From 252984422731f5f397ca415e47e0ce7467073b7e Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Sat, 23 Oct 2010 21:12:06 +0000 Subject: [PATCH] moved peripherals arch --- conf/airframes/Poine/beth.xml | 4 +- conf/autopilot/booz2_test_progs.makefile | 4 +- conf/autopilot/booz_test_progs.makefile | 2 +- conf/autopilot/lisa_l_test_progs.makefile | 8 +-- conf/autopilot/lisa_test_progs.makefile | 24 +++---- .../lisa_passthrough/imu_b2_v1.1.makefile | 14 ++--- .../lisa_passthrough/imu_b2_v1.2.makefile | 12 ++-- .../rotorcraft/imu_b2_v1.0.makefile | 12 ++-- .../rotorcraft/imu_b2_v1.1.makefile | 14 ++--- .../rotorcraft/imu_b2_v1.2.makefile | 12 ++-- .../subsystems/rotorcraft/imu_crista.makefile | 4 +- .../lpc21/peripherals/max1168_arch.c} | 28 ++++----- .../lpc21/peripherals/max1168_arch.h} | 26 ++++---- .../lpc21/peripherals/ms2001_arch.c} | 9 ++- .../lpc21/peripherals/ms2001_arch.h} | 54 ++++++++-------- sw/airborne/arch/lpc21/sys_time_hw.c | 2 +- .../sim/peripherals/max1168_arch.c} | 10 +-- .../sim/peripherals/max1168_arch.h} | 10 +-- .../stm32/peripherals/max1168_arch.c} | 56 ++++++++--------- .../stm32/peripherals/max1168_arch.h} | 18 +++--- .../stm32/peripherals/ms2001_arch.c} | 6 +- .../stm32/peripherals/ms2001_arch.h} | 14 ++--- .../arch/stm32/peripherals/hmc5843_arch.c | 2 +- sw/airborne/booz/test/booz2_test_max1168.c | 16 ++--- sw/airborne/lisa/test/lisa_test_aspirin.c | 2 +- sw/airborne/lisa/test/lisa_test_hmc5843.c | 2 +- sw/airborne/lisa/test/lisa_test_max1168.c | 16 ++--- sw/airborne/lisa/test/lisa_test_ms2001.c | 2 +- sw/airborne/lisa/test/lisa_test_ms2100.c | 14 ++--- sw/airborne/peripherals/adxl345.h | 6 +- sw/airborne/peripherals/ami601.c | 2 +- sw/airborne/peripherals/ami601.h | 4 +- sw/airborne/peripherals/hmc5843.c | 62 +++++++++---------- sw/airborne/peripherals/hmc5843.h | 22 +++---- sw/airborne/peripherals/itg3200.h | 6 +- sw/airborne/peripherals/max1168.c | 14 ++--- sw/airborne/peripherals/max1168.h | 18 +++--- sw/airborne/peripherals/ms2001.c | 2 +- sw/airborne/peripherals/ms2001.h | 8 +-- sw/airborne/peripherals/sc18i600.c | 2 +- sw/airborne/peripherals/sc18i600.h | 2 +- .../subsystems/imu/arch/lpc21/imu_b2_arch.c | 2 +- .../subsystems/imu/arch/sim/imu_b2_arch.c | 14 ++--- .../subsystems/imu/arch/stm32/imu_b2_arch.c | 2 +- sw/airborne/subsystems/imu/imu_aspirin.h | 2 +- sw/airborne/subsystems/imu/imu_b2.c | 2 +- sw/airborne/subsystems/imu/imu_b2.h | 24 +++---- sw/airborne/subsystems/imu/imu_crista.h | 2 +- sw/airborne/test/peripherals/test_ami601.c | 2 +- 49 files changed, 297 insertions(+), 298 deletions(-) rename sw/airborne/{booz/arch/lpc21/peripherals/booz_max1168_arch.c => arch/lpc21/peripherals/max1168_arch.c} (82%) rename sw/airborne/{booz/arch/lpc21/peripherals/booz_max1168_arch.h => arch/lpc21/peripherals/max1168_arch.h} (76%) rename sw/airborne/{booz/arch/lpc21/peripherals/booz_ms2001_arch.c => arch/lpc21/peripherals/ms2001_arch.c} (94%) rename sw/airborne/{booz/arch/lpc21/peripherals/booz_ms2001_arch.h => arch/lpc21/peripherals/ms2001_arch.h} (61%) rename sw/airborne/{booz/arch/sim/peripherals/booz_max1168_arch.c => arch/sim/peripherals/max1168_arch.c} (84%) rename sw/airborne/{booz/arch/sim/peripherals/booz_max1168_arch.h => arch/sim/peripherals/max1168_arch.h} (87%) rename sw/airborne/{booz/arch/stm32/peripherals/booz_max1168_arch.c => arch/stm32/peripherals/max1168_arch.c} (84%) rename sw/airborne/{booz/arch/stm32/peripherals/booz_max1168_arch.h => arch/stm32/peripherals/max1168_arch.h} (89%) rename sw/airborne/{booz/arch/stm32/peripherals/booz_ms2001_arch.c => arch/stm32/peripherals/ms2001_arch.c} (97%) rename sw/airborne/{booz/arch/stm32/peripherals/booz_ms2001_arch.h => arch/stm32/peripherals/ms2001_arch.h} (96%) diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml index c78da286fe..4d9585943f 100644 --- a/conf/airframes/Poine/beth.xml +++ b/conf/airframes/Poine/beth.xml @@ -129,8 +129,8 @@ main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c #main_stm32.srcs += $(SRC_FIRMWARE)/imu.c #main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ #main_stm32.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c -#main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c -#main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c +#main_stm32.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c +#main_stm32.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c #main_stm32.srcs += math/pprz_trig_int.c #crista IMU diff --git a/conf/autopilot/booz2_test_progs.makefile b/conf/autopilot/booz2_test_progs.makefile index 36ffe0936c..eef68b3695 100644 --- a/conf/autopilot/booz2_test_progs.makefile +++ b/conf/autopilot/booz2_test_progs.makefile @@ -72,8 +72,8 @@ test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_ test_max1168.srcs += downlink.c pprz_transport.c test_max1168.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8 -DSSP_VIC_SLOT=9 -test_max1168.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ - $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c +test_max1168.srcs += peripherals/max1168.c \ + $(SRC_ARCH)/peripherals/max1168_arch.c # # test MICROMAG diff --git a/conf/autopilot/booz_test_progs.makefile b/conf/autopilot/booz_test_progs.makefile index 239c9a135a..5cc6b731ff 100644 --- a/conf/autopilot/booz_test_progs.makefile +++ b/conf/autopilot/booz_test_progs.makefile @@ -229,6 +229,6 @@ test_ami601.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_D test_ami601.srcs += downlink.c pprz_transport.c test_ami601.CFLAGS += -DUSE_AMI601 -test_ami601.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c +test_ami601.srcs += peripherals/ami601.c test_ami601.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 test_ami601.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile index 9ef5adb3f5..a3a662ae09 100644 --- a/conf/autopilot/lisa_l_test_progs.makefile +++ b/conf/autopilot/lisa_l_test_progs.makefile @@ -318,8 +318,8 @@ test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT) test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE) test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ test_imu_b2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c -test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c -test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c +test_imu_b2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c +test_imu_b2.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c # # test IMU b2 1.2 @@ -359,10 +359,10 @@ test_imu_b2_2.CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT) test_imu_b2_2.CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE) test_imu_b2_2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ test_imu_b2_2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c -test_imu_b2_2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c +test_imu_b2_2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c test_imu_b2_2.CFLAGS += -DUSE_I2C2 test_imu_b2_2.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c -test_imu_b2_2.srcs += $(SRC_BOOZ)/peripherals/booz_hmc5843.c $(SRC_BOOZ_ARCH)/peripherals/hmc5843_arch.c +test_imu_b2_2.srcs += peripherals/hmc5843.c $(SRC_BOOZ_ARCH)/peripherals/hmc5843_arch.c test_imu_b2_2.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5 diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/autopilot/lisa_test_progs.makefile index 4251e950e1..e51a8626f3 100644 --- a/conf/autopilot/lisa_test_progs.makefile +++ b/conf/autopilot/lisa_test_progs.makefile @@ -427,8 +427,8 @@ test_imu_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001 test_imu_b2.srcs += $(SRC_FIRMWARE)/imu.c test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ test_imu_b2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c -test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c -test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c +test_imu_b2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c +test_imu_b2.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c # @@ -851,8 +851,8 @@ test_sc18is600.srcs += downlink.c pprz_transport.c test_sc18is600.srcs += math/pprz_trig_int.c test_sc18is600.CFLAGS += -DUSE_EXTI2_IRQ -DUSE_DMA1_C4_IRQ -test_sc18is600.srcs += $(SRC_BOOZ)/peripherals/booz_sc18is600.c \ - $(SRC_BOOZ_ARCH)/peripherals/booz_sc18is600_arch.c +test_sc18is600.srcs += peripherals/booz_sc18is600.c \ + $(SRC_ARCH)/peripherals/sc18is600_arch.c # @@ -873,8 +873,8 @@ test_max1168.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_max1168.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_max1168.CFLAGS += -DUSE_SPI2 -DUSE_EXTI2_IRQ -DUSE_DMA1_C4_IRQ -DMAX1168_HANDLES_DMA_IRQ -test_max1168.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ - $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c +test_max1168.srcs += peripherals/max1168.c \ + $(SRC_ARCH)/peripherals/max1168_arch.c test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_max1168.srcs += $(SRC_ARCH)/uart_hw.c @@ -902,8 +902,8 @@ test_ms2001.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_ms2001.CFLAGS += -DUSE_SPI2 test_ms2001.CFLAGS += -DUSE_DMA1_C4_IRQ -DMS2001_HANDLES_DMA_IRQ test_ms2001.CFLAGS += -DUSE_SPI2_IRQ -DMS2001_HANDLES_SPI_IRQ -test_ms2001.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \ - $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c +test_ms2001.srcs += peripherals/ms2001.c \ + $(SRC_ARCH)/peripherals/ms2001_arch.c test_ms2001.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_ms2001.srcs += $(SRC_ARCH)/uart_hw.c @@ -1095,8 +1095,8 @@ ptw.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001 ptw.srcs += $(SRC_FIRMWARE)/imu.c ptw.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ ptw.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c -ptw.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c -ptw.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c +ptw.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c +ptw.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c ptw.srcs += math/pprz_trig_int.c ptw.srcs += $(SRC_BOOZ)/booz2_commands.c @@ -1354,8 +1354,8 @@ hs_gyro_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001 hs_gyro_b2.srcs += $(SRC_FIRMWARE)/imu.c hs_gyro_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ hs_gyro_b2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c -hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c -hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c +hs_gyro_b2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c +hs_gyro_b2.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c # # Spits every samples of one axis of gyro on IMU crista diff --git a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile b/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile index 4a41c50be8..dd3e70a227 100644 --- a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile +++ b/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile @@ -47,11 +47,11 @@ $(TARGET).srcs += $(SRC_FIRMWARE)/imu.c \ $(SRC_FIRMWARE)/imu/imu_b2.c \ $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c -$(TARGET).srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ - $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c +$(TARGET).srcs += peripherals/max1168.c \ + $(SRC_ARCH)/peripherals/max1168_arch.c -$(TARGET).srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \ - $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c +$(TARGET).srcs += peripherals/ms2001.c \ + $(SRC_ARCH)/peripherals/ms2001_arch.c ifeq ($(ARCH), lpc21) $(TARGET).CFLAGS += -DSSP_VIC_SLOT=9 @@ -75,9 +75,9 @@ sim.srcs += $(SRC_FIRMWARE)/imu.c \ $(SRC_BOOZ_SIM)/imu/imu_b2_arch.c -sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ - $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c +sim.srcs += peripherals/max1168.c \ + $(SRC_BOOZ_SIM)/peripherals/max1168_arch.c sim.CFLAGS += -DUSE_AMI601 -sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c +sim.srcs += peripherals/ami601.c sim.CFLAGS += -DUSE_I2C1 diff --git a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile b/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile index 84e5e0fd8f..ece0e2e9a8 100644 --- a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile +++ b/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile @@ -51,10 +51,10 @@ imu_srcs += $(SRC_FIRMWARE)/imu.c \ $(SRC_FIRMWARE)/imu/imu_b2.c \ $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c -imu_srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ - $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c +imu_srcs += peripherals/max1168.c \ + $(SRC_ARCH)/peripherals/max1168_arch.c -imu_srcs += $(SRC_BOOZ)/peripherals/booz_hmc5843.c \ +imu_srcs += peripherals/hmc5843.c \ $(SRC_BOOZ_ARCH)/peripherals/hmc5843_arch.c ifeq ($(ARCH), lpc21) @@ -87,9 +87,9 @@ sim.srcs += $(SRC_FIRMWARE)/imu.c \ $(SRC_FIRMWARE)/imu/imu_b2.c \ $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c -sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ - $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c +sim.srcs += peripherals/max1168.c \ + $(SRC_BOOZ_SIM)/peripherals/max1168_arch.c sim.CFLAGS += -DUSE_AMI601 -sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c +sim.srcs += peripherals/ami601.c sim.CFLAGS += -DUSE_I2C1 diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile index 483def41a2..b4c0e2426d 100644 --- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile +++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile @@ -48,11 +48,11 @@ ap.srcs += $(SRC_SUBSYSTEMS)/imu.c \ $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8 -ap.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ - $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c +ap.srcs += peripherals/max1168.c \ + $(SRC_ARCH)/peripherals/max1168_arch.c ap.CFLAGS += -DUSE_AMI601 -ap.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c +ap.srcs += peripherals/ami601.c ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 @@ -70,9 +70,9 @@ sim.srcs += $(SRC_SUBSYSTEMS)/imu.c \ $(SRC_SUBSYSTEMS)/imu/imu_b2.c \ $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c -sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ - $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c +sim.srcs += peripherals/max1168.c \ + $(SRC_BOOZ_SIM)/peripherals/max1168_arch.c sim.CFLAGS += -DUSE_AMI601 -sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c +sim.srcs += peripherals/ami601.c sim.CFLAGS += -DUSE_I2C1 diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile index ff7484f010..3ab083795e 100644 --- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile +++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile @@ -51,11 +51,11 @@ ap.srcs += $(SRC_SUBSYSTEMS)/imu.c \ $(SRC_SUBSYSTEMS)/imu/imu_b2.c \ $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c -imu_srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ - $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c +imu_srcs += peripherals/max1168.c \ + $(SRC_ARCH)/peripherals/max1168_arch.c -imu_srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \ - $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c +imu_srcs += peripherals/ms2001.c \ + $(SRC_ARCH)/peripherals/ms2001_arch.c ifeq ($(ARCH), lpc21) imu_CFLAGS += -DSSP_VIC_SLOT=9 @@ -86,9 +86,9 @@ sim.srcs += $(SRC_SUBSYSTEMS)/imu.c \ $(SRC_SUBSYSTEMS)/imu/imu_b2.c \ $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c -sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ - $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c +sim.srcs += peripherals/max1168.c \ + $(SRC_BOOZ_SIM)/peripherals/max1168_arch.c sim.CFLAGS += -DUSE_AMI601 -sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c +sim.srcs += peripherals/ami601.c sim.CFLAGS += -DUSE_I2C1 diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile index 288e21123b..d28b860078 100644 --- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile +++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile @@ -51,11 +51,11 @@ imu_srcs += $(SRC_SUBSYSTEMS)/imu.c \ $(SRC_SUBSYSTEMS)/imu/imu_b2.c \ $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c -imu_srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ - $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c +imu_srcs += peripherals/max1168.c \ + $(SRC_ARCH)/peripherals/max1168_arch.c imu_srcs += i2c.c $(SRC_ARCH)/i2c_hw.c -imu_srcs += $(SRC_BOOZ)/peripherals/booz_hmc5843.c \ +imu_srcs += peripherals/hmc5843.c \ $(SRC_BOOZ_ARCH)/peripherals/hmc5843_arch.c ifeq ($(ARCH), lpc21) @@ -88,9 +88,9 @@ sim.srcs += $(SRC_SUBSYSTEMS)/imu.c \ $(SRC_SUBSYSTEMS)/imu/imu_b2.c \ $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c -sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ - $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c +sim.srcs += peripherals/max1168.c \ + $(SRC_BOOZ_SIM)/peripherals/max1168_arch.c sim.CFLAGS += -DUSE_AMI601 -sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c +sim.srcs += peripherals/ami601.c sim.CFLAGS += -DUSE_I2C1 diff --git a/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile b/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile index eb744f0daa..9e2890c5ca 100644 --- a/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile +++ b/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile @@ -69,7 +69,7 @@ ap.srcs += $(SRC_SUBSYSTEMS)/imu.c \ $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_crista_arch.c ap.CFLAGS += -DUSE_AMI601 -ap.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c +ap.srcs += peripherals/ami601.c ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16 @@ -86,5 +86,5 @@ sim.srcs += $(SRC_SUBSYSTEMS)/imu.c \ $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_crista_arch.c sim.CFLAGS += -DUSE_AMI601 -sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c +sim.srcs += peripherals/ami601.c sim.CFLAGS += -DUSE_I2C1 diff --git a/sw/airborne/booz/arch/lpc21/peripherals/booz_max1168_arch.c b/sw/airborne/arch/lpc21/peripherals/max1168_arch.c similarity index 82% rename from sw/airborne/booz/arch/lpc21/peripherals/booz_max1168_arch.c rename to sw/airborne/arch/lpc21/peripherals/max1168_arch.c index aa0595ecfd..14a45313da 100644 --- a/sw/airborne/booz/arch/lpc21/peripherals/booz_max1168_arch.c +++ b/sw/airborne/arch/lpc21/peripherals/max1168_arch.c @@ -1,6 +1,6 @@ /* * $Id$ - * + * * Copyright (C) 2008-2009 Antoine Drouin * * This file is part of paparazzi. @@ -18,15 +18,15 @@ * 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. + * Boston, MA 02111-1307, USA. */ -#include "peripherals/booz_max1168.h" +#include "peripherals/max1168.h" static void EXTINT0_ISR(void) __attribute__((naked)); -void booz_max1168_arch_init( void ) { - +void max1168_arch_init( void ) { + /* unselected max1168 */ Max1168Unselect(); /* SS pin is output */ @@ -45,14 +45,14 @@ void booz_max1168_arch_init( void ) { VICIntSelect &= ~VIC_BIT( VIC_EINT0 ); // EXTINT0 selected as IRQ VICIntEnable = VIC_BIT( VIC_EINT0 ); // EXTINT0 interrupt enabled _VIC_CNTL(MAX1168_EOC_VIC_SLOT) = VIC_ENABLE | VIC_EINT0; - _VIC_ADDR(MAX1168_EOC_VIC_SLOT) = (uint32_t)EXTINT0_ISR; // address of the ISR + _VIC_ADDR(MAX1168_EOC_VIC_SLOT) = (uint32_t)EXTINT0_ISR; // address of the ISR } -void booz_max1168_read( void ) { - ASSERT((booz_max1168_status == STA_MAX1168_IDLE), \ - DEBUG_MAX_1168, MAX1168_ERR_READ_OVERUN); - /* select max1168 */ +void max1168_read( void ) { + ASSERT((max1168_status == STA_MAX1168_IDLE), \ + DEBUG_MAX_1168, MAX1168_ERR_READ_OVERUN); + /* select max1168 */ Max1168Select(); /* enable SPI */ SSP_ClearRti(); @@ -60,14 +60,14 @@ void booz_max1168_read( void ) { SSP_Enable(); /* write control byte - wait EOC on extint */ SSPDR = (1 << 0 | 1 << 3 | 7 << 5) << 8; - booz_max1168_status = STA_MAX1168_SENDING_REQ; + max1168_status = STA_MAX1168_SENDING_REQ; } void EXTINT0_ISR(void) { ISR_ENTRY(); - ASSERT((booz_max1168_status == STA_MAX1168_SENDING_REQ), \ - DEBUG_MAX_1168, MAX1168_ERR_SPURIOUS_EOC); + ASSERT((max1168_status == STA_MAX1168_SENDING_REQ), \ + DEBUG_MAX_1168, MAX1168_ERR_SPURIOUS_EOC); /* read dummy control byte reply */ uint16_t foo __attribute__ ((unused)); foo = SSPDR; @@ -82,7 +82,7 @@ void EXTINT0_ISR(void) { SSP_Send(0); SSP_ClearRti(); SSP_EnableRti(); - booz_max1168_status = STA_MAX1168_READING_RES; + max1168_status = STA_MAX1168_READING_RES; //SetBit(EXTINT, MAX1168_EOC_EINT); /* clear extint0 */ EXTINT = (1< // for abs #include "std.h" #include "LPC21xx.h" -#include "interrupt_hw.h" +#include "interrupt_hw.h" #include "ssp_hw.h" #include BOARD_CONFIG @@ -26,33 +26,33 @@ extern volatile uint8_t ms2001_cur_axe; switch (ms2001_status) { \ case MS2001_SENDING_REQ: \ { \ - /* read dummy control byte reply */ \ - uint8_t foo __attribute__ ((unused)) = SSPDR; \ - ms2001_status = MS2001_WAITING_EOC; \ - Ms2001Unselect(); \ - SSP_ClearRti(); \ - SSP_DisableRti(); \ - SSP_Disable(); \ + /* read dummy control byte reply */ \ + uint8_t foo __attribute__ ((unused)) = SSPDR; \ + ms2001_status = MS2001_WAITING_EOC; \ + Ms2001Unselect(); \ + SSP_ClearRti(); \ + SSP_DisableRti(); \ + SSP_Disable(); \ } \ break; \ case MS2001_READING_RES: \ { \ - int16_t new_val; \ - new_val = SSPDR << 8; \ - new_val += SSPDR; \ - if (abs(new_val) < 2000) \ - ms2001_values[ms2001_cur_axe] = new_val; \ - Ms2001Unselect(); \ - SSP_ClearRti(); \ - SSP_DisableRti(); \ - SSP_Disable(); \ - ms2001_cur_axe++; \ - if (ms2001_cur_axe > 2) { \ - ms2001_cur_axe = 0; \ - ms2001_status = MS2001_DATA_AVAILABLE; \ - } \ - else \ - ms2001_status = MS2001_IDLE; \ + int16_t new_val; \ + new_val = SSPDR << 8; \ + new_val += SSPDR; \ + if (abs(new_val) < 2000) \ + ms2001_values[ms2001_cur_axe] = new_val; \ + Ms2001Unselect(); \ + SSP_ClearRti(); \ + SSP_DisableRti(); \ + SSP_Disable(); \ + ms2001_cur_axe++; \ + if (ms2001_cur_axe > 2) { \ + ms2001_cur_axe = 0; \ + ms2001_status = MS2001_DATA_AVAILABLE; \ + } \ + else \ + ms2001_status = MS2001_IDLE; \ } \ break; \ } \ @@ -85,4 +85,4 @@ extern volatile uint8_t ms2001_cur_axe; -#endif /* BOOZ_MS2001_ARCH_H */ +#endif /* MS2001_ARCH_H */ diff --git a/sw/airborne/arch/lpc21/sys_time_hw.c b/sw/airborne/arch/lpc21/sys_time_hw.c index c69119d974..2d776d09d1 100644 --- a/sw/airborne/arch/lpc21/sys_time_hw.c +++ b/sw/airborne/arch/lpc21/sys_time_hw.c @@ -47,7 +47,7 @@ uint32_t sys_time_chrono; /* T0TC ticks */ #endif #ifdef USE_AMI601 -#include "booz/peripherals/booz_ami601.h" +#include "booz/peripherals/ami601.h" #else #define AMI601_IT 0x00 #endif diff --git a/sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.c b/sw/airborne/arch/sim/peripherals/max1168_arch.c similarity index 84% rename from sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.c rename to sw/airborne/arch/sim/peripherals/max1168_arch.c index 6c8536431b..918afdee93 100644 --- a/sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.c +++ b/sw/airborne/arch/sim/peripherals/max1168_arch.c @@ -1,6 +1,6 @@ /* * $Id$ - * + * * Copyright (C) 2008-2009 Antoine Drouin * * This file is part of paparazzi. @@ -18,11 +18,11 @@ * 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. + * Boston, MA 02111-1307, USA. */ -#include "peripherals/booz_max1168.h" +#include "peripherals/max1168.h" -void booz_max1168_arch_init( void ) {} +void max1168_arch_init( void ) {} -void booz_max1168_read( void ) {} +void max1168_read( void ) {} diff --git a/sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.h b/sw/airborne/arch/sim/peripherals/max1168_arch.h similarity index 87% rename from sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.h rename to sw/airborne/arch/sim/peripherals/max1168_arch.h index e8aaf81afe..11bb0597d2 100644 --- a/sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.h +++ b/sw/airborne/arch/sim/peripherals/max1168_arch.h @@ -1,6 +1,6 @@ /* * $Id$ - * + * * Copyright (C) 2008-2009 Antoine Drouin * * This file is part of paparazzi. @@ -18,7 +18,7 @@ * 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. + * Boston, MA 02111-1307, USA. */ /* @@ -27,8 +27,8 @@ * */ -#ifndef BOOZ2_MAX1168_HW_H -#define BOOZ2_MAX1168_HW_H +#ifndef MAX1168_HW_H +#define MAX1168_HW_H -#endif /* BOOZ2_MAX1168_HW_H */ +#endif /* MAX1168_HW_H */ diff --git a/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.c b/sw/airborne/arch/stm32/peripherals/max1168_arch.c similarity index 84% rename from sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.c rename to sw/airborne/arch/stm32/peripherals/max1168_arch.c index a482d9f1d5..f39881bc80 100644 --- a/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.c +++ b/sw/airborne/arch/stm32/peripherals/max1168_arch.c @@ -1,6 +1,6 @@ /* * $Id$ - * + * * Copyright (C) 2010 Antoine Drouin * * This file is part of paparazzi. @@ -18,9 +18,9 @@ * 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. + * Boston, MA 02111-1307, USA. */ -#include "peripherals/booz_max1168.h" +#include "peripherals/max1168.h" #include #include @@ -40,7 +40,7 @@ void exti2_irq_handler(void); -void booz_max1168_arch_init( void ) { +void max1168_arch_init( void ) { /* set slave select as output and assert it ( on PB12) */ Max1168Unselect(); @@ -74,8 +74,8 @@ void booz_max1168_arch_init( void ) { NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; - - NVIC_Init(&NVIC_InitStructure); + + NVIC_Init(&NVIC_InitStructure); #ifdef MAX1168_HANDLES_DMA_IRQ /* Enable DMA1 channel4 IRQ Channel */ @@ -83,30 +83,30 @@ void booz_max1168_arch_init( void ) { .NVIC_IRQChannel = DMA1_Channel4_IRQn, .NVIC_IRQChannelPreemptionPriority = 0, .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE + .NVIC_IRQChannelCmd = ENABLE }; NVIC_Init(&NVIC_init_struct); #endif /* MAX1168_HANDLES_DMA_IRQ */ } -void booz_max1168_read( void ) { - /* ASSERT((booz_max1168_status == STA_MAX1168_IDLE), \ +void max1168_read( void ) { + /* ASSERT((max1168_status == STA_MAX1168_IDLE), \ * DEBUG_MAX_1168, MAX1168_ERR_READ_OVERUN); */ - /* select max1168 */ + /* select max1168 */ Max1168Select(); /* write control byte - wait EOC on extint */ const uint16_t ctl_byte = (1 << 0 | 1 << 3 | 7 << 5) << 8; SPI_I2S_SendData(SPI2, ctl_byte); - booz_max1168_status = STA_MAX1168_SENDING_REQ; - + max1168_status = STA_MAX1168_SENDING_REQ; + } void exti2_irq_handler(void) { - - /* ASSERT((booz_max1168_status == STA_MAX1168_SENDING_REQ), \ - * DEBUG_MAX_1168, MAX1168_ERR_SPURIOUS_EOC); + + /* ASSERT((max1168_status == STA_MAX1168_SENDING_REQ), \ + * DEBUG_MAX_1168, MAX1168_ERR_SPURIOUS_EOC); */ /* clear EXTI */ @@ -118,44 +118,44 @@ void exti2_irq_handler(void) { /* trigger 8 frames read */ /* SPI2_Rx_DMA_Channel configuration ------------------------------------*/ - DMA_DeInit(DMA1_Channel4); + DMA_DeInit(DMA1_Channel4); DMA_InitTypeDef DMA_initStructure_4 = { .DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C), - .DMA_MemoryBaseAddr = (uint32_t)booz_max1168_values, - .DMA_DIR = DMA_DIR_PeripheralSRC, + .DMA_MemoryBaseAddr = (uint32_t)max1168_values, + .DMA_DIR = DMA_DIR_PeripheralSRC, .DMA_BufferSize = MAX1168_NB_CHAN, - .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord, - .DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord, + .DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord, .DMA_Mode = DMA_Mode_Normal, - .DMA_Priority = DMA_Priority_VeryHigh, + .DMA_Priority = DMA_Priority_VeryHigh, .DMA_M2M = DMA_M2M_Disable }; DMA_Init(DMA1_Channel4, &DMA_initStructure_4); /* SPI2_Tx_DMA_Channel configuration ------------------------------------*/ - DMA_DeInit(DMA1_Channel5); + DMA_DeInit(DMA1_Channel5); DMA_InitTypeDef DMA_initStructure_5 = { .DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C), - .DMA_MemoryBaseAddr = (uint32_t)booz_max1168_values, + .DMA_MemoryBaseAddr = (uint32_t)max1168_values, .DMA_DIR = DMA_DIR_PeripheralDST, .DMA_BufferSize = MAX1168_NB_CHAN, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord, - .DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord, + .DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_Medium, .DMA_M2M = DMA_M2M_Disable }; DMA_Init(DMA1_Channel5, &DMA_initStructure_5); - + /* Enable SPI_2 Rx request */ SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Rx, ENABLE); /* Enable DMA1 Channel4 */ DMA_Cmd(DMA1_Channel4, ENABLE); - + /* Enable SPI_2 Tx request */ SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Tx, ENABLE); /* Enable DMA1 Channel5 */ @@ -164,11 +164,11 @@ void exti2_irq_handler(void) { /* Enable DMA1 Channel4 Transfer Complete interrupt */ DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, ENABLE); - booz_max1168_status = STA_MAX1168_READING_RES; + max1168_status = STA_MAX1168_READING_RES; } #ifdef MAX1168_HANDLES_DMA_IRQ void dma1_c4_irq_handler(void) { Max1168OnDmaIrq(); } -#endif /*MAX1168_HANDLES_DMA_IRQ */ +#endif /*MAX1168_HANDLES_DMA_IRQ */ diff --git a/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.h b/sw/airborne/arch/stm32/peripherals/max1168_arch.h similarity index 89% rename from sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.h rename to sw/airborne/arch/stm32/peripherals/max1168_arch.h index 11a1514b22..5aa1d26f78 100644 --- a/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.h +++ b/sw/airborne/arch/stm32/peripherals/max1168_arch.h @@ -1,6 +1,6 @@ /* * $Id$ - * + * * Copyright (C) 2010 Antoine Drouin * * This file is part of paparazzi. @@ -18,13 +18,13 @@ * 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. + * Boston, MA 02111-1307, USA. */ -#ifndef BOOZ_MAX1168_ARCH_H -#define BOOZ_MAX1168_ARCH_H +#ifndef MAX1168_ARCH_H +#define MAX1168_ARCH_H -/* +/* * max1168 analog to digital converter * connected on spi2 * select on PB12 @@ -36,7 +36,7 @@ #define Max1168Select() GPIOB->BRR = GPIO_Pin_12 #define Max1168OnDmaIrq() { \ - /* ASSERT((booz_max1168_status == STA_MAX1168_READING_RES), \ + /* ASSERT((max1168_status == STA_MAX1168_READING_RES), \ * DEBUG_MAX_1168, MAX1168_ERR_SPURIOUS_DMA_IRQ); \ */ \ Max1168Unselect(); \ @@ -47,8 +47,8 @@ /* Disable DMA1 Channel4 and 5 */ \ DMA_Cmd(DMA1_Channel4, DISABLE); \ DMA_Cmd(DMA1_Channel5, DISABLE); \ - \ - booz_max1168_status = STA_MAX1168_DATA_AVAILABLE; \ + \ + max1168_status = STA_MAX1168_DATA_AVAILABLE; \ } @@ -66,4 +66,4 @@ SPI_Init(SPI2, &SPI_InitStructure); \ } -#endif /* BOOZ_MAX1168_ARCH_H */ +#endif /* MAX1168_ARCH_H */ diff --git a/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c b/sw/airborne/arch/stm32/peripherals/ms2001_arch.c similarity index 97% rename from sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c rename to sw/airborne/arch/stm32/peripherals/ms2001_arch.c index 6da3cc3df0..b9b91646e6 100644 --- a/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c +++ b/sw/airborne/arch/stm32/peripherals/ms2001_arch.c @@ -1,6 +1,6 @@ /* * $Id$ - * + * * Copyright (C) 2010 Antoine Drouin * * This file is part of paparazzi. @@ -18,10 +18,10 @@ * 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. + * Boston, MA 02111-1307, USA. */ -#include "peripherals/booz_ms2001.h" +#include "peripherals/ms2001.h" #include #include diff --git a/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h b/sw/airborne/arch/stm32/peripherals/ms2001_arch.h similarity index 96% rename from sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h rename to sw/airborne/arch/stm32/peripherals/ms2001_arch.h index 589aa22f06..3a1d8e91df 100644 --- a/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h +++ b/sw/airborne/arch/stm32/peripherals/ms2001_arch.h @@ -1,9 +1,9 @@ -#ifndef BOOZ_MS2001_ARCH_H -#define BOOZ_MS2001_ARCH_H +#ifndef MS2001_ARCH_H +#define MS2001_ARCH_H /* * $Id$ - * + * * Copyright (C) 2010 Antoine Drouin * * This file is part of paparazzi. @@ -21,7 +21,7 @@ * 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. + * Boston, MA 02111-1307, USA. */ #include @@ -36,7 +36,7 @@ extern int16_t ms2001_last_reading; #define Ms2001Reset() GPIOC->BSRR = GPIO_Pin_13; #define Ms2001Set() GPIOC->BRR = GPIO_Pin_13 -#define Ms2001HasEOC() GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_5) +#define Ms2001HasEOC() GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_5) #define Ms2001SendReq() { \ Ms2001Select(); \ @@ -119,7 +119,7 @@ extern int16_t ms2001_last_reading; \ /* Enable DMA1 Channel4 Transfer Complete interrupt */ \ DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, ENABLE); \ - \ + \ } #define Ms2001OnDmaIrq() { \ @@ -152,4 +152,4 @@ extern int16_t ms2001_last_reading; SPI_I2S_ITConfig(SPI2, SPI_I2S_IT_RXNE, DISABLE); \ } -#endif /* BOOZ_MS2001_ARCH_H */ +#endif /* MS2001_ARCH_H */ diff --git a/sw/airborne/booz/arch/stm32/peripherals/hmc5843_arch.c b/sw/airborne/booz/arch/stm32/peripherals/hmc5843_arch.c index 2d858aeefb..00328e8653 100644 --- a/sw/airborne/booz/arch/stm32/peripherals/hmc5843_arch.c +++ b/sw/airborne/booz/arch/stm32/peripherals/hmc5843_arch.c @@ -20,7 +20,7 @@ * the Free Software Foundation, 59 Temple Place - Suite 330, * Boston, MA 02111-1307, USA. */ -#include "peripherals/booz_hmc5843.h" +#include "peripherals/hmc5843.h" #include #include diff --git a/sw/airborne/booz/test/booz2_test_max1168.c b/sw/airborne/booz/test/booz2_test_max1168.c index c934c94aea..2d5831cd77 100644 --- a/sw/airborne/booz/test/booz2_test_max1168.c +++ b/sw/airborne/booz/test/booz2_test_max1168.c @@ -32,7 +32,7 @@ #include "armVIC.h" #include "LPC21xx.h" -#include "peripherals/booz_max1168.h" +#include "peripherals/max1168.h" static inline void main_init( void ); static inline void main_periodic_task( void ); @@ -60,23 +60,23 @@ static inline void main_init( void ) { sys_time_init(); main_init_ssp(); - booz_max1168_init(); + max1168_init(); int_enable(); } static inline void main_periodic_task( void ) { LED_TOGGLE(3); - booz_max1168_read(); + max1168_read(); } static inline void main_event_task( void ) { - if (booz_max1168_status == STA_MAX1168_DATA_AVAILABLE) { + if (max1168_status == STA_MAX1168_DATA_AVAILABLE) { RunOnceEvery(10, { - DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &booz_max1168_values[0], &booz_max1168_values[1], &booz_max1168_values[2]); - DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &booz_max1168_values[3], &booz_max1168_values[4], &booz_max1168_values[6]); - DOWNLINK_SEND_BOOT(DefaultChannel, &booz_max1168_values[7]); }); - booz_max1168_status = STA_MAX1168_IDLE; + DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &max1168_values[0], &max1168_values[1], &max1168_values[2]); + DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &max1168_values[3], &max1168_values[4], &max1168_values[6]); + DOWNLINK_SEND_BOOT(DefaultChannel, &max1168_values[7]); }); + max1168_status = STA_MAX1168_IDLE; } } diff --git a/sw/airborne/lisa/test/lisa_test_aspirin.c b/sw/airborne/lisa/test/lisa_test_aspirin.c index 4be9f8d3e4..0089159cbd 100644 --- a/sw/airborne/lisa/test/lisa_test_aspirin.c +++ b/sw/airborne/lisa/test/lisa_test_aspirin.c @@ -33,7 +33,7 @@ #include "downlink.h" #include "peripherals/booz_itg3200.h" -#include "peripherals/booz_hmc5843.h" +#include "peripherals/hmc5843.h" static inline void main_init( void ); static inline void main_periodic_task( void ); diff --git a/sw/airborne/lisa/test/lisa_test_hmc5843.c b/sw/airborne/lisa/test/lisa_test_hmc5843.c index b7f8daf247..1ba1ed2763 100644 --- a/sw/airborne/lisa/test/lisa_test_hmc5843.c +++ b/sw/airborne/lisa/test/lisa_test_hmc5843.c @@ -33,7 +33,7 @@ #include "downlink.h" #include "std.h" -#include "peripherals/booz_hmc5843.h" +#include "peripherals/hmc5843.h" #include "my_debug_servo.h" #include "math/pprz_algebra_int.h" diff --git a/sw/airborne/lisa/test/lisa_test_max1168.c b/sw/airborne/lisa/test/lisa_test_max1168.c index 7cfacad479..5e7d5e2192 100644 --- a/sw/airborne/lisa/test/lisa_test_max1168.c +++ b/sw/airborne/lisa/test/lisa_test_max1168.c @@ -32,7 +32,7 @@ #include "init_hw.h" #include "sys_time.h" #include "downlink.h" -#include "peripherals/booz_max1168.h" +#include "peripherals/max1168.h" static inline void main_init( void ); static inline void main_periodic_task( void ); @@ -56,13 +56,13 @@ int main(void) { static inline void main_init( void ) { hw_init(); sys_time_init(); - booz_max1168_init(); + max1168_init(); main_spi2_init(); } static inline void main_periodic_task( void ) { // LED_TOGGLE(6); - booz_max1168_read(); + max1168_read(); RunOnceEvery(10, { DOWNLINK_SEND_BOOT(DefaultChannel, &cpu_time_sec); @@ -72,13 +72,13 @@ static inline void main_periodic_task( void ) { } static inline void main_event_task( void ) { - if (booz_max1168_status == STA_MAX1168_DATA_AVAILABLE) { + if (max1168_status == STA_MAX1168_DATA_AVAILABLE) { RunOnceEvery(10, { - DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &booz_max1168_values[0], &booz_max1168_values[1], &booz_max1168_values[2]); - DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &booz_max1168_values[3], &booz_max1168_values[4], &booz_max1168_values[6]); - // DOWNLINK_SEND_BOOT(DefaultChannel, &booz_max1168_values[7]); }); + DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &max1168_values[0], &max1168_values[1], &max1168_values[2]); + DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &max1168_values[3], &max1168_values[4], &max1168_values[6]); + // DOWNLINK_SEND_BOOT(DefaultChannel, &max1168_values[7]); }); }); - booz_max1168_status = STA_MAX1168_IDLE; + max1168_status = STA_MAX1168_IDLE; } } diff --git a/sw/airborne/lisa/test/lisa_test_ms2001.c b/sw/airborne/lisa/test/lisa_test_ms2001.c index 5239eb8446..6f835beba6 100644 --- a/sw/airborne/lisa/test/lisa_test_ms2001.c +++ b/sw/airborne/lisa/test/lisa_test_ms2001.c @@ -32,7 +32,7 @@ #include "init_hw.h" #include "sys_time.h" #include "downlink.h" -#include "peripherals/booz_ms2001.h" +#include "peripherals/ms2001.h" static inline void main_init( void ); static inline void main_periodic_task( void ); diff --git a/sw/airborne/lisa/test/lisa_test_ms2100.c b/sw/airborne/lisa/test/lisa_test_ms2100.c index 5fc5194e3e..820fede558 100644 --- a/sw/airborne/lisa/test/lisa_test_ms2100.c +++ b/sw/airborne/lisa/test/lisa_test_ms2100.c @@ -56,13 +56,13 @@ int main(void) { static inline void main_init( void ) { hw_init(); sys_time_init(); - booz_max1168_init(); + max1168_init(); main_spi2_init(); } static inline void main_periodic_task( void ) { // LED_TOGGLE(6); - booz_max1168_read(); + max1168_read(); RunOnceEvery(10, { DOWNLINK_SEND_BOOT(DefaultChannel, &cpu_time_sec); @@ -72,13 +72,13 @@ static inline void main_periodic_task( void ) { } static inline void main_event_task( void ) { - if (booz_max1168_status == STA_MAX1168_DATA_AVAILABLE) { + if (max1168_status == STA_MAX1168_DATA_AVAILABLE) { RunOnceEvery(10, { - DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &booz_max1168_values[0], &booz_max1168_values[1], &booz_max1168_values[2]); - DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &booz_max1168_values[3], &booz_max1168_values[4], &booz_max1168_values[6]); - // DOWNLINK_SEND_BOOT(DefaultChannel, &booz_max1168_values[7]); }); + DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &max1168_values[0], &max1168_values[1], &max1168_values[2]); + DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &max1168_values[3], &max1168_values[4], &max1168_values[6]); + // DOWNLINK_SEND_BOOT(DefaultChannel, &max1168_values[7]); }); }); - booz_max1168_status = STA_MAX1168_IDLE; + max1168_status = STA_MAX1168_IDLE; } } diff --git a/sw/airborne/peripherals/adxl345.h b/sw/airborne/peripherals/adxl345.h index d711c408b1..de6fa02305 100644 --- a/sw/airborne/peripherals/adxl345.h +++ b/sw/airborne/peripherals/adxl345.h @@ -1,5 +1,5 @@ -#ifndef BOOZ_ADXL345_H -#define BOOZ_ADXL345_H +#ifndef ADXL345_H +#define ADXL345_H #define ADXL345_REG_BW_RATE 0x2C @@ -14,4 +14,4 @@ #define ADXL345_REG_DATA_Z1 0x37 -#endif /* BOOZ_ADXL345_H */ +#endif /* ADXL345_H */ diff --git a/sw/airborne/peripherals/ami601.c b/sw/airborne/peripherals/ami601.c index b45c1ab873..81b1e512a2 100644 --- a/sw/airborne/peripherals/ami601.c +++ b/sw/airborne/peripherals/ami601.c @@ -1,4 +1,4 @@ -#include "peripherals/booz_ami601.h" +#include "peripherals/ami601.h" uint8_t ami601_foo1; uint8_t ami601_foo2; diff --git a/sw/airborne/peripherals/ami601.h b/sw/airborne/peripherals/ami601.h index b8494f5bd0..0036413962 100644 --- a/sw/airborne/peripherals/ami601.h +++ b/sw/airborne/peripherals/ami601.h @@ -1,5 +1,5 @@ -#ifndef BOOZ_AMI601_H -#define BOOZ_AMI601_H +#ifndef AMI601_H +#define AMI601_H #include "std.h" #include "i2c.h" diff --git a/sw/airborne/peripherals/hmc5843.c b/sw/airborne/peripherals/hmc5843.c index d4907ec2b2..34aa71fb89 100644 --- a/sw/airborne/peripherals/hmc5843.c +++ b/sw/airborne/peripherals/hmc5843.c @@ -1,4 +1,4 @@ -#include "peripherals/booz_hmc5843.h" +#include "peripherals/hmc5843.h" #define HMC5843_TIMEOUT 100 @@ -9,11 +9,11 @@ void exti9_5_irq_handler(void); void hmc5843_init(void) { - hmc5843.i2c_trans.status = I2CTransSuccess; - hmc5843.i2c_trans.slave_addr = HMC5843_ADDR; - hmc5843.i2c_trans.stop_after_transmit = TRUE; + hmc5843.i2c_trans.status = I2CTransSuccess; + hmc5843.i2c_trans.slave_addr = HMC5843_ADDR; + hmc5843.i2c_trans.stop_after_transmit = TRUE; - hmc5843_arch_init(); + hmc5843_arch_init(); } // blocking, only intended to be called for initialization @@ -24,52 +24,52 @@ static void send_config(void) hmc5843.i2c_trans.buf[1] = 0x00 | (0x06 << 2); hmc5843.i2c_trans.len_w = 2; i2c_submit(&i2c2,&hmc5843.i2c_trans); - while(hmc5843.i2c_trans.status == I2CTransPending); + while(hmc5843.i2c_trans.status == I2CTransPending); hmc5843.i2c_trans.type = I2CTransTx; hmc5843.i2c_trans.buf[0] = HMC5843_REG_CFGB; // set to gain to 1 Gauss hmc5843.i2c_trans.buf[1] = 0x01<<5; hmc5843.i2c_trans.len_w = 2; i2c_submit(&i2c2,&hmc5843.i2c_trans); - while(hmc5843.i2c_trans.status == I2CTransPending); + while(hmc5843.i2c_trans.status == I2CTransPending); hmc5843.i2c_trans.type = I2CTransTx; hmc5843.i2c_trans.buf[0] = HMC5843_REG_MODE; // set to continuous mode hmc5843.i2c_trans.buf[1] = 0x00; hmc5843.i2c_trans.len_w = 2; i2c_submit(&i2c2,&hmc5843.i2c_trans); - while(hmc5843.i2c_trans.status == I2CTransPending); + while(hmc5843.i2c_trans.status == I2CTransPending); } void hmc5843_idle_task(void) { - if (hmc5843.initialized && hmc5843.ready_for_read && (hmc5843.i2c_trans.status == I2CTransSuccess || hmc5843.i2c_trans.status == I2CTransFailed)) { - hmc5843.i2c_trans.type = I2CTransRx; - hmc5843.i2c_trans.len_r = 7; - i2c_submit(&i2c2, &hmc5843.i2c_trans); - hmc5843.reading = TRUE; - hmc5843.ready_for_read = FALSE; - } + if (hmc5843.initialized && hmc5843.ready_for_read && (hmc5843.i2c_trans.status == I2CTransSuccess || hmc5843.i2c_trans.status == I2CTransFailed)) { + hmc5843.i2c_trans.type = I2CTransRx; + hmc5843.i2c_trans.len_r = 7; + i2c_submit(&i2c2, &hmc5843.i2c_trans); + hmc5843.reading = TRUE; + hmc5843.ready_for_read = FALSE; + } - if (hmc5843.reading && hmc5843.i2c_trans.status == I2CTransSuccess) { - hmc5843.timeout = 0; - hmc5843.data_available = TRUE; - hmc5843.reading = FALSE; - memcpy(hmc5843.data.buf, (const void *) hmc5843.i2c_trans.buf, 6); - for (int i = 0; i < 3; i++) { - hmc5843.data.value[i] = bswap_16(hmc5843.data.value[i]); - } - } + if (hmc5843.reading && hmc5843.i2c_trans.status == I2CTransSuccess) { + hmc5843.timeout = 0; + hmc5843.data_available = TRUE; + hmc5843.reading = FALSE; + memcpy(hmc5843.data.buf, (const void *) hmc5843.i2c_trans.buf, 6); + for (int i = 0; i < 3; i++) { + hmc5843.data.value[i] = bswap_16(hmc5843.data.value[i]); + } + } } void hmc5843_periodic(void) { - if (!hmc5843.initialized) { - send_config(); - hmc5843.initialized = TRUE; - } else if (hmc5843.timeout++ > HMC5843_TIMEOUT) { - hmc5843_arch_reset(); - hmc5843.timeout = 0; - } + if (!hmc5843.initialized) { + send_config(); + hmc5843.initialized = TRUE; + } else if (hmc5843.timeout++ > HMC5843_TIMEOUT) { + hmc5843_arch_reset(); + hmc5843.timeout = 0; + } } diff --git a/sw/airborne/peripherals/hmc5843.h b/sw/airborne/peripherals/hmc5843.h index 013a017ef6..a3d75c297d 100644 --- a/sw/airborne/peripherals/hmc5843.h +++ b/sw/airborne/peripherals/hmc5843.h @@ -21,8 +21,8 @@ * Boston, MA 02111-1307, USA. */ -#ifndef BOOZ_HMC5843_H -#define BOOZ_HMC5843_H +#ifndef HMC5843_H +#define HMC5843_H #include "std.h" #include "i2c.h" @@ -30,16 +30,16 @@ #include "peripherals/hmc5843_arch.h" struct Hmc5843 { - struct i2c_transaction i2c_trans; + struct i2c_transaction i2c_trans; union { uint8_t buf[7]; int16_t value[3]; } data; - uint8_t initialized; - uint8_t reading; - volatile uint8_t ready_for_read; - uint8_t data_available; - uint32_t timeout; + uint8_t initialized; + uint8_t reading; + volatile uint8_t ready_for_read; + uint8_t data_available; + uint32_t timeout; }; extern struct Hmc5843 hmc5843; @@ -72,10 +72,10 @@ extern void hmc5843_idle_task(void); #include #define MagEvent(_m_handler) { \ - hmc5843_idle_task(); \ + hmc5843_idle_task(); \ if (hmc5843.data_available) { \ - _m_handler(); \ + _m_handler(); \ } \ } -#endif /* BOOZ_HMC5843_H */ +#endif /* HMC5843_H */ diff --git a/sw/airborne/peripherals/itg3200.h b/sw/airborne/peripherals/itg3200.h index 85a48182e5..38365c32fe 100644 --- a/sw/airborne/peripherals/itg3200.h +++ b/sw/airborne/peripherals/itg3200.h @@ -1,5 +1,5 @@ -#ifndef BOOZ_ITG3200 -#define BOOZ_ITG3200 +#ifndef ITG3200 +#define ITG3200 /* default I2C address */ #define ITG3200_ADDR 0xD0 @@ -22,4 +22,4 @@ -#endif /* BOOZ_ITG3200 */ +#endif /* ITG3200 */ diff --git a/sw/airborne/peripherals/max1168.c b/sw/airborne/peripherals/max1168.c index 5ee677db2d..b98b383473 100644 --- a/sw/airborne/peripherals/max1168.c +++ b/sw/airborne/peripherals/max1168.c @@ -22,19 +22,19 @@ * */ -#include "booz_max1168.h" +#include "max1168.h" -volatile uint8_t booz_max1168_status; -uint16_t booz_max1168_values[MAX1168_NB_CHAN]; +volatile uint8_t max1168_status; +uint16_t max1168_values[MAX1168_NB_CHAN]; -extern void booz_max1168_init( void ) { +extern void max1168_init( void ) { - booz_max1168_arch_init(); + max1168_arch_init(); uint8_t i; for (i=0; i #include "airframe.h" -#include "peripherals/booz_max1168.h" +#include "peripherals/max1168.h" /* type of magnetometer */ #define IMU_B2_MAG_NONE 0 @@ -143,7 +143,7 @@ #if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001 -#include "peripherals/booz_ms2001.h" +#include "peripherals/ms2001.h" #define ImuMagEvent(_mag_handler) { \ if (ms2001_status == MS2001_DATA_AVAILABLE) { \ imu.mag_unscaled.x = ms2001_values[IMU_MAG_X_CHAN]; \ @@ -154,7 +154,7 @@ } \ } #elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601 -#include "peripherals/booz_ami601.h" +#include "peripherals/ami601.h" #define foo_handler() {} #define ImuMagEvent(_mag_handler) { \ AMI601Event(foo_handler); \ @@ -167,7 +167,7 @@ } \ } #elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC5843 -#include "peripherals/booz_hmc5843.h" +#include "peripherals/hmc5843.h" #define foo_handler() {} #define ImuMagEvent(_mag_handler) { \ MagEvent(foo_handler); \ @@ -185,14 +185,14 @@ #define ImuEvent(_gyro_accel_handler, _mag_handler) { \ - if (booz_max1168_status == STA_MAX1168_DATA_AVAILABLE) { \ - imu.gyro_unscaled.p = booz_max1168_values[IMU_GYRO_P_CHAN]; \ - imu.gyro_unscaled.q = booz_max1168_values[IMU_GYRO_Q_CHAN]; \ - imu.gyro_unscaled.r = booz_max1168_values[IMU_GYRO_R_CHAN]; \ - imu.accel_unscaled.x = booz_max1168_values[IMU_ACCEL_X_CHAN]; \ - imu.accel_unscaled.y = booz_max1168_values[IMU_ACCEL_Y_CHAN]; \ - imu.accel_unscaled.z = booz_max1168_values[IMU_ACCEL_Z_CHAN]; \ - booz_max1168_status = STA_MAX1168_IDLE; \ + if (max1168_status == STA_MAX1168_DATA_AVAILABLE) { \ + imu.gyro_unscaled.p = max1168_values[IMU_GYRO_P_CHAN]; \ + imu.gyro_unscaled.q = max1168_values[IMU_GYRO_Q_CHAN]; \ + imu.gyro_unscaled.r = max1168_values[IMU_GYRO_R_CHAN]; \ + imu.accel_unscaled.x = max1168_values[IMU_ACCEL_X_CHAN]; \ + imu.accel_unscaled.y = max1168_values[IMU_ACCEL_Y_CHAN]; \ + imu.accel_unscaled.z = max1168_values[IMU_ACCEL_Z_CHAN]; \ + max1168_status = STA_MAX1168_IDLE; \ _gyro_accel_handler(); \ } \ ImuMagEvent(_mag_handler); \ diff --git a/sw/airborne/subsystems/imu/imu_crista.h b/sw/airborne/subsystems/imu/imu_crista.h index 3ac4c80e50..a1c905d452 100644 --- a/sw/airborne/subsystems/imu/imu_crista.h +++ b/sw/airborne/subsystems/imu/imu_crista.h @@ -47,7 +47,7 @@ extern volatile bool_t ADS8344_available; } #ifdef USE_AMI601 -#include "peripherals/booz_ami601.h" +#include "peripherals/ami601.h" #define foo_handler() {} #define ImuMagEvent(_mag_handler) { \ AMI601Event(foo_handler); \ diff --git a/sw/airborne/test/peripherals/test_ami601.c b/sw/airborne/test/peripherals/test_ami601.c index cb6b4802c7..baeec0c277 100644 --- a/sw/airborne/test/peripherals/test_ami601.c +++ b/sw/airborne/test/peripherals/test_ami601.c @@ -32,7 +32,7 @@ #include "downlink.h" #include "i2c.h" -#include "booz/peripherals/booz_ami601.h" +#include "booz/peripherals/ami601.h" #include "math/pprz_algebra_int.h" #include "interrupt_hw.h"