convert ins_xsens to module

conf/airframes/CDW/cdw_classix.xml

@@ -216,9 +216,9 @@
       <configure name="MODEM_BAUD" value="B9600"/>
     </subsystem>
 
-    <subsystem name="ins" type="xsens">
-      <configure name="XSENS_UART_NR" value="1"/>
-    </subsystem>
+    <module name="ins" type="xsens">
+      <configure name="XSENS_PORT" value="uart1"/>
+    </module>
 
   </firmware>
 

conf/airframes/CDW/cdw_yapa_xsens.xml

@@ -25,10 +25,10 @@
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="navigation"/>
-    <subsystem name="ins" type="xsens">
-      <configure name="XSENS_UART_NR" value="0"/>
-      <configure name="XSENS_UART_BAUD" value="B230400"/>
-    </subsystem>
+    <module name="ins" type="xsens">
+      <configure name="XSENS_PORT" value="uart0"/>
+      <configure name="XSENS_BAUD" value="B230400"/>
+    </module>
   </firmware>
 
   <!-- ************************* MODULES ************************* -->

conf/airframes/examples/microjet_lisa_m_xsens.xml

@@ -21,10 +21,10 @@
     <subsystem name="telemetry" 	type="transparent"/>
 
     <!-- Sensors -->
-    <subsystem name="ins"           type="xsens">
-      <configure name="XSENS_UART_NR" value="3"/>
-      <configure name="XSENS_UART_BAUD" value="B115200"/>
-    </subsystem>
+    <module name="ins" type="xsens">
+      <configure name="XSENS_PORT" value="uart3"/>
+      <configure name="XSENS_BAUD" value="B115200"/>
+    </module>
 
     <subsystem name="control"/>
     <subsystem name="navigation"/>

conf/firmwares/subsystems/fixedwing/ins_xsens.makefile

@@ -1,70 +1 @@
-# Hey Emacs, this is a -*- makefile -*-
-
-# XSens Mti-G
-
-#    <subsystem name="ins" type="xsens">
-#      <configure name="XSENS_UART_NR" value="0"/>
-#      <configure name="XSENS_UART_BAUD" value="B115200"/>
-#    </subsystem>
-
-
-
-#########################################
-## ATTITUDE
-
-# AHRS Results
-ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens.h\"
-
-ifndef XSENS_UART_BAUD
-	XSENS_UART_BAUD = B115200
-endif
-
-#B230400
-#B115200
-
-ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
-ap.CFLAGS += -DXSENS_LINK=uart$(XSENS_UART_NR)
-ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
-ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
-ap.srcs   += $(SRC_MODULES)/ins/xsens.c
-ap.srcs   += $(SRC_MODULES)/ins/xsens_common.c
-ap.srcs   += $(SRC_SUBSYSTEMS)/ins.c
-ap.srcs   += $(SRC_MODULES)/ins/ins_xsens.c
-ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP
-
-
-
-#########################################
-## GPS
-
-ap.CFLAGS += -DUSE_GPS_XSENS
-ap.CFLAGS += -DUSE_GPS_XSENS_RAW_DATA
-ap.CFLAGS += -DGPS_NB_CHANNELS=16
-ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\"
-ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
-
-
-#########################################
-## Simulator
-SIM_TARGETS = sim nps
-
-ifneq (,$(findstring $(TARGET),$(SIM_TARGETS)))
-
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
-$(TARGET).CFLAGS += -DUSE_AHRS
-
-$(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
-$(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
-
-$(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ins.c
-$(TARGET).CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
-$(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough_utm.c
-
-$(TARGET).CFLAGS += -DUSE_GPS
-$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
-
-endif
-
+$(error Error: The ins xsens subsystem has been converted to a module, replace <subsystem name="ins" type="xsens"/> by <module name="ins" type="xsens"/>)

conf/modules/ins_xsens.xml

@@ -1,16 +1,77 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="ins">
+<module name="ins_xsens" dir="ins">
   <doc>
-    <description>XSens</description>
+    <description>
+      XSens Mti-G INS
+    </description>
+    <configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
+    <configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
   </doc>
   <header>
-    <file name="ins_module.h"/>
+    <file name="ins_xsens.h"/>
   </header>
-  <init fun="ins_init()"/>
-  <periodic fun="ins_periodic()" freq="60"/>
-  <makefile>
+  <!-- ins_init is still called explicitly in main -->
+  <!--init fun="ins_init()"/-->
+  <periodic fun="xsens_periodic()" freq="60"/>
+  <event fun="ins_xsens_event()"/>
+  <makefile target="ap">
+    <file name="xsens.c"/>
+    <file name="xsens_common.c"/>
     <file name="ins_xsens.c"/>
+    <file name="ins.c" dir="subsystems"/>
+    <configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
+    <configure name="XSENS_BAUD" default="B115200"/>
+    <define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
+    <define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
+    <define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
+    <define name="XSENS_OUTPUT_MODE" value="0x1836"/>
+    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
+
+    <file name="gps.c" dir="subsystems"/>
+    <define name="USE_GPS"/>
+    <define name="USE_GPS_XSENS"/>
+    <define name="USE_GPS_XSENS_RAW_DATA"/>
+    <define name="GPS_NB_CHANNELS" value="16"/>
+    <raw>
+      ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\"
+    </raw>
+  </makefile>
+
+  <makefile target="sim">
+    <file name="ahrs.c" dir="subsystems"/>
+    <file name="ahrs_sim.c" dir="subsystems/ahrs"/>
+    <define name="USE_AHRS"/>
+
+    <file name="ins.c" dir="subsystems"/>
+    <file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
+
+    <file name="gps.c" dir="subsystems"/>
+    <file name="gps_sim.c" dir="subsystems/gps"/>
+    <define name="USE_GPS"/>
+    <raw>
+      sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
+      sim.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
+      sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+    </raw>
+  </makefile>
+
+  <makefile target="nps">
+    <!-- nps dummy ahrs missing -->
+    <file name="ahrs.c" dir="subsystems"/>
+    <define name="USE_AHRS"/>
+    <define name="NPS_BYPASS_AHRS" value="TRUE"/>
+
+    <file name="ins.c" dir="subsystems"/>
+    <file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
+
+    <file name="gps.c" dir="subsystems"/>
+    <file name="gps_sim_nps.c" dir="subsystems/gps"/>
+    <define name="USE_GPS"/>
+    <raw>
+      nps.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
+      nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
+    </raw>
   </makefile>
 </module>
 

sw/airborne/modules/ins/ins_xsens.h

@@ -40,8 +40,8 @@ extern float ins_pitch_neutral;
 extern float ins_roll_neutral;
 
 #define DefaultInsImpl ins_xsens
-#define InsPeriodic xsens_periodic
-#define InsEvent ins_xsens_event
+//#define InsPeriodic xsens_periodic
+//#define InsEvent ins_xsens_event
 extern void ins_xsens_init(void);
 extern void ins_xsens_register(void);
 extern void ins_xsens_event(void);