETUP_ACTUATORS_MODEM_PORT_LOWER) -DPPRZ_UART=$(SETUP_ACTUATORS_MODEM_PORT_LOWER)
 setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
 setup_actuators.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 

conf/firmwares/subsystems/fixedwing/fbw_datalink.makefile

@@ -1,5 +1,8 @@
 
+FBW_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
+FBW_AP_PORT_LOWER=$(shell echo $(AUTOPILOT_PORT) | tr A-Z a-z)
+
 fbw.srcs += firmwares/fixedwing/fbw_datalink.c
 fbw.CFLAGS += -DFBW_DATALINK
-fbw.CFLAGS += -DMODEM_LINK=$(MODEM_PORT) -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-fbw.CFLAGS += -DAUTOPILOT_LINK=$(AUTOPILOT_PORT) -DUSE_$(AUTOPILOT_PORT) -D$(AUTOPILOT_PORT)_BAUD=$(MODEM_BAUD)
+fbw.CFLAGS += -DMODEM_LINK=$(FBW_MODEM_PORT_LOWER) -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+fbw.CFLAGS += -DAUTOPILOT_LINK=$(FBW_AP_PORT_LOWER) -DUSE_$(AUTOPILOT_PORT) -D$(AUTOPILOT_PORT)_BAUD=$(MODEM_BAUD)

conf/firmwares/subsystems/fixedwing/gps_furuno.makefile

@@ -3,9 +3,10 @@
 # Furuno NMEA GPS unit
 
 GPS_LED ?= none
+FURUNO_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(FURUNO_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 ap.CFLAGS += -DNMEA_PARSE_PROP

conf/firmwares/subsystems/fixedwing/gps_mediatek_diy.makefile

@@ -3,9 +3,10 @@
 # Mediatek MT3329, DIYDrones V1.4/1.6 protocol
 
 GPS_LED ?= none
+MTK_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS -DGPS_CONFIGURE -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(MTK_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/fixedwing/gps_nmea.makefile

@@ -3,9 +3,10 @@
 # NMEA GPS unit
 
 GPS_LED ?= none
+NMEA_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(NMEA_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/fixedwing/gps_skytraq.makefile

@@ -1,9 +1,10 @@
 # Hey Emacs, this is a -*- makefile -*-
 
 GPS_LED ?= none
+SKYTRAQ_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(SKYTRAQ_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/fixedwing/gps_ublox.makefile

@@ -2,9 +2,10 @@
 # UBlox LEA 5H
 
 GPS_LED ?= none
+UBX_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS -DUBX -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(UBX_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile

@@ -2,9 +2,10 @@
 # UBlox LEA 4P
 
 GPS_LED ?= none
+UBX_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS -DUBX
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(UBX_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/fixedwing/imu_xsens.makefile

@@ -63,6 +63,6 @@ ifndef XSENS_UART_BAUD
 endif
 
 ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
-ap.CFLAGS += -DINS_LINK=UART$(XSENS_UART_NR)
+ap.CFLAGS += -DINS_LINK=uart$(XSENS_UART_NR)
 ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
 ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836

conf/firmwares/subsystems/fixedwing/ins_xsens.makefile

@@ -25,7 +25,7 @@ endif
 #B115200
 
 ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
-ap.CFLAGS += -DINS_LINK=UART$(XSENS_UART_NR)
+ap.CFLAGS += -DINS_LINK=uart$(XSENS_UART_NR)
 ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
 ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
 ap.srcs   += $(SRC_SUBSYSTEMS)/ins.c

conf/firmwares/subsystems/fixedwing/ins_xsens700.makefile

@@ -21,7 +21,7 @@ ifndef XSENS_UART_BAUD
 endif
 
 ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
-ap.CFLAGS += -DINS_LINK=UART$(XSENS_UART_NR)
+ap.CFLAGS += -DINS_LINK=uart$(XSENS_UART_NR)
 ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
 ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
 ap.srcs   += $(SRC_SUBSYSTEMS)/ins.c

conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile

@@ -8,15 +8,13 @@ $(error Using intermcu via UART, so dual mcu with separate fbw. Please add <conf
 endif
 
 ifeq ($(TARGET),fbw)
-  ifeq ($(INTERMCU_PORT),none)
-    INTERMCU_PORT = UART2
-  endif
-  fbw.CFLAGS += -DINTERMCU_LINK=$(INTERMCU_PORT) -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=B57600
+  INTERMCU_PORT ?= UART2
+  INTERMCU_PORT_LOWER = $(shell echo $(INTERMCU_PORT) | tr A-Z a-z)
+  fbw.CFLAGS += -DINTERMCU_LINK=$(INTERMCU_PORT_LOWER) -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=B57600
 else
-  ifeq ($(INTERMCU_PORT),none)
-    INTERMCU_PORT = UART5
-  endif
-  ap.CFLAGS += -DINTERMCU_LINK=$(INTERMCU_PORT) -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=B57600
+  INTERMCU_PORT ?= UART5
+  INTERMCU_PORT_LOWER = $(shell echo $(INTERMCU_PORT) | tr A-Z a-z)
+  ap.CFLAGS += -DINTERMCU_LINK=$(INTERMCU_PORT_LOWER) -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=B57600
 endif
 
 ifneq ($(TARGET),sim)

conf/firmwares/subsystems/fixedwing/telemetry_superbitrf.makefile

@@ -2,9 +2,6 @@
 # The superbitRF module as telemetry downlink/uplink
 #
 #
-ap.CFLAGS += -DUSE_$(MODEM_PORT)
-ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-
 ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_FBW_DEVICE=superbitrf -DDOWNLINK_AP_DEVICE=superbitrf
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=SUPERBITRF -DDefaultPeriodic='&telemetry_Ap'
 #ap.CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2

conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile

@@ -4,7 +4,7 @@ PPRZ_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
 
 telemetry_CFLAGS = -DUSE_$(MODEM_PORT)
 telemetry_CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-telemetry_CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(PPRZ_MODEM_PORT_LOWER) -DPPRZ_UART=$(MODEM_PORT)
+telemetry_CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(PPRZ_MODEM_PORT_LOWER) -DPPRZ_UART=$(PPRZ_MODEM_PORT_LOWER)
 telemetry_CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DDefaultPeriodic='&telemetry_Ap'
 telemetry_srcs = subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
 

conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile

@@ -2,7 +2,7 @@
 
 #serial USB (e.g. /dev/ttyACM0)
 
-telemetry_CFLAGS = -DDOWNLINK -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=UsbS
+telemetry_CFLAGS = -DDOWNLINK -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=usb_serial
 telemetry_CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DUSE_USB_SERIAL
 telemetry_CFLAGS += -DDefaultPeriodic='&telemetry_Ap'
 telemetry_srcs = subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c

conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile

@@ -7,7 +7,7 @@ XBEE_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
 ap.CFLAGS += -DUSE_$(MODEM_PORT)
 ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -DXBEE_BAUD=$(MODEM_BAUD)
 
-ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(XBEE_MODEM_PORT_LOWER) -DXBEE_UART=$(MODEM_PORT)
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(XBEE_MODEM_PORT_LOWER) -DXBEE_UART=$(XBEE_MODEM_PORT_LOWER)
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=xbee_tp -DDATALINK=XBEE -DDefaultPeriodic='&telemetry_Ap'
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/xbee.c subsystems/datalink/telemetry.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/ap_downlink.c

conf/firmwares/subsystems/rotorcraft/gps_furuno.makefile

@@ -2,9 +2,10 @@
 
 # Furuno NMEA GPS unit
 
+FURUNO_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(FURUNO_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 ap.CFLAGS += -DNMEA_PARSE_PROP

conf/firmwares/subsystems/rotorcraft/gps_nmea.makefile

@@ -2,9 +2,10 @@
 
 # NMEA GPS unit
 
+NMEA_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(NMEA_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/rotorcraft/gps_sirf.makefile

@@ -3,9 +3,10 @@
 # Sirf GPS unit
 
 GPS_LED ?= none
+SIRF_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(SIRF_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/rotorcraft/gps_skytraq.makefile

@@ -1,9 +1,10 @@
 # Hey Emacs, this is a -*- makefile -*-
 
 GPS_LED ?= none
+SKYTRAQ_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(SKYTRAQ_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/rotorcraft/gps_ublox.makefile

@@ -1,13 +1,14 @@
 # Hey Emacs, this is a -*- makefile -*-
 
 GPS_LED ?= none
+UBX_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
 ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
 ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ubx.c
 
 ap.CFLAGS += -DUSE_$(GPS_PORT) -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
-ap.CFLAGS += -DUSE_GPS -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DUSE_GPS -DGPS_LINK=$(UBX_GPS_PORT_LOWER)
 
 ifneq ($(GPS_LED),none)
   ap.CFLAGS += -DGPS_LED=$(GPS_LED)

conf/firmwares/subsystems/rotorcraft/telemetry_superbitrf.makefile

@@ -2,9 +2,6 @@
 # The superbitRF module as telemetry downlink/uplink
 #
 #
-ap.CFLAGS += -DUSE_$(MODEM_PORT)
-ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-
 ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=superbitrf
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=SUPERBITRF
 ap.CFLAGS += -DDefaultPeriodic='&telemetry_Main'

conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile

@@ -10,7 +10,7 @@ PPRZ_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
 ap.CFLAGS += -DUSE_$(MODEM_PORT)
 ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 
-ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(PPRZ_MODEM_PORT_LOWER) -DPPRZ_UART=$(MODEM_PORT)
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(PPRZ_MODEM_PORT_LOWER) -DPPRZ_UART=$(PPRZ_MODEM_PORT_LOWER)
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DDefaultPeriodic='&telemetry_Main'
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c

conf/firmwares/subsystems/rotorcraft/telemetry_transparent_udp.makefile

@@ -14,7 +14,7 @@ UDP_MODEM_PORT_LOWER=$(shell echo $(MODEM_DEV) | tr A-Z a-z)
 MODEM_CFLAGS  = -DUSE_$(MODEM_DEV) -D$(MODEM_DEV)_PORT_OUT=$(MODEM_PORT_OUT) -D$(MODEM_DEV)_PORT_IN=$(MODEM_PORT_IN)
 MODEM_CFLAGS += -D$(MODEM_DEV)_BROADCAST=$(MODEM_BROADCAST) -D$(MODEM_DEV)_HOST=\"$(MODEM_HOST)\"
 
-TELEM_CFLAGS  = -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(UDP_MODEM_PORT_LOWER) -DPPRZ_UART=$(MODEM_DEV)
+TELEM_CFLAGS  = -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(UDP_MODEM_PORT_LOWER) -DPPRZ_UART=$(UDP_MODEM_PORT_LOWER)
 TELEM_CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DDefaultPeriodic='&telemetry_Main'
 
 

conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile

@@ -2,7 +2,7 @@
 #serial USB (e.g. /dev/ttyACM0)
 
 ifeq ($(ARCH), lpc21)
-ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=UsbS
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=usb_serial
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DUSE_USB_SERIAL -DDefaultPeriodic='&telemetry_Main'
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
@@ -10,7 +10,7 @@ ap.srcs += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/l
 ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
 else
 ifeq ($(ARCH), stm32)
-ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=UsbS
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=usb_serial
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DUSE_USB_SERIAL -DDefaultPeriodic='&telemetry_Main'
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c

conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile

@@ -11,7 +11,7 @@ XBEE_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
 ap.CFLAGS += -DUSE_$(MODEM_PORT)
 ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -DXBEE_BAUD=$(MODEM_BAUD)
 
-ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(XBEE_MODEM_PORT_LOWER) -DXBEE_UART=$(MODEM_PORT)
+ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(XBEE_MODEM_PORT_LOWER) -DXBEE_UART=$(XBEE_MODEM_PORT_LOWER)
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=xbee_tp -DDATALINK=XBEE -DDefaultPeriodic='&telemetry_Main'
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/xbee.c subsystems/datalink/telemetry.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c

conf/firmwares/subsystems/shared/imu_um6.makefile

@@ -7,6 +7,7 @@ endif
 ifndef UM6_BAUD
   UM6_BAUD=B115200
 endif
+UM6_PORT_LOWER=$(shell echo $(UM6_PORT) | tr A-Z a-z)
 
 IMU_UM6_CFLAGS += -DUSE_IMU
 IMU_UM6_CFLAGS += -DIMU_TYPE_H=\"imu/imu_um6.h\"
@@ -14,7 +15,7 @@ IMU_UM6_SRCS   += $(SRC_SUBSYSTEMS)/imu.c
 IMU_UM6_SRCS   += $(SRC_SUBSYSTEMS)/imu/imu_um6.c
 
 IMU_UM6_CFLAGS += -DUSE_$(UM6_PORT) -D$(UM6_PORT)_BAUD=$(UM6_BAUD)
-IMU_UM6_CFLAGS += -DUM6_LINK=$(UM6_PORT)
+IMU_UM6_CFLAGS += -DUM6_LINK=$(UM6_PORT_LOWER)
 
 ap.CFLAGS += $(IMU_UM6_CFLAGS)
 ap.srcs   += $(IMU_UM6_SRCS)

conf/firmwares/test_progs.makefile

@@ -82,7 +82,7 @@ UDP_MODEM_PORT_LOWER=$(shell echo $(MODEM_DEV) | tr A-Z a-z)
 
 COMMON_TELEMETRY_CFLAGS += -DUSE_$(MODEM_DEV) -D$(MODEM_DEV)_PORT_OUT=$(MODEM_PORT_OUT) -D$(MODEM_DEV)_PORT_IN=$(MODEM_PORT_IN)
 COMMON_TELEMETRY_CFLAGS += -D$(MODEM_DEV)_BROADCAST=$(MODEM_BROADCAST) -D$(MODEM_DEV)_HOST=\"$(MODEM_HOST)\"
-COMMON_TELEMETRY_CFLAGS += -DPPRZ_UART=$(MODEM_DEV)
+COMMON_TELEMETRY_CFLAGS += -DPPRZ_UART=$(UDP_MODEM_PORT_LOWER)
 COMMON_TELEMETRY_CFLAGS += -DDOWNLINK_DEVICE=$(UDP_MODEM_PORT_LOWER)
 else
 # via UART
@@ -91,7 +91,7 @@ else
 #endif
 COMMON_TELEMETRY_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
 COMMON_TELEMETRY_CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-COMMON_TELEMETRY_CFLAGS += -DPPRZ_UART=$(MODEM_PORT)
+COMMON_TELEMETRY_CFLAGS += -DPPRZ_UART=$(COMMON_TELEMETRY_MODEM_PORT_LOWER)
 COMMON_TELEMETRY_CFLAGS += -DDOWNLINK_DEVICE=$(COMMON_TELEMETRY_MODEM_PORT_LOWER)
 COMMON_TELEMETRY_SRCS  += mcu_periph/uart.c
 COMMON_TELEMETRY_SRCS  += $(SRC_ARCH)/mcu_periph/uart_arch.c

conf/modules/ahrs_chimu_spi.xml

@@ -13,7 +13,7 @@
     <define name="USE_AHRS"/>
     <define name="USE_INS_MODULE"/>
     <define name="USE_SPI"/>
-    <define name="INS_LINK" value="SpiSlave"/>
+    <define name="INS_LINK" value="spi_slave_hs"/>
     <define name="USE_USB_HIGH_PCLK" />
     <file name="ahrs_chimu_spi.c"/>
     <file name="imu_chimu.c"/>

conf/modules/ahrs_chimu_uart.xml

@@ -17,7 +17,7 @@
     <define name="USE_AHRS"/>
     <define name="USE_INS_MODULE"/>
     <define name="USE_UART$(CHIMU_UART_NR)" value="1"/>
-    <define name="INS_LINK" value="UART$(CHIMU_UART_NR)"/>
+    <define name="INS_LINK" value="uart$(CHIMU_UART_NR)"/>
     <define name="UART$(CHIMU_UART_NR)_BAUD" value="B115200"/>
     <file name="ahrs_chimu_uart.c"/>
     <file name="imu_chimu.c"/>

conf/modules/airspeed_otf.xml

@@ -22,9 +22,12 @@
   <periodic fun="airspeed_otf_periodic()" freq="1"/>
   <event fun="airspeed_otf_event()"/>
   <makefile target="ap">
+    <raw>
+      OTF_UART_LOWER=$(shell echo $(OTF_UART) | tr A-Z a-z)
+    </raw>
     <file name="airspeed_otf.c"/>
     <define name="USE_$(OTF_UART)"/>
-    <define name="MET_LINK" value="$(OTF_UART)"/>
+    <define name="MET_LINK" value="$(OTF_UART_LOWER)"/>
     <define name="$(OTF_UART)_BAUD" value="B115200"/>
   </makefile>
 </module>

conf/modules/direct_memory_logger.xml

@@ -48,7 +48,7 @@
     <define name="DM_LOG_SPI_DEV" value="$(DM_LOG_SPI_DEV_LOWER)" />
     <define name="DM_LOG_SPI_SLAVE_IDX" value="$(DM_LOG_SPI_SLAVE_IDX_UPPER)" />
 
-    <define name="DM_LOG_UART" value="$(DM_LOG_UART_UPPER)"/>
+    <define name="DM_LOG_UART" value="$(DM_LOG_UART_LOWER)"/>
     <define name="USE_$(DM_LOG_UART_UPPER)"/>
     <define name="$(DM_LOG_UART_UPPER)_BAUD" value="B230400"/>
 

conf/modules/extra_dl.xml

@@ -16,7 +16,6 @@
 EXTRA_DL_PORT_LOWER = $(shell echo $(EXTRA_DL_PORT) | tr A-Z a-z)
     </raw>
     <define name="EXTRA_DOWNLINK_DEVICE" value="$(EXTRA_DL_PORT_LOWER)"/>
-    <define name="EXTRA_PPRZ_UART" value="$(EXTRA_DL_PORT)"/>
     <define name="USE_$(EXTRA_DL_PORT)"/>
     <define name="$(EXTRA_DL_PORT)_BAUD" value="$(EXTRA_DL_BAUD)"/>
     <file name="extra_pprz_dl.c"/>

conf/modules/mavlink.xml

@@ -19,18 +19,19 @@
     <raw>
       MAVLINK_PORT ?= UART1
       MAVLINK_PORT_UPPER=$(shell echo $(MAVLINK_PORT) | tr a-z A-Z)
+      MAVLINK_PORT_LOWER=$(shell echo $(MAVLINK_PORT) | tr A-Z a-z)
       ifeq ($(MAVLINK_PORT), UsbS)
       ap.CFLAGS += -DUSE_USB_SERIAL
       ap.srcs += $(SRC_ARCH)/usb_ser_hw.c
-      ap.CFLAGS += -DMAVLINK_DEV=UsbS
+      ap.CFLAGS += -DMAVLINK_DEV=usb_serial
       else
       ifeq ($(findstring UDP,$(MAVLINK_PORT)), UDP)
       include $(CFG_SHARED)/udp.makefile
-      $(TARGET).CFLAGS += -DMAVLINK_DEV=$(MAVLINK_PORT_UPPER)
+      $(TARGET).CFLAGS += -DMAVLINK_DEV=$(MAVLINK_PORT_LOWER)
       $(TARGET).CFLAGS += -DUSE_$(MAVLINK_PORT_UPPER)
       else
       MAVLINK_BAUD ?= B57600
-      ap.CFLAGS += -DMAVLINK_DEV=$(MAVLINK_PORT_UPPER)
+      ap.CFLAGS += -DMAVLINK_DEV=$(MAVLINK_PORT_LOWER)
       ap.CFLAGS += -DUSE_$(MAVLINK_PORT_UPPER)
       ap.CFLAGS += -D$(MAVLINK_PORT_UPPER)_BAUD=$(MAVLINK_BAUD)
       endif

conf/modules/mavlink_decoder.xml

@@ -11,7 +11,10 @@
   </header>
   <event fun="MavlinkDatalinkEvent()"/>
   <makefile>
-    <define name="MAVLINK_UART" value="$(MAVLINK_PORT)"/>
+    <raw>
+      MAVLINK_PORT_LOWER=$(shell echo $(MAVLINK_PORT) | tr A-Z a-z)
+    </raw>
+    <define name="MAVLINK_UART" value="$(MAVLINK_PORT_LOWER)"/>
     <define name="USE_$(MAVLINK_PORT)"/>
     <define name="$(MAVLINK_PORT)_BAUD" value="$(MAVLINK_BAUD)"/>
     <file name="mavlink_decoder.c"/>

sw/airborne/arch/linux/mcu_periph/uart_arch.c

@@ -42,6 +42,8 @@
 
 void uart_periph_set_baudrate(struct uart_periph *periph, uint32_t baud)
 {
+  periph->baudrate = baud;
+
   struct SerialPort *port;
   // close serial port if already open
   if (periph->reg_addr != NULL) {

sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c

@@ -38,6 +38,7 @@
 #include "pprz_debug.h"
 #include "armVIC.h"
 
+struct spi_slave_hs spi_slave_hs;
 
 /* High Speed SPI Slave Circular Buffer */
 uint16_t spi_slave_hs_rx_insert_idx, spi_slave_hs_rx_extract_idx;
@@ -103,6 +104,36 @@ static void SSP_ISR(void) __attribute__((naked));
 #endif
 
 
+// Functions for the generic device API
+static int spi_slave_hs_check_free_space(struct spi_slave_hs *p __attribute__((unused)), uint8_t len __attribute__((unused)))
+{
+  return TRUE;
+}
+
+static void spi_slave_hs_transmit(struct spi_slave_hs *p __attribute__((unused)), uint8_t byte)
+{
+  uint8_t temp = (spi_slave_hs_tx_insert_idx + 1) % SPI_SLAVE_HS_TX_BUFFER_SIZE;
+  if (temp != spi_slave_hs_tx_extract_idx)  /* there is room left */
+  {
+    spi_slave_hs_tx_buffer[spi_slave_hs_tx_insert_idx] = byte;
+    spi_slave_hs_tx_insert_idx = temp;
+  }
+}
+
+static void spi_slave_hs_send(struct spi_slave_hs *p __attribute__((unused))) { }
+
+static int spi_slave_hs_char_available(struct spi_slave_hs *p __attribute__((unused)))
+{
+  return spi_slave_hs_rx_insert_idx != spi_slave_hs_rx_extract_idx;
+}
+
+static uint8_t spi_slave_hs_getch(struct spi_slave_hs *p __attribute__((unused)))
+{
+  uint8_t ret = spi_slave_hs_rx_buffer[spi_slave_hs_rx_extract_idx];
+  spi_slave_hs_rx_extract_idx = (spi_slave_hs_rx_extract_idx + 1)%SPI_SLAVE_HS_RX_BUFFER_SIZE;
+  return ret;
+}
+
 void spi_slave_hs_init(void)
 {
 
@@ -129,6 +160,14 @@ void spi_slave_hs_init(void)
   // Enable Receive interrupt
   SetBit(SSPIMSC, RXIM);
 
+  // Configure generic device
+  spi_slave_hs.device.periph = (void *)(&spi_slave_hs);
+  spi_slave_hs.device.check_free_space = (check_free_space_t) spi_slave_hs_check_free_space;
+  spi_slave_hs.device.put_byte = (put_byte_t) spi_slave_hs_transmit;
+  spi_slave_hs.device.send_message = (send_message_t) spi_slave_hs_send;
+  spi_slave_hs.device.char_available = (char_available_t) spi_slave_hs_char_available;
+  spi_slave_hs.device.get_byte = (get_byte_t) spi_slave_hs_getch;
+
 }
 
 /*

sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.h

@@ -32,7 +32,14 @@
 #define SPI_SLAVE_HS_ARCH_H
 
 #include "std.h"
+#include "mcu_periph/link_device.h"
 
+struct spi_slave_hs {
+  /** Generic device interface */
+  struct link_device device;
+};
+
+extern struct spi_slave_hs spi_slave_hs;
 
 #define SpiEnable() {   \
     SetBit(SSPCR1, SSE);  \
@@ -48,29 +55,11 @@
 extern uint16_t spi_slave_hs_rx_insert_idx, spi_slave_hs_rx_extract_idx;
 extern uint8_t spi_slave_hs_rx_buffer[SPI_SLAVE_HS_RX_BUFFER_SIZE];
 
-#define SpiSlaveChAvailable() (spi_slave_hs_rx_insert_idx != spi_slave_hs_rx_extract_idx)
-
-#define SpiSlaveGetch() ({\
-    uint8_t ret = spi_slave_hs_rx_buffer[spi_slave_hs_rx_extract_idx]; \
-    spi_slave_hs_rx_extract_idx = (spi_slave_hs_rx_extract_idx + 1)%SPI_SLAVE_HS_RX_BUFFER_SIZE;        \
-    ret;                                                 \
-  })
 
 #define SPI_SLAVE_HS_TX_BUFFER_SIZE 64
 
 extern uint8_t spi_slave_hs_tx_insert_idx, spi_slave_hs_tx_extract_idx;
 extern uint8_t spi_slave_hs_tx_buffer[SPI_SLAVE_HS_TX_BUFFER_SIZE];
 
-#define SpiSlaveTransmit(data) {\
-    uint8_t temp = (spi_slave_hs_tx_insert_idx + 1) % SPI_SLAVE_HS_TX_BUFFER_SIZE; \
-    if (temp != spi_slave_hs_tx_extract_idx)  /* there is room left */  \
-    { \
-      spi_slave_hs_tx_buffer[spi_slave_hs_tx_insert_idx] = (uint8_t)data; \
-      spi_slave_hs_tx_insert_idx = temp; \
-    } \
-  }
-
-
-
 
 #endif

sw/airborne/arch/lpc21/mcu_periph/uart_arch.c

@@ -48,6 +48,8 @@ static inline void uart_enable_interrupts(struct uart_periph *p)
 
 static inline void uart_set_baudrate(struct uart_periph *p, uint32_t baud)
 {
+  p->baudrate = baud;
+
   /* calculate the baudrate */
   uint32_t _baud_reg_val = (uint16_t)((PCLK / (((float)baud) * 16.0)) + 0.5);
   /* select divisor latches */

sw/airborne/arch/lpc21/usb_ser_hw.c

@@ -565,6 +565,16 @@ void VCOM_event(void) {}
 // Empty for lpc21
 void VCOM_send_message(void) {}
 
+static int usb_serial_char_available(struct usb_serial_periph *p __attribute__((unused)))
+{
+  return VCOM_check_available();
+}
+
+static uint8_t usb_serial_getch(struct usb_serial_periph *p __attribute__((unused)))
+{
+  return (uint8_t)(VCOM_getchar());
+}
+
 void VCOM_init(void)
 {
   // initialise stack
@@ -608,6 +618,8 @@ void VCOM_init(void)
   // Configure generic device
   usb_serial.device.periph = (void *)(&usb_serial);
   usb_serial.device.check_free_space = (check_free_space_t) usb_serial_check_free_space;
-  usb_serial.device.transmit = (transmit_t) usb_serial_transmit;
+  usb_serial.device.put_byte = (put_byte_t) usb_serial_transmit;
   usb_serial.device.send_message = (send_message_t) usb_serial_send;
+  usb_serial.device.char_available = (char_available_t) usb_serial_char_available;
+  usb_serial.device.get_byte = (get_byte_t) usb_serial_getch;
 }

sw/airborne/arch/sim/sim_ap.c

@@ -20,7 +20,6 @@
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "subsystems/commands.h"
 #include "firmwares/fixedwing/main_ap.h"
-#include "sim_uart.h"
 #include "subsystems/datalink/datalink.h"
 #include "subsystems/datalink/telemetry.h"
 #include "generated/flight_plan.h"
@@ -100,26 +99,6 @@ value sim_init(value unit)
 {
   init_fbw();
   init_ap();
-#ifdef SIM_UART
-  /* open named pipe */
-  char link_pipe_name[128];
-#ifdef SIM_XBEE
-  sprintf(link_pipe_name, "/tmp/pprz_xbee");
-#else
-  sprintf(link_pipe_name, "/tmp/pprz_link_%d", AC_ID);
-#endif
-  struct stat st;
-  if (stat(link_pipe_name, &st)) {
-    if (mkfifo(link_pipe_name, 0644) == -1) {
-      perror("make pipe");
-      exit(10);
-    }
-  }
-  if (!(pipe_stream = fopen(link_pipe_name, "w"))) {
-    perror("open pipe");
-    exit(10);
-  }
-#endif
 
   return unit;
 }

sw/airborne/arch/sim/sim_uart.c

@@ -1,3 +0,0 @@
-#include "sim_uart.h"
-
-FILE *pipe_stream;

sw/airborne/arch/sim/sim_uart.h

@@ -1,14 +0,0 @@
-/** \file sim_uart.h
- * \brief Simulation of uart transmission on an Unix pipe
- */
-
-#include <stdio.h>
-
-extern FILE *pipe_stream;
-
-#define SimUartCheckFreeSpace(_) TRUE
-
-#define SimUartTransmit(_x) fputc(_x, pipe_stream)
-#define SimUartPrintString(_s) fputs(_s, pipe_stream)
-#define SimUartSendMessage() fflush(pipe_stream);
-#define SimUartPrintHex16(c) _PrintHex16(SimUartTransmit, c)

sw/airborne/arch/stm32/mcu_periph/uart_arch.c

@@ -41,6 +41,7 @@
 
 void uart_periph_set_baudrate(struct uart_periph *p, uint32_t baud)
 {
+  p->baudrate = baud;
 
   /* Configure USART baudrate */
   usart_set_baudrate((uint32_t)p->reg_addr, baud);

sw/airborne/arch/stm32/usb_ser_hw.c

@@ -486,6 +486,16 @@ static void usb_serial_send(struct usb_serial_periph *p __attribute__((unused)))
   VCOM_send_message();
 }
 
+static int usb_serial_char_available(struct usb_serial_periph *p __attribute__((unused)))
+{
+  return VCOM_check_available();
+}
+
+static uint8_t usb_serial_getch(struct usb_serial_periph *p __attribute__((unused)))
+{
+  return (uint8_t)(VCOM_getchar());
+}
+
 void VCOM_init(void)
 {
   // initialise fifos
@@ -518,6 +528,8 @@ void VCOM_init(void)
   // Configure generic device
   usb_serial.device.periph = (void *)(&usb_serial);
   usb_serial.device.check_free_space = (check_free_space_t) usb_serial_check_free_space;
-  usb_serial.device.transmit = (transmit_t) usb_serial_transmit;
+  usb_serial.device.put_byte = (put_byte_t) usb_serial_transmit;
   usb_serial.device.send_message = (send_message_t) usb_serial_send;
+  usb_serial.device.char_available = (char_available_t) usb_serial_char_available;
+  usb_serial.device.get_byte = (get_byte_t) usb_serial_getch;
 }

sw/airborne/firmwares/fixedwing/fbw_datalink.c

@@ -31,38 +31,19 @@
 #include "led.h"
 
 
-#define __ModemLink(dev, _x) dev##_x
-#define _ModemLink(dev, _x)  __ModemLink(dev, _x)
-#define ModemLink(_x) _ModemLink(MODEM_LINK, _x)
-#define ModemBuffer() ModemLink(ChAvailable())
-
-
-#define __AutopilotLink(dev, _x) dev##_x
-#define _AutopilotLink(dev, _x)  __AutopilotLink(dev, _x)
-#define AutopilotLink(_x) _AutopilotLink(AUTOPILOT_LINK, _x)
-
-#define AutopilotBuffer() AutopilotLink(ChAvailable())
+#define ModemLinkDevice (&(MODEM_LINK).device)
+#define AutopilotLinkDevice (&(AUTOPILOT_LINK).device)
 
 static inline void autopilot_parse(char c)
 {
-  ModemLink(Transmit(c));
+  ModemLinkDevice->put_byte(ModemLinkDevice->periph, c);
 }
 
 static inline void modem_parse(char c)
 {
-  AutopilotLink(Transmit(c));
+  AutopilotLinkDevice->put_byte(AutopilotLinkDevice->periph, c);
 }
 
-#define ReadAutopilotBuffer() {                 \
-    while (AutopilotLink(ChAvailable()))        \
-      autopilot_parse(AutopilotLink(Getch()));  \
-  }
-
-#define ReadModemBuffer() {                     \
-    while (ModemLink(ChAvailable()))            \
-      modem_parse(ModemLink(Getch()));          \
-  }
-
 void fbw_datalink_periodic(void)
 {
 #ifdef MODEM_LINK_LED
@@ -76,16 +57,19 @@ void fbw_datalink_periodic(void)
 void fbw_datalink_event(void)
 {
 #ifdef MODEM_LINK_LED
-  if (ModemLink(ChAvailable())) {
+  if (ModemLinkDevice->char_available(ModemLinkDevice->periph)) {
     LED_ON(MODEM_LINK_LED);
   }
 #endif
 #ifdef AUTOPILOT_LINK_LED
-  if (AutopilotLink(ChAvailable())) {
+  if (AutopilotLinkDevice->char_available(AutopilotLinkDevice->periph)) {
     LED_ON(AUTOPILOT_LINK_LED);
   }
 #endif
 
-  ReadModemBuffer();
-  ReadAutopilotBuffer();
+  while (ModemLinkDevice->char_available(ModemLinkDevice->periph))
+    modem_parse(ModemLinkDevice->get_byte(ModemLinkDevice->periph));
+
+  while (AutopilotLinkDevice->char_available(AutopilotLinkDevice->periph))
+    autopilot_parse(AutopilotLinkDevice->get_byte(AutopilotLinkDevice->periph));
 }

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -331,12 +331,7 @@ void periodic_task_fbw(void)
   }
 #endif
 
-#ifdef MCU_UART_LINK
-  inter_mcu_fill_fbw_state();
-  link_mcu_periodic_task();
-#endif
-
-#ifdef MCU_CAN_LINK
+#if defined MCU_UART_LINK || defined MCU_CAN_LINK
   inter_mcu_fill_fbw_state();
   link_mcu_periodic_task();
 #endif

sw/airborne/link_mcu_usart.c

@@ -29,16 +29,12 @@
 //////////////////////////////////////////////////////////////////////////////////////////////
 // LINK
 
-#define __InterMcuLink(dev, _x) dev##_x
-#define _InterMcuLink(dev, _x)  __InterMcuLink(dev, _x)
-#define InterMcuLink(_x) _InterMcuLink(INTERMCU_LINK, _x)
-
-#define InterMcuBuffer() InterMcuLink(ChAvailable())
-
-#define InterMcuUartSend1(c) InterMcuLink(Transmit(c))
-#define InterMcuUartSetBaudrate(_a) InterMcuLink(SetBaudrate(_a))
-#define InterMcuUartRunning InterMcuLink(TxRunning)
-#define InterMcuUartSendMessage InterMcuLink(SendMessage)
+// Use uart interface directly
+#define InterMcuBuffer() uart_char_available(&(INTERMCU_LINK))
+#define InterMcuUartSend1(c) uart_transmit(&(INTERMCU_LINK), c)
+#define InterMcuUartSetBaudrate(_a) uart_periph_set_baudrate(&(INTERMCU_LINK), _a)
+#define InterMcuUartSendMessage() {}
+#define InterMcuUartGetch() uart_getch(&(INTERMCU_LINK))
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 // PROTOCOL
@@ -379,8 +375,8 @@ void link_mcu_event_task(void)
 {
   /* A message has been received */
   if (InterMcuBuffer()) {
-    while (InterMcuLink(ChAvailable())) {
-      intermcu_parse(InterMcuLink(Getch()));
+    while (InterMcuBuffer()) {
+      intermcu_parse(InterMcuUartGetch());
       if (intermcu_data.msg_available) {
         parse_mavpilot_msg();
         intermcu_data.msg_available = FALSE;