From a6bc9d21819ad43b2954a3646b851e501dc05783 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Sun, 15 Mar 2015 00:28:49 +0100
Subject: [PATCH 01/42] [link_device] add receive functions to generic link
 devices

---
 sw/airborne/arch/lpc21/usb_ser_hw.c                  | 12 ++++++++++++
 sw/airborne/arch/stm32/usb_ser_hw.c                  | 12 ++++++++++++
 sw/airborne/mcu_periph/link_device.h                 |  4 ++++
 sw/airborne/mcu_periph/uart.c                        | 12 ++++++++++++
 sw/airborne/mcu_periph/uart.h                        |  9 +--------
 sw/airborne/mcu_periph/udp.c                         |  2 ++
 .../subsystems/chibios-libopencm3/chibios_sdlog.c    |  3 +++
 sw/airborne/subsystems/datalink/ivy_transport.c      |  3 +++
 sw/airborne/subsystems/datalink/superbitrf.c         |  4 ++++
 sw/airborne/subsystems/datalink/w5100.c              |  9 +++++++++
 10 files changed, 62 insertions(+), 8 deletions(-)

diff --git a/sw/airborne/arch/lpc21/usb_ser_hw.c b/sw/airborne/arch/lpc21/usb_ser_hw.c
index 0e6a4373e8..318698282c 100644
--- a/sw/airborne/arch/lpc21/usb_ser_hw.c
+++ b/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
@@ -610,4 +620,6 @@ void VCOM_init(void)
   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.send_message = (send_message_t) usb_serial_send;
+  usb_serial.device.char_available = (char_available_t) usb_serial_char_available;
+  usb_serial.device.getchar = (getchar_t) usb_serial_getch;
 }
diff --git a/sw/airborne/arch/stm32/usb_ser_hw.c b/sw/airborne/arch/stm32/usb_ser_hw.c
index 0ad2afc1f3..92e9368cba 100644
--- a/sw/airborne/arch/stm32/usb_ser_hw.c
+++ b/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
@@ -520,4 +530,6 @@ void VCOM_init(void)
   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.send_message = (send_message_t) usb_serial_send;
+  usb_serial.device.char_available = (char_available_t) usb_serial_char_available;
+  usb_serial.device.getchar = (getchar_t) usb_serial_getch;
 }
diff --git a/sw/airborne/mcu_periph/link_device.h b/sw/airborne/mcu_periph/link_device.h
index 04d2186479..cbfb1f413a 100644
--- a/sw/airborne/mcu_periph/link_device.h
+++ b/sw/airborne/mcu_periph/link_device.h
@@ -36,6 +36,8 @@
 typedef int (*check_free_space_t)(void *, uint8_t);
 typedef void (*transmit_t)(void *, uint8_t);
 typedef void (*send_message_t)(void *);
+typedef int (*char_available_t)(void *);
+typedef uint8_t (*getchar_t)(void *);
 
 /** Device structure
  */
@@ -43,6 +45,8 @@ struct link_device {
   check_free_space_t check_free_space;  ///< check if transmit buffer is not full
   transmit_t transmit;                  ///< transmit one byte
   send_message_t send_message;          ///< send completed buffer
+  char_available_t char_available;      ///< check if a new character is available
+  getchar_t getchar;                    ///< get a new char
   void *periph;                         ///< pointer to parent implementation
 };
 
diff --git a/sw/airborne/mcu_periph/uart.c b/sw/airborne/mcu_periph/uart.c
index 7cb034166e..74d78bd7d0 100644
--- a/sw/airborne/mcu_periph/uart.c
+++ b/sw/airborne/mcu_periph/uart.c
@@ -203,6 +203,8 @@ void uart_periph_init(struct uart_periph *p)
   p->device.check_free_space = (check_free_space_t)uart_check_free_space;
   p->device.transmit = (transmit_t)uart_transmit;
   p->device.send_message = (send_message_t)null_function;
+  p->device.char_available = (char_available_t)uart_char_available;
+  p->device.getchar = (getchar_t)uart_getch;
 
 #if PERIODIC_TELEMETRY
   // the first to register do it for the others
@@ -226,7 +228,17 @@ uint8_t uart_getch(struct uart_periph *p)
   return ret;
 }
 
+uint16_t uart_char_available(struct uart_periph *p)
+{
+  int16_t available = p->rx_insert_idx - p->rx_extract_idx;
+  if (available < 0) {
+    available += UART_RX_BUFFER_SIZE;
+  }
+  return (uint16_t)available;
+}
+
 void WEAK uart_event(void)
 {
 
 }
+
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
index b4c5ca0919..76104f5eec 100644
--- a/sw/airborne/mcu_periph/uart.h
+++ b/sw/airborne/mcu_periph/uart.h
@@ -88,14 +88,7 @@ extern void uart_event(void);
  * Check UART for available chars in receive buffer.
  * @return number of chars in the buffer
  */
-static inline uint16_t uart_char_available(struct uart_periph *p)
-{
-  int16_t available = p->rx_insert_idx - p->rx_extract_idx;
-  if (available < 0) {
-    available += UART_RX_BUFFER_SIZE;
-  }
-  return (uint16_t)available;
-}
+extern uint16_t uart_char_available(struct uart_periph *p);
 
 
 #if USE_UART0
diff --git a/sw/airborne/mcu_periph/udp.c b/sw/airborne/mcu_periph/udp.c
index 0552b39290..1472826a7b 100644
--- a/sw/airborne/mcu_periph/udp.c
+++ b/sw/airborne/mcu_periph/udp.c
@@ -64,6 +64,8 @@ void udp_periph_init(struct udp_periph *p, char *host, int port_out, int port_in
   p->device.check_free_space = (check_free_space_t) udp_check_free_space;
   p->device.transmit = (transmit_t) udp_transmit;
   p->device.send_message = (send_message_t) udp_send_message;
+  p->device.char_available = (char_available_t) udp_char_available;
+  p->device.getchar = (getchar_t) udp_getch;
 
   // Arch dependent initialization
   udp_arch_periph_init(p, host, port_out, port_in, broadcast);
diff --git a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
index f8bd288963..aaef1b46ae 100644
--- a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
+++ b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
@@ -75,6 +75,7 @@ static void sdlog_transmit(struct chibios_sdlog* p __attribute__((unused)), uint
 
 static void sdlog_send(struct chibios_sdlog* p __attribute__((unused))) { }
 
+static int null_function(struct chibios_sdlog *p __attribute__((unused))) { return 0; }
 
 bool_t chibios_logInit(const bool_t binaryFile)
 {
@@ -86,6 +87,8 @@ bool_t chibios_logInit(const bool_t binaryFile)
   chibios_sdlog.device.check_free_space = (check_free_space_t) sdlog_check_free_space;
   chibios_sdlog.device.transmit = (transmit_t) sdlog_transmit;
   chibios_sdlog.device.send_message = (send_message_t) sdlog_send;
+  chibios_sdlog.device.char_available = (char_available_t) null; // read only
+  chibios_sdlog.device.getchar = (getchar_t) null; // read only
 
   if (sdLogInit (NULL) != SDLOG_OK)
     goto error;
diff --git a/sw/airborne/subsystems/datalink/ivy_transport.c b/sw/airborne/subsystems/datalink/ivy_transport.c
index 6b98d470ef..7b5cefb6ca 100644
--- a/sw/airborne/subsystems/datalink/ivy_transport.c
+++ b/sw/airborne/subsystems/datalink/ivy_transport.c
@@ -179,6 +179,7 @@ static int check_available_space(struct ivy_transport *trans __attribute__((unus
 static int check_free_space(struct ivy_transport *p __attribute__((unused)), uint8_t len __attribute__((unused))) { return TRUE; }
 static void transmit(struct ivy_transport *p __attribute__((unused)), uint8_t byte __attribute__((unused))) {}
 static void send_message(struct ivy_transport *p __attribute__((unused))) {}
+static int null_function(struct chibios_sdlog *p __attribute__((unused))) { return 0; }
 
 void ivy_transport_init(void)
 {
@@ -197,5 +198,7 @@ void ivy_transport_init(void)
   ivy_tp.device.check_free_space = (check_free_space_t) check_free_space;
   ivy_tp.device.transmit = (transmit_t) transmit;
   ivy_tp.device.send_message = (send_message_t) send_message;
+  ivy_tp.device.char_available = (char_available_t) null_function;
+  ivy_tp.device.getchar = (getchar_t) null_function;
   ivy_tp.device.periph = (void *)(&ivy_tp);
 }
diff --git a/sw/airborne/subsystems/datalink/superbitrf.c b/sw/airborne/subsystems/datalink/superbitrf.c
index 5edba4b0fe..4a6e5a5b09 100644
--- a/sw/airborne/subsystems/datalink/superbitrf.c
+++ b/sw/airborne/subsystems/datalink/superbitrf.c
@@ -218,6 +218,8 @@ static void superbitrf_transmit(struct SuperbitRF *p, uint8_t byte)
 
 static void superbitrf_send(struct SuperbitRF *p __attribute__((unused))) { }
 
+static int null_function(struct chibios_sdlog *p __attribute__((unused))) { return 0; }
+
 /**
  * Initialize the superbitrf
  */
@@ -243,6 +245,8 @@ void superbitrf_init(void)
   superbitrf.device.check_free_space = (check_free_space_t) superbitrf_check_free_space;
   superbitrf.device.transmit = (transmit_t) superbitrf_transmit;
   superbitrf.device.send_message = (send_message_t) superbitrf_send;
+  superbitrf.device.char_available = (char_available_t) null_function; // not needed
+  superbitrf.device.getchar = (getchar_t) null; // not needed
 
   // Initialize the binding pin
   gpio_setup_input(SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_BIND_PIN);
diff --git a/sw/airborne/subsystems/datalink/w5100.c b/sw/airborne/subsystems/datalink/w5100.c
index 1b4e38772a..d705b5d9fc 100644
--- a/sw/airborne/subsystems/datalink/w5100.c
+++ b/sw/airborne/subsystems/datalink/w5100.c
@@ -172,6 +172,13 @@ static inline uint16_t w5100_sock_get16(uint8_t _sock, uint16_t _reg)
 static int true_function(struct w5100_periph *p __attribute__((unused)), uint8_t len __attribute__((unused))) { return TRUE; }
 static void dev_transmit(struct w5100_periph *p __attribute__((unused)), uint8_t byte) {  w5100_transmit(byte); }
 static void dev_send(struct w5100_periph *p __attribute__((unused))) { w5100_send(); }
+static int dev_char_available(struct w5100_periph *p __attribute__((unused))) { return w5100_ch_available; }
+static uint8_t dev_getch(struct w5100_periph *p __attribute__((unused)))
+{
+  uint8_t c = 0;
+  w5100_receive(&c, 1);
+  return c;
+}
 
 void w5100_init(void)
 {
@@ -246,6 +253,8 @@ void w5100_init(void)
   chip0.device.check_free_space = (check_free_space_t) true_function;
   chip0.device.transmit = (transmit_t) dev_transmit;
   chip0.device.send_message = (send_message_t) dev_send;
+  chip0.device.char_available = (char_available_t) dev_char_available;
+  chip0.device.getchar = (getchar_t) dev_getch;
 }
 
 void w5100_transmit(uint8_t data)

From 42dca11fdda1ffb1581cbf86e60406dd64b6210a Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Sun, 15 Mar 2015 00:29:57 +0100
Subject: [PATCH 02/42] [telemetry] receive function using generic device for
 pprz and w5100 transport

---
 .../fixedwing/telemetry_transparent.makefile  |  2 +-
 .../rotorcraft/telemetry_transparent.makefile |  2 +-
 .../subsystems/datalink/pprz_transport.h      | 28 ++++++++-----------
 sw/airborne/subsystems/datalink/w5100.h       | 19 ++++++-------
 4 files changed, 23 insertions(+), 28 deletions(-)

diff --git a/conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile
index 68ea55bbb1..b5575261bb 100644
--- a/conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile
+++ b/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
 
diff --git a/conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile b/conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile
index 43b827bd58..6574fc116d 100644
--- a/conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile
+++ b/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
diff --git a/sw/airborne/subsystems/datalink/pprz_transport.h b/sw/airborne/subsystems/datalink/pprz_transport.h
index 04ecc41bd4..0f53459f0a 100644
--- a/sw/airborne/subsystems/datalink/pprz_transport.h
+++ b/sw/airborne/subsystems/datalink/pprz_transport.h
@@ -140,24 +140,20 @@ static inline void pprz_parse_payload(struct pprz_transport *t)
 }
 
 
-#define PprzBuffer(_dev) TransportLink(_dev,ChAvailable())
+#define PprzCheckAndParse(_dev, _trans) pprz_check_and_parse(&(_dev).device, &(_trans))
 
-#define ReadPprzBuffer(_dev,_trans) { \
-    while (TransportLink(_dev,ChAvailable()) && !(_trans.trans_rx.msg_received)) { \
-      parse_pprz(&(_trans),TransportLink(_dev,Getch()));  \
-    } \
+static inline void pprz_check_and_parse(struct link_device *dev, struct pprz_transport *trans)
+{
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph) && !trans->trans_rx.msg_received) {
+      parse_pprz(trans, dev->getchar(dev->periph));
+    }
+    if (trans->trans_rx.msg_received) {
+      pprz_parse_payload(trans);
+      trans->trans_rx.msg_received = FALSE;
+    }
   }
-
-#define PprzCheckAndParse(_dev,_trans) {  \
-    if (PprzBuffer(_dev)) {                 \
-      ReadPprzBuffer(_dev,_trans);          \
-      if (_trans.trans_rx.msg_received) {      \
-        pprz_parse_payload(&(_trans));      \
-        _trans.trans_rx.msg_received = FALSE;  \
-      }                                     \
-    }                                       \
-  }
-
+}
 
 #endif /* PPRZ_TRANSPORT_H */
 
diff --git a/sw/airborne/subsystems/datalink/w5100.h b/sw/airborne/subsystems/datalink/w5100.h
index 2664fa5a33..0e49e0e36a 100644
--- a/sw/airborne/subsystems/datalink/w5100.h
+++ b/sw/airborne/subsystems/datalink/w5100.h
@@ -98,18 +98,17 @@ static inline void w5100_read_buffer(struct pprz_transport *t)
   }
 }
 
-#define W5100Buffer(_dev) TransportLink(_dev,ChAvailable())
+#define W5100CheckAndParse(_dev, _trans) w5100_check_and_parse(&(_dev).device, &(_trans))
 
-#define W5100CheckAndParse(_dev,_trans) {       \
-    if (W5100Buffer(_dev)) {                    \
-      w5100_read_buffer( &(_trans) );           \
-      if (_trans.trans_rx.msg_received) {          \
-        pprz_parse_payload(&(_trans));         \
-        _trans.trans_rx.msg_received = FALSE;      \
-      }                                         \
-    }                                           \
+static inline void w5100_check_and_parse(struct link_device *dev, struct pprz_transport *trans) {
+  if (dev->char_available(dev->periph)) {
+    w5100_read_buffer(trans);
+    if (trans->trans_rx.msg_received) {
+      pprz_parse_payload(trans);
+      trans->trans_rx.msg_received = FALSE;
+    }
   }
-
+}
 
 #endif /* W5100_H */
 

From 6c165a8fba87377d7e1e34e533c01e3b6e39b2fb Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Sun, 15 Mar 2015 17:21:47 +0100
Subject: [PATCH 03/42] [telemetry] convert xbee to generic receive device

---
 .../fixedwing/telemetry_xbee_api.makefile     |  2 +-
 .../rotorcraft/telemetry_xbee_api.makefile    |  2 +-
 sw/airborne/subsystems/datalink/uart_print.h  | 66 +++++++++++++++----
 sw/airborne/subsystems/datalink/xbee.c        | 46 ++++++-------
 sw/airborne/subsystems/datalink/xbee.h        | 26 ++++----
 5 files changed, 90 insertions(+), 52 deletions(-)

diff --git a/conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile
index 0aed956964..bdb9a47491 100644
--- a/conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile
+++ b/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 $(SRC_FIRMWARE)/ap_downlink.c
diff --git a/conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile b/conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile
index 457059a297..2b14e43713 100644
--- a/conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile
@@ -11,7 +11,7 @@ XBEE_MODEM_PORT_LOWER=$(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
diff --git a/sw/airborne/subsystems/datalink/uart_print.h b/sw/airborne/subsystems/datalink/uart_print.h
index 20928dcf7b..32bd987433 100644
--- a/sw/airborne/subsystems/datalink/uart_print.h
+++ b/sw/airborne/subsystems/datalink/uart_print.h
@@ -1,5 +1,6 @@
 /*
  * Copyright (C) 2005 Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2015 Gautier Hattenberger <gautier.hattenberger@enac.fr>
  *
  * This file is part of paparazzi.
  *
@@ -24,38 +25,75 @@
 
 #include "mcu_periph/uart.h"
 #include "mcu_periph/usb_serial.h"
+#include "mcu_periph/link_device.h"
 
-#define _PrintString(out_fun, s) { \
+#define _PrintString(out_fun, s) {  \
     uint8_t i = 0;                  \
     while (s[i]) {                  \
-      out_fun(s[i]);      \
+      out_fun(s[i]);                \
       i++;                          \
     }                               \
   }
 
-#define _PrintHex(out_fun, c) {           \
+static inline void print_string(struct link_device *dev, char *s)
+{
+  uint8_t i = 0;
+  while (s[i]) {
+    dev->transmit(dev->periph, s[i]);
+    i++;
+  }
+}
+
+#define _PrintHex(out_fun, c) {     \
     const uint8_t hex[16] = { '0', '1', '2', '3', '4', '5', '6', '7',   \
                               '8', '9', 'A', 'B', 'C', 'D', 'E', 'F' }; \
-    uint8_t high = (c & 0xF0)>>4;         \
-    uint8_t low  = c & 0x0F;            \
+    uint8_t high = (c & 0xF0)>>4;   \
+    uint8_t low  = c & 0x0F;        \
     out_fun(hex[high]);             \
     out_fun(hex[low]);              \
-  }                 \
-   
-#define _PrintHex16(out_fun, c ) {      \
-    uint8_t high16 = (uint8_t)(c>>8);     \
-    uint8_t low16  = (uint8_t)(c);      \
+  }
+
+static inline void print_hex(struct link_device *dev, uint8_t c)
+{
+  const uint8_t hex[16] =
+  { '0', '1', '2', '3', '4', '5', '6', '7',
+    '8', '9', 'A', 'B', 'C', 'D', 'E', 'F' };
+  uint8_t high = (c & 0xF0)>>4;
+  uint8_t low  = c & 0x0F;
+  dev->transmit(dev->periph, hex[high]);
+  dev->transmit(dev->periph, hex[low]);
+}
+
+#define _PrintHex16(out_fun, c ) {    \
+    uint8_t high16 = (uint8_t)(c>>8); \
+    uint8_t low16  = (uint8_t)(c);    \
     _PrintHex(out_fun, high16);       \
     _PrintHex(out_fun, low16);        \
   }
 
-#define _PrintHex32(out_fun, c ) {      \
-    uint16_t high32 = (uint16_t)(c>>16);      \
+static inline void print_hex16(struct link_device *dev, uint16_t c)
+{
+  uint8_t high16 = (uint8_t)(c>>8);
+  uint8_t low16  = (uint8_t)(c);
+  print_hex(dev, high16);
+  print_hex(dev, low16);
+}
+
+#define _PrintHex32(out_fun, c ) {        \
+    uint16_t high32 = (uint16_t)(c>>16);  \
     uint16_t low32  = (uint16_t)(c);      \
-    _PrintHex16(out_fun, high32);       \
-    _PrintHex16(out_fun, low32);        \
+    _PrintHex16(out_fun, high32);         \
+    _PrintHex16(out_fun, low32);          \
   }
 
+static inline void print_hex32(struct link_device *dev, uint32_t c)
+{
+  uint16_t high32 = (uint16_t)(c>>16);
+  uint16_t low32  = (uint16_t)(c);
+  print_hex16(dev, high32);
+  print_hex16(dev, low32);
+}
+
 #if USE_UART0
 
 #define UART0PrintHex(c) _PrintHex(UART0Transmit, c)
diff --git a/sw/airborne/subsystems/datalink/xbee.c b/sw/airborne/subsystems/datalink/xbee.c
index 459e415204..675938d3c1 100644
--- a/sw/airborne/subsystems/datalink/xbee.c
+++ b/sw/airborne/subsystems/datalink/xbee.c
@@ -120,13 +120,13 @@ static int check_available_space(struct xbee_transport *trans __attribute__((unu
   return dev->check_free_space(dev->periph, bytes);
 }
 
-static uint8_t xbee_text_reply_is_ok(void)
+static uint8_t xbee_text_reply_is_ok(struct link_device *dev)
 {
   char c[2];
   int count = 0;
 
-  while (TransportLink(XBEE_UART, ChAvailable())) {
-    char cc = TransportLink(XBEE_UART, Getch());
+  while (dev->char_available(dev->periph)) {
+    char cc = dev->getchar(dev->periph);
     if (count < 2) {
       c[count] = cc;
     }
@@ -140,20 +140,18 @@ static uint8_t xbee_text_reply_is_ok(void)
   return FALSE;
 }
 
-static uint8_t xbee_try_to_enter_api(void)
+static uint8_t xbee_try_to_enter_api(struct link_device *dev)
 {
 
   /** Switching to AT mode (FIXME: busy waiting) */
-  XBeePrintString(XBEE_UART, AT_COMMAND_SEQUENCE);
+  print_string(dev, AT_COMMAND_SEQUENCE);
 
   /** - busy wait 1.25s */
   sys_time_usleep(1250000);
 
-  return xbee_text_reply_is_ok();
+  return xbee_text_reply_is_ok(dev);
 }
 
-#define XBeeUartSetBaudrate(_a) TransportLink(XBEE_UART,SetBaudrate(_a))
-
 
 #if XBEE_BAUD == B9600
 #define XBEE_BAUD_ALTERNATE B57600
@@ -182,30 +180,32 @@ void xbee_init(void)
   xbee_tp.trans_tx.count_bytes = (count_bytes_t) count_bytes;
   xbee_tp.trans_tx.impl = (void *)(&xbee_tp);
 
+  struct link_device *dev = &((XBEE_UART).device);
+
   // Empty buffer before init process
-  while (TransportLink(XBEE_UART, ChAvailable())) {
-    TransportLink(XBEE_UART, Getch());
+  while (dev->char_available(dev->periph)) {
+    dev->getchar(dev->periph);
   }
 
 #ifndef NO_XBEE_API_INIT
   /** - busy wait 1.25s */
   sys_time_usleep(1250000);
 
-  if (! xbee_try_to_enter_api()) {
+  if (! xbee_try_to_enter_api(dev)) {
 #ifdef XBEE_BAUD_ALTERNATE
 
     // Badly configured... try the alternate baudrate:
-    XBeeUartSetBaudrate(XBEE_BAUD_ALTERNATE);
-    if (xbee_try_to_enter_api()) {
+    uart_periph_set_baudrate(&(XBEE_UART), XBEE_BAUD_ALTERNATE); // FIXME add set_baudrate to generic device, assuming uart for now
+    if (xbee_try_to_enter_api(dev)) {
       // The alternate baudrate worked,
-      XBeePrintString(XBEE_UART, XBEE_ATBD_CODE);
+      print_string(dev, XBEE_ATBD_CODE);
     } else {
       // Complete failure, none of the 2 baudrates result in any reply
       // TODO: set LED?
 
       // Set the default baudrate, just in case everything is right
-      XBeeUartSetBaudrate(XBEE_BAUD);
-      XBeePrintString(XBEE_UART, "\r");
+      uart_periph_set_baudrate(&(XBEE_UART), XBEE_BAUD); // FIXME add set_baudrate to generic device, assuming uart for now
+      print_string(dev, "\r");
     }
 
 #endif
@@ -213,21 +213,21 @@ void xbee_init(void)
   }
 
   /** Setting my address */
-  XBeePrintString(XBEE_UART, AT_SET_MY);
+  print_string(dev, AT_SET_MY);
   uint16_t addr = XBEE_MY_ADDR;
-  XBeePrintHex16(XBEE_UART, addr);
-  XBeePrintString(XBEE_UART, "\r");
+  print_hex16(dev, addr);
+  print_string(dev, "\r");
 
-  XBeePrintString(XBEE_UART, AT_AP_MODE);
+  print_string(dev, AT_AP_MODE);
 
 #ifdef XBEE_INIT
-  XBeePrintString(XBEE_UART, XBEE_INIT);
+  print_string(dev, XBEE_INIT);
 #endif
 
   /** Switching back to normal mode */
-  XBeePrintString(XBEE_UART, AT_EXIT);
+  print_string(dev, AT_EXIT);
 
-  XBeeUartSetBaudrate(XBEE_BAUD);
+  uart_periph_set_baudrate(&(XBEE_UART), XBEE_BAUD); // FIXME add set_baudrate to generic device, assuming uart for now
 
 #endif
 }
diff --git a/sw/airborne/subsystems/datalink/xbee.h b/sw/airborne/subsystems/datalink/xbee.h
index 759fdc70e0..b4bc9f05eb 100644
--- a/sw/airborne/subsystems/datalink/xbee.h
+++ b/sw/airborne/subsystems/datalink/xbee.h
@@ -134,19 +134,19 @@ static inline void xbee_parse_payload(struct xbee_transport *t)
   }
 }
 
-#define XBeeBuffer(_dev) TransportLink(_dev,ChAvailable())
-#define ReadXBeeBuffer(_dev,_trans) { while (TransportLink(_dev,ChAvailable())&&!(_trans.trans_rx.msg_received)) parse_xbee(&(_trans),TransportLink(_dev,Getch())); }
-#define XBeeCheckAndParse(_dev,_trans) {  \
-    if (XBeeBuffer(_dev)) {                 \
-      ReadXBeeBuffer(_dev,_trans);          \
-      if (_trans.trans_rx.msg_received) {      \
-        xbee_parse_payload(&(_trans));      \
-        _trans.trans_rx.msg_received = FALSE;  \
-      }                                     \
-    }                                       \
-  }
+#define XBeeCheckAndParse(_dev, _trans) xbee_check_and_parse(&(_dev).device, &(_trans))
 
-#define XBeePrintString(_dev, s) TransportLink(_dev,PrintString(s))
-#define XBeePrintHex16(_dev, x) TransportLink(_dev,PrintHex16(x))
+static inline void xbee_check_and_parse(struct link_device *dev, struct xbee_transport *trans)
+{
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph) && !trans->trans_rx.msg_received) {
+      parse_xbee(trans, dev->getchar(dev->periph));
+    }
+    if (trans->trans_rx.msg_received) {
+      xbee_parse_payload(trans);
+      trans->trans_rx.msg_received = FALSE;
+    }
+  }
+}
 
 #endif /* XBEE_H */

From d542de876a90309cd7091e06677a427cf3126315 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Sun, 15 Mar 2015 23:23:49 +0100
Subject: [PATCH 04/42] [telemetry] update some makefiles

---
 .../subsystems/fixedwing/telemetry_superbitrf.makefile        | 3 ---
 .../subsystems/fixedwing/telemetry_transparent_usb.makefile   | 2 +-
 .../subsystems/rotorcraft/telemetry_superbitrf.makefile       | 3 ---
 .../subsystems/rotorcraft/telemetry_transparent_udp.makefile  | 2 +-
 .../subsystems/rotorcraft/telemetry_transparent_usb.makefile  | 2 +-
 sw/airborne/subsystems/datalink/superbitrf.c                  | 4 ++--
 6 files changed, 5 insertions(+), 11 deletions(-)

diff --git a/conf/firmwares/subsystems/fixedwing/telemetry_superbitrf.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_superbitrf.makefile
index 0f7de97bb3..cfe0ef7c04 100644
--- a/conf/firmwares/subsystems/fixedwing/telemetry_superbitrf.makefile
+++ b/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
diff --git a/conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile
index 194f6bf507..bd52fb6aab 100644
--- a/conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile
+++ b/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
diff --git a/conf/firmwares/subsystems/rotorcraft/telemetry_superbitrf.makefile b/conf/firmwares/subsystems/rotorcraft/telemetry_superbitrf.makefile
index 33fb785a98..84afd3f2ee 100644
--- a/conf/firmwares/subsystems/rotorcraft/telemetry_superbitrf.makefile
+++ b/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=$(MODEM_BAUD)
-
 ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=superbitrf
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=SUPERBITRF
 ap.CFLAGS += -DDefaultPeriodic='&telemetry_Main'
diff --git a/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_udp.makefile b/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_udp.makefile
index bd56c6dff3..76224f90a0 100644
--- a/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_udp.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_udp.makefile
@@ -14,7 +14,7 @@ UDP_MODEM_PORT_LOWER=$(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'
 
 
diff --git a/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile b/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile
index cf241fd59a..f6cb031760 100644
--- a/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile
+++ b/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
diff --git a/sw/airborne/subsystems/datalink/superbitrf.c b/sw/airborne/subsystems/datalink/superbitrf.c
index 4a6e5a5b09..dd0d48b895 100644
--- a/sw/airborne/subsystems/datalink/superbitrf.c
+++ b/sw/airborne/subsystems/datalink/superbitrf.c
@@ -218,7 +218,7 @@ static void superbitrf_transmit(struct SuperbitRF *p, uint8_t byte)
 
 static void superbitrf_send(struct SuperbitRF *p __attribute__((unused))) { }
 
-static int null_function(struct chibios_sdlog *p __attribute__((unused))) { return 0; }
+static int null_function(struct SuperbitRF *p __attribute__((unused))) { return 0; }
 
 /**
  * Initialize the superbitrf
@@ -246,7 +246,7 @@ void superbitrf_init(void)
   superbitrf.device.transmit = (transmit_t) superbitrf_transmit;
   superbitrf.device.send_message = (send_message_t) superbitrf_send;
   superbitrf.device.char_available = (char_available_t) null_function; // not needed
-  superbitrf.device.getchar = (getchar_t) null; // not needed
+  superbitrf.device.getchar = (getchar_t) null_function; // not needed
 
   // Initialize the binding pin
   gpio_setup_input(SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_BIND_PIN);

From f4ada86a90f864904b25d52d6a9dd79042897d90 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Sun, 15 Mar 2015 23:26:48 +0100
Subject: [PATCH 05/42] [gps] update gps_ubx to use generic device

---
 .../subsystems/fixedwing/gps_ublox.makefile   |  3 +-
 .../fixedwing/gps_ublox_utm.makefile          |  3 +-
 .../subsystems/rotorcraft/gps_ublox.makefile  |  3 +-
 sw/airborne/arch/linux/mcu_periph/uart_arch.c |  2 +
 sw/airborne/arch/lpc21/mcu_periph/uart_arch.c |  2 +
 sw/airborne/arch/stm32/mcu_periph/uart_arch.c |  1 +
 sw/airborne/mcu_periph/uart.h                 |  2 +
 sw/airborne/modules/gps/gps_ubx_ucenter.c     | 61 +++++++------
 sw/airborne/modules/gps/gps_ubx_ucenter.h     |  4 +
 sw/airborne/subsystems/gps/gps_ubx.c          | 68 +++++++++++++--
 sw/airborne/subsystems/gps/gps_ubx.h          | 85 +++++--------------
 sw/tools/generators/gen_ubx.ml                | 24 ++++--
 12 files changed, 149 insertions(+), 109 deletions(-)

diff --git a/conf/firmwares/subsystems/fixedwing/gps_ublox.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox.makefile
index cc524852ca..225e53d289 100644
--- a/conf/firmwares/subsystems/fixedwing/gps_ublox.makefile
+++ b/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)
 
diff --git a/conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile
index 0a5864e226..aaca0cb830 100644
--- a/conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile
+++ b/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)
 
diff --git a/conf/firmwares/subsystems/rotorcraft/gps_ublox.makefile b/conf/firmwares/subsystems/rotorcraft/gps_ublox.makefile
index 0fcd453255..632bd9b068 100644
--- a/conf/firmwares/subsystems/rotorcraft/gps_ublox.makefile
+++ b/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)
diff --git a/sw/airborne/arch/linux/mcu_periph/uart_arch.c b/sw/airborne/arch/linux/mcu_periph/uart_arch.c
index e159a55e5b..972a2ae7a2 100644
--- a/sw/airborne/arch/linux/mcu_periph/uart_arch.c
+++ b/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) {
diff --git a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
index 4abae2266c..d13e104888 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
+++ b/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 */
diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
index ac6ecbbe14..e679592836 100644
--- a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
+++ b/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);
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
index 76104f5eec..70a93349fc 100644
--- a/sw/airborne/mcu_periph/uart.h
+++ b/sw/airborne/mcu_periph/uart.h
@@ -65,6 +65,8 @@ struct uart_periph {
   uint8_t tx_running;
   /** UART Register */
   void *reg_addr;
+  /** UART Baudrate */
+  int baudrate;
   /** UART Dev (linux) */
   char dev[UART_DEV_NAME_SIZE];
   volatile uint16_t ore;    ///< overrun error counter
diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c
index b7cfce8a4d..f72cc0d9a3 100644
--- a/sw/airborne/modules/gps/gps_ubx_ucenter.c
+++ b/sw/airborne/modules/gps/gps_ubx_ucenter.c
@@ -27,8 +27,9 @@
  *
  */
 
-#include "gps_ubx_ucenter.h"
+#include "modules/gps/gps_ubx_ucenter.h"
 #include "subsystems/gps/gps_ubx.h"
+#include "ubx_protocol.h"
 #include "subsystems/datalink/downlink.h"
 #include <stdio.h>
 
@@ -81,6 +82,8 @@ void gps_ubx_ucenter_init(void)
   for (int i = 0; i < GPS_UBX_UCENTER_CONFIG_STEPS; i++) {
     gps_ubx_ucenter.replies[i] = 0;
   }
+
+  gps_ubx_ucenter.dev = &(GPS_LINK).device;
 }
 
 
@@ -191,7 +194,7 @@ void gps_ubx_ucenter_event(void)
  */
 static inline void gps_ubx_ucenter_config_port_poll(void)
 {
-  UbxSend_CFG_PRT_POLL();
+  UbxSend_CFG_PRT_POLL(gps_ubx_ucenter.dev);
 }
 
 /**
@@ -208,7 +211,7 @@ static inline void gps_ubx_ucenter_config_port_poll(void)
  */
 static inline void gps_ubx_ucenter_enable_msg(uint8_t class, uint8_t id, uint8_t rate)
 {
-  UbxSend_CFG_MSG(class, id, rate);
+  UbxSend_CFG_MSG(gps_ubx_ucenter.dev, class, id, rate);
 }
 
 /**
@@ -229,7 +232,7 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr)
       break;
     case 2:
       gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
-      GpsUartSetBaudrate(B38400); // Try the most common first?
+      uart_periph_set_baudrate(&(GPS_LINK), B38400); // Try the most common first?
       gps_ubx_ucenter_config_port_poll();
       break;
     case 3:
@@ -238,7 +241,7 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr)
         return FALSE;
       }
       gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
-      GpsUartSetBaudrate(B9600); // Maybe the factory default?
+      uart_periph_set_baudrate(&(GPS_LINK), B9600); // Maybe the factory default?
       gps_ubx_ucenter_config_port_poll();
       break;
     case 4:
@@ -247,7 +250,7 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr)
         return FALSE;
       }
       gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
-      GpsUartSetBaudrate(B57600); // The high-rate default?
+      uart_periph_set_baudrate(&(GPS_LINK), B57600); // The high-rate default?
       gps_ubx_ucenter_config_port_poll();
       break;
     case 5:
@@ -256,7 +259,7 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr)
         return FALSE;
       }
       gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
-      GpsUartSetBaudrate(B4800); // Default NMEA baudrate?
+      uart_periph_set_baudrate(&(GPS_LINK), B4800); // Default NMEA baudrate?
       gps_ubx_ucenter_config_port_poll();
       break;
     case 6:
@@ -265,7 +268,7 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr)
         return FALSE;
       }
       gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
-      GpsUartSetBaudrate(B115200); // Last possible option for ublox
+      uart_periph_set_baudrate(&(GPS_LINK), B115200); // Last possible option for ublox
       gps_ubx_ucenter_config_port_poll();
       break;
     case 7:
@@ -277,7 +280,7 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr)
       // Autoconfig Failed... let's setup the failsafe baudrate
       // Should we try even a different baudrate?
       gps_ubx_ucenter.baud_init = 0; // Set as zero to indicate that we couldn't verify the baudrate
-      GpsUartSetBaudrate(B9600);
+      uart_periph_set_baudrate(&(GPS_LINK), B9600);
       return FALSE;
     default:
       break;
@@ -330,12 +333,15 @@ static inline void gps_ubx_ucenter_config_nav(void)
 {
   //New ublox firmware v5 or higher uses CFG_NAV5 message, CFG_NAV is no longer available
   if (gps_ubx_ucenter.sw_ver_h < 5 && gps_ubx_ucenter.hw_ver_h < 6) {
-    UbxSend_CFG_NAV(NAV_DYN_AIRBORNE_2G, 3, 16, 24, 20, 5, 0, 0x3C, 0x3C, 0x14, 0x03E8 , 0x0000, 0x0, 0x17, 0x00FA, 0x00FA,
-                    0x0064, 0x012C, 0x000F, 0x00, 0x00);
+    UbxSend_CFG_NAV(gps_ubx_ucenter.dev,
+        NAV_DYN_AIRBORNE_2G, 3, 16, 24, 20, 5, 0, 0x3C,
+        0x3C, 0x14, 0x03E8 , 0x0000, 0x0, 0x17, 0x00FA, 0x00FA,
+        0x0064, 0x012C, 0x000F, 0x00, 0x00);
   } else {
-    UbxSend_CFG_NAV5(NAV5_MASK, GPS_UBX_NAV5_DYNAMICS, NAV5_3D_ONLY, IGNORED, IGNORED, NAV5_DEFAULT_MIN_ELEV, RESERVED,
-                     NAV5_DEFAULT_PDOP_MASK, NAV5_DEFAULT_TDOP_MASK, NAV5_DEFAULT_P_ACC, NAV5_DEFAULT_T_ACC,
-                     NAV5_DEFAULT_STATIC_HOLD_THRES, RESERVED, RESERVED, RESERVED, RESERVED);
+    UbxSend_CFG_NAV5(gps_ubx_ucenter.dev,
+        NAV5_MASK, GPS_UBX_NAV5_DYNAMICS, NAV5_3D_ONLY, IGNORED, IGNORED, NAV5_DEFAULT_MIN_ELEV, RESERVED,
+        NAV5_DEFAULT_PDOP_MASK, NAV5_DEFAULT_TDOP_MASK, NAV5_DEFAULT_P_ACC, NAV5_DEFAULT_T_ACC,
+        NAV5_DEFAULT_STATIC_HOLD_THRES, RESERVED, RESERVED, RESERVED, RESERVED);
   }
 }
 
@@ -362,9 +368,7 @@ static inline void gps_ubx_ucenter_config_nav(void)
 #define GPS_PORT_SPI      0x04
 #define GPS_PORT_RESERVED   0x05
 
-#define __UBX_GPS_BAUD(_u) _u##_BAUD
-#define _UBX_GPS_BAUD(_u) __UBX_GPS_BAUD(_u)
-#define UBX_GPS_BAUD _UBX_GPS_BAUD(GPS_LINK)
+#define UBX_GPS_BAUD (GPS_LINK).baudrate
 
 #ifndef GPS_UBX_UCENTER_RATE
 #define GPS_UBX_UCENTER_RATE 0x00FA // In milliseconds. 0x00FA = 250ms = 4Hz
@@ -376,7 +380,7 @@ static inline void gps_ubx_ucenter_config_port(void)
       // I2C Interface
     case GPS_PORT_DDC:
 #ifdef GPS_I2C
-      UbxSend_CFG_PRT(gps_ubx_ucenter.port_id, 0x0, 0x0, GPS_I2C_SLAVE_ADDR, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
+      UbxSend_CFG_PRT(gps_ubx_ucenter.dev, gps_ubx_ucenter.port_id, 0x0, 0x0, GPS_I2C_SLAVE_ADDR, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
 #else
       DEBUG_PRINT("WARNING: Please include the gps_i2c module.\n");
 #endif
@@ -384,12 +388,16 @@ static inline void gps_ubx_ucenter_config_port(void)
       // UART Interface
     case GPS_PORT_UART1:
     case GPS_PORT_UART2:
-      UbxSend_CFG_PRT(gps_ubx_ucenter.port_id, 0x0, 0x0, UBX_UART_MODE_MASK, UART_SPEED(UBX_GPS_BAUD), UBX_PROTO_MASK,
-                      UBX_PROTO_MASK, 0x0, 0x0);
+      UbxSend_CFG_PRT(gps_ubx_ucenter.dev,
+          gps_ubx_ucenter.port_id, 0x0, 0x0,
+          UBX_UART_MODE_MASK, UART_SPEED(UBX_GPS_BAUD), UBX_PROTO_MASK,
+          UBX_PROTO_MASK, 0x0, 0x0);
       break;
       // USB Interface
     case GPS_PORT_USB:
-      UbxSend_CFG_PRT(gps_ubx_ucenter.port_id, 0x0, 0x0, 0x0, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
+      UbxSend_CFG_PRT(gps_ubx_ucenter.dev,
+          gps_ubx_ucenter.port_id, 0x0, 0x0, 0x0, 0x0,
+          UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
       break;
     case GPS_PORT_SPI:
       DEBUG_PRINT("WARNING: ublox SPI port is currently not supported.\n");
@@ -413,7 +421,7 @@ static inline void gps_ubx_ucenter_config_port(void)
 static inline void gps_ubx_ucenter_config_sbas(void)
 {
   // Since March 2nd 2011 EGNOS is released for aviation purposes
-  UbxSend_CFG_SBAS(GPS_SBAS_ENABLED, GPS_SBAS_RANGING | GPS_SBAS_CORRECTIONS | GPS_SBAS_INTEGRITY, GPS_SBAS_MAX_SBAS,
+  UbxSend_CFG_SBAS(gps_ubx_ucenter.dev, GPS_SBAS_ENABLED, GPS_SBAS_RANGING | GPS_SBAS_CORRECTIONS | GPS_SBAS_INTEGRITY, GPS_SBAS_MAX_SBAS,
                    GPS_SBAS_AUTOSCAN, GPS_SBAS_AUTOSCAN);
   //UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00);
 }
@@ -444,9 +452,9 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
       }
 #endif
       // Now the GPS baudrate should have changed
-      GpsUartSetBaudrate(UBX_GPS_BAUD);
+      uart_periph_set_baudrate(&(GPS_LINK), UBX_GPS_BAUD);
       gps_ubx_ucenter.baud_run = UART_SPEED(UBX_GPS_BAUD);
-      UbxSend_MON_GET_VER();
+      UbxSend_MON_GET_VER(gps_ubx_ucenter.dev);
       break;
     case 2:
     case 3:
@@ -503,7 +511,7 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
       break;
     case 14:
       // Poll Navigation/Measurement Rate Settings
-      UbxSend_CFG_RATE(GPS_UBX_UCENTER_RATE, 0x0001, 0x0000);
+      UbxSend_CFG_RATE(gps_ubx_ucenter.dev, GPS_UBX_UCENTER_RATE, 0x0001, 0x0000);
       break;
     case 15:
       // Raw Measurement Data
@@ -519,7 +527,7 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
       break;
     case 17:
       // Try to save on non-ROM devices...
-      UbxSend_CFG_CFG(0x00000000, 0xffffffff, 0x00000000);
+      UbxSend_CFG_CFG(gps_ubx_ucenter.dev, 0x00000000, 0xffffffff, 0x00000000);
       break;
     case 18:
 #if DEBUG_GPS_UBX_UCENTER
@@ -538,3 +546,4 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
   gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
   return TRUE; // Continue, except for the last case
 }
+
diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.h b/sw/airborne/modules/gps/gps_ubx_ucenter.h
index e068e15cbb..6d00bb94f6 100644
--- a/sw/airborne/modules/gps/gps_ubx_ucenter.h
+++ b/sw/airborne/modules/gps/gps_ubx_ucenter.h
@@ -29,6 +29,7 @@
 #define GPS_UBX_UCENTER_H
 
 #include "std.h"
+#include "mcu_periph/link_device.h"
 
 /** U-Center Variables */
 #define GPS_UBX_UCENTER_CONFIG_STEPS    19
@@ -51,6 +52,9 @@ struct gps_ubx_ucenter_struct {
   uint8_t port_id;
 
   char replies[GPS_UBX_UCENTER_CONFIG_STEPS];
+
+  // Gps device
+  struct link_device *dev;
 };
 
 extern struct gps_ubx_ucenter_struct gps_ubx_ucenter;
diff --git a/sw/airborne/subsystems/gps/gps_ubx.c b/sw/airborne/subsystems/gps/gps_ubx.c
index c29c1f6b62..af4bf06b62 100644
--- a/sw/airborne/subsystems/gps/gps_ubx.c
+++ b/sw/airborne/subsystems/gps/gps_ubx.c
@@ -30,6 +30,9 @@
 #include "math/pprz_geodetic_float.h"
 #endif
 
+/** Includes macros generated from ubx.xml */
+#include "ubx_protocol.h"
+
 /* parser status */
 #define UNINIT        0
 #define GOT_SYNC1     1
@@ -52,9 +55,6 @@
 #define UTM_HEM_NORTH 0
 #define UTM_HEM_SOUTH 1
 
-
-#define GpsUartRunning GpsLink(TxRunning)
-
 struct GpsUbx gps_ubx;
 
 #if USE_GPS_UBX_RXM_RAW
@@ -273,11 +273,69 @@ restart:
   return;
 }
 
-void ubxsend_cfg_rst(uint16_t bbr , uint8_t reset_mode)
+static void ubx_send_1byte(struct link_device *dev, uint8_t byte)
+{
+  dev->transmit(dev->periph, byte);
+  gps_ubx.send_ck_a += byte;
+  gps_ubx.send_ck_b += gps_ubx.send_ck_a;
+}
+
+void ubx_header(struct link_device *dev, uint8_t nav_id, uint8_t msg_id, uint16_t len)
+{
+  dev->transmit(dev->periph, UBX_SYNC1);
+  dev->transmit(dev->periph, UBX_SYNC2);
+  gps_ubx.send_ck_a = 0;
+  gps_ubx.send_ck_b = 0;
+  ubx_send_1byte(dev, nav_id);
+  ubx_send_1byte(dev, msg_id);
+  ubx_send_1byte(dev, (uint8_t)(len&0xFF));
+  ubx_send_1byte(dev, (uint8_t)(len>>8));
+}
+
+void ubx_trailer(struct link_device *dev)
+{
+  dev->transmit(dev->periph, gps_ubx.send_ck_a);
+  dev->transmit(dev->periph, gps_ubx.send_ck_b);
+  dev->send_message(dev->periph);
+}
+
+void ubx_send_bytes(struct link_device *dev, uint8_t len, uint8_t *bytes)
+{
+  int i;
+  for (i = 0; i < len; i++) {
+    ubx_send_1byte(dev, bytes[i]);
+  }
+}
+
+void ubx_send_cfg_rst(struct link_device *dev, uint16_t bbr , uint8_t reset_mode)
 {
 #ifdef GPS_LINK
-  UbxSend_CFG_RST(bbr, reset_mode, 0x00);
+  UbxSend_CFG_RST(dev, bbr, reset_mode, 0x00);
 #endif /* else less harmful for HITL */
 }
 
+#ifndef GPS_UBX_UCENTER
+#define gps_ubx_ucenter_event() {}
+#else
+#include "modules/gps/gps_ubx_ucenter.h"
+#endif
+
+void gps_ubx_msg(void (* _cb)(void))
+{
+  gps.last_msg_ticks = sys_time.nb_sec_rem;
+  gps.last_msg_time = sys_time.nb_sec;
+  gps_ubx_read_message();
+  gps_ubx_ucenter_event();
+  if (gps_ubx.msg_class == UBX_NAV_ID &&
+      (gps_ubx.msg_id == UBX_NAV_VELNED_ID ||
+       (gps_ubx.msg_id == UBX_NAV_SOL_ID &&
+        gps_ubx.have_velned == 0))) {
+    if (gps.fix == GPS_FIX_3D) {
+      gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+      gps.last_3dfix_time = sys_time.nb_sec;
+    }
+    _cb();
+  }
+  gps_ubx.msg_available = FALSE;
+}
 
diff --git a/sw/airborne/subsystems/gps/gps_ubx.h b/sw/airborne/subsystems/gps/gps_ubx.h
index 8ff670e005..95332a3f25 100644
--- a/sw/airborne/subsystems/gps/gps_ubx.h
+++ b/sw/airborne/subsystems/gps/gps_ubx.h
@@ -33,9 +33,6 @@
 
 #include "mcu_periph/uart.h"
 
-/** Includes macros generated from ubx.xml */
-#include "ubx_protocol.h"
-
 #define GPS_NB_CHANNELS 16
 
 #define GPS_UBX_MAX_PAYLOAD 255
@@ -85,53 +82,34 @@ extern struct GpsUbxRaw gps_ubx_raw;
 /*
  * This part is used by the autopilot to read data from a uart
  */
-#define __GpsLink(dev, _x) dev##_x
-#define _GpsLink(dev, _x)  __GpsLink(dev, _x)
-#define GpsLink(_x) _GpsLink(GPS_LINK, _x)
 
-#define GpsBuffer() GpsLink(ChAvailable())
+extern void ubx_header(struct link_device *dev, uint8_t nav_id, uint8_t msg_id, uint16_t len);
+extern void ubx_trailer(struct link_device *dev);
+extern void ubx_send_bytes(struct link_device *dev, uint8_t len, uint8_t *bytes);
+extern void ubx_send_cfg_rst(struct link_device *dev, uint16_t bbr, uint8_t reset_mode);
 
-#ifndef GPS_UBX_UCENTER
-#define gps_ubx_ucenter_event() {}
-#endif
+extern void gps_ubx_read_message(void);
+extern void gps_ubx_parse(uint8_t c);
+extern void gps_ubx_msg(void (* _cb)(void));
 
 
 /* Gps callback is called when receiving a VELNED or a SOL message
  * All position/speed messages are sent in one shot and VELNED is the last one on fixedwing
  * For rotorcraft, only SOL message is needed for pos/speed data
  */
-#define GpsEvent(_sol_available_callback) {             \
-    if (GpsBuffer()) {                                  \
-      ReadGpsBuffer();                                  \
-    }                                                   \
-    if (gps_ubx.msg_available) {                        \
-      gps.last_msg_ticks = sys_time.nb_sec_rem;         \
-      gps.last_msg_time = sys_time.nb_sec;              \
-      gps_ubx_read_message();                           \
-      gps_ubx_ucenter_event();                          \
-      if (gps_ubx.msg_class == UBX_NAV_ID &&            \
-          (gps_ubx.msg_id == UBX_NAV_VELNED_ID ||       \
-           (gps_ubx.msg_id == UBX_NAV_SOL_ID &&         \
-            gps_ubx.have_velned == 0))) {               \
-        if (gps.fix == GPS_FIX_3D) {                    \
-          gps.last_3dfix_ticks = sys_time.nb_sec_rem;   \
-          gps.last_3dfix_time = sys_time.nb_sec;        \
-        }                                               \
-        _sol_available_callback();                      \
-      }                                                 \
-      gps_ubx.msg_available = FALSE;                    \
-    }                                                   \
+static inline void GpsEvent(void (* _sol_available_callback)(void))
+{
+  struct link_device *dev = &((GPS_LINK).device);
+
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph) && !gps_ubx.msg_available) {
+      gps_ubx_parse(dev->getchar(dev->periph));
+    }
   }
-
-#define ReadGpsBuffer() {         \
-    while (GpsLink(ChAvailable())&&!gps_ubx.msg_available)  \
-      gps_ubx_parse(GpsLink(Getch()));      \
+  if (gps_ubx.msg_available) {
+    gps_ubx_msg(_sol_available_callback);
   }
-
-
-extern void gps_ubx_read_message(void);
-extern void gps_ubx_parse(uint8_t c);
-
+}
 
 
 /*
@@ -148,36 +126,11 @@ extern void gps_ubx_parse(uint8_t c);
 #define CFG_RST_BBR_Warmstart 0x0001
 #define CFG_RST_BBR_Coldstart 0xffff
 
-extern void ubxsend_cfg_rst(uint16_t, uint8_t);
-
 #define gps_ubx_Reset(_val) {                               \
     gps_ubx.reset = _val;                                       \
     if (gps_ubx.reset > CFG_RST_BBR_Warmstart)                  \
       gps_ubx.reset = CFG_RST_BBR_Coldstart;                    \
-    ubxsend_cfg_rst(gps_ubx.reset, CFG_RST_Reset_Controlled);   \
+    ubx_send_cfg_rst(&(GPS_LINK).device, gps_ubx.reset, CFG_RST_Reset_Controlled);   \
   }
 
-#define GpsUartSendMessage GpsLink(SendMessage)
-
-#define GpsUartSend1(c) GpsLink(Transmit(c))
-#define UbxInitCheksum() { gps_ubx.send_ck_a = gps_ubx.send_ck_b = 0; }
-#define UbxUpdateChecksum(c) { gps_ubx.send_ck_a += c; gps_ubx.send_ck_b += gps_ubx.send_ck_a; }
-#define UbxSend1(c) { uint8_t i8=c; GpsUartSend1(i8); UbxUpdateChecksum(i8); }
-#define UbxSend2(c) { uint16_t i16=c; UbxSend1(i16&0xff); UbxSend1(i16 >> 8); }
-#define UbxSend1ByAddr(x) { UbxSend1(*x); }
-#define UbxSend2ByAddr(x) { UbxSend1(*x); UbxSend1(*(x+1)); }
-#define UbxSend4ByAddr(x) { UbxSend1(*x); UbxSend1(*(x+1)); UbxSend1(*(x+2)); UbxSend1(*(x+3)); }
-#define GpsUartSetBaudrate(_a) GpsLink(SetBaudrate(_a))
-
-#define UbxHeader(nav_id, msg_id, len) {        \
-    GpsUartSend1(UBX_SYNC1);                    \
-    GpsUartSend1(UBX_SYNC2);                    \
-    UbxInitCheksum();                           \
-    UbxSend1(nav_id);                           \
-    UbxSend1(msg_id);                           \
-    UbxSend2(len);                              \
-  }
-
-#define UbxTrailer() { GpsUartSend1(gps_ubx.send_ck_a);  GpsUartSend1(gps_ubx.send_ck_b); GpsUartSendMessage(); }
-
 #endif /* GPS_UBX_H */
diff --git a/sw/tools/generators/gen_ubx.ml b/sw/tools/generators/gen_ubx.ml
index ceda079914..4bbce9e933 100644
--- a/sw/tools/generators/gen_ubx.ml
+++ b/sw/tools/generators/gen_ubx.ml
@@ -2,6 +2,7 @@
  * XML preprocessing for UBX protocol
  *
  * Copyright (C) 2003 Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2015 Gautier Hattenberger <gautier.hattenberger@enac.fr>
  *
  * This file is part of paparazzi.
  *
@@ -110,29 +111,31 @@ let parse_message = fun class_name m ->
   end;
 
   (** Generating send function *)
-  let param_name = fun f -> String.lowercase (field_name f) in
+  let param_type = fun f -> c_type (format f) in
+  let param_name = fun f ->String.lowercase (field_name f) in
+  let param_name_and_type = fun f ->
+    sprintf "%s %s" (param_type f) (param_name f) in
   let rec param_names = fun f r ->
     if Xml.tag f = "field" then
-      param_name f :: r
+      param_name_and_type f :: r
     else
       List.fold_right param_names (Xml.children f) r in
-  let param_type = fun f -> c_type (format f) in
-  fprintf out "\n#define UbxSend_%s_%s(" class_name msg_name;
-  fprintf out "%s" (String.concat "," (param_names m []));
-  fprintf out ") { \\\n";
-  fprintf out "  UbxHeader(UBX_%s_ID, %s, %d);\\\n" class_name msg_id !offset;
+  fprintf out "\nstatic inline void UbxSend_%s_%s(" class_name msg_name;
+  fprintf out "%s" (String.concat ", " (["struct link_device *dev"] @ (param_names m [])));
+  fprintf out ") {\n";
+  fprintf out "  ubx_header(dev, UBX_%s_ID, %s, %d);\n" class_name msg_id !offset;
   let rec send_one_field = fun f ->
     match Xml.tag f with
         "field" ->
           let s = sizeof (format f) in
           let p = param_name f in
           let t = param_type f in
-          fprintf out "  %s _%s = %s; UbxSend%dByAddr((uint8_t*)&_%s);\\\n" t p p s p
+          fprintf out "  %s _%s = %s; ubx_send_bytes(dev, %d, (uint8_t*)&_%s);\n" t p p s p
       | "block" ->
         List.iter send_one_field (Xml.children f)
       | _ -> assert (false) in
   List.iter send_one_field (Xml.children m);
-  fprintf out "  UbxTrailer();\\\n";
+  fprintf out "  ubx_trailer(dev);\n";
   fprintf out "}\n"
 
 
@@ -156,6 +159,9 @@ let _ =
     fprintf out "/* Generated by gen_ubx from %s */\n" xml_file;
     fprintf out "/* Please DO NOT EDIT */\n\n";
 
+    fprintf out "#include \"mcu_periph/link_device.h\"\n\n";
+    fprintf out "#include \"subsystems/gps/gps_ubx.h\"\n\n";
+
     define "UBX_SYNC1" "0xB5";
     define "UBX_SYNC2" "0x62";
 

From b80cc08bc7ce6fbc4d399f21c7a95adb40d834e3 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Mon, 16 Mar 2015 00:42:20 +0100
Subject: [PATCH 06/42] [gps] update gps_mtk to use generic device

---
 sw/airborne/subsystems/gps/gps_mtk.c |  5 +-
 sw/airborne/subsystems/gps/gps_mtk.h | 70 ++++++++++++++--------------
 sw/tools/generators/gen_mtk.ml       | 28 +----------
 3 files changed, 39 insertions(+), 64 deletions(-)

diff --git a/sw/airborne/subsystems/gps/gps_mtk.c b/sw/airborne/subsystems/gps/gps_mtk.c
index 826e1ce127..7287b745b6 100644
--- a/sw/airborne/subsystems/gps/gps_mtk.c
+++ b/sw/airborne/subsystems/gps/gps_mtk.c
@@ -393,9 +393,12 @@ restart:
  */
 #ifdef GPS_CONFIGURE
 
+#include "mcu_periph/link_device.h"
+
 static void MtkSend_CFG(char *dat)
 {
-  while (*dat != 0) { GpsLink(Transmit(*dat++)); }
+  struct link_device *dev = &((GPS_LINK).device);
+  while (*dat != 0) { dev->transmit(dev->periph, *dat++); }
 }
 
 void gps_configure_uart(void)
diff --git a/sw/airborne/subsystems/gps/gps_mtk.h b/sw/airborne/subsystems/gps/gps_mtk.h
index fe6c400cab..d2221e65f6 100644
--- a/sw/airborne/subsystems/gps/gps_mtk.h
+++ b/sw/airborne/subsystems/gps/gps_mtk.h
@@ -58,7 +58,6 @@ extern struct GpsMtk gps_mtk;
 #define _GpsLink(dev, _x)  __GpsLink(dev, _x)
 #define GpsLink(_x) _GpsLink(GPS_LINK, _x)
 
-#define GpsBuffer() GpsLink(ChAvailable())
 
 #ifdef GPS_CONFIGURE
 extern bool_t gps_configuring;
@@ -70,44 +69,43 @@ extern bool_t gps_configuring;
 #define GpsConfigure() {}
 #endif
 
-#define GpsEvent(_sol_available_callback) {             \
-    if (GpsBuffer()) {                                  \
-      ReadGpsBuffer();                                  \
-      GpsConfigure();                                   \
-    }                                                   \
-    if (gps_mtk.msg_available) {                        \
-      gps.last_msg_ticks = sys_time.nb_sec_rem;         \
-      gps.last_msg_time = sys_time.nb_sec;              \
-      gps_mtk_read_message();                           \
-      if (gps_mtk.msg_class == MTK_DIY14_ID &&          \
-          gps_mtk.msg_id == MTK_DIY14_NAV_ID) {         \
-        if (gps.fix == GPS_FIX_3D) {                    \
-          gps.last_3dfix_ticks = sys_time.nb_sec_rem;   \
-          gps.last_3dfix_time = sys_time.nb_sec;        \
-        }                                               \
-        _sol_available_callback();                      \
-      }                                                 \
-      if (gps_mtk.msg_class == MTK_DIY16_ID &&          \
-          gps_mtk.msg_id == MTK_DIY16_NAV_ID) {         \
-        if (gps.fix == GPS_FIX_3D) {                    \
-          gps.last_3dfix_ticks = sys_time.nb_sec_rem;   \
-          gps.last_3dfix_time = sys_time.nb_sec;        \
-        }                                               \
-        _sol_available_callback();                      \
-      }                                                 \
-      gps_mtk.msg_available = FALSE;                    \
-    }                                                   \
-  }
-
-#define ReadGpsBuffer() {         \
-    while (GpsLink(ChAvailable())&&!gps_mtk.msg_available)  \
-      gps_mtk_parse(GpsLink(Getch()));      \
-  }
-
-
 extern void gps_mtk_read_message(void);
 extern void gps_mtk_parse(uint8_t c);
 
+static inline void GpsEvent(void (* _sol_available_callback)(void))
+{
+  struct link_device *dev = &((GPS_LINK).device);
+
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph) && !gps_ubx.msg_available) {
+      gps_mtk_parse(dev->getchar(dev->periph));
+    }
+    GpsConfigure();
+  }
+  if (gps_mtk.msg_available) {
+    gps.last_msg_ticks = sys_time.nb_sec_rem;
+    gps.last_msg_time = sys_time.nb_sec;
+    gps_mtk_read_message();
+    if (gps_mtk.msg_class == MTK_DIY14_ID &&
+        gps_mtk.msg_id == MTK_DIY14_NAV_ID) {
+      if (gps.fix == GPS_FIX_3D) {
+        gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+        gps.last_3dfix_time = sys_time.nb_sec;
+      }
+      _sol_available_callback();
+    }
+    if (gps_mtk.msg_class == MTK_DIY16_ID &&
+        gps_mtk.msg_id == MTK_DIY16_NAV_ID) {
+      if (gps.fix == GPS_FIX_3D) {
+        gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+        gps.last_3dfix_time = sys_time.nb_sec;
+      }
+      _sol_available_callback();
+    }
+    gps_mtk.msg_available = FALSE;
+  }
+}
+
 /*
  * dynamic GPS configuration
  */
diff --git a/sw/tools/generators/gen_mtk.ml b/sw/tools/generators/gen_mtk.ml
index fd0885fa72..835d9292ff 100644
--- a/sw/tools/generators/gen_mtk.ml
+++ b/sw/tools/generators/gen_mtk.ml
@@ -105,33 +105,7 @@ let parse_message = fun class_name m ->
       if l <> !offset then raise (Length_error (m, l, !offset))
     with
         Xml.No_attribute("length") -> () (** Undefined length authorized *)
-  end;
-
-  (** Generating send function *)
-  let param_name = fun f -> String.lowercase (field_name f) in
-  let rec param_names = fun f r ->
-    if Xml.tag f = "field" then
-      param_name f :: r
-    else
-      List.fold_right param_names (Xml.children f) r in
-  let param_type = fun f -> c_type (format f) in
-  fprintf out "\n#define MtkSend_%s_%s(" class_name msg_name;
-  fprintf out "%s" (String.concat "," (param_names m []));
-  fprintf out ") { \\\n";
-  fprintf out "  MtkHeader(MTK_%s_ID, %s, %d);\\\n" class_name msg_id !offset;
-  let rec send_one_field = fun f ->
-    match Xml.tag f with
-        "field" ->
-          let s = sizeof (format f) in
-          let p = param_name f in
-          let t = param_type f in
-          fprintf out "  %s _%s = %s; MtkSend%dByAddr((uint8_t*)&_%s);\\\n" t p p s p
-      | "block" ->
-        List.iter send_one_field (Xml.children f)
-      | _ -> assert (false) in
-  List.iter send_one_field (Xml.children m);
-  fprintf out "  MtkTrailer();\\\n";
-  fprintf out "}\n\n#define MTK_%s_%s_LENGTH %d\n" class_name msg_name !offset
+  end
 
 
 let parse_class = fun c ->

From 9c2d78e0c48b2ce993ba2d1d5248f5c872c56be0 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Mon, 16 Mar 2015 18:27:57 +0100
Subject: [PATCH 07/42] fix typo in gps_mtk

---
 sw/airborne/subsystems/gps/gps_mtk.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sw/airborne/subsystems/gps/gps_mtk.h b/sw/airborne/subsystems/gps/gps_mtk.h
index d2221e65f6..69bef05ef1 100644
--- a/sw/airborne/subsystems/gps/gps_mtk.h
+++ b/sw/airborne/subsystems/gps/gps_mtk.h
@@ -77,7 +77,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
   struct link_device *dev = &((GPS_LINK).device);
 
   if (dev->char_available(dev->periph)) {
-    while (dev->char_available(dev->periph) && !gps_ubx.msg_available) {
+    while (dev->char_available(dev->periph) && !gps_mtk.msg_available) {
       gps_mtk_parse(dev->getchar(dev->periph));
     }
     GpsConfigure();

From e2257362cb21ce7d702f67f36b4cd13d41bed3a8 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Mon, 16 Mar 2015 18:42:12 +0100
Subject: [PATCH 08/42] [ins] convert ins_module (Xsens, chimu) to generic
 device

---
 .../subsystems/fixedwing/imu_xsens.makefile   |  2 +-
 .../subsystems/fixedwing/ins_xsens.makefile   |  2 +-
 .../fixedwing/ins_xsens700.makefile           |  2 +-
 sw/airborne/modules/ins/ins_module.h          | 38 +++++++++----------
 4 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/conf/firmwares/subsystems/fixedwing/imu_xsens.makefile b/conf/firmwares/subsystems/fixedwing/imu_xsens.makefile
index f63b94aad6..b18ab3bd5f 100644
--- a/conf/firmwares/subsystems/fixedwing/imu_xsens.makefile
+++ b/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
diff --git a/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile b/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
index f6134183ce..3207698cea 100644
--- a/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
+++ b/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
diff --git a/conf/firmwares/subsystems/fixedwing/ins_xsens700.makefile b/conf/firmwares/subsystems/fixedwing/ins_xsens700.makefile
index 061ed2742d..b114444d17 100644
--- a/conf/firmwares/subsystems/fixedwing/ins_xsens700.makefile
+++ b/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
diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h
index ac71638289..263cc59df6 100644
--- a/sw/airborne/modules/ins/ins_module.h
+++ b/sw/airborne/modules/ins/ins_module.h
@@ -71,33 +71,33 @@ void handle_ins_msg(void);
 void parse_ins_msg(void);
 void parse_ins_buffer(uint8_t);
 
+#include "mcu_periph/link_device.h"
+
+#define InsLink (&((INS_LINK).device))
+
 #ifndef SITL
 #include "mcu_periph/uart.h"
 
-#define __InsLink(dev, _x) dev##_x
-#define _InsLink(dev, _x)  __InsLink(dev, _x)
-#define InsLink(_x) _InsLink(INS_LINK, _x)
-
-#define InsBuffer() InsLink(ChAvailable())
-#define ReadInsBuffer() { while (InsLink(ChAvailable())&&!ins_msg_received) parse_ins_buffer(InsLink(Getch())); }
-#define InsSend1(c) InsLink(Transmit(c))
+#define InsSend1(c) InsLink->transmit(InsLink->periph, c)
 #define InsUartSend1(c) InsSend1(c)
 #define InsSend(_dat,_len) { for (uint8_t i = 0; i< (_len); i++) InsSend1(_dat[i]); };
-#define InsUartSetBaudrate(_b) InsLink(SetBaudrate(_b))
-#define InsUartRunning InsLink(TxRunning)
+#define InsUartSetBaudrate(_b) uart_periph_set_baudrate(INS_LINK, _b)
 
 #endif /** !SITL */
 
-#define InsEventCheckAndHandle(handler) {     \
-    if (InsBuffer()) {            \
-      ReadInsBuffer();            \
-    }                           \
-    if (ins_msg_received) {         \
-      parse_ins_msg();            \
-      handler;              \
-      ins_msg_received = FALSE;         \
-    }                           \
+static inline void ins_event_check_and_handle(void (* handler)(void))
+{
+  struct link_device *dev = InsLink;
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph) && !ins_msg_received) {
+      parse_ins_buffer(dev->getchar(dev->periph));
+    }
   }
-
+  if (ins_msg_received) {
+    parse_ins_msg();
+    handler();
+    ins_msg_received = FALSE;
+  }
+}
 
 #endif /* INS_MODULE_H */

From 33247a0f8a59b8c0cb38979565d3f03b8f065972 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Mon, 16 Mar 2015 21:41:27 +0100
Subject: [PATCH 09/42] forgot ahrs chimu

---
 sw/airborne/modules/ins/ahrs_chimu_spi.c  | 5 +++--
 sw/airborne/modules/ins/ahrs_chimu_uart.c | 5 +++--
 sw/airborne/modules/ins/ins_module.h      | 6 +++---
 3 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/sw/airborne/modules/ins/ahrs_chimu_spi.c b/sw/airborne/modules/ins/ahrs_chimu_spi.c
index 40b705d18c..ab8005a00f 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_spi.c
+++ b/sw/airborne/modules/ins/ahrs_chimu_spi.c
@@ -81,8 +81,9 @@ void ahrs_chimu_init(void)
 
 void parse_ins_msg(void)
 {
-  while (InsLink(ChAvailable())) {
-    uint8_t ch = InsLink(Getch());
+  struct link_device *dev = InsLinkDevice;
+  while (dev->char_available(dev->periph)) {
+    uint8_t ch = dev->getchar(dev->periph);
 
     if (CHIMU_Parse(ch, 0, &CHIMU_DATA)) {
       RunOnceEvery(25, LED_TOGGLE(3));
diff --git a/sw/airborne/modules/ins/ahrs_chimu_uart.c b/sw/airborne/modules/ins/ahrs_chimu_uart.c
index b993ee3f92..f1bf8261be 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_uart.c
+++ b/sw/airborne/modules/ins/ahrs_chimu_uart.c
@@ -72,8 +72,9 @@ void ahrs_chimu_init(void)
 
 void parse_ins_msg(void)
 {
-  while (InsLink(ChAvailable())) {
-    uint8_t ch = InsLink(Getch());
+  struct link_device *dev = InsLinkDevice;
+  while (dev->char_available(dev->periph)) {
+    uint8_t ch = dev->getchar(dev->periph);
 
     if (CHIMU_Parse(ch, 0, &CHIMU_DATA)) {
       if (CHIMU_DATA.m_MsgID == 0x03) {
diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h
index 263cc59df6..8f6416413a 100644
--- a/sw/airborne/modules/ins/ins_module.h
+++ b/sw/airborne/modules/ins/ins_module.h
@@ -73,12 +73,12 @@ void parse_ins_buffer(uint8_t);
 
 #include "mcu_periph/link_device.h"
 
-#define InsLink (&((INS_LINK).device))
+#define InsLinkDevice (&((INS_LINK).device))
 
 #ifndef SITL
 #include "mcu_periph/uart.h"
 
-#define InsSend1(c) InsLink->transmit(InsLink->periph, c)
+#define InsSend1(c) InsLinkDevice->transmit(InsLinkDevice->periph, c)
 #define InsUartSend1(c) InsSend1(c)
 #define InsSend(_dat,_len) { for (uint8_t i = 0; i< (_len); i++) InsSend1(_dat[i]); };
 #define InsUartSetBaudrate(_b) uart_periph_set_baudrate(INS_LINK, _b)
@@ -87,7 +87,7 @@ void parse_ins_buffer(uint8_t);
 
 static inline void ins_event_check_and_handle(void (* handler)(void))
 {
-  struct link_device *dev = InsLink;
+  struct link_device *dev = InsLinkDevice;
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !ins_msg_received) {
       parse_ins_buffer(dev->getchar(dev->periph));

From 7c22708ca7515945e17a60482e7ae3ff42ed687f Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Mon, 16 Mar 2015 21:59:55 +0100
Subject: [PATCH 10/42] [telemetry] fbw datalink using generic device

---
 .../fixedwing/fbw_datalink.makefile           |  7 +++-
 .../firmwares/fixedwing/fbw_datalink.c        | 38 ++++++-------------
 2 files changed, 16 insertions(+), 29 deletions(-)

diff --git a/conf/firmwares/subsystems/fixedwing/fbw_datalink.makefile b/conf/firmwares/subsystems/fixedwing/fbw_datalink.makefile
index 4983c1fab2..ecb94029fe 100644
--- a/conf/firmwares/subsystems/fixedwing/fbw_datalink.makefile
+++ b/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)
diff --git a/sw/airborne/firmwares/fixedwing/fbw_datalink.c b/sw/airborne/firmwares/fixedwing/fbw_datalink.c
index d09a3fa017..d1ab3c9734 100644
--- a/sw/airborne/firmwares/fixedwing/fbw_datalink.c
+++ b/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->transmit(ModemLinkDevice->periph, c);
 }
 
 static inline void modem_parse(char c)
 {
-  AutopilotLink(Transmit(c));
+  AutopilotLinkDevice->transmit(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->getchar(ModemLinkDevice->periph));
+
+  while (AutopilotLinkDevice->char_available(AutopilotLinkDevice->periph))
+    autopilot_parse(AutopilotLinkDevice->getchar(AutopilotLinkDevice->periph));
 }

From 079e5d8956c592c9b5a049485e5464c0b4e0d876 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Mon, 16 Mar 2015 22:17:31 +0100
Subject: [PATCH 11/42] [inter_mcu] update inter_mcu to use uart directly

---
 .../fixedwing/intermcu_uart.makefile          |  6 ++++--
 sw/airborne/link_mcu_usart.c                  | 20 ++++++++-----------
 2 files changed, 12 insertions(+), 14 deletions(-)

diff --git a/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile b/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile
index 0430a139cb..a904dfd32f 100644
--- a/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile
+++ b/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile
@@ -10,13 +10,15 @@ endif
 ifeq ($(TARGET),fbw)
   ifeq ($(INTERMCU_PORT),none)
     INTERMCU_PORT = UART2
+    INTERMCU_PORT_LOWER = $(shell echo $(INTERMCU_PORT) | tr A-Z a-z)
   endif
-  fbw.CFLAGS += -DINTERMCU_LINK=$(INTERMCU_PORT) -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=B57600
+  fbw.CFLAGS += -DINTERMCU_LINK=$(INTERMCU_PORT_LOWER) -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=B57600
 else
   ifeq ($(INTERMCU_PORT),none)
     INTERMCU_PORT = UART5
+    INTERMCU_PORT_LOWER = $(shell echo $(INTERMCU_PORT) | tr A-Z a-z)
   endif
-  ap.CFLAGS += -DINTERMCU_LINK=$(INTERMCU_PORT) -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=B57600
+  ap.CFLAGS += -DINTERMCU_LINK=$(INTERMCU_PORT_LOWER) -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=B57600
 endif
 
 ifneq ($(TARGET),sim)
diff --git a/sw/airborne/link_mcu_usart.c b/sw/airborne/link_mcu_usart.c
index d4a212be14..c42f03537a 100644
--- a/sw/airborne/link_mcu_usart.c
+++ b/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;

From a6a328e1c14683ab2dc3d37360eed41c08637ac6 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Mon, 16 Mar 2015 22:20:10 +0100
Subject: [PATCH 12/42] fix telemetry over usb config

---
 .../subsystems/rotorcraft/telemetry_transparent_usb.makefile    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile b/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile
index f6cb031760..b50ed3f18e 100644
--- a/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile
@@ -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

From 34cb20bedc4d3dd1c13a518ff5167596d1503946 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Mon, 16 Mar 2015 23:44:32 +0100
Subject: [PATCH 13/42] [gps] update some gps for generic device

---
 .../subsystems/fixedwing/gps_furuno.makefile  |  3 +-
 .../fixedwing/gps_mediatek_diy.makefile       |  3 +-
 .../subsystems/fixedwing/gps_nmea.makefile    |  3 +-
 .../subsystems/fixedwing/gps_skytraq.makefile |  3 +-
 .../subsystems/rotorcraft/gps_furuno.makefile |  3 +-
 .../subsystems/rotorcraft/gps_nmea.makefile   |  3 +-
 .../subsystems/rotorcraft/gps_sirf.makefile   |  3 +-
 .../rotorcraft/gps_skytraq.makefile           |  3 +-
 sw/airborne/subsystems/gps/gps_furuno.c       |  6 ++-
 sw/airborne/subsystems/gps/gps_mtk.c          | 24 ++++++++++
 sw/airborne/subsystems/gps/gps_mtk.h          | 26 +---------
 sw/airborne/subsystems/gps/gps_nmea.c         | 15 ++++++
 sw/airborne/subsystems/gps/gps_nmea.h         | 48 +++++++------------
 sw/airborne/subsystems/gps/gps_sirf.c         | 15 ++++++
 sw/airborne/subsystems/gps/gps_sirf.h         | 45 +++++++----------
 sw/airborne/subsystems/gps/gps_skytraq.c      | 15 ++++++
 sw/airborne/subsystems/gps/gps_skytraq.h      | 46 +++++++-----------
 sw/airborne/subsystems/gps/gps_ubx.h          |  1 +
 18 files changed, 141 insertions(+), 124 deletions(-)

diff --git a/conf/firmwares/subsystems/fixedwing/gps_furuno.makefile b/conf/firmwares/subsystems/fixedwing/gps_furuno.makefile
index 3a49318971..a76f040d8c 100644
--- a/conf/firmwares/subsystems/fixedwing/gps_furuno.makefile
+++ b/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
diff --git a/conf/firmwares/subsystems/fixedwing/gps_mediatek_diy.makefile b/conf/firmwares/subsystems/fixedwing/gps_mediatek_diy.makefile
index 96f08a7fd4..bbff58464c 100644
--- a/conf/firmwares/subsystems/fixedwing/gps_mediatek_diy.makefile
+++ b/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)
 
diff --git a/conf/firmwares/subsystems/fixedwing/gps_nmea.makefile b/conf/firmwares/subsystems/fixedwing/gps_nmea.makefile
index 8fa7a5eaf3..1656ef6667 100644
--- a/conf/firmwares/subsystems/fixedwing/gps_nmea.makefile
+++ b/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)
 
diff --git a/conf/firmwares/subsystems/fixedwing/gps_skytraq.makefile b/conf/firmwares/subsystems/fixedwing/gps_skytraq.makefile
index e5bd7870ad..2a3858fa3f 100644
--- a/conf/firmwares/subsystems/fixedwing/gps_skytraq.makefile
+++ b/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)
 
diff --git a/conf/firmwares/subsystems/rotorcraft/gps_furuno.makefile b/conf/firmwares/subsystems/rotorcraft/gps_furuno.makefile
index 49f778847b..14f101edc4 100644
--- a/conf/firmwares/subsystems/rotorcraft/gps_furuno.makefile
+++ b/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
diff --git a/conf/firmwares/subsystems/rotorcraft/gps_nmea.makefile b/conf/firmwares/subsystems/rotorcraft/gps_nmea.makefile
index f90c2aa2bd..9f6bca64d4 100644
--- a/conf/firmwares/subsystems/rotorcraft/gps_nmea.makefile
+++ b/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)
 
diff --git a/conf/firmwares/subsystems/rotorcraft/gps_sirf.makefile b/conf/firmwares/subsystems/rotorcraft/gps_sirf.makefile
index 37557f098b..3007813055 100644
--- a/conf/firmwares/subsystems/rotorcraft/gps_sirf.makefile
+++ b/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)
 
diff --git a/conf/firmwares/subsystems/rotorcraft/gps_skytraq.makefile b/conf/firmwares/subsystems/rotorcraft/gps_skytraq.makefile
index 39404dd9e1..0855406672 100644
--- a/conf/firmwares/subsystems/rotorcraft/gps_skytraq.makefile
+++ b/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)
 
diff --git a/sw/airborne/subsystems/gps/gps_furuno.c b/sw/airborne/subsystems/gps/gps_furuno.c
index befb57da65..efc28051a6 100644
--- a/sw/airborne/subsystems/gps/gps_furuno.c
+++ b/sw/airborne/subsystems/gps/gps_furuno.c
@@ -47,6 +47,8 @@ static const char *gps_furuno_settings[GPS_FURUNO_SETTINGS_NB] = {
 
 static void nmea_parse_perdcrv(void);
 
+#define GpsLinkDevice (&(GPS_LINK).device)
+
 void nmea_parse_prop_init(void)
 {
   static uint8_t i = 0;
@@ -64,9 +66,9 @@ void nmea_parse_prop_init(void)
     sprintf(buf, "$%s*%02X\r\n", gps_furuno_settings[i], crc);
 
     // Check if there is enough space to send the config msg
-    if (GpsLink(CheckFreeSpace(len + 6))) {
+    if (GpsLinkDevice->check_free_space(GpsLinkDevice->periph, len + 6)) {
       for (j = 0; j < len + 6; j++) {
-        GpsLink(Transmit(buf[j]));
+        GpsLinkDevice->transmit(GpsLinkDevice->periph, buf[j]);
       }
     } else {
       break;
diff --git a/sw/airborne/subsystems/gps/gps_mtk.c b/sw/airborne/subsystems/gps/gps_mtk.c
index 7287b745b6..5a61336b6b 100644
--- a/sw/airborne/subsystems/gps/gps_mtk.c
+++ b/sw/airborne/subsystems/gps/gps_mtk.c
@@ -115,6 +115,30 @@ void gps_impl_init(void)
 #endif
 }
 
+void gps_mtk_msg(void (* _cb)(void))
+{
+  gps.last_msg_ticks = sys_time.nb_sec_rem;
+  gps.last_msg_time = sys_time.nb_sec;
+  gps_mtk_read_message();
+  if (gps_mtk.msg_class == MTK_DIY14_ID &&
+      gps_mtk.msg_id == MTK_DIY14_NAV_ID) {
+    if (gps.fix == GPS_FIX_3D) {
+      gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+      gps.last_3dfix_time = sys_time.nb_sec;
+    }
+    _sol_available_callback();
+  }
+  if (gps_mtk.msg_class == MTK_DIY16_ID &&
+      gps_mtk.msg_id == MTK_DIY16_NAV_ID) {
+    if (gps.fix == GPS_FIX_3D) {
+      gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+      gps.last_3dfix_time = sys_time.nb_sec;
+    }
+    _cb();
+  }
+  gps_mtk.msg_available = FALSE;
+}
+
 static void gps_mtk_time2itow(uint32_t  gps_date, uint32_t  gps_time,
                               int16_t *gps_week, uint32_t *gps_itow)
 {
diff --git a/sw/airborne/subsystems/gps/gps_mtk.h b/sw/airborne/subsystems/gps/gps_mtk.h
index 69bef05ef1..ff799266a3 100644
--- a/sw/airborne/subsystems/gps/gps_mtk.h
+++ b/sw/airborne/subsystems/gps/gps_mtk.h
@@ -54,10 +54,7 @@ extern struct GpsMtk gps_mtk;
 /*
  * This part is used by the autopilot to read data from a uart
  */
-#define __GpsLink(dev, _x) dev##_x
-#define _GpsLink(dev, _x)  __GpsLink(dev, _x)
-#define GpsLink(_x) _GpsLink(GPS_LINK, _x)
-
+#include "mcu_periph/link_device.h"
 
 #ifdef GPS_CONFIGURE
 extern bool_t gps_configuring;
@@ -83,26 +80,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
     GpsConfigure();
   }
   if (gps_mtk.msg_available) {
-    gps.last_msg_ticks = sys_time.nb_sec_rem;
-    gps.last_msg_time = sys_time.nb_sec;
-    gps_mtk_read_message();
-    if (gps_mtk.msg_class == MTK_DIY14_ID &&
-        gps_mtk.msg_id == MTK_DIY14_NAV_ID) {
-      if (gps.fix == GPS_FIX_3D) {
-        gps.last_3dfix_ticks = sys_time.nb_sec_rem;
-        gps.last_3dfix_time = sys_time.nb_sec;
-      }
-      _sol_available_callback();
-    }
-    if (gps_mtk.msg_class == MTK_DIY16_ID &&
-        gps_mtk.msg_id == MTK_DIY16_NAV_ID) {
-      if (gps.fix == GPS_FIX_3D) {
-        gps.last_3dfix_ticks = sys_time.nb_sec_rem;
-        gps.last_3dfix_time = sys_time.nb_sec;
-      }
-      _sol_available_callback();
-    }
-    gps_mtk.msg_available = FALSE;
+    gps_mtk_msg(_sol_available_callback);
   }
 }
 
diff --git a/sw/airborne/subsystems/gps/gps_nmea.c b/sw/airborne/subsystems/gps/gps_nmea.c
index 987ebe2a82..fa4445538b 100644
--- a/sw/airborne/subsystems/gps/gps_nmea.c
+++ b/sw/airborne/subsystems/gps/gps_nmea.c
@@ -63,6 +63,21 @@ void gps_impl_init(void)
   nmea_parse_prop_init();
 }
 
+void gps_nmea_msg(void (* _cb)(void))
+{
+  gps.last_msg_ticks = sys_time.nb_sec_rem;
+  gps.last_msg_time = sys_time.nb_sec;
+  nmea_parse_msg();
+  if (gps_nmea.pos_available) {
+    if (gps.fix == GPS_FIX_3D) {
+      gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+      gps.last_3dfix_time = sys_time.nb_sec;
+    }
+    _cb();
+  }
+  gps_nmea.msg_available = FALSE;
+}
+
 void WEAK nmea_parse_prop_init(void)
 {
 }
diff --git a/sw/airborne/subsystems/gps/gps_nmea.h b/sw/airborne/subsystems/gps/gps_nmea.h
index d416b34ad7..08d2660a7d 100644
--- a/sw/airborne/subsystems/gps/gps_nmea.h
+++ b/sw/airborne/subsystems/gps/gps_nmea.h
@@ -52,44 +52,30 @@ extern struct GpsNmea gps_nmea;
 /*
  * This part is used by the autopilot to read data from a uart
  */
-#define __GpsLink(dev, _x) dev##_x
-#define _GpsLink(dev, _x)  __GpsLink(dev, _x)
-#define GpsLink(_x) _GpsLink(GPS_LINK, _x)
 
-#define GpsBuffer() GpsLink(ChAvailable())
+/** The function to be called when a characted from the device is available */
+#include "mcu_periph/link_device.h"
 
-#define GpsEvent(_sol_available_callback) {             \
-    nmea_parse_prop_init();                             \
-    if (GpsBuffer()) {                                  \
-      ReadGpsBuffer();                                  \
-    }                                                   \
-    if (gps_nmea.msg_available) {                       \
-      gps.last_msg_ticks = sys_time.nb_sec_rem;         \
-      gps.last_msg_time = sys_time.nb_sec;              \
-      nmea_parse_msg();                                 \
-      if (gps_nmea.pos_available) {                     \
-        if (gps.fix == GPS_FIX_3D) {                    \
-          gps.last_3dfix_ticks = sys_time.nb_sec_rem;   \
-          gps.last_3dfix_time = sys_time.nb_sec;        \
-        }                                               \
-        _sol_available_callback();                      \
-      }                                                 \
-      gps_nmea.msg_available = FALSE;                   \
-    }                                                   \
-  }
-
-#define ReadGpsBuffer() {         \
-    while (GpsLink(ChAvailable())&&!gps_nmea.msg_available) \
-      nmea_parse_char(GpsLink(Getch()));      \
-  }
-
-
-/** The function to be called when a characted friom the device is available */
 extern void nmea_parse_char(uint8_t c);
 extern void nmea_parse_msg(void);
 extern uint8_t nmea_calc_crc(const char *buff, int buff_sz);
 extern void nmea_parse_prop_init(void);
 extern void nmea_parse_prop_msg(void);
+extern void gps_nmea_msg(void (* _cb)(void));
+
+static inline void GpsEvent(void (* _sol_available_callback)(void))
+{
+  struct link_device *dev = &((GPS_LINK).device);
+
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph)) {
+      nmea_parse_char(dev->getchar(dev->periph));
+    }
+  }
+  if (gps_nmea.msg_available) {
+    gps_nmea_msg(_sol_available_callback);
+  }
+}
 
 /** Read until a certain character, placed here for proprietary includes */
 static inline void nmea_read_until(int *i)
diff --git a/sw/airborne/subsystems/gps/gps_sirf.c b/sw/airborne/subsystems/gps/gps_sirf.c
index d6d6f58f8d..96ed382927 100644
--- a/sw/airborne/subsystems/gps/gps_sirf.c
+++ b/sw/airborne/subsystems/gps/gps_sirf.c
@@ -48,6 +48,21 @@ void gps_impl_init(void)
   gps_sirf.read_state = 0;
 }
 
+void gps_sirf_msg(void (* _cb)(void))
+{
+  gps.last_msg_ticks = sys_time.nb_sec_rem;
+  gps.last_msg_time = sys_time.nb_sec;
+  sirf_parse_msg();
+  if (gps_sirf.pos_available) {
+    if (gps.fix == GPS_FIX_3D) {
+      gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+      gps.last_3dfix_time = sys_time.nb_sec;
+    }
+    _cb();
+  }
+  gps_sirf.msg_available = FALSE;
+}
+
 void sirf_parse_char(uint8_t c)
 {
   switch (gps_sirf.read_state) {
diff --git a/sw/airborne/subsystems/gps/gps_sirf.h b/sw/airborne/subsystems/gps/gps_sirf.h
index db270a4fe6..4cd67b8e02 100644
--- a/sw/airborne/subsystems/gps/gps_sirf.h
+++ b/sw/airborne/subsystems/gps/gps_sirf.h
@@ -127,37 +127,24 @@ struct sirf_msg_41 {
 /*
  * This part is used by the autopilot to read data from a uart
  */
-#define __GpsLink(dev, _x) dev##_x
-#define _GpsLink(dev, _x)  __GpsLink(dev, _x)
-#define GpsLink(_x) _GpsLink(GPS_LINK, _x)
-
-#define GpsBuffer() GpsLink(ChAvailable())
-
-#define GpsEvent(_sol_available_callback) {             \
-    if (GpsBuffer()) {                                  \
-      ReadGpsBuffer();                                  \
-    }                                                   \
-    if (gps_sirf.msg_available) {                       \
-      gps.last_msg_ticks = sys_time.nb_sec_rem;         \
-      gps.last_msg_time = sys_time.nb_sec;              \
-      sirf_parse_msg();                                 \
-      if (gps_sirf.pos_available) {                     \
-        if (gps.fix == GPS_FIX_3D) {                    \
-          gps.last_3dfix_ticks = sys_time.nb_sec_rem;   \
-          gps.last_3dfix_time = sys_time.nb_sec;        \
-        }                                               \
-        _sol_available_callback();                      \
-      }                                                 \
-      gps_sirf.msg_available = FALSE;                   \
-    }                                                   \
-  }
-
-#define ReadGpsBuffer() {                                   \
-    while (GpsLink(ChAvailable())&&!gps_sirf.msg_available) \
-      sirf_parse_char(GpsLink(Getch()));                    \
-  }
+#include "mcu_periph/link_device.h"
 
 extern void sirf_parse_char(uint8_t c);
 extern void sirf_parse_msg(void);
+extern void gps_sirf_msg(void (* _cb)(void));
+
+static inline void GpsEvent(void (* _sol_available_callback)(void))
+{
+  struct link_device *dev = &((GPS_LINK).device);
+
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph)) {
+      sirf_parse_char(dev->getchar(dev->periph));
+    }
+  }
+  if (gps_sirf.msg_available) {
+    gps_sirf_msg(_sol_available_callback);
+  }
+}
 
 #endif /* GPS_SIRF_H */
diff --git a/sw/airborne/subsystems/gps/gps_skytraq.c b/sw/airborne/subsystems/gps/gps_skytraq.c
index e46606c697..d2b220f937 100644
--- a/sw/airborne/subsystems/gps/gps_skytraq.c
+++ b/sw/airborne/subsystems/gps/gps_skytraq.c
@@ -97,6 +97,21 @@ void gps_impl_init(void)
 
 }
 
+void gps_skytraq_msg(void (* _cb)(void))
+{
+  gps.last_msg_ticks = sys_time.nb_sec_rem;
+  gps.last_msg_time = sys_time.nb_sec;
+  gps_skytraq_read_message();
+  if (gps_skytraq.msg_id == SKYTRAQ_ID_NAVIGATION_DATA) {
+    if (gps.fix == GPS_FIX_3D) {
+      gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+      gps.last_3dfix_time = sys_time.nb_sec;
+    }
+    _cb();
+  }
+  gps_skytraq.msg_available = FALSE;
+}
+
 
 void gps_skytraq_read_message(void)
 {
diff --git a/sw/airborne/subsystems/gps/gps_skytraq.h b/sw/airborne/subsystems/gps/gps_skytraq.h
index d136dfc9b3..0ee2654004 100644
--- a/sw/airborne/subsystems/gps/gps_skytraq.h
+++ b/sw/airborne/subsystems/gps/gps_skytraq.h
@@ -58,38 +58,24 @@ extern struct GpsSkytraq gps_skytraq;
 /*
  * This part is used by the autopilot to read data from a uart
  */
-#define __GpsLink(dev, _x) dev##_x
-#define _GpsLink(dev, _x)  __GpsLink(dev, _x)
-#define GpsLink(_x) _GpsLink(GPS_LINK, _x)
-
-#define GpsBuffer() GpsLink(ChAvailable())
-
-#define GpsEvent(_sol_available_callback) {                     \
-    if (GpsBuffer()) {                                          \
-      ReadGpsBuffer();                                          \
-    }                                                           \
-    if (gps_skytraq.msg_available) {                            \
-      gps.last_msg_ticks = sys_time.nb_sec_rem;                 \
-      gps.last_msg_time = sys_time.nb_sec;                      \
-      gps_skytraq_read_message();                               \
-      if (gps_skytraq.msg_id == SKYTRAQ_ID_NAVIGATION_DATA) { \
-        if (gps.fix == GPS_FIX_3D) {                            \
-          gps.last_3dfix_ticks = sys_time.nb_sec_rem;           \
-          gps.last_3dfix_time = sys_time.nb_sec;                \
-        }                                                       \
-        _sol_available_callback();                              \
-      }                                                         \
-      gps_skytraq.msg_available = FALSE;                        \
-    }                                                           \
-  }
-
-#define ReadGpsBuffer() {           \
-    while (GpsLink(ChAvailable())&&!gps_skytraq.msg_available)  \
-      gps_skytraq_parse(GpsLink(Getch()));        \
-  }
-
+#include "mcu_periph/link_device.h"
 
 extern void gps_skytraq_read_message(void);
 extern void gps_skytraq_parse(uint8_t c);
+extern void gps_skytraq_msg(void (* _cb)(void));
+
+static inline void GpsEvent(void (* _sol_available_callback)(void))
+{
+  struct link_device *dev = &((GPS_LINK).device);
+
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph) && !gps_mtk.msg_available) {
+      gps_skytraq_parse(dev->getchar(dev->periph));
+    }
+  }
+  if (gps_skytraq.msg_available) {
+    gps_skytraq_msg(_sol_available_callback);
+  }
+}
 
 #endif /* GPS_SKYTRAQ_H */
diff --git a/sw/airborne/subsystems/gps/gps_ubx.h b/sw/airborne/subsystems/gps/gps_ubx.h
index 95332a3f25..f3637b6087 100644
--- a/sw/airborne/subsystems/gps/gps_ubx.h
+++ b/sw/airborne/subsystems/gps/gps_ubx.h
@@ -82,6 +82,7 @@ extern struct GpsUbxRaw gps_ubx_raw;
 /*
  * This part is used by the autopilot to read data from a uart
  */
+#include "mcu_periph/link_device.h"
 
 extern void ubx_header(struct link_device *dev, uint8_t nav_id, uint8_t msg_id, uint16_t len);
 extern void ubx_trailer(struct link_device *dev);

From 9c1fff29a9b3501beff637b5f354f437b2f6ad97 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Mon, 16 Mar 2015 23:52:16 +0100
Subject: [PATCH 14/42] fix sdlog

---
 sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
index aaef1b46ae..3d3122dc71 100644
--- a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
+++ b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
@@ -87,8 +87,8 @@ bool_t chibios_logInit(const bool_t binaryFile)
   chibios_sdlog.device.check_free_space = (check_free_space_t) sdlog_check_free_space;
   chibios_sdlog.device.transmit = (transmit_t) sdlog_transmit;
   chibios_sdlog.device.send_message = (send_message_t) sdlog_send;
-  chibios_sdlog.device.char_available = (char_available_t) null; // read only
-  chibios_sdlog.device.getchar = (getchar_t) null; // read only
+  chibios_sdlog.device.char_available = (char_available_t) null_function; // read only
+  chibios_sdlog.device.getchar = (getchar_t) null_function; // read only
 
   if (sdLogInit (NULL) != SDLOG_OK)
     goto error;

From 6a8835266c75e8711a21592d53e76615a0f3e1b7 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 00:24:33 +0100
Subject: [PATCH 15/42] [mavlink] update mavlink related files for generic
 device

---
 conf/modules/mavlink.xml                      |  7 +++--
 conf/modules/mavlink_decoder.xml              |  5 +++-
 sw/airborne/modules/datalink/mavlink.c        | 28 +++++++++----------
 sw/airborne/modules/datalink/mavlink.h        | 12 ++++----
 .../modules/datalink/mavlink_decoder.h        | 25 ++++++++---------
 5 files changed, 41 insertions(+), 36 deletions(-)

diff --git a/conf/modules/mavlink.xml b/conf/modules/mavlink.xml
index 2a0dae6be4..0c5ee3dcbe 100644
--- a/conf/modules/mavlink.xml
+++ b/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=$(MAVLINK_BAUD)
       endif
diff --git a/conf/modules/mavlink_decoder.xml b/conf/modules/mavlink_decoder.xml
index fc85851331..18182e7c27 100644
--- a/conf/modules/mavlink_decoder.xml
+++ b/conf/modules/mavlink_decoder.xml
@@ -11,7 +11,10 @@
   </header>
   <event fun="MavlinkDatalinkEvent()"/>
   <makefile>
-    <define name="MAVLINK_UART" value="$(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"/>
diff --git a/sw/airborne/modules/datalink/mavlink.c b/sw/airborne/modules/datalink/mavlink.c
index f6f807152e..4426b55a18 100644
--- a/sw/airborne/modules/datalink/mavlink.c
+++ b/sw/airborne/modules/datalink/mavlink.c
@@ -143,8 +143,8 @@ void mavlink_event(void)
   mavlink_status_t status;
 
   // Check uplink
-  while (MAVLink(ChAvailable())) {
-    char test = MAVLink(Getch());
+  while (MAVLinkChAvailable()) {
+    char test = MAVLinkGetch();
 
     // When we receive a message
     if (mavlink_parse_char(MAVLINK_COMM_0, test, &msg, &status)) {
@@ -158,7 +158,7 @@ void mavlink_event(void)
           mavlink_msg_request_data_stream_decode(&msg, &cmd);
 
           mavlink_msg_data_stream_send(MAVLINK_COMM_0, cmd.req_stream_id, 0, 0);
-          MAVLink(SendMessage());
+          MAVLinkSendMessage();
           break;
         }
 
@@ -200,7 +200,7 @@ void mavlink_event(void)
                                        MAV_PARAM_TYPE_REAL32,
                                        NB_SETTING,
                                        cmd.param_index);
-          MAVLink(SendMessage());
+          MAVLinkSendMessage();
 
           break;
         }
@@ -227,7 +227,7 @@ void mavlink_event(void)
                                              MAV_PARAM_TYPE_REAL32,
                                              NB_SETTING,
                                              idx);
-                MAVLink(SendMessage());
+                MAVLinkSendMessage();
               }
             }
           }
@@ -244,7 +244,7 @@ void mavlink_event(void)
                                            msg.sysid,
                                            msg.compid,
                                            NB_WAYPOINT);
-            MAVLink(SendMessage());
+            MAVLinkSendMessage();
           }
         }
           break;
@@ -268,7 +268,7 @@ void mavlink_event(void)
                                             WaypointX(req.seq),
                                             WaypointY(req.seq),
                                             WaypointAlt(req.seq));
-              MAVLink(SendMessage());
+              MAVLinkSendMessage();
             }
           }
         }
@@ -311,7 +311,7 @@ static inline void mavlink_send_heartbeat(void)
                              mav_mode,
                              0, // custom_mode
                              mav_state);
-  MAVLink(SendMessage());
+  MAVLinkSendMessage())
 }
 
 /**
@@ -333,7 +333,7 @@ static inline void mavlink_send_sys_status(void)
                               0,      // Autopilot specific error 2
                               0,      // Autopilot specific error 3
                               0);     // Autopilot specific error 4
-  MAVLink(SendMessage());
+  MAVLinkSendMessage();
 }
 
 /**
@@ -349,7 +349,7 @@ static inline void mavlink_send_attitude(void)
                             stateGetBodyRates_f()->p,             // p
                             stateGetBodyRates_f()->q,             // q
                             stateGetBodyRates_f()->r);            // r
-  MAVLink(SendMessage());
+  MAVLinkSendMessage();
 }
 
 static inline void mavlink_send_local_position_ned(void)
@@ -362,7 +362,7 @@ static inline void mavlink_send_local_position_ned(void)
                                       stateGetSpeedNed_f()->x,
                                       stateGetSpeedNed_f()->y,
                                       stateGetSpeedNed_f()->z);
-  MAVLink(SendMessage());
+  MAVLinkSendMessage();
 }
 
 static inline void mavlink_send_global_position_int(void)
@@ -384,7 +384,7 @@ static inline void mavlink_send_global_position_int(void)
                                        stateGetSpeedNed_f()->y * 100,
                                        stateGetSpeedNed_f()->z * 100,
                                        compass_heading);
-  MAVLink(SendMessage());
+  MAVLinkSendMessage();
 }
 
 static inline void mavlink_send_gps_global_origin(void)
@@ -394,7 +394,7 @@ static inline void mavlink_send_gps_global_origin(void)
                                        state.ned_origin_i.lla.lat,
                                        state.ned_origin_i.lla.lon,
                                        state.ned_origin_i.hmsl);
-    MAVLink(SendMessage());
+    MAVLinkSendMessage();
   }
 }
 
@@ -413,7 +413,7 @@ static inline void mavlink_send_params(void)
                                MAV_PARAM_TYPE_REAL32,
                                NB_SETTING,
                                mavlink_params_idx);
-  MAVLink(SendMessage());
+  MAVLinkSendMessage();
 
   mavlink_params_idx++;
 }
diff --git a/sw/airborne/modules/datalink/mavlink.h b/sw/airborne/modules/datalink/mavlink.h
index 5621f684df..b5dbc3c13d 100644
--- a/sw/airborne/modules/datalink/mavlink.h
+++ b/sw/airborne/modules/datalink/mavlink.h
@@ -46,15 +46,17 @@
 extern mavlink_system_t mavlink_system;
 
 #ifndef MAVLINK_DEV
-#define MAVLINK_DEV UART1
+#define MAVLINK_DEV uart1
 #endif
 
 /*
  * The MAVLink link description
  */
-#define __MAVLink(dev, _x) dev##_x
-#define _MAVLink(dev, _x)  __MAVLink(dev, _x)
-#define MAVLink(_x) _MAVLink(MAVLINK_DEV, _x)
+#define MAVLinkDev (&(MAVLINK_DEV).device)
+#define MAVLinkTransmit(c) MAVLinkDev->transmit(MAVLinkDev->periph, c)
+#define MAVLinkChAvailable() MAVLinkDev->check_available(MAVLinkDev->periph)
+#define MAVLinkGetch() MAVLinkDev->getchar(MAVLinkDev->periph)
+#define MAVLinkSendMessage() MAVLinkDev->send_message(MAVLinkDev->periph)
 
 /**
  * Module functions
@@ -72,7 +74,7 @@ void mavlink_event(void);
 static inline void comm_send_ch(mavlink_channel_t chan __attribute__((unused)), uint8_t ch)
 {
   // Send bytes
-  MAVLink(Transmit(ch));
+  MAVLinkTransmit(ch);
 }
 
 #endif // DATALINK_MAVLINK_H
diff --git a/sw/airborne/modules/datalink/mavlink_decoder.h b/sw/airborne/modules/datalink/mavlink_decoder.h
index 2eda365779..424c709246 100644
--- a/sw/airborne/modules/datalink/mavlink_decoder.h
+++ b/sw/airborne/modules/datalink/mavlink_decoder.h
@@ -251,22 +251,21 @@ static inline void mavlink_parse_payload(struct mavlink_transport *t)
   }
 }
 
-
-#define MavlinkBuffer(_dev) TransportLink(_dev,ChAvailable())
-#define ReadMavlinkBuffer(_dev,_trans) { while (TransportLink(_dev,ChAvailable())&&!(_trans.trans.msg_received)) parse_mavlink(&(_trans),TransportLink(_dev,Getch())); }
-
-#define MavlinkCheckAndParse(_dev,_trans) {  \
-    if (MavlinkBuffer(_dev)) {                 \
-      ReadMavlinkBuffer(_dev,_trans);          \
-      if (_trans.trans.msg_received) {         \
-        mavlink_parse_payload(&(_trans));      \
-        _trans.trans.msg_received = FALSE;     \
-      }                                        \
-    }                                          \
+static inline void mavlink_check_and_parse(struct link_device *dev, struct mavlink_transport *trans)
+{
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph) && !trans->trans.msg_received) {
+      parse_mavlink(trans, dev->getchar(dev->periph));
+    }
+    if (trans->trans.msg_received) {
+      mavlink_parse_payload(trans);
+      trans->trans.msg_received = FALSE;
+    }
   }
+}
 
 /* Datalink Event Macro */
-#define MavlinkDatalinkEvent() MavlinkCheckAndParse(MAVLINK_UART, mavlink_tp)
+#define MavlinkDatalinkEvent() mavlink_check_and_parse(&(MAVLINK_UART).device, &mavlink_tp)
 
 #endif /* MAVLINK_DECODER_H */
 

From 07b3505d19813cae36ebf3f2163cb717b6985cf7 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 00:35:45 +0100
Subject: [PATCH 16/42] [digital_cam] update to generic device

---
 .../modules/digital_cam/catia/protocol.h      |  8 ++++----
 sw/airborne/modules/digital_cam/catia/std.h   |  5 +----
 .../modules/digital_cam/uart_cam_ctrl.c       | 19 +++++++++----------
 3 files changed, 14 insertions(+), 18 deletions(-)

diff --git a/sw/airborne/modules/digital_cam/catia/protocol.h b/sw/airborne/modules/digital_cam/catia/protocol.h
index 0b976d179b..2aac70d911 100644
--- a/sw/airborne/modules/digital_cam/catia/protocol.h
+++ b/sw/airborne/modules/digital_cam/catia/protocol.h
@@ -106,16 +106,16 @@ extern uint8_t mora_ck_a, mora_ck_b;
   }
 
 #define MoraHeader(msg_id, payload_len) {           \
-    CameraLink(Transmit(STX));                        \
+    CameraLinkTransmit(STX);                        \
     uint8_t msg_len = MoraSizeOf( payload_len);       \
-    CameraLink(Transmit(msg_len));                    \
+    CameraLinkTransmit(msg_len);                    \
     mora_ck_a = msg_len; mora_ck_b = msg_len;         \
     MoraPutUint8(msg_id);                             \
   }
 
 #define MoraTrailer() {               \
-    CameraLink(Transmit(mora_ck_a));    \
-    CameraLink(Transmit(mora_ck_b));    \
+    CameraLinkTransmit(mora_ck_a);    \
+    CameraLinkTransmit(mora_ck_b);    \
   }
 
 #define MoraPut1ByteByAddr( _byte) {  \
diff --git a/sw/airborne/modules/digital_cam/catia/std.h b/sw/airborne/modules/digital_cam/catia/std.h
index 340a5a46c2..d7e635559c 100644
--- a/sw/airborne/modules/digital_cam/catia/std.h
+++ b/sw/airborne/modules/digital_cam/catia/std.h
@@ -4,12 +4,9 @@
 #define TRUE (1==1)
 #define FALSE (1==0)
 
-#define Transmit(_x) {       \
+#define CameraLinkTransmit(_x) {       \
     uint8_t _tmp = _x;         \
     write(fd,&_tmp,1);         \
   }
 
-#define CameraLink(_x) _x
-
-
 #endif
diff --git a/sw/airborne/modules/digital_cam/uart_cam_ctrl.c b/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
index ea7df75918..059d5cd0ee 100644
--- a/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
+++ b/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
@@ -45,11 +45,10 @@
 
 #include "state.h"
 
-#define __CameraLink(dev, _x) dev##_x
-#define _CameraLink(dev, _x)  __CameraLink(dev, _x)
-#define CameraLink(_x) _CameraLink(CAMERA_LINK, _x)
-
-#define CameraBuffer() CameraLink(ChAvailable())
+#define CameraLinkDev (&(CAMERA_LINK).device)
+#define CameraLinkTransmit(c) CameraLinkDev->transmit(CameraLinkDev->periph, c)
+#define CameraLinkChAvailable() CameraLinkDev->check_available(CameraLinkDev->periph)
+#define CameraLinkGetch() CameraLinkGetch->getchar(CameraLinkDev->periph)
 
 union dc_shot_union dc_shot_msg;
 union mora_status_union mora_status_msg;
@@ -63,15 +62,15 @@ static uint8_t thumb_pointer = 0;
 
 
 
-#define ReadCameraBuffer() {                  \
-    while (CameraLink(ChAvailable()))         \
-      digital_cam_uart_parse(CameraLink(Getch()));      \
+#define ReadCameraBuffer() {                      \
+    while (CameraLinkChAvailable())               \
+      digital_cam_uart_parse(CameraLinkGetch());  \
   }
 
 void digital_cam_uart_event(void)
 {
-  while (CameraLink(ChAvailable())) {
-    parse_mora(&mora_protocol, CameraLink(Getch()));
+  while (CameraLinkChAvailable()) {
+    parse_mora(&mora_protocol, CameraLinkGetch());
     if (mora_protocol.msg_received) {
       switch (mora_protocol.msg_id) {
         case MORA_STATUS:

From 674023fda3ad02c29249a0b0aed15158466467a5 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 00:36:26 +0100
Subject: [PATCH 17/42] [datalink] TransportLink macro no longer needed

---
 sw/airborne/subsystems/datalink/transport.h | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/sw/airborne/subsystems/datalink/transport.h b/sw/airborne/subsystems/datalink/transport.h
index 8887fc5e21..a1701954a2 100644
--- a/sw/airborne/subsystems/datalink/transport.h
+++ b/sw/airborne/subsystems/datalink/transport.h
@@ -43,16 +43,6 @@ struct transport_rx {
   uint8_t ovrn, error;                    ///< overrun and error flags
 };
 
-/** Transport link macros
- *
- * make the link between the transport layer
- * and the device layer
- */
-#define __TransportLink(dev, _x) dev##_x
-#define _TransportLink(dev, _x)  __TransportLink(dev, _x)
-#define TransportLink(_dev, _x) _TransportLink(_dev, _x)
-
-
 /** Data type
  */
 enum TransportDataType {

From e7f33b4a1a98dd2ba5de9e196646c9a7c7517410 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 00:40:01 +0100
Subject: [PATCH 18/42] forgot one

---
 sw/airborne/modules/digital_cam/catia/protocol.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sw/airborne/modules/digital_cam/catia/protocol.h b/sw/airborne/modules/digital_cam/catia/protocol.h
index 2aac70d911..8c06ff1cc8 100644
--- a/sw/airborne/modules/digital_cam/catia/protocol.h
+++ b/sw/airborne/modules/digital_cam/catia/protocol.h
@@ -102,7 +102,7 @@ extern uint8_t mora_ck_a, mora_ck_b;
 #define MoraPutUint8( _byte) {     \
     mora_ck_a += _byte;              \
     mora_ck_b += mora_ck_a;          \
-    CameraLink(Transmit(_byte));     \
+    CameraLinkTransmit(_byte);     \
   }
 
 #define MoraHeader(msg_id, payload_len) {           \

From d09d162cebe4143ac29c1877b8ef32f0f2311284 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Tue, 17 Mar 2015 09:49:49 +0100
Subject: [PATCH 19/42] [ins] fix xsens InsEvent

---
 sw/airborne/modules/ins/ins_xsens.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sw/airborne/modules/ins/ins_xsens.h b/sw/airborne/modules/ins/ins_xsens.h
index b662360ae0..ca0c46595f 100644
--- a/sw/airborne/modules/ins/ins_xsens.h
+++ b/sw/airborne/modules/ins/ins_xsens.h
@@ -80,7 +80,7 @@ extern struct ImuXsens imu_xsens;
 /* use Xsens as a full INS solution */
 #if USE_INS_MODULE
 #define InsEvent(_ins_handler) {  \
-    InsEventCheckAndHandle(handle_ins_msg())      \
+    ins_event_check_and_handle(handle_ins_msg);   \
   }
 #endif
 

From de414142d4416047a665fd50e85acaed42873a23 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Tue, 17 Mar 2015 10:00:05 +0100
Subject: [PATCH 20/42] [fixedwing] fix intermcu_uart

---
 .../subsystems/fixedwing/intermcu_uart.makefile      | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile b/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile
index a904dfd32f..7bb2ce981b 100644
--- a/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile
+++ b/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile
@@ -8,16 +8,12 @@ $(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
-    INTERMCU_PORT_LOWER = $(shell echo $(INTERMCU_PORT) | tr A-Z a-z)
-  endif
+  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
-    INTERMCU_PORT_LOWER = $(shell echo $(INTERMCU_PORT) | tr A-Z a-z)
-  endif
+  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
 

From baec880d502c49fa264bb29e32141ece145979ec Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Tue, 17 Mar 2015 10:02:58 +0100
Subject: [PATCH 21/42] [intermcu] simplyfiy calling in fbw

---
 sw/airborne/firmwares/fixedwing/main_fbw.c | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
index bd7083314c..97072979dc 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.c
+++ b/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

From 6d304f1d76131355780d542d0cf653544869b80a Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Tue, 17 Mar 2015 10:19:48 +0100
Subject: [PATCH 22/42] [modules] fix extra_dl

---
 conf/modules/extra_dl.xml                    | 1 -
 sw/airborne/modules/datalink/extra_pprz_dl.h | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/conf/modules/extra_dl.xml b/conf/modules/extra_dl.xml
index e03ed7ef73..21ced1bc68 100644
--- a/conf/modules/extra_dl.xml
+++ b/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"/>
diff --git a/sw/airborne/modules/datalink/extra_pprz_dl.h b/sw/airborne/modules/datalink/extra_pprz_dl.h
index 08e5a34497..0515a8aea6 100644
--- a/sw/airborne/modules/datalink/extra_pprz_dl.h
+++ b/sw/airborne/modules/datalink/extra_pprz_dl.h
@@ -37,7 +37,7 @@ extern struct pprz_transport extra_pprz_tp;
 /* Datalink Event */
 
 #define ExtraDatalinkEvent() {                        \
-    PprzCheckAndParse(EXTRA_PPRZ_UART, extra_pprz_tp); \
+    PprzCheckAndParse(EXTRA_DOWNLINK_DEVICE, extra_pprz_tp); \
     DlCheckAndParse();                                  \
   }
 

From abe8ad8c890a7a7ee08a2477e1ffc7c0d58432bd Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 10:26:40 +0100
Subject: [PATCH 23/42] remove unused joby rc

---
 sw/airborne/subsystems/radio_control/joby.c | 96 ---------------------
 sw/airborne/subsystems/radio_control/joby.h | 72 ----------------
 2 files changed, 168 deletions(-)
 delete mode 100644 sw/airborne/subsystems/radio_control/joby.c
 delete mode 100644 sw/airborne/subsystems/radio_control/joby.h

diff --git a/sw/airborne/subsystems/radio_control/joby.c b/sw/airborne/subsystems/radio_control/joby.c
deleted file mode 100644
index dacb0d9a7f..0000000000
--- a/sw/airborne/subsystems/radio_control/joby.c
+++ /dev/null
@@ -1,96 +0,0 @@
-/*
- * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#include "stdio.h"
-#include "subsystems/radio_control.h"
-
-static struct rc_joby_parser_state parser;
-static const int16_t rc_joby_signs[RADIO_CONTROL_NB_CHANNEL] = RC_JOBY_SIGNS;
-
-
-static void handle_channel(void (* callback)(void))
-{
-  if (parser.parser_normal_buf == RC_JOBY_MAGIC_START) {
-    // got start channel, look for channel 0 next
-    parser.current_channel = 0;
-  } else if (parser.current_channel == -1) {
-    // looking for start channel byte but didn't get it, reset
-    parser.current_byte = READING_HIGH_BYTE;
-    parser.current_inverted = READING_NORMAL;
-  } else {
-    // valid channel, store and look for next
-    radio_control.values[parser.current_channel] = rc_joby_signs[parser.current_channel] * parser.parser_normal_buf;
-    parser.current_channel++;
-    if (parser.current_channel == RADIO_CONTROL_NB_CHANNEL) {
-      // all channels read, reset parser and handle message
-      parser.current_channel = -1;
-      radio_control.frame_cpt++;
-      radio_control.status = RC_OK;
-      radio_control.time_since_last_frame = 0;
-      if (callback != NULL) {
-        callback();
-      }
-    }
-  }
-}
-
-static void handle_tuple(void (* callback)(void))
-{
-  if (parser.current_inverted == READING_NORMAL) {
-    parser.parser_normal_buf = ((parser.high_byte_buf << 8) | parser.low_byte_buf);
-    parser.current_inverted = READING_INVERTED;
-  } else if (parser.current_inverted == READING_INVERTED) {
-    parser.parser_inverted_buf = ((parser.high_byte_buf << 8) | parser.low_byte_buf);
-    parser.current_inverted = READING_NORMAL;
-    if (parser.parser_normal_buf == ~parser.parser_inverted_buf) {
-      handle_channel(callback);
-    } else {
-      // normal didn't match inverted, error, reset
-      parser.current_inverted = READING_NORMAL;
-      parser.current_byte = READING_HIGH_BYTE;
-      parser.current_channel = -1;
-      parser.error_counter++;
-    }
-  }
-}
-
-void rc_joby_parse(int8_t c, void (* callback)(void))
-{
-  if (parser.current_byte == READING_HIGH_BYTE) {
-    parser.high_byte_buf = c;
-    if (parser.current_channel >= 0 || parser.high_byte_buf == (RC_JOBY_MAGIC_START >> 8)
-        || parser.current_inverted == READING_INVERTED) {
-      // only advance parser state to low byte if we're not looking for a sync byte which we didn't find
-      parser.current_byte = READING_LOW_BYTE;
-    }
-  } else { // READING_LOW_BYTE
-    parser.low_byte_buf = c;
-    parser.current_byte = READING_HIGH_BYTE;
-    handle_tuple(callback);
-  }
-}
-
-void radio_control_impl_init(void)
-{
-  parser.current_byte = READING_HIGH_BYTE;
-  parser.current_inverted = READING_NORMAL;
-  parser.current_channel = -1;
-}
diff --git a/sw/airborne/subsystems/radio_control/joby.h b/sw/airborne/subsystems/radio_control/joby.h
deleted file mode 100644
index 7d39f09d22..0000000000
--- a/sw/airborne/subsystems/radio_control/joby.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
- * Copyright (C) 2009 Pascal Brisset <pascal.brisset@gmail.com>,
- *                    Antoine Drouin <poinix@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#ifndef RADIO_CONTROL_JOBY_H
-#define RADIO_CONTROL_JOBY_H
-
-#include "std.h"
-#include "mcu_periph/uart.h"
-
-#define RC_JOBY_MAGIC_START   13999
-
-#include RADIO_CONTROL_JOBY_MODEL_H
-
-typedef enum {
-  READING_LOW_BYTE = 0,
-  READING_HIGH_BYTE
-} parser_byte_t;
-
-typedef enum {
-  READING_NORMAL = 0,
-  READING_INVERTED
-} parser_inverted_t;
-
-struct rc_joby_parser_state {
-  parser_byte_t current_byte;
-  parser_inverted_t current_inverted;
-  int current_channel;
-
-  int16_t parser_inverted_buf;
-  int16_t parser_normal_buf;
-  uint8_t high_byte_buf;
-  uint8_t low_byte_buf;
-
-  uint32_t error_counter;
-};
-
-void rc_joby_parse(int8_t c, void (* callback)(void));
-
-#define __RcLink(dev, _x) dev##_x
-#define _RcLink(dev, _x)  __RcLink(dev, _x)
-#define RcLink(_x) _RcLink(RADIO_CONTROL_LINK, _x)
-
-#define RcLinkChAvailable() RcLink(ChAvailable())
-#define RcLinkGetCh() RcLink(Getch())
-
-#define RadioControlEvent(_received_frame_handler) {                    \
-    while (RcLinkChAvailable()) {                                       \
-      rc_joby_parse(RcLinkGetCh(), _received_frame_handler);    \
-    }                                                                   \
-  }
-
-
-#endif /* RADIO_CONTROL_JOBY_H */

From 8136871f0aac520f180068d146fbb15e5fb963dc Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 10:35:21 +0100
Subject: [PATCH 24/42] [imu] update um6 imu to generic device

---
 sw/airborne/subsystems/imu/imu_um6.c |  2 +-
 sw/airborne/subsystems/imu/imu_um6.h | 36 +++++++++++-----------------
 2 files changed, 15 insertions(+), 23 deletions(-)

diff --git a/sw/airborne/subsystems/imu/imu_um6.c b/sw/airborne/subsystems/imu/imu_um6.c
index eb4ccf4f88..80d7549d8f 100644
--- a/sw/airborne/subsystems/imu/imu_um6.c
+++ b/sw/airborne/subsystems/imu/imu_um6.c
@@ -76,7 +76,7 @@ inline uint16_t UM6_calculate_checksum(uint8_t packet_buffer[], uint8_t packet_l
 inline void UM6_send_packet(uint8_t *packet_buffer, uint8_t packet_length)
 {
   for (int i = 0; i < packet_length; i++) {
-    UM6Link(Transmit(packet_buffer[i]));
+    uart_transmit(&(UM6_LINK), packet_buffer[i]);
   }
 }
 
diff --git a/sw/airborne/subsystems/imu/imu_um6.h b/sw/airborne/subsystems/imu/imu_um6.h
index a3bf023525..f6ce48e406 100644
--- a/sw/airborne/subsystems/imu/imu_um6.h
+++ b/sw/airborne/subsystems/imu/imu_um6.h
@@ -38,12 +38,6 @@
 #include "mcu_periph/uart.h"
 #include "subsystems/ahrs.h"
 
-#define __UM6Link(dev, _x) dev##_x
-#define _UM6Link(dev, _x)  __UM6Link(dev, _x)
-#define UM6Link(_x) _UM6Link(UM6_LINK, _x)
-
-#define UM6Buffer() UM6Link(ChAvailable())
-
 #define IMU_UM6_BUFFER_LENGTH 32
 #define IMU_UM6_DATA_OFFSET 5
 #define IMU_UM6_LONG_DELAY 4000000
@@ -104,23 +98,21 @@ enum UM6Status {
   UM6Running
 };
 
-#define imu_um6_event(_callback1, _callback2, _callback3) { \
-    if (UM6Buffer()) {                                      \
-      ReadUM6Buffer();                                      \
-    }                                                       \
-    if (UM6_packet.msg_available) {                         \
-      UM6_packet.msg_available = FALSE;                     \
-      UM6_packet_read_message();                            \
-      _callback1();                                         \
-      _callback2();                                         \
-      _callback3();                                         \
-    }                                                       \
-  }
-
-#define ReadUM6Buffer() {                                       \
-    while (UM6Link(ChAvailable())&&!UM6_packet.msg_available)   \
-      UM6_packet_parse(UM6Link(Getch()));                       \
+static inline void imu_um6_event(void (* cb1)(void), void (*cb2)(void), void (*cb3)(void))
+{
+  if (uart_char_available(&(UM6_LINK))) {
+    while (uart_char_available(&(UM6_LINK)) && !UM6_packet.msg_available) {
+      UM6_packet_parse(uart_getch(&(UM6_LINK)));
+    }
+    if (UM6_packet.msg_available) {
+      UM6_packet.msg_available = FALSE;
+      UM6_packet_read_message();
+      cb1();
+      cb2();
+      cb3();
+    }
   }
+}
 
 #define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) { \
     imu_um6_event(_gyro_handler, _accel_handler, _mag_handler); \

From 30c347633bba06aeec961f7227d0c2eef6563ee6 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 10:37:18 +0100
Subject: [PATCH 25/42] forgot UM6 makefile

---
 conf/firmwares/subsystems/shared/imu_um6.makefile | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/conf/firmwares/subsystems/shared/imu_um6.makefile b/conf/firmwares/subsystems/shared/imu_um6.makefile
index e91c8c6220..a5e9eb416e 100644
--- a/conf/firmwares/subsystems/shared/imu_um6.makefile
+++ b/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)

From 20b371aee7de684083bf9c3bdec3e57eb4057965 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 10:53:12 +0100
Subject: [PATCH 26/42] [sensors] update airspeed_otf to generic device

---
 conf/modules/airspeed_otf.xml              |  5 ++++-
 sw/airborne/modules/sensors/airspeed_otf.c |  4 ++--
 sw/airborne/modules/sensors/met_module.h   | 15 +++++++--------
 3 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/conf/modules/airspeed_otf.xml b/conf/modules/airspeed_otf.xml
index 6935d2f3a4..28229c085d 100644
--- a/conf/modules/airspeed_otf.xml
+++ b/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>
diff --git a/sw/airborne/modules/sensors/airspeed_otf.c b/sw/airborne/modules/sensors/airspeed_otf.c
index 94f7ff147c..5888dc7d65 100644
--- a/sw/airborne/modules/sensors/airspeed_otf.c
+++ b/sw/airborne/modules/sensors/airspeed_otf.c
@@ -153,8 +153,8 @@ void airspeed_otf_init(void)
 
 void airspeed_otf_event(void)
 {
-  while (MetLink(ChAvailable())) {
-    uint8_t ch = MetLink(Getch());
+  while (MetBuffer()) {
+    uint8_t ch = MetGetch();
     airspeed_otf_parse(ch);
   }
 }
diff --git a/sw/airborne/modules/sensors/met_module.h b/sw/airborne/modules/sensors/met_module.h
index b6bd3b738c..68935abbab 100644
--- a/sw/airborne/modules/sensors/met_module.h
+++ b/sw/airborne/modules/sensors/met_module.h
@@ -37,17 +37,16 @@
 #ifndef SITL
 #include "mcu_periph/uart.h"
 
-#define __MetLink(dev, _x) dev##_x
-#define _MetLink(dev, _x)  __MetLink(dev, _x)
-#define MetLink(_x) _MetLink(MET_LINK, _x)
+#define MetLinkDevice (&(MET_LINK).device)
 
-#define MetBuffer() MetLink(ChAvailable())
-#define ReadMetBuffer() { while (MetLink(ChAvailable())&&!met_msg_received) parse_met_buffer(MetLink(Getch())); }
-#define MetSend1(c) MetLink(Transmit(c))
+#define MetBuffer() MetLinkDevice->char_available(MetLinkDevice->periph)
+#define MetGetch() MetLinkDevice->getchar(MetLinkDevice->periph)
+#define ReadMetBuffer() { while (MetBuffer()&&!met_msg_received) parse_met_buffer(MetGetch()); }
+#define MetSend1(c) MetLinkDevice->transmit(MetLinkDevice->periph, c)
 #define MetUartSend1(c) MetSend1(c)
 #define MetSend(_dat,_len) { for (uint8_t i = 0; i< (_len); i++) MetSend1(_dat[i]); };
-#define MetUartSetBaudrate(_b) MetLink(SetBaudrate(_b))
-#define MetUartRunning MetLink(TxRunning)
+#define MetUartSetBaudrate(_b) uart_periph_set_baudrate(&(MET_LINK), _b)
+#define MetUartRunning (MET_LINK).tx_running
 
 #endif /** !SITL */
 

From fce00acd2bfd2ccc315dd270ab34220a050c8342 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 11:24:36 +0100
Subject: [PATCH 27/42] [bug] getchar in conflict with stdio definition

should we rename the PPRZ function ?
---
 sw/airborne/modules/max7456/max7456.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sw/airborne/modules/max7456/max7456.c b/sw/airborne/modules/max7456/max7456.c
index 13919ca2cf..239dac45b5 100644
--- a/sw/airborne/modules/max7456/max7456.c
+++ b/sw/airborne/modules/max7456/max7456.c
@@ -26,7 +26,7 @@
  */
 
 #include "std.h"
-#include "stdio.h"
+//#include "stdio.h"
 
 #include "mcu_periph/sys_time.h"
 #include "mcu_periph/gpio.h"

From fc62b2e54ecbba7f5a7c3a26b720d3c53fa91432 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 11:25:44 +0100
Subject: [PATCH 28/42] [fix] ahrs chimu format

---
 conf/modules/ahrs_chimu_uart.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/conf/modules/ahrs_chimu_uart.xml b/conf/modules/ahrs_chimu_uart.xml
index 78767fbfd3..f2e0531d79 100644
--- a/conf/modules/ahrs_chimu_uart.xml
+++ b/conf/modules/ahrs_chimu_uart.xml
@@ -18,7 +18,7 @@
     <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="UART$(CHIMU_UART_NR)_BAUD" value="B115200"/>
+    <define name="uart$(CHIMU_UART_NR)_BAUD" value="B115200"/>
     <file name="ahrs_chimu_uart.c"/>
     <file name="imu_chimu.c"/>
     <file name="ahrs.c" dir="subsystems"/>

From 54c6569d220cf509627209703c303c6e7c286a26 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 11:28:16 +0100
Subject: [PATCH 29/42] [fix] fix typo in mavlink

---
 sw/airborne/modules/datalink/mavlink.c | 2 +-
 sw/airborne/modules/datalink/mavlink.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/sw/airborne/modules/datalink/mavlink.c b/sw/airborne/modules/datalink/mavlink.c
index 4426b55a18..9e329b9753 100644
--- a/sw/airborne/modules/datalink/mavlink.c
+++ b/sw/airborne/modules/datalink/mavlink.c
@@ -311,7 +311,7 @@ static inline void mavlink_send_heartbeat(void)
                              mav_mode,
                              0, // custom_mode
                              mav_state);
-  MAVLinkSendMessage())
+  MAVLinkSendMessage();
 }
 
 /**
diff --git a/sw/airborne/modules/datalink/mavlink.h b/sw/airborne/modules/datalink/mavlink.h
index b5dbc3c13d..cb9a66c791 100644
--- a/sw/airborne/modules/datalink/mavlink.h
+++ b/sw/airborne/modules/datalink/mavlink.h
@@ -54,7 +54,7 @@ extern mavlink_system_t mavlink_system;
  */
 #define MAVLinkDev (&(MAVLINK_DEV).device)
 #define MAVLinkTransmit(c) MAVLinkDev->transmit(MAVLinkDev->periph, c)
-#define MAVLinkChAvailable() MAVLinkDev->check_available(MAVLinkDev->periph)
+#define MAVLinkChAvailable() MAVLinkDev->char_available(MAVLinkDev->periph)
 #define MAVLinkGetch() MAVLinkDev->getchar(MAVLinkDev->periph)
 #define MAVLinkSendMessage() MAVLinkDev->send_message(MAVLinkDev->periph)
 

From c3ef7aefed57c79130c1458b3918cd083a2ab6e5 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 11:32:29 +0100
Subject: [PATCH 30/42] update demo files and setup makefiles

---
 conf/airframes/examples/demo.xml   | 6 +++---
 conf/airframes/wind_tunnel.xml     | 4 ++--
 conf/firmwares/setup.makefile      | 2 +-
 conf/firmwares/test_progs.makefile | 4 ++--
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/conf/airframes/examples/demo.xml b/conf/airframes/examples/demo.xml
index d4998a85c6..8a25c9bccc 100644
--- a/conf/airframes/examples/demo.xml
+++ b/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
diff --git a/conf/airframes/wind_tunnel.xml b/conf/airframes/wind_tunnel.xml
index 1d82b0e1ea..ec6a0c15ae 100644
--- a/conf/airframes/wind_tunnel.xml
+++ b/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
 
diff --git a/conf/firmwares/setup.makefile b/conf/firmwares/setup.makefile
index c234518ab4..7cf27a2132 100644
--- a/conf/firmwares/setup.makefile
+++ b/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
 
diff --git a/conf/firmwares/test_progs.makefile b/conf/firmwares/test_progs.makefile
index 7ae2ccf827..335d4bdd3a 100644
--- a/conf/firmwares/test_progs.makefile
+++ b/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

From cb2e6a85f9b4a08163acee710c9f6998f677d8b9 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Tue, 17 Mar 2015 11:36:45 +0100
Subject: [PATCH 31/42] [modules] fix osd_max7456

---
 sw/airborne/modules/max7456/max7456.c | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/sw/airborne/modules/max7456/max7456.c b/sw/airborne/modules/max7456/max7456.c
index 13919ca2cf..c4f97c0cba 100644
--- a/sw/airborne/modules/max7456/max7456.c
+++ b/sw/airborne/modules/max7456/max7456.c
@@ -31,19 +31,20 @@
 #include "mcu_periph/sys_time.h"
 #include "mcu_periph/gpio.h"
 #include "mcu_periph/spi.h"
-#include "led.h"
-#include "autopilot.h"
 
-#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #include "generated/airframe.h"
-#include "subsystems/datalink/datalink.h"
+#include "autopilot.h"
 #include "subsystems/electrical.h"
-
-#include "messages.h"
-#include "subsystems/datalink/downlink.h"
 #include "state.h"
 
+// for GetPosAlt, include correct header until we have unified API
+#ifdef AP
+#include "subsystems/navigation/nav.h"
+#else
+#include "firmwares/rotorcraft/navigation.h"
+#endif
+
 // Peripherials
 #include "max7456.h"
 #include "max7456_regs.h"

From 51527bc0e43a3c4f8f9aa0d3c4774c1cd5083eca Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Tue, 17 Mar 2015 11:43:45 +0100
Subject: [PATCH 32/42] [modules] fix mavlink and ahrs_chimu_uart

---
 conf/modules/ahrs_chimu_uart.xml       | 2 +-
 sw/airborne/modules/datalink/mavlink.c | 2 +-
 sw/airborne/modules/datalink/mavlink.h | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/conf/modules/ahrs_chimu_uart.xml b/conf/modules/ahrs_chimu_uart.xml
index 78767fbfd3..15536a758f 100644
--- a/conf/modules/ahrs_chimu_uart.xml
+++ b/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"/>
diff --git a/sw/airborne/modules/datalink/mavlink.c b/sw/airborne/modules/datalink/mavlink.c
index 4426b55a18..9e329b9753 100644
--- a/sw/airborne/modules/datalink/mavlink.c
+++ b/sw/airborne/modules/datalink/mavlink.c
@@ -311,7 +311,7 @@ static inline void mavlink_send_heartbeat(void)
                              mav_mode,
                              0, // custom_mode
                              mav_state);
-  MAVLinkSendMessage())
+  MAVLinkSendMessage();
 }
 
 /**
diff --git a/sw/airborne/modules/datalink/mavlink.h b/sw/airborne/modules/datalink/mavlink.h
index b5dbc3c13d..cb9a66c791 100644
--- a/sw/airborne/modules/datalink/mavlink.h
+++ b/sw/airborne/modules/datalink/mavlink.h
@@ -54,7 +54,7 @@ extern mavlink_system_t mavlink_system;
  */
 #define MAVLinkDev (&(MAVLINK_DEV).device)
 #define MAVLinkTransmit(c) MAVLinkDev->transmit(MAVLinkDev->periph, c)
-#define MAVLinkChAvailable() MAVLinkDev->check_available(MAVLinkDev->periph)
+#define MAVLinkChAvailable() MAVLinkDev->char_available(MAVLinkDev->periph)
 #define MAVLinkGetch() MAVLinkDev->getchar(MAVLinkDev->periph)
 #define MAVLinkSendMessage() MAVLinkDev->send_message(MAVLinkDev->periph)
 

From 96875426961fb5625c85385ccbb84964295d9f7e Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Tue, 17 Mar 2015 11:59:22 +0100
Subject: [PATCH 33/42] [firmwares] fix setup and test_progs

---
 conf/firmwares/setup.makefile      | 2 +-
 conf/firmwares/test_progs.makefile | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/conf/firmwares/setup.makefile b/conf/firmwares/setup.makefile
index c234518ab4..7cf27a2132 100644
--- a/conf/firmwares/setup.makefile
+++ b/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
 
diff --git a/conf/firmwares/test_progs.makefile b/conf/firmwares/test_progs.makefile
index 7ae2ccf827..335d4bdd3a 100644
--- a/conf/firmwares/test_progs.makefile
+++ b/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

From 42086aa5ef811816bf3e8b17b5de9abb394b4524 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 17 Mar 2015 11:59:33 +0100
Subject: [PATCH 34/42] [spi] update spi_slave_hs for generic device (and
 chimu_spi)

---
 conf/modules/ahrs_chimu_spi.xml               |  2 +-
 .../arch/lpc21/mcu_periph/spi_slave_hs_arch.c | 39 +++++++++++++++++++
 .../arch/lpc21/mcu_periph/spi_slave_hs_arch.h | 25 ++++--------
 sw/airborne/mcu_periph/spi.h                  |  1 +
 sw/airborne/modules/ins/ins_module.h          |  1 +
 .../chibios-libopencm3/chibios_sdlog.c        |  4 +-
 6 files changed, 51 insertions(+), 21 deletions(-)

diff --git a/conf/modules/ahrs_chimu_spi.xml b/conf/modules/ahrs_chimu_spi.xml
index dd57db80cc..3b512906a2 100644
--- a/conf/modules/ahrs_chimu_spi.xml
+++ b/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"/>
diff --git a/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c b/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c
index 1c202e2969..7e46b28357 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c
+++ b/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.transmit = (transmit_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.getchar = (getchar_t) spi_slave_hs_getch;
+
 }
 
 /*
diff --git a/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.h b/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.h
index 957931742c..f695de20e9 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.h
+++ b/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
diff --git a/sw/airborne/mcu_periph/spi.h b/sw/airborne/mcu_periph/spi.h
index 29c940552c..b09b222828 100644
--- a/sw/airborne/mcu_periph/spi.h
+++ b/sw/airborne/mcu_periph/spi.h
@@ -365,6 +365,7 @@ extern bool_t spi_slave_wait(struct spi_periph *p);
 /** @}*/
 
 #if SPI_SLAVE_HS
+#include "mcu_periph/spi_slave_hs_arch.h"
 extern void spi_slave_hs_init(void);
 #endif
 
diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h
index 8f6416413a..cbc952d762 100644
--- a/sw/airborne/modules/ins/ins_module.h
+++ b/sw/airborne/modules/ins/ins_module.h
@@ -77,6 +77,7 @@ void parse_ins_buffer(uint8_t);
 
 #ifndef SITL
 #include "mcu_periph/uart.h"
+#include "mcu_periph/spi.h"
 
 #define InsSend1(c) InsLinkDevice->transmit(InsLinkDevice->periph, c)
 #define InsUartSend1(c) InsSend1(c)
diff --git a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
index 3d3122dc71..030ac643af 100644
--- a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
+++ b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
@@ -87,8 +87,8 @@ bool_t chibios_logInit(const bool_t binaryFile)
   chibios_sdlog.device.check_free_space = (check_free_space_t) sdlog_check_free_space;
   chibios_sdlog.device.transmit = (transmit_t) sdlog_transmit;
   chibios_sdlog.device.send_message = (send_message_t) sdlog_send;
-  chibios_sdlog.device.char_available = (char_available_t) null_function; // read only
-  chibios_sdlog.device.getchar = (getchar_t) null_function; // read only
+  chibios_sdlog.device.char_available = (char_available_t) null_function; // write only
+  chibios_sdlog.device.getchar = (getchar_t) null_function; // write only
 
   if (sdLogInit (NULL) != SDLOG_OK)
     goto error;

From eeb9075c919638f649989117ae4e22b33733e494 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Wed, 18 Mar 2015 18:10:15 +0100
Subject: [PATCH 35/42] rename getchar to get_char to avoid conflicts (like
 sdtio)

---
 sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c     | 2 +-
 sw/airborne/arch/lpc21/usb_ser_hw.c                       | 2 +-
 sw/airborne/arch/stm32/usb_ser_hw.c                       | 2 +-
 sw/airborne/firmwares/fixedwing/fbw_datalink.c            | 4 ++--
 sw/airborne/mcu_periph/link_device.h                      | 4 ++--
 sw/airborne/mcu_periph/uart.c                             | 2 +-
 sw/airborne/mcu_periph/udp.c                              | 2 +-
 sw/airborne/modules/datalink/mavlink.h                    | 2 +-
 sw/airborne/modules/datalink/mavlink_decoder.h            | 2 +-
 sw/airborne/modules/digital_cam/uart_cam_ctrl.c           | 2 +-
 sw/airborne/modules/ins/ahrs_chimu_spi.c                  | 2 +-
 sw/airborne/modules/ins/ahrs_chimu_uart.c                 | 2 +-
 sw/airborne/modules/ins/ins_module.h                      | 2 +-
 sw/airborne/modules/sensors/met_module.h                  | 2 +-
 sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c | 2 +-
 sw/airborne/subsystems/datalink/ivy_transport.c           | 2 +-
 sw/airborne/subsystems/datalink/pprz_transport.h          | 2 +-
 sw/airborne/subsystems/datalink/superbitrf.c              | 2 +-
 sw/airborne/subsystems/datalink/w5100.c                   | 2 +-
 sw/airborne/subsystems/datalink/xbee.c                    | 4 ++--
 sw/airborne/subsystems/datalink/xbee.h                    | 2 +-
 sw/airborne/subsystems/gps/gps_mtk.h                      | 2 +-
 sw/airborne/subsystems/gps/gps_nmea.h                     | 2 +-
 sw/airborne/subsystems/gps/gps_sirf.h                     | 2 +-
 sw/airborne/subsystems/gps/gps_skytraq.h                  | 2 +-
 sw/airborne/subsystems/gps/gps_ubx.h                      | 2 +-
 26 files changed, 29 insertions(+), 29 deletions(-)

diff --git a/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c b/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c
index 7e46b28357..e0e3aa0d67 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c
+++ b/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c
@@ -166,7 +166,7 @@ void spi_slave_hs_init(void)
   spi_slave_hs.device.transmit = (transmit_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.getchar = (getchar_t) spi_slave_hs_getch;
+  spi_slave_hs.device.get_char = (get_char_t) spi_slave_hs_getch;
 
 }
 
diff --git a/sw/airborne/arch/lpc21/usb_ser_hw.c b/sw/airborne/arch/lpc21/usb_ser_hw.c
index 318698282c..22a7f56b66 100644
--- a/sw/airborne/arch/lpc21/usb_ser_hw.c
+++ b/sw/airborne/arch/lpc21/usb_ser_hw.c
@@ -621,5 +621,5 @@ void VCOM_init(void)
   usb_serial.device.transmit = (transmit_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.getchar = (getchar_t) usb_serial_getch;
+  usb_serial.device.get_char = (get_char_t) usb_serial_getch;
 }
diff --git a/sw/airborne/arch/stm32/usb_ser_hw.c b/sw/airborne/arch/stm32/usb_ser_hw.c
index 92e9368cba..1c010f688a 100644
--- a/sw/airborne/arch/stm32/usb_ser_hw.c
+++ b/sw/airborne/arch/stm32/usb_ser_hw.c
@@ -531,5 +531,5 @@ void VCOM_init(void)
   usb_serial.device.transmit = (transmit_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.getchar = (getchar_t) usb_serial_getch;
+  usb_serial.device.get_char = (get_char_t) usb_serial_getch;
 }
diff --git a/sw/airborne/firmwares/fixedwing/fbw_datalink.c b/sw/airborne/firmwares/fixedwing/fbw_datalink.c
index d1ab3c9734..f97f038e5e 100644
--- a/sw/airborne/firmwares/fixedwing/fbw_datalink.c
+++ b/sw/airborne/firmwares/fixedwing/fbw_datalink.c
@@ -68,8 +68,8 @@ void fbw_datalink_event(void)
 #endif
 
   while (ModemLinkDevice->char_available(ModemLinkDevice->periph))
-    modem_parse(ModemLinkDevice->getchar(ModemLinkDevice->periph));
+    modem_parse(ModemLinkDevice->get_char(ModemLinkDevice->periph));
 
   while (AutopilotLinkDevice->char_available(AutopilotLinkDevice->periph))
-    autopilot_parse(AutopilotLinkDevice->getchar(AutopilotLinkDevice->periph));
+    autopilot_parse(AutopilotLinkDevice->get_char(AutopilotLinkDevice->periph));
 }
diff --git a/sw/airborne/mcu_periph/link_device.h b/sw/airborne/mcu_periph/link_device.h
index cbfb1f413a..db33874943 100644
--- a/sw/airborne/mcu_periph/link_device.h
+++ b/sw/airborne/mcu_periph/link_device.h
@@ -37,7 +37,7 @@ typedef int (*check_free_space_t)(void *, uint8_t);
 typedef void (*transmit_t)(void *, uint8_t);
 typedef void (*send_message_t)(void *);
 typedef int (*char_available_t)(void *);
-typedef uint8_t (*getchar_t)(void *);
+typedef uint8_t (*get_char_t)(void *);
 
 /** Device structure
  */
@@ -46,7 +46,7 @@ struct link_device {
   transmit_t transmit;                  ///< transmit one byte
   send_message_t send_message;          ///< send completed buffer
   char_available_t char_available;      ///< check if a new character is available
-  getchar_t getchar;                    ///< get a new char
+  get_char_t get_char;                    ///< get a new char
   void *periph;                         ///< pointer to parent implementation
 };
 
diff --git a/sw/airborne/mcu_periph/uart.c b/sw/airborne/mcu_periph/uart.c
index 74d78bd7d0..8408ea6e08 100644
--- a/sw/airborne/mcu_periph/uart.c
+++ b/sw/airborne/mcu_periph/uart.c
@@ -204,7 +204,7 @@ void uart_periph_init(struct uart_periph *p)
   p->device.transmit = (transmit_t)uart_transmit;
   p->device.send_message = (send_message_t)null_function;
   p->device.char_available = (char_available_t)uart_char_available;
-  p->device.getchar = (getchar_t)uart_getch;
+  p->device.get_char = (get_char_t)uart_getch;
 
 #if PERIODIC_TELEMETRY
   // the first to register do it for the others
diff --git a/sw/airborne/mcu_periph/udp.c b/sw/airborne/mcu_periph/udp.c
index 1472826a7b..c6e44a0c04 100644
--- a/sw/airborne/mcu_periph/udp.c
+++ b/sw/airborne/mcu_periph/udp.c
@@ -65,7 +65,7 @@ void udp_periph_init(struct udp_periph *p, char *host, int port_out, int port_in
   p->device.transmit = (transmit_t) udp_transmit;
   p->device.send_message = (send_message_t) udp_send_message;
   p->device.char_available = (char_available_t) udp_char_available;
-  p->device.getchar = (getchar_t) udp_getch;
+  p->device.get_char = (get_char_t) udp_getch;
 
   // Arch dependent initialization
   udp_arch_periph_init(p, host, port_out, port_in, broadcast);
diff --git a/sw/airborne/modules/datalink/mavlink.h b/sw/airborne/modules/datalink/mavlink.h
index cb9a66c791..f9b9d2f5b5 100644
--- a/sw/airborne/modules/datalink/mavlink.h
+++ b/sw/airborne/modules/datalink/mavlink.h
@@ -55,7 +55,7 @@ extern mavlink_system_t mavlink_system;
 #define MAVLinkDev (&(MAVLINK_DEV).device)
 #define MAVLinkTransmit(c) MAVLinkDev->transmit(MAVLinkDev->periph, c)
 #define MAVLinkChAvailable() MAVLinkDev->char_available(MAVLinkDev->periph)
-#define MAVLinkGetch() MAVLinkDev->getchar(MAVLinkDev->periph)
+#define MAVLinkGetch() MAVLinkDev->get_char(MAVLinkDev->periph)
 #define MAVLinkSendMessage() MAVLinkDev->send_message(MAVLinkDev->periph)
 
 /**
diff --git a/sw/airborne/modules/datalink/mavlink_decoder.h b/sw/airborne/modules/datalink/mavlink_decoder.h
index 424c709246..689bd23738 100644
--- a/sw/airborne/modules/datalink/mavlink_decoder.h
+++ b/sw/airborne/modules/datalink/mavlink_decoder.h
@@ -255,7 +255,7 @@ static inline void mavlink_check_and_parse(struct link_device *dev, struct mavli
 {
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !trans->trans.msg_received) {
-      parse_mavlink(trans, dev->getchar(dev->periph));
+      parse_mavlink(trans, dev->get_char(dev->periph));
     }
     if (trans->trans.msg_received) {
       mavlink_parse_payload(trans);
diff --git a/sw/airborne/modules/digital_cam/uart_cam_ctrl.c b/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
index 059d5cd0ee..f6d97fd7d0 100644
--- a/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
+++ b/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
@@ -48,7 +48,7 @@
 #define CameraLinkDev (&(CAMERA_LINK).device)
 #define CameraLinkTransmit(c) CameraLinkDev->transmit(CameraLinkDev->periph, c)
 #define CameraLinkChAvailable() CameraLinkDev->check_available(CameraLinkDev->periph)
-#define CameraLinkGetch() CameraLinkGetch->getchar(CameraLinkDev->periph)
+#define CameraLinkGetch() CameraLinkGetch->get_char(CameraLinkDev->periph)
 
 union dc_shot_union dc_shot_msg;
 union mora_status_union mora_status_msg;
diff --git a/sw/airborne/modules/ins/ahrs_chimu_spi.c b/sw/airborne/modules/ins/ahrs_chimu_spi.c
index ab8005a00f..f9a5422c95 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_spi.c
+++ b/sw/airborne/modules/ins/ahrs_chimu_spi.c
@@ -83,7 +83,7 @@ void parse_ins_msg(void)
 {
   struct link_device *dev = InsLinkDevice;
   while (dev->char_available(dev->periph)) {
-    uint8_t ch = dev->getchar(dev->periph);
+    uint8_t ch = dev->get_char(dev->periph);
 
     if (CHIMU_Parse(ch, 0, &CHIMU_DATA)) {
       RunOnceEvery(25, LED_TOGGLE(3));
diff --git a/sw/airborne/modules/ins/ahrs_chimu_uart.c b/sw/airborne/modules/ins/ahrs_chimu_uart.c
index f1bf8261be..86719fde2e 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_uart.c
+++ b/sw/airborne/modules/ins/ahrs_chimu_uart.c
@@ -74,7 +74,7 @@ void parse_ins_msg(void)
 {
   struct link_device *dev = InsLinkDevice;
   while (dev->char_available(dev->periph)) {
-    uint8_t ch = dev->getchar(dev->periph);
+    uint8_t ch = dev->get_char(dev->periph);
 
     if (CHIMU_Parse(ch, 0, &CHIMU_DATA)) {
       if (CHIMU_DATA.m_MsgID == 0x03) {
diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h
index cbc952d762..a6b86b9756 100644
--- a/sw/airborne/modules/ins/ins_module.h
+++ b/sw/airborne/modules/ins/ins_module.h
@@ -91,7 +91,7 @@ static inline void ins_event_check_and_handle(void (* handler)(void))
   struct link_device *dev = InsLinkDevice;
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !ins_msg_received) {
-      parse_ins_buffer(dev->getchar(dev->periph));
+      parse_ins_buffer(dev->get_char(dev->periph));
     }
   }
   if (ins_msg_received) {
diff --git a/sw/airborne/modules/sensors/met_module.h b/sw/airborne/modules/sensors/met_module.h
index 68935abbab..1c5b647d9e 100644
--- a/sw/airborne/modules/sensors/met_module.h
+++ b/sw/airborne/modules/sensors/met_module.h
@@ -40,7 +40,7 @@
 #define MetLinkDevice (&(MET_LINK).device)
 
 #define MetBuffer() MetLinkDevice->char_available(MetLinkDevice->periph)
-#define MetGetch() MetLinkDevice->getchar(MetLinkDevice->periph)
+#define MetGetch() MetLinkDevice->get_char(MetLinkDevice->periph)
 #define ReadMetBuffer() { while (MetBuffer()&&!met_msg_received) parse_met_buffer(MetGetch()); }
 #define MetSend1(c) MetLinkDevice->transmit(MetLinkDevice->periph, c)
 #define MetUartSend1(c) MetSend1(c)
diff --git a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
index 030ac643af..556b7521aa 100644
--- a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
+++ b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
@@ -88,7 +88,7 @@ bool_t chibios_logInit(const bool_t binaryFile)
   chibios_sdlog.device.transmit = (transmit_t) sdlog_transmit;
   chibios_sdlog.device.send_message = (send_message_t) sdlog_send;
   chibios_sdlog.device.char_available = (char_available_t) null_function; // write only
-  chibios_sdlog.device.getchar = (getchar_t) null_function; // write only
+  chibios_sdlog.device.get_char = (get_char_t) null_function; // write only
 
   if (sdLogInit (NULL) != SDLOG_OK)
     goto error;
diff --git a/sw/airborne/subsystems/datalink/ivy_transport.c b/sw/airborne/subsystems/datalink/ivy_transport.c
index 7b5cefb6ca..a978a7017f 100644
--- a/sw/airborne/subsystems/datalink/ivy_transport.c
+++ b/sw/airborne/subsystems/datalink/ivy_transport.c
@@ -199,6 +199,6 @@ void ivy_transport_init(void)
   ivy_tp.device.transmit = (transmit_t) transmit;
   ivy_tp.device.send_message = (send_message_t) send_message;
   ivy_tp.device.char_available = (char_available_t) null_function;
-  ivy_tp.device.getchar = (getchar_t) null_function;
+  ivy_tp.device.get_char = (get_char_t) null_function;
   ivy_tp.device.periph = (void *)(&ivy_tp);
 }
diff --git a/sw/airborne/subsystems/datalink/pprz_transport.h b/sw/airborne/subsystems/datalink/pprz_transport.h
index 0f53459f0a..7cb9d32757 100644
--- a/sw/airborne/subsystems/datalink/pprz_transport.h
+++ b/sw/airborne/subsystems/datalink/pprz_transport.h
@@ -146,7 +146,7 @@ static inline void pprz_check_and_parse(struct link_device *dev, struct pprz_tra
 {
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !trans->trans_rx.msg_received) {
-      parse_pprz(trans, dev->getchar(dev->periph));
+      parse_pprz(trans, dev->get_char(dev->periph));
     }
     if (trans->trans_rx.msg_received) {
       pprz_parse_payload(trans);
diff --git a/sw/airborne/subsystems/datalink/superbitrf.c b/sw/airborne/subsystems/datalink/superbitrf.c
index dd0d48b895..075e41c41a 100644
--- a/sw/airborne/subsystems/datalink/superbitrf.c
+++ b/sw/airborne/subsystems/datalink/superbitrf.c
@@ -246,7 +246,7 @@ void superbitrf_init(void)
   superbitrf.device.transmit = (transmit_t) superbitrf_transmit;
   superbitrf.device.send_message = (send_message_t) superbitrf_send;
   superbitrf.device.char_available = (char_available_t) null_function; // not needed
-  superbitrf.device.getchar = (getchar_t) null_function; // not needed
+  superbitrf.device.get_char = (get_char_t) null_function; // not needed
 
   // Initialize the binding pin
   gpio_setup_input(SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_BIND_PIN);
diff --git a/sw/airborne/subsystems/datalink/w5100.c b/sw/airborne/subsystems/datalink/w5100.c
index d705b5d9fc..d6530b7704 100644
--- a/sw/airborne/subsystems/datalink/w5100.c
+++ b/sw/airborne/subsystems/datalink/w5100.c
@@ -254,7 +254,7 @@ void w5100_init(void)
   chip0.device.transmit = (transmit_t) dev_transmit;
   chip0.device.send_message = (send_message_t) dev_send;
   chip0.device.char_available = (char_available_t) dev_char_available;
-  chip0.device.getchar = (getchar_t) dev_getch;
+  chip0.device.get_char = (get_char_t) dev_getch;
 }
 
 void w5100_transmit(uint8_t data)
diff --git a/sw/airborne/subsystems/datalink/xbee.c b/sw/airborne/subsystems/datalink/xbee.c
index 675938d3c1..2ba4db972b 100644
--- a/sw/airborne/subsystems/datalink/xbee.c
+++ b/sw/airborne/subsystems/datalink/xbee.c
@@ -126,7 +126,7 @@ static uint8_t xbee_text_reply_is_ok(struct link_device *dev)
   int count = 0;
 
   while (dev->char_available(dev->periph)) {
-    char cc = dev->getchar(dev->periph);
+    char cc = dev->get_char(dev->periph);
     if (count < 2) {
       c[count] = cc;
     }
@@ -184,7 +184,7 @@ void xbee_init(void)
 
   // Empty buffer before init process
   while (dev->char_available(dev->periph)) {
-    dev->getchar(dev->periph);
+    dev->get_char(dev->periph);
   }
 
 #ifndef NO_XBEE_API_INIT
diff --git a/sw/airborne/subsystems/datalink/xbee.h b/sw/airborne/subsystems/datalink/xbee.h
index b4bc9f05eb..d4d0b175ff 100644
--- a/sw/airborne/subsystems/datalink/xbee.h
+++ b/sw/airborne/subsystems/datalink/xbee.h
@@ -140,7 +140,7 @@ static inline void xbee_check_and_parse(struct link_device *dev, struct xbee_tra
 {
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !trans->trans_rx.msg_received) {
-      parse_xbee(trans, dev->getchar(dev->periph));
+      parse_xbee(trans, dev->get_char(dev->periph));
     }
     if (trans->trans_rx.msg_received) {
       xbee_parse_payload(trans);
diff --git a/sw/airborne/subsystems/gps/gps_mtk.h b/sw/airborne/subsystems/gps/gps_mtk.h
index ff799266a3..c89bc8526f 100644
--- a/sw/airborne/subsystems/gps/gps_mtk.h
+++ b/sw/airborne/subsystems/gps/gps_mtk.h
@@ -75,7 +75,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
 
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !gps_mtk.msg_available) {
-      gps_mtk_parse(dev->getchar(dev->periph));
+      gps_mtk_parse(dev->get_char(dev->periph));
     }
     GpsConfigure();
   }
diff --git a/sw/airborne/subsystems/gps/gps_nmea.h b/sw/airborne/subsystems/gps/gps_nmea.h
index 08d2660a7d..d4c91adefb 100644
--- a/sw/airborne/subsystems/gps/gps_nmea.h
+++ b/sw/airborne/subsystems/gps/gps_nmea.h
@@ -69,7 +69,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
 
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph)) {
-      nmea_parse_char(dev->getchar(dev->periph));
+      nmea_parse_char(dev->get_char(dev->periph));
     }
   }
   if (gps_nmea.msg_available) {
diff --git a/sw/airborne/subsystems/gps/gps_sirf.h b/sw/airborne/subsystems/gps/gps_sirf.h
index 4cd67b8e02..d30fa9d261 100644
--- a/sw/airborne/subsystems/gps/gps_sirf.h
+++ b/sw/airborne/subsystems/gps/gps_sirf.h
@@ -139,7 +139,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
 
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph)) {
-      sirf_parse_char(dev->getchar(dev->periph));
+      sirf_parse_char(dev->get_char(dev->periph));
     }
   }
   if (gps_sirf.msg_available) {
diff --git a/sw/airborne/subsystems/gps/gps_skytraq.h b/sw/airborne/subsystems/gps/gps_skytraq.h
index 0ee2654004..c9331baad8 100644
--- a/sw/airborne/subsystems/gps/gps_skytraq.h
+++ b/sw/airborne/subsystems/gps/gps_skytraq.h
@@ -70,7 +70,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
 
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !gps_mtk.msg_available) {
-      gps_skytraq_parse(dev->getchar(dev->periph));
+      gps_skytraq_parse(dev->get_char(dev->periph));
     }
   }
   if (gps_skytraq.msg_available) {
diff --git a/sw/airborne/subsystems/gps/gps_ubx.h b/sw/airborne/subsystems/gps/gps_ubx.h
index f3637b6087..b55abd1622 100644
--- a/sw/airborne/subsystems/gps/gps_ubx.h
+++ b/sw/airborne/subsystems/gps/gps_ubx.h
@@ -104,7 +104,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
 
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !gps_ubx.msg_available) {
-      gps_ubx_parse(dev->getchar(dev->periph));
+      gps_ubx_parse(dev->get_char(dev->periph));
     }
   }
   if (gps_ubx.msg_available) {

From 3fceb3fd82e01afc4116f010fed9cbe3669952f0 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Fri, 20 Mar 2015 11:35:51 +0100
Subject: [PATCH 36/42] remove obsolete link macros

---
 conf/modules/direct_memory_logger.xml         |  2 +-
 sw/airborne/mcu_periph/uart.h                 | 77 -------------------
 sw/airborne/mcu_periph/udp.h                  | 15 ----
 sw/airborne/mcu_periph/usb_serial.h           | 11 ---
 .../modules/digital_cam/catia/protocol.c      | 25 ------
 .../modules/loggers/direct_memory_logger.c    |  8 +-
 .../chibios-libopencm3/chibios_sdlog.h        |  5 --
 sw/airborne/subsystems/datalink/superbitrf.h  |  8 --
 sw/airborne/subsystems/datalink/w5100.h       | 11 ---
 9 files changed, 3 insertions(+), 159 deletions(-)

diff --git a/conf/modules/direct_memory_logger.xml b/conf/modules/direct_memory_logger.xml
index 4f59643617..adadd1acd4 100644
--- a/conf/modules/direct_memory_logger.xml
+++ b/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"/>
 
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
index 70a93349fc..36834d8d3a 100644
--- a/sw/airborne/mcu_periph/uart.h
+++ b/sw/airborne/mcu_periph/uart.h
@@ -96,113 +96,36 @@ extern uint16_t uart_char_available(struct uart_periph *p);
 #if USE_UART0
 extern struct uart_periph uart0;
 extern void uart0_init(void);
-
-#define UART0Init() uart_periph_init(&uart0)
-#define UART0CheckFreeSpace(_x) uart_check_free_space(&uart0, _x)
-#define UART0Transmit(_x) uart_transmit(&uart0, _x)
-#define UART0SendMessage() {}
-#define UART0ChAvailable() uart_char_available(&uart0)
-#define UART0Getch() uart_getch(&uart0)
-#define UART0TxRunning uart0.tx_running
-#define UART0SetBaudrate(_b) uart_periph_set_baudrate(&uart0, _b)
-#define UART0SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart0, _b, _s, _p)
-
 #endif // USE_UART0
 
 #if USE_UART1
 extern struct uart_periph uart1;
 extern void uart1_init(void);
-
-#define UART1Init() uart_periph_init(&uart1)
-#define UART1CheckFreeSpace(_x) uart_check_free_space(&uart1, _x)
-#define UART1Transmit(_x) uart_transmit(&uart1, _x)
-#define UART1SendMessage() {}
-#define UART1ChAvailable() uart_char_available(&uart1)
-#define UART1Getch() uart_getch(&uart1)
-#define UART1TxRunning uart1.tx_running
-#define UART1SetBaudrate(_b) uart_periph_set_baudrate(&uart1, _b)
-#define UART1SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart1, _b, _s, _p)
-
 #endif // USE_UART1
 
 #if USE_UART2
 extern struct uart_periph uart2;
 extern void uart2_init(void);
-
-#define UART2Init() uart_periph_init(&uart2)
-#define UART2CheckFreeSpace(_x) uart_check_free_space(&uart2, _x)
-#define UART2Transmit(_x) uart_transmit(&uart2, _x)
-#define UART2SendMessage() {}
-#define UART2ChAvailable() uart_char_available(&uart2)
-#define UART2Getch() uart_getch(&uart2)
-#define UART2TxRunning uart2.tx_running
-#define UART2SetBaudrate(_b) uart_periph_set_baudrate(&uart2, _b)
-#define UART2SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart2, _b, _s, _p)
-
 #endif // USE_UART2
 
 #if USE_UART3
 extern struct uart_periph uart3;
 extern void uart3_init(void);
-
-#define UART3Init() uart_periph_init(&uart3)
-#define UART3CheckFreeSpace(_x) uart_check_free_space(&uart3, _x)
-#define UART3Transmit(_x) uart_transmit(&uart3, _x)
-#define UART3SendMessage() {}
-#define UART3ChAvailable() uart_char_available(&uart3)
-#define UART3Getch() uart_getch(&uart3)
-#define UART3TxRunning uart3.tx_running
-#define UART3SetBaudrate(_b) uart_periph_set_baudrate(&uart3, _b)
-#define UART3SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart3, _b, _s, _p)
-
 #endif // USE_UART3
 
 #if USE_UART4
 extern struct uart_periph uart4;
 extern void uart4_init(void);
-
-#define UART4Init() uart_periph_init(&uart4)
-#define UART4CheckFreeSpace(_x) uart_check_free_space(&uart4, _x)
-#define UART4Transmit(_x) uart_transmit(&uart4, _x)
-#define UART4SendMessage() {}
-#define UART4ChAvailable() uart_char_available(&uart4)
-#define UART4Getch() uart_getch(&uart4)
-#define UART4TxRunning uart4.tx_running
-#define UART4SetBaudrate(_b) uart_periph_set_baudrate(&uart4, _b)
-#define UART4SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart4, _b, _s, _p)
-
 #endif // USE_UART4
 
 #if USE_UART5
 extern struct uart_periph uart5;
 extern void uart5_init(void);
-
-#define UART5Init() uart_periph_init(&uart5)
-#define UART5CheckFreeSpace(_x) uart_check_free_space(&uart5, _x)
-#define UART5Transmit(_x) uart_transmit(&uart5, _x)
-#define UART5SendMessage() {}
-#define UART5ChAvailable() uart_char_available(&uart5)
-#define UART5Getch() uart_getch(&uart5)
-#define UART5TxRunning uart5.tx_running
-#define UART5SetBaudrate(_b) uart_periph_set_baudrate(&uart5, _b)
-#define UART5SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart5, _b, _s, _p)
-
 #endif // USE_UART5
 
 #if USE_UART6
 extern struct uart_periph uart6;
 extern void uart6_init(void);
-
-#define UART6Init() uart_periph_init(&uart6)
-#define UART6CheckFreeSpace(_x) uart_check_free_space(&uart6, _x)
-#define UART6Transmit(_x) uart_transmit(&uart6, _x)
-#define UART6SendMessage() {}
-#define UART6ChAvailable() uart_char_available(&uart6)
-#define UART6Getch() uart_getch(&uart6)
-#define UART6TxRunning uart6.tx_running
-#define UART6SetBaudrate(_b) uart_periph_set_baudrate(&uart6, _b)
-#define UART6SetBitsStopParity(_b, _s, _p) uart_periph_set_bits_stop_parity(&uart6, _b, _s, _p)
-
 #endif // USE_UART6
 
 #endif /* MCU_PERIPH_UART_H */
diff --git a/sw/airborne/mcu_periph/udp.h b/sw/airborne/mcu_periph/udp.h
index 3024b8a8e2..21a06ef319 100644
--- a/sw/airborne/mcu_periph/udp.h
+++ b/sw/airborne/mcu_periph/udp.h
@@ -80,11 +80,6 @@ extern struct udp_periph udp0;
 #endif
 
 #define UDP0Init() udp_periph_init(&udp0, UDP0_HOST, UDP0_PORT_OUT, UDP0_PORT_IN, UDP0_BROADCAST)
-#define UDP0CheckFreeSpace(_x) udp_check_free_space(&udp0, _x)
-#define UDP0Transmit(_x) udp_transmit(&udp0, _x)
-#define UDP0SendMessage() udp_send_message(&udp0)
-#define UDP0ChAvailable() udp_char_available(&udp0)
-#define UDP0Getch() udp_getch(&udp0)
 #endif // USE_UDP0
 
 #if USE_UDP1
@@ -107,11 +102,6 @@ extern struct udp_periph udp1;
 #endif
 
 #define UDP1Init() udp_periph_init(&udp1, UDP1_HOST, UDP1_PORT_OUT, UDP1_PORT_IN, UDP1_BROADCAST)
-#define UDP1CheckFreeSpace(_x) udp_check_free_space(&udp1, _x)
-#define UDP1Transmit(_x) udp_transmit(&udp1, _x)
-#define UDP1SendMessage() udp_send_message(&udp1)
-#define UDP1ChAvailable() udp_char_available(&udp1)
-#define UDP1Getch() udp_getch(&udp1)
 #endif // USE_UDP1
 
 #if USE_UDP2
@@ -134,11 +124,6 @@ extern struct udp_periph udp2;
 #endif
 
 #define UDP2Init() udp_periph_init(&udp2, UDP2_HOST, UDP2_PORT_OUT, UDP2_PORT_IN, UDP2_BROADCAST)
-#define UDP2CheckFreeSpace(_x) udp_check_free_space(&udp2, _x)
-#define UDP2Transmit(_x) udp_transmit(&udp2, _x)
-#define UDP2SendMessage() udp_send_message(&udp2)
-#define UDP2ChAvailable() udp_char_available(&udp2)
-#define UDP2Getch() udp_getch(&udp2)
 #endif // USE_UDP2
 
 #endif /* MCU_PERIPH_UDP_H */
diff --git a/sw/airborne/mcu_periph/usb_serial.h b/sw/airborne/mcu_periph/usb_serial.h
index ad54a885df..3d7ab5eb27 100644
--- a/sw/airborne/mcu_periph/usb_serial.h
+++ b/sw/airborne/mcu_periph/usb_serial.h
@@ -49,15 +49,4 @@ void VCOM_allow_linecoding(uint8_t mode);
 void VCOM_send_message(void);
 void VCOM_event(void);
 
-/*
- * Macros can be used in subsystems that normally work with serial ports
- * e.g. use UsbS instead of UART1
- */
-#define UsbSInit() VCOM_init()
-#define UsbSCheckFreeSpace(_x) VCOM_check_free_space(_x)
-#define UsbSTransmit(_x) VCOM_putchar(_x)
-#define UsbSSendMessage() VCOM_send_message()
-#define UsbSGetch() VCOM_getchar()
-#define UsbSChAvailable() VCOM_check_available()
-
 #endif /* USB_S_H */
diff --git a/sw/airborne/modules/digital_cam/catia/protocol.c b/sw/airborne/modules/digital_cam/catia/protocol.c
index 778412190d..647ae72e02 100644
--- a/sw/airborne/modules/digital_cam/catia/protocol.c
+++ b/sw/airborne/modules/digital_cam/catia/protocol.c
@@ -75,28 +75,3 @@ restart:
   t->status = UNINIT;
   return;
 }
-
-
-/*
-static inline void pprz_parse_payload(struct pprz_transport * t) {
-  uint8_t i;
-  for(i = 0; i < t->trans.payload_len; i++)
-    dl_buffer[i] = t->trans.payload[i];
-  dl_msg_available = TRUE;
-}
-
-
-#define PprzBuffer(_dev) TransportLink(_dev,ChAvailable())
-#define ReadPprzBuffer(_dev,_trans) { while (TransportLink(_dev,ChAvailable())&&!(_trans.trans.msg_received)) parse_pprz(&(_trans),TransportLink(_dev,Getch())); }
-#define PprzCheckAndParse(_dev,_trans) {  \
-  if (PprzBuffer(_dev)) {                 \
-    ReadPprzBuffer(_dev,_trans);          \
-    if (_trans.trans.msg_received) {      \
-      pprz_parse_payload(&(_trans));      \
-      _trans.trans.msg_received = FALSE;  \
-    }                                     \
-  }                                       \
-}
-*/
-
-
diff --git a/sw/airborne/modules/loggers/direct_memory_logger.c b/sw/airborne/modules/loggers/direct_memory_logger.c
index 3d0dbcc6b8..4004025bfb 100644
--- a/sw/airborne/modules/loggers/direct_memory_logger.c
+++ b/sw/airborne/modules/loggers/direct_memory_logger.c
@@ -38,10 +38,6 @@ static int32_t seq_in_array(uint8_t *array, uint16_t array_size, uint8_t *sequen
 static uint8_t start_log_sequence[6] = {0xAA, 0x55, 0xFF, 0x00, 0x55, 0xAA};
 static uint8_t stop_log_sequence[6] = {0xFF, 0x00, 0x55, 0xAA, 0x10, 0xFF};
 
-// The logging output connection
-#define __DMLoggerLink(dev, _x) dev##_x
-#define _DMLoggerLink(dev, _x)  __DMLoggerLink(dev, _x)
-#define DMLoggerLink(_x) _DMLoggerLink(DM_LOG_UART, _x)
 
 // Logging struct
 struct LogStruct {
@@ -149,7 +145,7 @@ void direct_memory_logger_periodic(void)
       dml.status = DML_READING;
     case DML_READING:
 
-      if (DMLoggerLink(TxRunning) || dml.sst.status != SST25VFXXXX_IDLE) {
+      if (DM_LOG_UART.tx_running || dml.sst.status != SST25VFXXXX_IDLE) {
         break;
       }
 
@@ -163,7 +159,7 @@ void direct_memory_logger_periodic(void)
       }
 
       for (i = 5; i < end_idx; i++) {
-        DMLoggerLink(Transmit(dml.buffer[i]));
+        uart_transmit(&DM_LOG_UART, dml.buffer[i]);
       }
 
       // Read next bytes
diff --git a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h
index 03526c39fd..c3b106af46 100644
--- a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h
+++ b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h
@@ -55,9 +55,4 @@ struct chibios_sdlog {
 
 extern struct chibios_sdlog chibios_sdlog;
 
-/** Paparazzi datalink API */
-#define SDLOGCheckFreeSpace(_x) (true)
-#define SDLOGTransmit(_x) sdLogWriteByte(&pprzLogFile, _x)
-#define SDLOGSendMessage() {}
-
 #endif
diff --git a/sw/airborne/subsystems/datalink/superbitrf.h b/sw/airborne/subsystems/datalink/superbitrf.h
index 46ecfdc1a3..fd99e325a4 100644
--- a/sw/airborne/subsystems/datalink/superbitrf.h
+++ b/sw/airborne/subsystems/datalink/superbitrf.h
@@ -125,14 +125,6 @@ extern void superbitrf_event(void);
 extern void superbitrf_set_mfg_id(uint32_t id);
 extern void superbitrf_set_protocol(uint8_t protocol);
 
-/* The datalink defines */
-#define SuperbitRFInit() { }//superbitrf_init(); }
-#define SuperbitRFCheckFreeSpace(_x) (((superbitrf.tx_insert_idx+1) %SUPERBITRF_TX_BUFFER_SIZE) != superbitrf.tx_extract_idx)
-#define SuperbitRFTransmit(_x) {                                    \
-    superbitrf.tx_buffer[superbitrf.tx_insert_idx] = _x;            \
-    superbitrf.tx_insert_idx = (superbitrf.tx_insert_idx+1) %SUPERBITRF_TX_BUFFER_SIZE;   \
-  }
-#define SuperbitRFSendMessage() { }
 #define SuperbitRFCheckAndParse() { }
 
 #endif /* DATALINK_SUPERBITRF_H */
diff --git a/sw/airborne/subsystems/datalink/w5100.h b/sw/airborne/subsystems/datalink/w5100.h
index 0e49e0e36a..e5b3cbc87d 100644
--- a/sw/airborne/subsystems/datalink/w5100.h
+++ b/sw/airborne/subsystems/datalink/w5100.h
@@ -70,17 +70,6 @@ void w5100_send(void);
 uint16_t w5100_rx_size(uint8_t _s);
 bool_t w5100_ch_available(void);
 
-// Defines that are done in mcu_periph on behalf of uart.
-// We need to do these here...
-#define W5100Init() w5100_init()
-#define W5100CheckFreeSpace(_x) (TRUE) // w5100_check_free_space(_x)
-#define W5100Transmit(_x) w5100_transmit(_x)
-#define W5100SendMessage() w5100_send()
-#define W5100ChAvailable() w5100_ch_available()
-#define W5100Getch() w5100_getch()
-#define W5100TxRunning chip0.tx_running
-#define W5100SetBaudrate(_b) w5100_set_baudrate(_b)
-
 
 // W5100 is using pprz_transport
 // FIXME it should not appear here, this will be fixed with the rx improvements some day...

From e5216d6783b5345c623c50dbc1206a238d05f305 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Sun, 22 Mar 2015 21:52:13 +0100
Subject: [PATCH 37/42] [device] rename get_char with get_byte

---
 sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c     | 2 +-
 sw/airborne/arch/lpc21/usb_ser_hw.c                       | 2 +-
 sw/airborne/arch/stm32/usb_ser_hw.c                       | 2 +-
 sw/airborne/firmwares/fixedwing/fbw_datalink.c            | 4 ++--
 sw/airborne/mcu_periph/link_device.h                      | 4 ++--
 sw/airborne/mcu_periph/uart.c                             | 2 +-
 sw/airborne/mcu_periph/udp.c                              | 2 +-
 sw/airborne/modules/datalink/mavlink.h                    | 2 +-
 sw/airborne/modules/datalink/mavlink_decoder.h            | 2 +-
 sw/airborne/modules/digital_cam/uart_cam_ctrl.c           | 2 +-
 sw/airborne/modules/ins/ahrs_chimu_spi.c                  | 2 +-
 sw/airborne/modules/ins/ahrs_chimu_uart.c                 | 2 +-
 sw/airborne/modules/ins/ins_module.h                      | 2 +-
 sw/airborne/modules/sensors/met_module.h                  | 2 +-
 sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c | 2 +-
 sw/airborne/subsystems/datalink/ivy_transport.c           | 2 +-
 sw/airborne/subsystems/datalink/pprz_transport.h          | 2 +-
 sw/airborne/subsystems/datalink/superbitrf.c              | 2 +-
 sw/airborne/subsystems/datalink/w5100.c                   | 2 +-
 sw/airborne/subsystems/datalink/xbee.c                    | 4 ++--
 sw/airborne/subsystems/datalink/xbee.h                    | 2 +-
 sw/airborne/subsystems/gps/gps_mtk.h                      | 2 +-
 sw/airborne/subsystems/gps/gps_nmea.h                     | 2 +-
 sw/airborne/subsystems/gps/gps_sirf.h                     | 2 +-
 sw/airborne/subsystems/gps/gps_skytraq.h                  | 2 +-
 sw/airborne/subsystems/gps/gps_ubx.h                      | 2 +-
 26 files changed, 29 insertions(+), 29 deletions(-)

diff --git a/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c b/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c
index e0e3aa0d67..53e58cdea3 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c
+++ b/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c
@@ -166,7 +166,7 @@ void spi_slave_hs_init(void)
   spi_slave_hs.device.transmit = (transmit_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_char = (get_char_t) spi_slave_hs_getch;
+  spi_slave_hs.device.get_byte = (get_byte_t) spi_slave_hs_getch;
 
 }
 
diff --git a/sw/airborne/arch/lpc21/usb_ser_hw.c b/sw/airborne/arch/lpc21/usb_ser_hw.c
index 22a7f56b66..5923c144ef 100644
--- a/sw/airborne/arch/lpc21/usb_ser_hw.c
+++ b/sw/airborne/arch/lpc21/usb_ser_hw.c
@@ -621,5 +621,5 @@ void VCOM_init(void)
   usb_serial.device.transmit = (transmit_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_char = (get_char_t) usb_serial_getch;
+  usb_serial.device.get_byte = (get_byte_t) usb_serial_getch;
 }
diff --git a/sw/airborne/arch/stm32/usb_ser_hw.c b/sw/airborne/arch/stm32/usb_ser_hw.c
index 1c010f688a..dd0e3eee59 100644
--- a/sw/airborne/arch/stm32/usb_ser_hw.c
+++ b/sw/airborne/arch/stm32/usb_ser_hw.c
@@ -531,5 +531,5 @@ void VCOM_init(void)
   usb_serial.device.transmit = (transmit_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_char = (get_char_t) usb_serial_getch;
+  usb_serial.device.get_byte = (get_byte_t) usb_serial_getch;
 }
diff --git a/sw/airborne/firmwares/fixedwing/fbw_datalink.c b/sw/airborne/firmwares/fixedwing/fbw_datalink.c
index f97f038e5e..f99fef6ed9 100644
--- a/sw/airborne/firmwares/fixedwing/fbw_datalink.c
+++ b/sw/airborne/firmwares/fixedwing/fbw_datalink.c
@@ -68,8 +68,8 @@ void fbw_datalink_event(void)
 #endif
 
   while (ModemLinkDevice->char_available(ModemLinkDevice->periph))
-    modem_parse(ModemLinkDevice->get_char(ModemLinkDevice->periph));
+    modem_parse(ModemLinkDevice->get_byte(ModemLinkDevice->periph));
 
   while (AutopilotLinkDevice->char_available(AutopilotLinkDevice->periph))
-    autopilot_parse(AutopilotLinkDevice->get_char(AutopilotLinkDevice->periph));
+    autopilot_parse(AutopilotLinkDevice->get_byte(AutopilotLinkDevice->periph));
 }
diff --git a/sw/airborne/mcu_periph/link_device.h b/sw/airborne/mcu_periph/link_device.h
index db33874943..2834ddc6c4 100644
--- a/sw/airborne/mcu_periph/link_device.h
+++ b/sw/airborne/mcu_periph/link_device.h
@@ -37,7 +37,7 @@ typedef int (*check_free_space_t)(void *, uint8_t);
 typedef void (*transmit_t)(void *, uint8_t);
 typedef void (*send_message_t)(void *);
 typedef int (*char_available_t)(void *);
-typedef uint8_t (*get_char_t)(void *);
+typedef uint8_t (*get_byte_t)(void *);
 
 /** Device structure
  */
@@ -46,7 +46,7 @@ struct link_device {
   transmit_t transmit;                  ///< transmit one byte
   send_message_t send_message;          ///< send completed buffer
   char_available_t char_available;      ///< check if a new character is available
-  get_char_t get_char;                    ///< get a new char
+  get_byte_t get_byte;                    ///< get a new char
   void *periph;                         ///< pointer to parent implementation
 };
 
diff --git a/sw/airborne/mcu_periph/uart.c b/sw/airborne/mcu_periph/uart.c
index 8408ea6e08..586399bf32 100644
--- a/sw/airborne/mcu_periph/uart.c
+++ b/sw/airborne/mcu_periph/uart.c
@@ -204,7 +204,7 @@ void uart_periph_init(struct uart_periph *p)
   p->device.transmit = (transmit_t)uart_transmit;
   p->device.send_message = (send_message_t)null_function;
   p->device.char_available = (char_available_t)uart_char_available;
-  p->device.get_char = (get_char_t)uart_getch;
+  p->device.get_byte = (get_byte_t)uart_getch;
 
 #if PERIODIC_TELEMETRY
   // the first to register do it for the others
diff --git a/sw/airborne/mcu_periph/udp.c b/sw/airborne/mcu_periph/udp.c
index c6e44a0c04..7256dccd5a 100644
--- a/sw/airborne/mcu_periph/udp.c
+++ b/sw/airborne/mcu_periph/udp.c
@@ -65,7 +65,7 @@ void udp_periph_init(struct udp_periph *p, char *host, int port_out, int port_in
   p->device.transmit = (transmit_t) udp_transmit;
   p->device.send_message = (send_message_t) udp_send_message;
   p->device.char_available = (char_available_t) udp_char_available;
-  p->device.get_char = (get_char_t) udp_getch;
+  p->device.get_byte = (get_byte_t) udp_getch;
 
   // Arch dependent initialization
   udp_arch_periph_init(p, host, port_out, port_in, broadcast);
diff --git a/sw/airborne/modules/datalink/mavlink.h b/sw/airborne/modules/datalink/mavlink.h
index f9b9d2f5b5..dd49a86627 100644
--- a/sw/airborne/modules/datalink/mavlink.h
+++ b/sw/airborne/modules/datalink/mavlink.h
@@ -55,7 +55,7 @@ extern mavlink_system_t mavlink_system;
 #define MAVLinkDev (&(MAVLINK_DEV).device)
 #define MAVLinkTransmit(c) MAVLinkDev->transmit(MAVLinkDev->periph, c)
 #define MAVLinkChAvailable() MAVLinkDev->char_available(MAVLinkDev->periph)
-#define MAVLinkGetch() MAVLinkDev->get_char(MAVLinkDev->periph)
+#define MAVLinkGetch() MAVLinkDev->get_byte(MAVLinkDev->periph)
 #define MAVLinkSendMessage() MAVLinkDev->send_message(MAVLinkDev->periph)
 
 /**
diff --git a/sw/airborne/modules/datalink/mavlink_decoder.h b/sw/airborne/modules/datalink/mavlink_decoder.h
index 689bd23738..ee0970d256 100644
--- a/sw/airborne/modules/datalink/mavlink_decoder.h
+++ b/sw/airborne/modules/datalink/mavlink_decoder.h
@@ -255,7 +255,7 @@ static inline void mavlink_check_and_parse(struct link_device *dev, struct mavli
 {
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !trans->trans.msg_received) {
-      parse_mavlink(trans, dev->get_char(dev->periph));
+      parse_mavlink(trans, dev->get_byte(dev->periph));
     }
     if (trans->trans.msg_received) {
       mavlink_parse_payload(trans);
diff --git a/sw/airborne/modules/digital_cam/uart_cam_ctrl.c b/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
index f6d97fd7d0..49f9aeefc2 100644
--- a/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
+++ b/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
@@ -48,7 +48,7 @@
 #define CameraLinkDev (&(CAMERA_LINK).device)
 #define CameraLinkTransmit(c) CameraLinkDev->transmit(CameraLinkDev->periph, c)
 #define CameraLinkChAvailable() CameraLinkDev->check_available(CameraLinkDev->periph)
-#define CameraLinkGetch() CameraLinkGetch->get_char(CameraLinkDev->periph)
+#define CameraLinkGetch() CameraLinkGetch->get_byte(CameraLinkDev->periph)
 
 union dc_shot_union dc_shot_msg;
 union mora_status_union mora_status_msg;
diff --git a/sw/airborne/modules/ins/ahrs_chimu_spi.c b/sw/airborne/modules/ins/ahrs_chimu_spi.c
index f9a5422c95..161312858e 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_spi.c
+++ b/sw/airborne/modules/ins/ahrs_chimu_spi.c
@@ -83,7 +83,7 @@ void parse_ins_msg(void)
 {
   struct link_device *dev = InsLinkDevice;
   while (dev->char_available(dev->periph)) {
-    uint8_t ch = dev->get_char(dev->periph);
+    uint8_t ch = dev->get_byte(dev->periph);
 
     if (CHIMU_Parse(ch, 0, &CHIMU_DATA)) {
       RunOnceEvery(25, LED_TOGGLE(3));
diff --git a/sw/airborne/modules/ins/ahrs_chimu_uart.c b/sw/airborne/modules/ins/ahrs_chimu_uart.c
index 86719fde2e..8bd7045279 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_uart.c
+++ b/sw/airborne/modules/ins/ahrs_chimu_uart.c
@@ -74,7 +74,7 @@ void parse_ins_msg(void)
 {
   struct link_device *dev = InsLinkDevice;
   while (dev->char_available(dev->periph)) {
-    uint8_t ch = dev->get_char(dev->periph);
+    uint8_t ch = dev->get_byte(dev->periph);
 
     if (CHIMU_Parse(ch, 0, &CHIMU_DATA)) {
       if (CHIMU_DATA.m_MsgID == 0x03) {
diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h
index a6b86b9756..584b204184 100644
--- a/sw/airborne/modules/ins/ins_module.h
+++ b/sw/airborne/modules/ins/ins_module.h
@@ -91,7 +91,7 @@ static inline void ins_event_check_and_handle(void (* handler)(void))
   struct link_device *dev = InsLinkDevice;
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !ins_msg_received) {
-      parse_ins_buffer(dev->get_char(dev->periph));
+      parse_ins_buffer(dev->get_byte(dev->periph));
     }
   }
   if (ins_msg_received) {
diff --git a/sw/airborne/modules/sensors/met_module.h b/sw/airborne/modules/sensors/met_module.h
index 1c5b647d9e..aa31c3719b 100644
--- a/sw/airborne/modules/sensors/met_module.h
+++ b/sw/airborne/modules/sensors/met_module.h
@@ -40,7 +40,7 @@
 #define MetLinkDevice (&(MET_LINK).device)
 
 #define MetBuffer() MetLinkDevice->char_available(MetLinkDevice->periph)
-#define MetGetch() MetLinkDevice->get_char(MetLinkDevice->periph)
+#define MetGetch() MetLinkDevice->get_byte(MetLinkDevice->periph)
 #define ReadMetBuffer() { while (MetBuffer()&&!met_msg_received) parse_met_buffer(MetGetch()); }
 #define MetSend1(c) MetLinkDevice->transmit(MetLinkDevice->periph, c)
 #define MetUartSend1(c) MetSend1(c)
diff --git a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
index 556b7521aa..137d773bad 100644
--- a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
+++ b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
@@ -88,7 +88,7 @@ bool_t chibios_logInit(const bool_t binaryFile)
   chibios_sdlog.device.transmit = (transmit_t) sdlog_transmit;
   chibios_sdlog.device.send_message = (send_message_t) sdlog_send;
   chibios_sdlog.device.char_available = (char_available_t) null_function; // write only
-  chibios_sdlog.device.get_char = (get_char_t) null_function; // write only
+  chibios_sdlog.device.get_byte = (get_byte_t) null_function; // write only
 
   if (sdLogInit (NULL) != SDLOG_OK)
     goto error;
diff --git a/sw/airborne/subsystems/datalink/ivy_transport.c b/sw/airborne/subsystems/datalink/ivy_transport.c
index a978a7017f..81dd64daed 100644
--- a/sw/airborne/subsystems/datalink/ivy_transport.c
+++ b/sw/airborne/subsystems/datalink/ivy_transport.c
@@ -199,6 +199,6 @@ void ivy_transport_init(void)
   ivy_tp.device.transmit = (transmit_t) transmit;
   ivy_tp.device.send_message = (send_message_t) send_message;
   ivy_tp.device.char_available = (char_available_t) null_function;
-  ivy_tp.device.get_char = (get_char_t) null_function;
+  ivy_tp.device.get_byte = (get_byte_t) null_function;
   ivy_tp.device.periph = (void *)(&ivy_tp);
 }
diff --git a/sw/airborne/subsystems/datalink/pprz_transport.h b/sw/airborne/subsystems/datalink/pprz_transport.h
index 7cb9d32757..1ddb9f7724 100644
--- a/sw/airborne/subsystems/datalink/pprz_transport.h
+++ b/sw/airborne/subsystems/datalink/pprz_transport.h
@@ -146,7 +146,7 @@ static inline void pprz_check_and_parse(struct link_device *dev, struct pprz_tra
 {
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !trans->trans_rx.msg_received) {
-      parse_pprz(trans, dev->get_char(dev->periph));
+      parse_pprz(trans, dev->get_byte(dev->periph));
     }
     if (trans->trans_rx.msg_received) {
       pprz_parse_payload(trans);
diff --git a/sw/airborne/subsystems/datalink/superbitrf.c b/sw/airborne/subsystems/datalink/superbitrf.c
index 075e41c41a..c26a25b0f8 100644
--- a/sw/airborne/subsystems/datalink/superbitrf.c
+++ b/sw/airborne/subsystems/datalink/superbitrf.c
@@ -246,7 +246,7 @@ void superbitrf_init(void)
   superbitrf.device.transmit = (transmit_t) superbitrf_transmit;
   superbitrf.device.send_message = (send_message_t) superbitrf_send;
   superbitrf.device.char_available = (char_available_t) null_function; // not needed
-  superbitrf.device.get_char = (get_char_t) null_function; // not needed
+  superbitrf.device.get_byte = (get_byte_t) null_function; // not needed
 
   // Initialize the binding pin
   gpio_setup_input(SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_BIND_PIN);
diff --git a/sw/airborne/subsystems/datalink/w5100.c b/sw/airborne/subsystems/datalink/w5100.c
index d6530b7704..af11efe31b 100644
--- a/sw/airborne/subsystems/datalink/w5100.c
+++ b/sw/airborne/subsystems/datalink/w5100.c
@@ -254,7 +254,7 @@ void w5100_init(void)
   chip0.device.transmit = (transmit_t) dev_transmit;
   chip0.device.send_message = (send_message_t) dev_send;
   chip0.device.char_available = (char_available_t) dev_char_available;
-  chip0.device.get_char = (get_char_t) dev_getch;
+  chip0.device.get_byte = (get_byte_t) dev_getch;
 }
 
 void w5100_transmit(uint8_t data)
diff --git a/sw/airborne/subsystems/datalink/xbee.c b/sw/airborne/subsystems/datalink/xbee.c
index 2ba4db972b..e80963ba80 100644
--- a/sw/airborne/subsystems/datalink/xbee.c
+++ b/sw/airborne/subsystems/datalink/xbee.c
@@ -126,7 +126,7 @@ static uint8_t xbee_text_reply_is_ok(struct link_device *dev)
   int count = 0;
 
   while (dev->char_available(dev->periph)) {
-    char cc = dev->get_char(dev->periph);
+    char cc = dev->get_byte(dev->periph);
     if (count < 2) {
       c[count] = cc;
     }
@@ -184,7 +184,7 @@ void xbee_init(void)
 
   // Empty buffer before init process
   while (dev->char_available(dev->periph)) {
-    dev->get_char(dev->periph);
+    dev->get_byte(dev->periph);
   }
 
 #ifndef NO_XBEE_API_INIT
diff --git a/sw/airborne/subsystems/datalink/xbee.h b/sw/airborne/subsystems/datalink/xbee.h
index d4d0b175ff..7b35568b40 100644
--- a/sw/airborne/subsystems/datalink/xbee.h
+++ b/sw/airborne/subsystems/datalink/xbee.h
@@ -140,7 +140,7 @@ static inline void xbee_check_and_parse(struct link_device *dev, struct xbee_tra
 {
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !trans->trans_rx.msg_received) {
-      parse_xbee(trans, dev->get_char(dev->periph));
+      parse_xbee(trans, dev->get_byte(dev->periph));
     }
     if (trans->trans_rx.msg_received) {
       xbee_parse_payload(trans);
diff --git a/sw/airborne/subsystems/gps/gps_mtk.h b/sw/airborne/subsystems/gps/gps_mtk.h
index c89bc8526f..3f7799fd8f 100644
--- a/sw/airborne/subsystems/gps/gps_mtk.h
+++ b/sw/airborne/subsystems/gps/gps_mtk.h
@@ -75,7 +75,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
 
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !gps_mtk.msg_available) {
-      gps_mtk_parse(dev->get_char(dev->periph));
+      gps_mtk_parse(dev->get_byte(dev->periph));
     }
     GpsConfigure();
   }
diff --git a/sw/airborne/subsystems/gps/gps_nmea.h b/sw/airborne/subsystems/gps/gps_nmea.h
index d4c91adefb..6353c00fd5 100644
--- a/sw/airborne/subsystems/gps/gps_nmea.h
+++ b/sw/airborne/subsystems/gps/gps_nmea.h
@@ -69,7 +69,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
 
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph)) {
-      nmea_parse_char(dev->get_char(dev->periph));
+      nmea_parse_char(dev->get_byte(dev->periph));
     }
   }
   if (gps_nmea.msg_available) {
diff --git a/sw/airborne/subsystems/gps/gps_sirf.h b/sw/airborne/subsystems/gps/gps_sirf.h
index d30fa9d261..0b1b0624e1 100644
--- a/sw/airborne/subsystems/gps/gps_sirf.h
+++ b/sw/airborne/subsystems/gps/gps_sirf.h
@@ -139,7 +139,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
 
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph)) {
-      sirf_parse_char(dev->get_char(dev->periph));
+      sirf_parse_char(dev->get_byte(dev->periph));
     }
   }
   if (gps_sirf.msg_available) {
diff --git a/sw/airborne/subsystems/gps/gps_skytraq.h b/sw/airborne/subsystems/gps/gps_skytraq.h
index c9331baad8..c35f773395 100644
--- a/sw/airborne/subsystems/gps/gps_skytraq.h
+++ b/sw/airborne/subsystems/gps/gps_skytraq.h
@@ -70,7 +70,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
 
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !gps_mtk.msg_available) {
-      gps_skytraq_parse(dev->get_char(dev->periph));
+      gps_skytraq_parse(dev->get_byte(dev->periph));
     }
   }
   if (gps_skytraq.msg_available) {
diff --git a/sw/airborne/subsystems/gps/gps_ubx.h b/sw/airborne/subsystems/gps/gps_ubx.h
index b55abd1622..643f86cec2 100644
--- a/sw/airborne/subsystems/gps/gps_ubx.h
+++ b/sw/airborne/subsystems/gps/gps_ubx.h
@@ -104,7 +104,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
 
   if (dev->char_available(dev->periph)) {
     while (dev->char_available(dev->periph) && !gps_ubx.msg_available) {
-      gps_ubx_parse(dev->get_char(dev->periph));
+      gps_ubx_parse(dev->get_byte(dev->periph));
     }
   }
   if (gps_ubx.msg_available) {

From 4aa23b0f9ed0eec4af86de0f4224ceecb8214e00 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Sun, 22 Mar 2015 22:09:48 +0100
Subject: [PATCH 38/42] [device] rename transmit with put_byte

---
 sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c  |  2 +-
 sw/airborne/arch/lpc21/usb_ser_hw.c                    |  2 +-
 sw/airborne/arch/stm32/usb_ser_hw.c                    |  2 +-
 sw/airborne/firmwares/fixedwing/fbw_datalink.c         |  4 ++--
 sw/airborne/mcu_periph/link_device.h                   |  6 +++---
 sw/airborne/mcu_periph/uart.c                          |  2 +-
 sw/airborne/mcu_periph/udp.c                           |  2 +-
 sw/airborne/modules/datalink/mavlink.h                 |  2 +-
 sw/airborne/modules/digital_cam/uart_cam_ctrl.c        |  2 +-
 sw/airborne/modules/ins/ins_module.h                   |  2 +-
 sw/airborne/modules/sensors/met_module.h               |  2 +-
 .../subsystems/chibios-libopencm3/chibios_sdlog.c      |  2 +-
 sw/airborne/subsystems/datalink/ivy_transport.c        |  2 +-
 sw/airborne/subsystems/datalink/pprz_transport.c       | 10 +++++-----
 sw/airborne/subsystems/datalink/pprzlog_transport.c    |  6 +++---
 sw/airborne/subsystems/datalink/superbitrf.c           |  2 +-
 sw/airborne/subsystems/datalink/uart_print.h           |  6 +++---
 sw/airborne/subsystems/datalink/w5100.c                |  2 +-
 sw/airborne/subsystems/datalink/xbee.c                 | 10 +++++-----
 sw/airborne/subsystems/gps/gps_furuno.c                |  2 +-
 sw/airborne/subsystems/gps/gps_mtk.c                   |  2 +-
 sw/airborne/subsystems/gps/gps_ubx.c                   | 10 +++++-----
 22 files changed, 41 insertions(+), 41 deletions(-)

diff --git a/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c b/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c
index 53e58cdea3..528a344ef8 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c
+++ b/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c
@@ -163,7 +163,7 @@ void spi_slave_hs_init(void)
   // 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.transmit = (transmit_t) spi_slave_hs_transmit;
+  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;
diff --git a/sw/airborne/arch/lpc21/usb_ser_hw.c b/sw/airborne/arch/lpc21/usb_ser_hw.c
index 5923c144ef..973db68984 100644
--- a/sw/airborne/arch/lpc21/usb_ser_hw.c
+++ b/sw/airborne/arch/lpc21/usb_ser_hw.c
@@ -618,7 +618,7 @@ 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;
diff --git a/sw/airborne/arch/stm32/usb_ser_hw.c b/sw/airborne/arch/stm32/usb_ser_hw.c
index dd0e3eee59..b89a19bf8c 100644
--- a/sw/airborne/arch/stm32/usb_ser_hw.c
+++ b/sw/airborne/arch/stm32/usb_ser_hw.c
@@ -528,7 +528,7 @@ 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;
diff --git a/sw/airborne/firmwares/fixedwing/fbw_datalink.c b/sw/airborne/firmwares/fixedwing/fbw_datalink.c
index f99fef6ed9..dfb5d6b7d0 100644
--- a/sw/airborne/firmwares/fixedwing/fbw_datalink.c
+++ b/sw/airborne/firmwares/fixedwing/fbw_datalink.c
@@ -36,12 +36,12 @@
 
 static inline void autopilot_parse(char c)
 {
-  ModemLinkDevice->transmit(ModemLinkDevice->periph, c);
+  ModemLinkDevice->put_byte(ModemLinkDevice->periph, c);
 }
 
 static inline void modem_parse(char c)
 {
-  AutopilotLinkDevice->transmit(AutopilotLinkDevice->periph, c);
+  AutopilotLinkDevice->put_byte(AutopilotLinkDevice->periph, c);
 }
 
 void fbw_datalink_periodic(void)
diff --git a/sw/airborne/mcu_periph/link_device.h b/sw/airborne/mcu_periph/link_device.h
index 2834ddc6c4..e282686d79 100644
--- a/sw/airborne/mcu_periph/link_device.h
+++ b/sw/airborne/mcu_periph/link_device.h
@@ -34,7 +34,7 @@
  * to store in the device structure
  */
 typedef int (*check_free_space_t)(void *, uint8_t);
-typedef void (*transmit_t)(void *, uint8_t);
+typedef void (*put_byte_t)(void *, uint8_t);
 typedef void (*send_message_t)(void *);
 typedef int (*char_available_t)(void *);
 typedef uint8_t (*get_byte_t)(void *);
@@ -43,10 +43,10 @@ typedef uint8_t (*get_byte_t)(void *);
  */
 struct link_device {
   check_free_space_t check_free_space;  ///< check if transmit buffer is not full
-  transmit_t transmit;                  ///< transmit one byte
+  put_byte_t put_byte;                  ///< put one byte
   send_message_t send_message;          ///< send completed buffer
   char_available_t char_available;      ///< check if a new character is available
-  get_byte_t get_byte;                    ///< get a new char
+  get_byte_t get_byte;                  ///< get a new char
   void *periph;                         ///< pointer to parent implementation
 };
 
diff --git a/sw/airborne/mcu_periph/uart.c b/sw/airborne/mcu_periph/uart.c
index 586399bf32..7e1aa83750 100644
--- a/sw/airborne/mcu_periph/uart.c
+++ b/sw/airborne/mcu_periph/uart.c
@@ -201,7 +201,7 @@ void uart_periph_init(struct uart_periph *p)
   p->fe_err = 0;
   p->device.periph = (void *)p;
   p->device.check_free_space = (check_free_space_t)uart_check_free_space;
-  p->device.transmit = (transmit_t)uart_transmit;
+  p->device.put_byte = (put_byte_t)uart_transmit;
   p->device.send_message = (send_message_t)null_function;
   p->device.char_available = (char_available_t)uart_char_available;
   p->device.get_byte = (get_byte_t)uart_getch;
diff --git a/sw/airborne/mcu_periph/udp.c b/sw/airborne/mcu_periph/udp.c
index 7256dccd5a..d953a7de11 100644
--- a/sw/airborne/mcu_periph/udp.c
+++ b/sw/airborne/mcu_periph/udp.c
@@ -62,7 +62,7 @@ void udp_periph_init(struct udp_periph *p, char *host, int port_out, int port_in
   p->tx_insert_idx = 0;
   p->device.periph = (void *)p;
   p->device.check_free_space = (check_free_space_t) udp_check_free_space;
-  p->device.transmit = (transmit_t) udp_transmit;
+  p->device.put_byte = (put_byte_t) udp_transmit;
   p->device.send_message = (send_message_t) udp_send_message;
   p->device.char_available = (char_available_t) udp_char_available;
   p->device.get_byte = (get_byte_t) udp_getch;
diff --git a/sw/airborne/modules/datalink/mavlink.h b/sw/airborne/modules/datalink/mavlink.h
index dd49a86627..ac4c0145f3 100644
--- a/sw/airborne/modules/datalink/mavlink.h
+++ b/sw/airborne/modules/datalink/mavlink.h
@@ -53,7 +53,7 @@ extern mavlink_system_t mavlink_system;
  * The MAVLink link description
  */
 #define MAVLinkDev (&(MAVLINK_DEV).device)
-#define MAVLinkTransmit(c) MAVLinkDev->transmit(MAVLinkDev->periph, c)
+#define MAVLinkTransmit(c) MAVLinkDev->put_byte(MAVLinkDev->periph, c)
 #define MAVLinkChAvailable() MAVLinkDev->char_available(MAVLinkDev->periph)
 #define MAVLinkGetch() MAVLinkDev->get_byte(MAVLinkDev->periph)
 #define MAVLinkSendMessage() MAVLinkDev->send_message(MAVLinkDev->periph)
diff --git a/sw/airborne/modules/digital_cam/uart_cam_ctrl.c b/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
index 49f9aeefc2..1d397f34c1 100644
--- a/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
+++ b/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
@@ -46,7 +46,7 @@
 #include "state.h"
 
 #define CameraLinkDev (&(CAMERA_LINK).device)
-#define CameraLinkTransmit(c) CameraLinkDev->transmit(CameraLinkDev->periph, c)
+#define CameraLinkTransmit(c) CameraLinkDev->put_byte(CameraLinkDev->periph, c)
 #define CameraLinkChAvailable() CameraLinkDev->check_available(CameraLinkDev->periph)
 #define CameraLinkGetch() CameraLinkGetch->get_byte(CameraLinkDev->periph)
 
diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h
index 584b204184..3256e26626 100644
--- a/sw/airborne/modules/ins/ins_module.h
+++ b/sw/airborne/modules/ins/ins_module.h
@@ -79,7 +79,7 @@ void parse_ins_buffer(uint8_t);
 #include "mcu_periph/uart.h"
 #include "mcu_periph/spi.h"
 
-#define InsSend1(c) InsLinkDevice->transmit(InsLinkDevice->periph, c)
+#define InsSend1(c) InsLinkDevice->put_byte(InsLinkDevice->periph, c)
 #define InsUartSend1(c) InsSend1(c)
 #define InsSend(_dat,_len) { for (uint8_t i = 0; i< (_len); i++) InsSend1(_dat[i]); };
 #define InsUartSetBaudrate(_b) uart_periph_set_baudrate(INS_LINK, _b)
diff --git a/sw/airborne/modules/sensors/met_module.h b/sw/airborne/modules/sensors/met_module.h
index aa31c3719b..98dd020787 100644
--- a/sw/airborne/modules/sensors/met_module.h
+++ b/sw/airborne/modules/sensors/met_module.h
@@ -42,7 +42,7 @@
 #define MetBuffer() MetLinkDevice->char_available(MetLinkDevice->periph)
 #define MetGetch() MetLinkDevice->get_byte(MetLinkDevice->periph)
 #define ReadMetBuffer() { while (MetBuffer()&&!met_msg_received) parse_met_buffer(MetGetch()); }
-#define MetSend1(c) MetLinkDevice->transmit(MetLinkDevice->periph, c)
+#define MetSend1(c) MetLinkDevice->put_byte(MetLinkDevice->periph, c)
 #define MetUartSend1(c) MetSend1(c)
 #define MetSend(_dat,_len) { for (uint8_t i = 0; i< (_len); i++) MetSend1(_dat[i]); };
 #define MetUartSetBaudrate(_b) uart_periph_set_baudrate(&(MET_LINK), _b)
diff --git a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
index 137d773bad..da43b645ba 100644
--- a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
+++ b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
@@ -85,7 +85,7 @@ bool_t chibios_logInit(const bool_t binaryFile)
   // Configure generic device
   chibios_sdlog.device.periph = (void *)(&chibios_sdlog);
   chibios_sdlog.device.check_free_space = (check_free_space_t) sdlog_check_free_space;
-  chibios_sdlog.device.transmit = (transmit_t) sdlog_transmit;
+  chibios_sdlog.device.put_byte = (put_byte_t) sdlog_transmit;
   chibios_sdlog.device.send_message = (send_message_t) sdlog_send;
   chibios_sdlog.device.char_available = (char_available_t) null_function; // write only
   chibios_sdlog.device.get_byte = (get_byte_t) null_function; // write only
diff --git a/sw/airborne/subsystems/datalink/ivy_transport.c b/sw/airborne/subsystems/datalink/ivy_transport.c
index 81dd64daed..93a66299db 100644
--- a/sw/airborne/subsystems/datalink/ivy_transport.c
+++ b/sw/airborne/subsystems/datalink/ivy_transport.c
@@ -196,7 +196,7 @@ void ivy_transport_init(void)
   ivy_tp.trans_tx.count_bytes = (count_bytes_t) count_bytes;
   ivy_tp.trans_tx.impl = (void *)(&ivy_tp);
   ivy_tp.device.check_free_space = (check_free_space_t) check_free_space;
-  ivy_tp.device.transmit = (transmit_t) transmit;
+  ivy_tp.device.put_byte = (put_byte_t) transmit;
   ivy_tp.device.send_message = (send_message_t) send_message;
   ivy_tp.device.char_available = (char_available_t) null_function;
   ivy_tp.device.get_byte = (get_byte_t) null_function;
diff --git a/sw/airborne/subsystems/datalink/pprz_transport.c b/sw/airborne/subsystems/datalink/pprz_transport.c
index e995397c0b..375cb63cbc 100644
--- a/sw/airborne/subsystems/datalink/pprz_transport.c
+++ b/sw/airborne/subsystems/datalink/pprz_transport.c
@@ -52,7 +52,7 @@ static void put_1byte(struct pprz_transport *trans, struct link_device *dev, con
 {
   trans->ck_a_tx += byte;
   trans->ck_b_tx += trans->ck_a_tx;
-  dev->transmit(dev->periph, byte);
+  dev->put_byte(dev->periph, byte);
 }
 
 static void put_bytes(struct pprz_transport *trans, struct link_device *dev,
@@ -82,17 +82,17 @@ static uint8_t size_of(struct pprz_transport *trans __attribute__((unused)), uin
 static void start_message(struct pprz_transport *trans, struct link_device *dev, uint8_t payload_len)
 {
   downlink.nb_msgs++;
-  dev->transmit(dev->periph, STX);
+  dev->put_byte(dev->periph, STX);
   const uint8_t msg_len = size_of(trans, payload_len);
-  dev->transmit(dev->periph, msg_len);
+  dev->put_byte(dev->periph, msg_len);
   trans->ck_a_tx = msg_len;
   trans->ck_b_tx = msg_len;
 }
 
 static void end_message(struct pprz_transport *trans, struct link_device *dev)
 {
-  dev->transmit(dev->periph, trans->ck_a_tx);
-  dev->transmit(dev->periph, trans->ck_b_tx);
+  dev->put_byte(dev->periph, trans->ck_a_tx);
+  dev->put_byte(dev->periph, trans->ck_b_tx);
   dev->send_message(dev->periph);
 }
 
diff --git a/sw/airborne/subsystems/datalink/pprzlog_transport.c b/sw/airborne/subsystems/datalink/pprzlog_transport.c
index 1fa3b170b3..0a47cdff2c 100644
--- a/sw/airborne/subsystems/datalink/pprzlog_transport.c
+++ b/sw/airborne/subsystems/datalink/pprzlog_transport.c
@@ -51,7 +51,7 @@ struct pprzlog_transport pprzlog_tp;
 static void put_1byte(struct pprzlog_transport *trans, struct link_device *dev, const uint8_t byte)
 {
   trans->ck += byte;
-  dev->transmit(dev->periph, byte);
+  dev->put_byte(dev->periph, byte);
 }
 
 static void put_bytes(struct pprzlog_transport *trans, struct link_device *dev,
@@ -79,7 +79,7 @@ static uint8_t size_of(struct pprzlog_transport *trans __attribute__((unused)),
 
 static void start_message(struct pprzlog_transport *trans, struct link_device *dev, uint8_t payload_len)
 {
-  dev->transmit(dev->periph, STX_LOG);
+  dev->put_byte(dev->periph, STX_LOG);
   const uint8_t msg_len = size_of(trans, payload_len);
   trans->ck = 0;
   put_1byte(trans, dev, msg_len);
@@ -90,7 +90,7 @@ static void start_message(struct pprzlog_transport *trans, struct link_device *d
 
 static void end_message(struct pprzlog_transport *trans, struct link_device *dev)
 {
-  dev->transmit(dev->periph, trans->ck);
+  dev->put_byte(dev->periph, trans->ck);
   dev->send_message(dev->periph);
 }
 
diff --git a/sw/airborne/subsystems/datalink/superbitrf.c b/sw/airborne/subsystems/datalink/superbitrf.c
index c26a25b0f8..eecdbfd177 100644
--- a/sw/airborne/subsystems/datalink/superbitrf.c
+++ b/sw/airborne/subsystems/datalink/superbitrf.c
@@ -243,7 +243,7 @@ void superbitrf_init(void)
   // Configure generic device
   superbitrf.device.periph = (void *)(&superbitrf);
   superbitrf.device.check_free_space = (check_free_space_t) superbitrf_check_free_space;
-  superbitrf.device.transmit = (transmit_t) superbitrf_transmit;
+  superbitrf.device.put_byte = (put_byte_t) superbitrf_transmit;
   superbitrf.device.send_message = (send_message_t) superbitrf_send;
   superbitrf.device.char_available = (char_available_t) null_function; // not needed
   superbitrf.device.get_byte = (get_byte_t) null_function; // not needed
diff --git a/sw/airborne/subsystems/datalink/uart_print.h b/sw/airborne/subsystems/datalink/uart_print.h
index 32bd987433..97f16513dd 100644
--- a/sw/airborne/subsystems/datalink/uart_print.h
+++ b/sw/airborne/subsystems/datalink/uart_print.h
@@ -39,7 +39,7 @@ static inline void print_string(struct link_device *dev, char *s)
 {
   uint8_t i = 0;
   while (s[i]) {
-    dev->transmit(dev->periph, s[i]);
+    dev->put_byte(dev->periph, s[i]);
     i++;
   }
 }
@@ -60,8 +60,8 @@ static inline void print_hex(struct link_device *dev, uint8_t c)
     '8', '9', 'A', 'B', 'C', 'D', 'E', 'F' };
   uint8_t high = (c & 0xF0)>>4;
   uint8_t low  = c & 0x0F;
-  dev->transmit(dev->periph, hex[high]);
-  dev->transmit(dev->periph, hex[low]);
+  dev->put_byte(dev->periph, hex[high]);
+  dev->put_byte(dev->periph, hex[low]);
 }
 
 #define _PrintHex16(out_fun, c ) {    \
diff --git a/sw/airborne/subsystems/datalink/w5100.c b/sw/airborne/subsystems/datalink/w5100.c
index af11efe31b..4b040e0488 100644
--- a/sw/airborne/subsystems/datalink/w5100.c
+++ b/sw/airborne/subsystems/datalink/w5100.c
@@ -251,7 +251,7 @@ void w5100_init(void)
   // Configure generic device
   chip0.device.periph = (void *)(&chip0);
   chip0.device.check_free_space = (check_free_space_t) true_function;
-  chip0.device.transmit = (transmit_t) dev_transmit;
+  chip0.device.put_byte = (put_byte_t) dev_transmit;
   chip0.device.send_message = (send_message_t) dev_send;
   chip0.device.char_available = (char_available_t) dev_char_available;
   chip0.device.get_byte = (get_byte_t) dev_getch;
diff --git a/sw/airborne/subsystems/datalink/xbee.c b/sw/airborne/subsystems/datalink/xbee.c
index e80963ba80..c23e809695 100644
--- a/sw/airborne/subsystems/datalink/xbee.c
+++ b/sw/airborne/subsystems/datalink/xbee.c
@@ -56,7 +56,7 @@ struct xbee_transport xbee_tp;
 static void put_1byte(struct xbee_transport *trans, struct link_device *dev, const uint8_t byte)
 {
   trans->cs_tx += byte;
-  dev->transmit(dev->periph, byte);
+  dev->put_byte(dev->periph, byte);
 }
 
 static void put_bytes(struct xbee_transport *trans, struct link_device *dev,
@@ -86,10 +86,10 @@ static uint8_t size_of(struct xbee_transport *trans __attribute__((unused)), uin
 static void start_message(struct xbee_transport *trans, struct link_device *dev, uint8_t payload_len)
 {
   downlink.nb_msgs++;
-  dev->transmit(dev->periph, XBEE_START);
+  dev->put_byte(dev->periph, XBEE_START);
   const uint16_t len = payload_len + XBEE_API_OVERHEAD;
-  dev->transmit(dev->periph, (len >> 8));
-  dev->transmit(dev->periph, (len & 0xff));
+  dev->put_byte(dev->periph, (len >> 8));
+  dev->put_byte(dev->periph, (len & 0xff));
   trans->cs_tx = 0;
   const uint8_t header[] = XBEE_TX_HEADER;
   put_bytes(trans, dev, DL_TYPE_UINT8, DL_FORMAT_SCALAR, XBEE_TX_OVERHEAD + 1, header);
@@ -98,7 +98,7 @@ static void start_message(struct xbee_transport *trans, struct link_device *dev,
 static void end_message(struct xbee_transport *trans, struct link_device *dev)
 {
   trans->cs_tx = 0xff - trans->cs_tx;
-  dev->transmit(dev->periph, trans->cs_tx);
+  dev->put_byte(dev->periph, trans->cs_tx);
   dev->send_message(dev->periph);
 }
 
diff --git a/sw/airborne/subsystems/gps/gps_furuno.c b/sw/airborne/subsystems/gps/gps_furuno.c
index efc28051a6..c86275e69b 100644
--- a/sw/airborne/subsystems/gps/gps_furuno.c
+++ b/sw/airborne/subsystems/gps/gps_furuno.c
@@ -68,7 +68,7 @@ void nmea_parse_prop_init(void)
     // Check if there is enough space to send the config msg
     if (GpsLinkDevice->check_free_space(GpsLinkDevice->periph, len + 6)) {
       for (j = 0; j < len + 6; j++) {
-        GpsLinkDevice->transmit(GpsLinkDevice->periph, buf[j]);
+        GpsLinkDevice->put_byte(GpsLinkDevice->periph, buf[j]);
       }
     } else {
       break;
diff --git a/sw/airborne/subsystems/gps/gps_mtk.c b/sw/airborne/subsystems/gps/gps_mtk.c
index 5a61336b6b..8591d8fd58 100644
--- a/sw/airborne/subsystems/gps/gps_mtk.c
+++ b/sw/airborne/subsystems/gps/gps_mtk.c
@@ -422,7 +422,7 @@ restart:
 static void MtkSend_CFG(char *dat)
 {
   struct link_device *dev = &((GPS_LINK).device);
-  while (*dat != 0) { dev->transmit(dev->periph, *dat++); }
+  while (*dat != 0) { dev->put_byte(dev->periph, *dat++); }
 }
 
 void gps_configure_uart(void)
diff --git a/sw/airborne/subsystems/gps/gps_ubx.c b/sw/airborne/subsystems/gps/gps_ubx.c
index af4bf06b62..0a74c1cd36 100644
--- a/sw/airborne/subsystems/gps/gps_ubx.c
+++ b/sw/airborne/subsystems/gps/gps_ubx.c
@@ -275,15 +275,15 @@ restart:
 
 static void ubx_send_1byte(struct link_device *dev, uint8_t byte)
 {
-  dev->transmit(dev->periph, byte);
+  dev->put_byte(dev->periph, byte);
   gps_ubx.send_ck_a += byte;
   gps_ubx.send_ck_b += gps_ubx.send_ck_a;
 }
 
 void ubx_header(struct link_device *dev, uint8_t nav_id, uint8_t msg_id, uint16_t len)
 {
-  dev->transmit(dev->periph, UBX_SYNC1);
-  dev->transmit(dev->periph, UBX_SYNC2);
+  dev->put_byte(dev->periph, UBX_SYNC1);
+  dev->put_byte(dev->periph, UBX_SYNC2);
   gps_ubx.send_ck_a = 0;
   gps_ubx.send_ck_b = 0;
   ubx_send_1byte(dev, nav_id);
@@ -294,8 +294,8 @@ void ubx_header(struct link_device *dev, uint8_t nav_id, uint8_t msg_id, uint16_
 
 void ubx_trailer(struct link_device *dev)
 {
-  dev->transmit(dev->periph, gps_ubx.send_ck_a);
-  dev->transmit(dev->periph, gps_ubx.send_ck_b);
+  dev->put_byte(dev->periph, gps_ubx.send_ck_a);
+  dev->put_byte(dev->periph, gps_ubx.send_ck_b);
   dev->send_message(dev->periph);
 }
 

From 626b2cf56670ff4546b16fc71c366c966cdd1ac8 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Sun, 22 Mar 2015 22:22:57 +0100
Subject: [PATCH 39/42] remove max3100 module and update gsm module

---
 sw/airborne/modules/gsm/gsm.c            |  15 +-
 sw/airborne/modules/max3100/max3100_hw.c | 173 -----------------------
 sw/airborne/modules/max3100/max3100_hw.h | 172 ----------------------
 3 files changed, 6 insertions(+), 354 deletions(-)
 delete mode 100644 sw/airborne/modules/max3100/max3100_hw.c
 delete mode 100644 sw/airborne/modules/max3100/max3100_hw.h

diff --git a/sw/airborne/modules/gsm/gsm.c b/sw/airborne/modules/gsm/gsm.c
index bd5fc57b0a..c89dd3a55b 100644
--- a/sw/airborne/modules/gsm/gsm.c
+++ b/sw/airborne/modules/gsm/gsm.c
@@ -58,9 +58,7 @@ Receiving:
 #include "gsm.h"
 #include "mcu_periph/uart.h"
 #include "std.h"
-#include "mcu_periph/uart.h"
 #include "subsystems/datalink/downlink.h"
-#include "ap_subsystems/datalink/downlink.h"
 #include "subsystems/gps.h"
 #include "autopilot.h"
 //#include "subsystems/navigation/common_nav.h"  //why is should this be needed?
@@ -72,14 +70,13 @@ Receiving:
 
 #define GSM_MAX_PAYLOAD 160
 
-#define __GSMLink(dev, _x) dev##_x
-#define _GSMLink(dev, _x)  __GSMLink(dev, _x)
-#define GSMLink(_x) _GSMLink(GSM_LINK, _x)
+#define GSMLinkDev (&(GSM_LINK).device)
 
-#define GSMBuffer() GSMLink(ChAvailable())
-#define ReadGSMBuffer() { while (GSMLink(ChAvailable())&&!gsm_line_received) gsm_parse(GSMLink(Getch())); }
+#define GSMLinkChAvailable() GSMLinkDev->check_available(GSMLinkDev->periph)
+#define GSMLinkTransmit(_c) GSMLinkDev->put_byte(GSMLinkDev->periph, _c)
+#define GSMLinkGetch() GSMLinkDev->get_byte(GSMLinkDev->periph)
+#define ReadGSMBuffer() { while (GSMLinkChAvailable&&!gsm_line_received) gsm_parse(GSMLinkGetch()); }
 
-#define GSMTransmit(_c) GSMLink(Transmit(_c))
 
 #define CTRLZ     0x1A
 #define GSM_ORIGIN_MAXLEN 32
@@ -179,7 +176,7 @@ void gsm_init_report(void)   /* Second call */
 
 void gsm_event(void)
 {
-  if (GSMBuffer()) {
+  if (GSMLinkChAvailable()) {
     ReadGSMBuffer();
   }
 
diff --git a/sw/airborne/modules/max3100/max3100_hw.c b/sw/airborne/modules/max3100/max3100_hw.c
deleted file mode 100644
index d4becb7f27..0000000000
--- a/sw/airborne/modules/max3100/max3100_hw.c
+++ /dev/null
@@ -1,173 +0,0 @@
-/*
- * Copyright (C) 2009  ENAC
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-#include "LPC21xx.h"
-#include "armVIC.h"
-#include "max3100_hw.h"
-
-#include "subsystems/datalink/downlink.h"
-#include "mcu_periph/uart.h"
-
-
-uint8_t volatile max3100_status;
-bool volatile max3100_data_available;
-bool volatile max3100_transmit_buffer_empty;
-
-uint8_t volatile max3100_tx_insert_idx, max3100_tx_extract_idx;
-uint8_t volatile max3100_rx_insert_idx, max3100_rx_extract_idx;
-
-uint8_t volatile max3100_tx_buf[MAX3100_TX_BUF_LEN];
-uint8_t volatile max3100_rx_buf[MAX3100_RX_BUF_LEN];
-
-
-bool read_bytes = false;
-
-
-static void EXTINT_ISR(void) __attribute__((naked));
-static void SPI1_ISR(void) __attribute__((naked));
-
-#define PINSEL1_SCK  (2 << 2)
-#define PINSEL1_MISO (2 << 4)
-#define PINSEL1_MOSI (2 << 6)
-#define PINSEL1_SSEL (2 << 8)
-
-/* SSPCR0 settings */
-#define SSP_DSS  0x0F << 0  /* data size            : 16 bits   */
-// #define SSP_DSS  0x07 << 0  /* data size            : 8 bits   */
-#define SSP_FRF  0x00 << 4  /* frame format         : SPI      */
-#define SSP_CPOL 0x00 << 6  /* clock polarity       : idle low */
-#define SSP_CPHA 0x00 << 7  /* clock phase          : 0        */
-#define SSP_SCR  0x0F << 8  /* serial clock rate    : 29.3kHz, SSP input clock / 16 */
-
-/* SSPCR1 settings */
-#define SSP_LBM  0x00 << 0  /* loopback mode     : disabled                  */
-#define SSP_SSE  0x00 << 1  /* SSP enable        : disabled                  */
-#define SSP_MS   0x00 << 2  /* master slave mode : master                    */
-#define SSP_SOD  0x00 << 3  /* slave output disable : don't care when master */
-
-#ifndef SSPCPSR_VAL
-#define SSPCPSR_VAL 0x04
-#endif
-
-#warning "This driver should be updated to use the new SPI peripheral"
-
-#ifndef SPI1_VIC_SLOT
-#define SPI1_VIC_SLOT 7
-#endif
-
-
-void max3100_init(void)
-{
-  max3100_status = MAX3100_STATUS_IDLE;
-  max3100_data_available = false;
-  max3100_transmit_buffer_empty = true;
-  max3100_tx_insert_idx = 0;
-  max3100_tx_extract_idx = 0;
-  max3100_rx_insert_idx = 0;
-  max3100_rx_extract_idx = 0;
-
-  /* setup pins for SSP (SCK, MISO, MOSI) */
-  PINSEL1 |= PINSEL1_SCK | PINSEL1_MISO | PINSEL1_MOSI;
-
-  /* setup SSP */
-  SSPCR0 = SSP_DSS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR;
-  SSPCR1 = SSP_LBM | SSP_MS | SSP_SOD;
-  SSPCPSR = SSPCPSR_VAL; /* Prescaler */
-
-
-  /* From arm7/max1167_hw.c */
-
-  /* SS pin is output */
-  SetBit(MAX3100_SS_IODIR, MAX3100_SS_PIN);
-  /* unselected max3100 */
-  Max3100Unselect();
-
-  /* connect extint (IRQ) */
-  MAX3100_IRQ_PINSEL |= MAX3100_IRQ_PINSEL_VAL << MAX3100_IRQ_PINSEL_BIT;
-  /* extint is edge trigered */
-  SetBit(EXTMODE, MAX3100_IRQ_EINT);
-  /* extint is trigered on falling edge */
-  ClearBit(EXTPOLAR, MAX3100_IRQ_EINT);
-  /* clear pending extint0 before enabling interrupts */
-  SetBit(EXTINT, MAX3100_IRQ_EINT);
-
-  /* Configure interrupt vector for external pin interrupt */
-  VICIntSelect &= ~VIC_BIT(MAX3100_VIC_EINT);      // EXTINT selected as IRQ
-  VICIntEnable = VIC_BIT(MAX3100_VIC_EINT);               // EXTINT interrupt enabled
-  VICVectCntl8 = VIC_ENABLE | MAX3100_VIC_EINT;
-  VICVectAddr8 = (uint32_t)EXTINT_ISR;   // address of the ISR
-
-  /* Configure interrupt vector for SPI */
-  VICIntSelect &= ~VIC_BIT(VIC_SPI1);   /* SPI1 selected as IRQ */
-  VICIntEnable = VIC_BIT(VIC_SPI1);     /* SPI1 interrupt enabled */
-  _VIC_CNTL(SPI1_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
-  _VIC_CNTL(SPI1_VIC_SLOT) = (uint32_t)SPI1_ISR;    /* address of the ISR */
-
-  /* Write configuration */
-  //Max3100TransmitConf(MAX3100_BAUD_RATE | MAX3100_BIT_NOT_TM);
-  Max3100TransmitConf(MAX3100_BAUD_RATE | MAX3100_BIT_NOT_RM | MAX3100_BIT_NOT_TM);
-}
-
-
-/******* External interrupt: Data input available ***********/
-void EXTINT_ISR(void)
-{
-  ISR_ENTRY();
-
-  max3100_data_available = true;
-
-  SetBit(EXTINT, MAX3100_IRQ_EINT);   /* clear extint */
-  VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
-
-  ISR_EXIT();
-}
-
-void SPI1_ISR(void)
-{
-  ISR_ENTRY();
-
-  while (bit_is_set(SSPSR, RNE)) {
-    uint16_t data = SSPDR;
-
-    if (bit_is_set(data, MAX3100_R_BIT)) { /* Data available */
-      max3100_rx_buf[max3100_rx_insert_idx] = data & 0xff;
-      max3100_rx_insert_idx++;  // automatic overflow because len=256
-      read_bytes = true;
-    }
-    if (bit_is_set(data, MAX3100_T_BIT) && (max3100_status == MAX3100_STATUS_READING)) { /* transmit buffer empty */
-      max3100_transmit_buffer_empty = true;
-    }
-  }
-  SpiClearRti();                  /* clear interrupt */
-  SpiDisableRti();
-  SpiDisable();
-  Max3100Unselect();
-  max3100_status = MAX3100_STATUS_IDLE;
-
-  VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
-  ISR_EXIT();
-}
-
-void max3100_debug(void)
-{
-  /***     DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice, 16, max3100_rx_buf); ***/
-}
diff --git a/sw/airborne/modules/max3100/max3100_hw.h b/sw/airborne/modules/max3100/max3100_hw.h
deleted file mode 100644
index bd73b15ecd..0000000000
--- a/sw/airborne/modules/max3100/max3100_hw.h
+++ /dev/null
@@ -1,172 +0,0 @@
-#ifndef MAX3100_H
-#define MAX3100_H
-
-#include <stdbool.h>
-#include "std.h"
-#include "mcu_periph/spi_arch.h"
-#include "led.h"
-
-/* Pin configuration for max3100 IRQ */
-// #define MAX3100_IRQ_PIN 7
-#if MAX3100_IRQ_PIN == 7
-#define MAX3100_IRQ_PINSEL PINSEL0
-#define MAX3100_IRQ_PINSEL_BIT 14
-#define MAX3100_IRQ_PINSEL_VAL 0x3
-#define MAX3100_IRQ_EINT 2
-#define MAX3100_VIC_EINT VIC_EINT2
-#elif MAX3100_IRQ_PIN == 16
-#define MAX3100_IRQ_PINSEL PINSEL1
-#define MAX3100_IRQ_PINSEL_BIT 0
-#define MAX3100_IRQ_PINSEL_VAL 0x1
-#define MAX3100_IRQ_EINT 0
-#define MAX3100_VIC_EINT VIC_EINT0
-#else
-#error "Define MAX3100_IRQ_PIN"
-#endif
-
-#define MAX3100_SS_PORT 0
-#define MAX3100_SS_PIN 20
-
-#define MAX3100_IO__(port, reg) IO ## port ## reg
-#define MAX3100_IO_(port, reg) MAX3100_IO__(port, reg)
-
-#define MAX3100_SS_IOCLR MAX3100_IO_(MAX3100_SS_PORT, CLR)
-#define MAX3100_SS_IODIR MAX3100_IO_(MAX3100_SS_PORT, DIR)
-#define MAX3100_SS_IOSET MAX3100_IO_(MAX3100_SS_PORT, SET)
-
-/** Max3100 protocol status */
-#define MAX3100_STATUS_IDLE 0
-#define MAX3100_STATUS_WRITING 1
-#define MAX3100_STATUS_READING 2
-
-extern volatile uint8_t max3100_status;
-extern volatile bool max3100_data_available;
-extern volatile bool max3100_transmit_buffer_empty; // Max3100 ready to receive data on SPI
-
-/** I/O Buffers */
-#define MAX3100_TX_BUF_LEN 256
-#define MAX3100_RX_BUF_LEN 256
-
-extern volatile uint8_t max3100_tx_insert_idx, max3100_tx_extract_idx;
-extern volatile uint8_t max3100_rx_insert_idx, max3100_rx_extract_idx;
-
-extern volatile uint8_t max3100_tx_buf[MAX3100_TX_BUF_LEN];
-extern volatile uint8_t max3100_rx_buf[MAX3100_RX_BUF_LEN];
-
-extern volatile uint8_t read_byte1, read_byte2;
-extern bool read_bytes;
-
-#define Max3100Select() { \
-    SetBit(MAX3100_SS_IOCLR, MAX3100_SS_PIN); \
-  }
-
-#define Max3100Unselect() { \
-    SetBit(MAX3100_SS_IOSET, MAX3100_SS_PIN); \
-  }
-
-#define MAX3100_WRITE_CONF ((1U<<15) | (1U<<14))
-#define MAX3100_READ_CONF ((0U<<15) | (1U<<14))
-#define MAX3100_WRITE_DATA ((1U<<15) | (0U<<14))
-#define MAX3100_READ_DATA ((0U<<15) | (0U<<14))
-
-/* Datasheet page 12 */
-#if MAX3100_FOSC == 1843200
-#define MAX3100_B115200 0x0
-#define MAX3100_B57600 0x1
-#define MAX3100_B19200 0x9
-#define MAX3100_B9600 0xA
-#elif MAX3100_FOSC == 3686400
-#define MAX3100_B9600 0xB
-#else
-#error "MAX3100_FOSC must be defined to 1843200 or 3686400"
-#endif
-
-#define MAX3100_BIT_NOT_RM (1U<<10)
-#define MAX3100_BIT_NOT_TM (1U<<11)
-#define MAX3100_BIT_NOT_FEN (1U<<13)
-#define MAX3100_T_BIT 14
-#define MAX3100_R_BIT 15
-
-/** Like UART macros */
-#define UART3100Init() {} /* Already initialized as a module */
-#define UART3100CheckFreeSpace(_len) (((int16_t)max3100_tx_extract_idx - max3100_tx_insert_idx + MAX3100_TX_BUF_LEN - 1) % MAX3100_TX_BUF_LEN >= _len)
-
-#define UART3100Transmit(_x) { max3100_putchar(_x); }
-#define UART3100SendMessage() {}
-#define UART3100Getch() ({\
-    uint8_t ret = max3100_rx_buf[max3100_rx_extract_idx]; \
-    max3100_rx_extract_idx++; /* Since size=256 */        \
-    ret;                                                 \
-  })
-
-#define UART3100ChAvailable() (max3100_rx_extract_idx != max3100_rx_insert_idx)
-
-static inline void max3100_transmit(uint16_t data)
-{
-  Max3100Select();
-  SpiClearRti();
-  SpiEnableRti();  /* enable rx fifo time out */
-  SpiEnable();
-  // SSPDR = data >> 8;
-  // SSPDR = data & 0xff;
-  SSPDR = data;
-}
-
-#define Max3100TransmitConf(_conf) max3100_transmit((_conf) | MAX3100_WRITE_CONF)
-#define Max3100TransmitData(_data) max3100_transmit((_data) | MAX3100_WRITE_DATA)
-#define Max3100ReadData() max3100_transmit(MAX3100_READ_DATA)
-
-
-static inline void max3100_read_data(void)
-{
-  Max3100ReadData();
-  max3100_status = MAX3100_STATUS_READING;
-}
-
-static inline void max3100_flush(void)
-{
-  if (max3100_status == MAX3100_STATUS_IDLE
-      && max3100_tx_extract_idx != max3100_tx_insert_idx
-      && max3100_transmit_buffer_empty) {
-    Max3100TransmitData(max3100_tx_buf[max3100_tx_extract_idx]);
-    max3100_tx_extract_idx++; /* automatic overflow since len=256 */
-    max3100_status = MAX3100_STATUS_WRITING;
-    max3100_transmit_buffer_empty = false;
-  }
-}
-
-/** Warning: No bufferring; SPI must be available */
-static inline void max3100_putconfchar(char c)
-{
-  Max3100TransmitConf(c);
-  max3100_status = MAX3100_STATUS_WRITING;
-}
-
-static inline void max3100_putchar(char c)
-{
-  max3100_tx_buf[max3100_tx_insert_idx] = c;
-  max3100_tx_insert_idx++; /* automatic overflow since len=256 */
-  /* flushed in the next event */
-}
-
-extern void max3100_init(void);
-extern void max3100_debug(void);
-
-static inline void max3100_event(void)
-{
-  if (read_bytes) {
-    read_bytes = false;
-    max3100_debug();
-  }
-  if (max3100_status == MAX3100_STATUS_IDLE) {
-    if (max3100_data_available) {
-      max3100_data_available = false;
-      max3100_read_data();
-    } else {
-      max3100_flush();
-    }
-  }
-}
-
-
-#endif /* MAX3100_H */

From 57e09ee2e2651f58f320b49f5a37e272f04e3fbc Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Sun, 22 Mar 2015 22:36:06 +0100
Subject: [PATCH 40/42] fix typo in ivy_transport

---
 sw/airborne/subsystems/datalink/ivy_transport.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sw/airborne/subsystems/datalink/ivy_transport.c b/sw/airborne/subsystems/datalink/ivy_transport.c
index 93a66299db..b3eab14ccc 100644
--- a/sw/airborne/subsystems/datalink/ivy_transport.c
+++ b/sw/airborne/subsystems/datalink/ivy_transport.c
@@ -179,7 +179,7 @@ static int check_available_space(struct ivy_transport *trans __attribute__((unus
 static int check_free_space(struct ivy_transport *p __attribute__((unused)), uint8_t len __attribute__((unused))) { return TRUE; }
 static void transmit(struct ivy_transport *p __attribute__((unused)), uint8_t byte __attribute__((unused))) {}
 static void send_message(struct ivy_transport *p __attribute__((unused))) {}
-static int null_function(struct chibios_sdlog *p __attribute__((unused))) { return 0; }
+static int null_function(struct ivy_transport *p __attribute__((unused))) { return 0; }
 
 void ivy_transport_init(void)
 {

From fa1e71808929dcbc7d7ec4d270eebfc27afb5efa Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Sun, 22 Mar 2015 22:49:22 +0100
Subject: [PATCH 41/42] remove unused sim_uart

---
 sw/airborne/arch/sim/sim_uart.c |  3 ---
 sw/airborne/arch/sim/sim_uart.h | 14 --------------
 2 files changed, 17 deletions(-)
 delete mode 100644 sw/airborne/arch/sim/sim_uart.c
 delete mode 100644 sw/airborne/arch/sim/sim_uart.h

diff --git a/sw/airborne/arch/sim/sim_uart.c b/sw/airborne/arch/sim/sim_uart.c
deleted file mode 100644
index 01e0eed92e..0000000000
--- a/sw/airborne/arch/sim/sim_uart.c
+++ /dev/null
@@ -1,3 +0,0 @@
-#include "sim_uart.h"
-
-FILE *pipe_stream;
diff --git a/sw/airborne/arch/sim/sim_uart.h b/sw/airborne/arch/sim/sim_uart.h
deleted file mode 100644
index ed6d23ce16..0000000000
--- a/sw/airborne/arch/sim/sim_uart.h
+++ /dev/null
@@ -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)

From 4651b4d6adcd59fc0eec8b6bb4168c4e7c1e644c Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Sun, 22 Mar 2015 23:28:12 +0100
Subject: [PATCH 42/42] remove more sim_uart

---
 sw/airborne/arch/sim/sim_ap.c              | 21 ---------------------
 sw/airborne/subsystems/datalink/downlink.h |  7 -------
 sw/airborne/subsystems/datalink/xbee.c     |  4 ----
 3 files changed, 32 deletions(-)

diff --git a/sw/airborne/arch/sim/sim_ap.c b/sw/airborne/arch/sim/sim_ap.c
index d9ea5e32b7..970f5da101 100644
--- a/sw/airborne/arch/sim/sim_ap.c
+++ b/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;
 }
diff --git a/sw/airborne/subsystems/datalink/downlink.h b/sw/airborne/subsystems/datalink/downlink.h
index 97a98d4096..816725db8e 100644
--- a/sw/airborne/subsystems/datalink/downlink.h
+++ b/sw/airborne/subsystems/datalink/downlink.h
@@ -37,15 +37,8 @@
 #include "generated/airframe.h" // AC_ID is required
 
 #if defined SITL
-
-#ifdef SIM_UART
-#include "sim_uart.h"
-#include "subsystems/datalink/pprz_transport.h"
-#include "subsystems/datalink/xbee.h"
-#else /* SIM_UART */
 /** Software In The Loop simulation uses IVY bus directly as the transport layer */
 #include "ivy_transport.h"
-#endif
 
 #else /** SITL */
 
diff --git a/sw/airborne/subsystems/datalink/xbee.c b/sw/airborne/subsystems/datalink/xbee.c
index c23e809695..c266de1735 100644
--- a/sw/airborne/subsystems/datalink/xbee.c
+++ b/sw/airborne/subsystems/datalink/xbee.c
@@ -30,10 +30,6 @@
 #include "subsystems/datalink/xbee.h"
 #include "subsystems/datalink/downlink.h"
 
-#ifdef SIM_UART
-#include "sim_uart.h"
-#endif
-
 /** Ground station address */
 #define GROUND_STATION_ADDR 0x100
 /** Aircraft address */