diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 13071d9c84..5eceebec07 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -37,18 +37,8 @@
#include "firmwares/fixedwing/main_ap.h"
#include "mcu.h"
#include "mcu_periph/sys_time.h"
-
-#ifdef MCU_SPI_LINK
-#include "link_mcu_spi.h"
-#endif
-
-#ifdef MCU_UART_LINK
-#include "link_mcu_usart.h"
-#endif
-
-#ifdef MCU_CAN_LINK
-#include "link_mcu_can.h"
-#endif
+#include "inter_mcu.h"
+#include "link_mcu.h"
// Sensors
#if USE_GPS
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
index e39bb3074e..37c94fd6ce 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.c
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -48,21 +48,10 @@
#include "subsystems/datalink/telemetry.h"
#endif
-#ifdef MCU_SPI_LINK
-#include "link_mcu_spi.h"
-#endif
-
-#ifdef MCU_UART_LINK
-#include "link_mcu_usart.h"
-#endif
-
-#ifdef MCU_CAN_LINK
-#include "link_mcu_can.h"
-#endif
-
uint8_t fbw_mode;
#include "inter_mcu.h"
+#include "link_mcu.h"
#ifdef USE_NPS
#include "nps_autopilot.h"
diff --git a/sw/airborne/inter_mcu.c b/sw/airborne/inter_mcu.c
index aeb4134b3f..0c62ae1e5d 100644
--- a/sw/airborne/inter_mcu.c
+++ b/sw/airborne/inter_mcu.c
@@ -14,9 +14,13 @@
* 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.
+ * along with paparazzi; see the file COPYING. If not, see
+ * .
+ */
+
+/**
+ * @file inter_mcu.c
+ * Communication between fbw and ap processes.
*
*/
@@ -28,7 +32,7 @@ static struct ap_state _ap_state;
struct fbw_state* fbw_state = &_fbw_state;
struct ap_state* ap_state = &_ap_state;
#else /* SINGLE_MCU */
-#include "link_mcu_spi.h"
+#include "link_mcu.h"
struct fbw_state* fbw_state = &link_mcu_from_fbw_msg.payload.from_fbw;
struct ap_state* ap_state = &link_mcu_from_ap_msg.payload.from_ap;
#endif /* ! SINGLE_MCU */
diff --git a/sw/airborne/inter_mcu.h b/sw/airborne/inter_mcu.h
index b26f6b7cf3..ef7f1e3183 100644
--- a/sw/airborne/inter_mcu.h
+++ b/sw/airborne/inter_mcu.h
@@ -1,5 +1,4 @@
-/* $Id$
- *
+/*
* Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
@@ -15,19 +14,20 @@
* 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.
- *
+ * along with paparazzi; see the file COPYING. If not, see
+ * .
*/
-/** \brief Communication between fbw and ap processes
+/**
+ * @file inter_mcu.h
+ * Communication between fbw and ap processes.
+ *
* This unit contains the data structure used to communicate between the
* "fly by wire" process and the "autopilot" process. It must be linked once in a
- * monoprocessor architecture, twice in a twin-processors (the historical
- * Atmel AVRs mega8-mega128 one) architecture. In the latter case, the
- * inter-mcu communication process (e.g. SPI) must fill and read these data structures.
-*/
+ * monoprocessor architecture, twice in a twin-processors architecture.
+ * In the latter case, the inter-mcu communication process (e.g. SPI) must fill and
+ * read these data structures.
+ */
#ifndef INTER_MCU_H
#define INTER_MCU_H
diff --git a/sw/airborne/link_mcu.h b/sw/airborne/link_mcu.h
new file mode 100644
index 0000000000..8ceb91197b
--- /dev/null
+++ b/sw/airborne/link_mcu.h
@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2003-2014 The Paparazzi Team
+ *
+ * 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, see
+ * .
+ */
+
+/**
+ * @file link_mcu.h
+ * Common transport functions for the communication between FBW and AP.
+ */
+
+#ifndef LINK_MCU_H
+#define LINK_MCU_H
+
+#ifdef MCU_SPI_LINK
+#include "link_mcu_spi.h"
+#elif defined MCU_UART_LINK
+#include "link_mcu_usart.h"
+#elif defined MCU_CAN_LINK
+#include "link_mcu_can.h"
+#endif
+
+#endif /* LINK_MCU_H */
diff --git a/sw/airborne/link_mcu_can.h b/sw/airborne/link_mcu_can.h
index 910842693d..c05d7d418f 100644
--- a/sw/airborne/link_mcu_can.h
+++ b/sw/airborne/link_mcu_can.h
@@ -14,17 +14,18 @@
* 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.
+ * along with paparazzi; see the file COPYING. If not, see
+ * .
+ */
+
+/**
+ * @file link_mcu_can.h
+ * Transport for the communication between FBW and AP via CAN.
*
*/
-/** \brief Transport for the communication between FBW and AP via CAN.
- */
-
-#ifndef LINK_MCU_H
-#define LINK_MCU_H
+#ifndef LINK_MCU_CAN_H
+#define LINK_MCU_CAN_H
#include
#include "inter_mcu.h"
@@ -47,4 +48,4 @@ extern void link_mcu_event_task( void );
extern void link_mcu_periodic_task( void );
-#endif
+#endif /* LINK_MCU_CAN_H */
diff --git a/sw/airborne/link_mcu_spi.h b/sw/airborne/link_mcu_spi.h
index 118efc8f20..4b61e493a0 100644
--- a/sw/airborne/link_mcu_spi.h
+++ b/sw/airborne/link_mcu_spi.h
@@ -1,5 +1,5 @@
/*
- * Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
@@ -14,18 +14,18 @@
* 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.
+ * along with paparazzi; see the file COPYING. If not, see
+ * .
+ */
+
+/**
+ * @file link_mcu_spi.h
+ * Transport for the communication between FBW and AP via SPI.
*
*/
-/** \brief Transport for the communication between FBW and AP in a bi-process
- architecture. Essentially adds a checksum to the inter_mcu structure.
- */
-
-#ifndef LINK_MCU_H
-#define LINK_MCU_H
+#ifndef LINK_MCU_SPI_H
+#define LINK_MCU_SPI_H
#include
#include "inter_mcu.h"
@@ -64,4 +64,4 @@ extern uint8_t link_mcu_fbw_nb_err;
extern void link_mcu_send(void);
#endif /* AP */
-#endif
+#endif /* LINK_MCU_SPI_H */
diff --git a/sw/airborne/link_mcu_usart.h b/sw/airborne/link_mcu_usart.h
index 775ef90008..0140c4146a 100644
--- a/sw/airborne/link_mcu_usart.h
+++ b/sw/airborne/link_mcu_usart.h
@@ -14,17 +14,18 @@
* 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.
+ * along with paparazzi; see the file COPYING. If not, see
+ * .
+ */
+
+/**
+ * @file link_mcu_usart.h
+ * Transport for the communication between FBW and AP via UART.
*
*/
-/** \brief Transport for the communication between FBW and AP via UART.
- */
-
-#ifndef LINK_MCU_H
-#define LINK_MCU_H
+#ifndef LINK_MCU_USART_H
+#define LINK_MCU_USART_H
#include
#include "inter_mcu.h"
@@ -47,4 +48,4 @@ extern void link_mcu_event_task( void );
extern void link_mcu_periodic_task( void );
-#endif
+#endif /* LINK_MCU_USART_H */