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Merge branch 'master' into ahrs_refactor

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get datalink functions and resolve conflicts

* master: (33 commits)
  [supervision] color regex on "error:" and "error "
  [telemetry] rename device.h link_device.h to match structure name
  fix_code_style.sh: align pointer with name
  [telemetry] rename 'device' to 'link_device'
  [build] don't print infos on stderr
  fix travis config
  [airborne] get rid of some warnings
  [test] update compile_all_aircrafts test
  [conf.xml] update to new settings_modules
  [ext][stm32] update libopencm3
  [GCS] reword maps fill mouse over
  [replay] filter messages to remove warnings during replay
  more bug fix
  missing parenthesis
  [gen_fligtplan] 'call' statement can be configured to loop and/or break
  fix some bug reported by TravisCI
  last minute fix
  [telemetry] fixing and cleaning a few stuff
  [telemetry] add support for ivy_transport
  [rotorcraft] get rid of some warnings in ardrone2_sdk
  ...
This commit is contained in:
Felix Ruess
2014-11-10 15:30:17 +01:00
parent 750d06aa7a 6511bdd786
commit 31570c1871
153 changed files with 1599 additions and 1511 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.travis.yml
+1 -1
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@@ -11,7 +11,7 @@ install:
before_script: cd conf && ln -s conf_tests.xml conf.xml && cd ..
script:
- make
- make run_tests J=AUTO TEST_FILES=examples/01_compile_all_test_targets.t
- PAPARAZZI_SRC=$PWD PAPARAZZI_HOME=$PWD J=AUTO prove tests/examples/
notifications:
webhooks:
Makefile.ac
+9 -7
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@@ -124,7 +124,7 @@ makefile_ac: $(MAKEFILE_AC)
$(AIRFRAME_H) : $(CONF)/$(AIRFRAME_XML) $(CONF_XML) $(AIRCRAFT_MD5)
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo GENERATE $@
@echo GENERATE $@ from $(AIRFRAME_XML)
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(GENERATORS)/gen_airframe.out $(AC_ID) $(AIRCRAFT) $(MD5SUM) $< > $($@_TMP)
$(Q)mv $($@_TMP) $@
@@ -133,7 +133,7 @@ $(AIRFRAME_H) : $(CONF)/$(AIRFRAME_XML) $(CONF_XML) $(AIRCRAFT_MD5)
$(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML) $(GENERATORS)/gen_radio.out
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo GENERATE $@
@echo GENERATE $@ from $(RADIO)
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(GENERATORS)/gen_radio.out $< > $($@_TMP)
$(Q)mv $($@_TMP) $@
@@ -142,7 +142,7 @@ $(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML) $(GENERATORS)/gen_radio.out
$(PERIODIC_H) : $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF_XML) $(CONF)/$(TELEMETRY) $(MAKEFILE_AC)
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo GENERATE $@
@echo GENERATE $@ from $(TELEMETRY)
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(GENERATORS)/gen_periodic.out $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF)/$(TELEMETRY) $(TELEMETRY_FREQUENCY) $(SETTINGS_TELEMETRY) > $($@_TMP)
$(Q)mv $($@_TMP) $@
@@ -151,7 +151,7 @@ $(PERIODIC_H) : $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF_XML) $(CONF)/$(TE
$(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(GENERATORS)/gen_flight_plan.out
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo GENERATE $@
@echo GENERATE $@ from $(FLIGHT_PLAN)
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(GENERATORS)/gen_flight_plan.out $< > $($@_TMP)
$(Q)mv $($@_TMP) $@
@@ -159,7 +159,7 @@ $(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(GENERATORS)/gen_flight_p
$(Q)cp $< $(AIRCRAFT_CONF_DIR)/flight_plans
$(FLIGHT_PLAN_XML) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(GENERATORS)/gen_flight_plan.out
@echo GENERATE $@
@echo GENERATE $@ from $(FLIGHT_PLAN)
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)$(GENERATORS)/gen_flight_plan.out -dump $< > $($@_TMP)
$(Q)mv $($@_TMP) $@
@@ -191,8 +191,10 @@ $(SETTINGS_MODULES) : $(MODULES_H)
$(SETTINGS_TELEMETRY) : $(PERIODIC_H)
%.ac_h : $(GENERATORS)/gen_aircraft.out
$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
@echo BUILD $(AIRCRAFT), TARGET $*
$(Q)if (expr "$(AIRCRAFT)") > /dev/null; then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
@echo "#######################################"
@echo "# BUILD AIRCRAFT=$(AIRCRAFT), TARGET $*"
@echo "#######################################"
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) TARGET=$* Q=$(Q) $(GENERATORS)/gen_aircraft.out $(AIRCRAFT)
%.compile: %.ac_h | print_version
conf/Makefile.chibios-libopencm3
+1 -1
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@@ -283,7 +283,7 @@ DLIBS = -lm -lopencm3_stm32f4
#
# List all user C define here, like -D_DEBUG=1
UDEFS = $($(TARGET).CFLAGS) $(LOCAL_CFLAGS) -DUSE_OCM3_SYSTICK_INIT=0
UDEFS = $($(TARGET).CFLAGS) $(USER_CFLAGS) -DUSE_OCM3_SYSTICK_INIT=0
# Define ASM defines here
UADEFS =
conf/Makefile.geode
+1 -1
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@@ -46,7 +46,7 @@ CFLAGS += -mtune=geode # optimize for geode
CFLAGS + = -Wstrict-prototypes -Wmissing-declarations
CFLAGS += -Wmissing-prototypes -Wnested-externs
CFLAGS += $(CSTANDARD)
CFLAGS += $($(TARGET).CFLAGS) $(LOCAL_CFLAGS)
CFLAGS += $($(TARGET).CFLAGS) $(USER_CFLAGS)
#Additional libraries.
MATH_LIB = -lm
conf/Makefile.jsbsim
+1 -1
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@@ -38,7 +38,7 @@ Q=@
# Compilation flags
#
CFLAGS = -W -Wall $(INCLUDES) -I$(PAPARAZZI_SRC)/sw/airborne/$(SRC_ARCH) $($(TARGET).CFLAGS) $(LOCAL_CFLAGS) -O$(OPT)
CFLAGS = -W -Wall $(INCLUDES) -I$(PAPARAZZI_SRC)/sw/airborne/$(SRC_ARCH) $($(TARGET).CFLAGS) $(USER_CFLAGS) -O$(OPT)
LDFLAGS = -lm $($(TARGET).LDFLAGS)
conf/Makefile.lpc21
+1 -1
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@@ -96,7 +96,7 @@ CFLAGS += -Wshadow
CFLAGS += -Wnested-externs
CFLAGS += $(CSTANDARD)
CFLAGS += $($(TARGET).CFLAGS) $(LOCAL_CFLAGS)
CFLAGS += $($(TARGET).CFLAGS) $(USER_CFLAGS)
# Assembler flags.
ASFLAGS = -Wa,-adhlns=$(OBJDIR)/$(notdir $(<:.S=.lst))
conf/Makefile.nps
+2 -2
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@@ -35,7 +35,7 @@ Q=@
CFLAGS = -W -Wall
CFLAGS += $(INCLUDES)
CFLAGS += $($(TARGET).CFLAGS)
CFLAGS += $(LOCAL_CFLAGS)
CFLAGS += $(USER_CFLAGS)
CFLAGS += -O$(OPT)
CFLAGS += -g
CFLAGS += -std=gnu99
@@ -44,7 +44,7 @@ CFLAGS += $(shell pkg-config --cflags-only-I ivy-glib)
CXXFLAGS = -W -Wall
CXXFLAGS += $(INCLUDES)
CXXFLAGS += $($(TARGET).CFLAGS)
CXXFLAGS += $(LOCAL_CFLAGS)
CXXFLAGS += $(USER_CFLAGS)
CXXFLAGS += -O$(OPT)
CXXFLAGS += -g
CXXFLAGS += $(shell pkg-config --cflags-only-I ivy-glib)
conf/Makefile.omap
+2
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@@ -54,6 +54,7 @@ CFLAGS += -Wstrict-prototypes -Wmissing-declarations
CFLAGS += -Wmissing-prototypes -Wnested-externs
CFLAGS += $(CSTANDARD)
CFLAGS += $($(TARGET).CFLAGS)
CFLAGS += $(USER_CFLAGS)
LDFLAGS += -lm
@@ -62,6 +63,7 @@ CXXFLAGS += -g -ffunction-sections -fdata-sections
CXXFLAGS += -mfloat-abi=softfp -mtune=cortex-a8 -mfpu=vfp -march=armv7-a
CXXFLAGS += -Wall -Wextra
CXXFLAGS += $($(TARGET).CXXFLAGS)
CXXFLAGS += $(USER_CFLAGS)
SRC_C_OMAP = $($(TARGET).srcs)
OBJ_C_OMAP = $(SRC_C_OMAP:%.c=$(OBJDIR)/%.o)
conf/Makefile.pentium-m
+1 -1
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@@ -55,7 +55,7 @@ CFLAGS += -m32
CFLAGS += -Wstrict-prototypes -Wmissing-declarations
CFLAGS += -Wmissing-prototypes -Wnested-externs
CFLAGS += $(CSTANDARD)
CFLAGS += $($(TARGET).CFLAGS) $(LOCAL_CFLAGS)
CFLAGS += $($(TARGET).CFLAGS) $(USER_CFLAGS)
#Additional libraries.
MATH_LIB = -lm
conf/Makefile.sim
+1 -1
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@@ -51,7 +51,7 @@ INCLUDES += -I $(shell $(OCAMLC) -where)
CFLAGS = -W -Wall
CFLAGS += $(INCLUDES)
CFLAGS += $($(TARGET).CFLAGS)
CFLAGS += $(LOCAL_CFLAGS)
CFLAGS += $(USER_CFLAGS)
CFLAGS += -fPIC
CFLAGS += -O$(OPT)
CFLAGS += -g
conf/Makefile.stm32
+2
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@@ -102,6 +102,8 @@ CFLAGS += -Wstrict-prototypes -Wmissing-prototypes
CFLAGS += -Wshadow
CFLAGS += -Wnested-externs
CFLAGS += $(USER_CFLAGS)
#CFLAGS += -fno-diagnostics-show-caret
ifneq ($(ARCH_L), )
conf/airframes/TUDelft/conf.xml
+4 -2
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@@ -6,7 +6,8 @@
radio="radios/R6107SP_7ch.xml"
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile_airspeed.xml"
settings=" settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ins_neutrals.xml settings/estimation/ac_char.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_energy.xml [settings/estimation/ins_neutrals.xml] settings/estimation/ac_char.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
gui_color="#ffffffffffff"
/>
<aircraft
@@ -16,7 +17,8 @@
radio="radios/R6107SP_7ch.xml"
telemetry="telemetry/default_fixedwing_imu_9k6.xml"
flight_plan="flight_plans/versatile.xml"
settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml settings/control/tune_agr_climb.xml settings/modules/dc.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml settings/control/tune_agr_climb.xml"
settings_modules="modules/light.xml modules/digital_cam.xml"
gui_color="blue"
/>
</conf>
conf/airframes/examples/demo.xml
+4 -4
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@@ -65,7 +65,7 @@ demo4.srcs += $(SRC_ARCH)/armVIC.c
demo4.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
demo4.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
demo4.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
demo4.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=uart0
demo4.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
#
@@ -88,7 +88,7 @@ demo5.srcs += $(SRC_ARCH)/armVIC.c
demo5.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
demo5.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
demo5.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
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
@@ -114,7 +114,7 @@ demo6.CFLAGS += -DUSE_USB_SERIAL
demo6.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
demo6.srcs += $(SRC_ARCH)/usb_ser_hw.c
demo6.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UsbS
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
@@ -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=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ
test_spk.CFLAGS += -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=UsbS -DDATALINK=PPRZ
test_spk.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/usb_ser_hw.c subsystems/datalink/pprz_transport.c
test_spk.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
test_spk.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
conf/airframes/turntable.xml
+1 -1
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@@ -26,7 +26,7 @@ main.srcs += mcu_periph/sys_time.c $(MB)/turntable_systime.c
main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
main.srcs += mcu_periph/uart.c
main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=uart0
main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
conf/airframes/turntable_usb.xml
+1 -1
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@@ -27,7 +27,7 @@ main.CFLAGS += -DUSE_USB_SERIAL
main.srcs += $(SRC_ARCH)/usb_ser_hw.c
main.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
main.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UsbS
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=usb_serial
main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
conf/airframes/wind_tunnel.xml
+2 -2
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@@ -24,7 +24,7 @@ ap.srcs += $(SRC_ARCH)/armVIC.c
ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
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
@@ -54,7 +54,7 @@ mb.srcs += $(SRC_ARCH)/armVIC.c
mb.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
mb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
mb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
mb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=uart0
mb.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
mb.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=UART0
conf/firmwares/setup.makefile
+3 -2
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@@ -85,8 +85,9 @@ setup_actuators.CFLAGS += -DUSE_$(MODEM_PORT)
setup_actuators.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
setup_actuators.srcs += mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
SETUP_ACTUATORS_MODEM_PORT_LOWER=$(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_TRANSPORT=pprz_tp -DDATALINK=PPRZ
setup_actuators.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
# we actually don't really use the generated periodic telemetry in this firmware,
# but still needed to register e.g. the UART_ERRORS message #if DOWNLINK
conf/firmwares/subsystems/fixedwing/autopilot.makefile
+4 -4
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@@ -183,8 +183,8 @@ sim.srcs += $(fbw_srcs) $(ap_srcs)
sim.CFLAGS += -DSITL
sim.srcs += $(SRC_ARCH)/sim_ap.c
sim.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=IvyTransport
sim.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/ivy_transport.c
sim.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
sim.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c subsystems/datalink/ivy_transport.c
sim.srcs += $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_adc_generic.c
@@ -223,8 +223,8 @@ jsbsim.srcs += $(SIMDIR)/sim_ac_jsbsim.c $(SIMDIR)/sim_ac_fw.c $(SIMDIR)/sim_a
jsbsim.CFLAGS += -I/usr/include $(shell pkg-config glib-2.0 --cflags)
jsbsim.LDFLAGS += $(shell pkg-config glib-2.0 --libs) -lglibivy -lm $(shell pcre-config --libs)
jsbsim.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=IvyTransport
jsbsim.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/ivy_transport.c
jsbsim.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
jsbsim.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c subsystems/datalink/ivy_transport.c
jsbsim.srcs += $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ahrs.c $(SRC_ARCH)/jsbsim_transport.c
conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile
+2 -2
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@@ -47,6 +47,6 @@ nps.srcs += $(NPSDIR)/nps_main.c \
$(NPSDIR)/nps_flightgear.c \
nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=IvyTransport
nps.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/ivy_transport.c
nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
nps.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c subsystems/datalink/ivy_transport.c
conf/firmwares/subsystems/fixedwing/fdm_jsbsim.makefile
+2 -2
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@@ -65,6 +65,6 @@ nps.srcs += $(NPSDIR)/nps_main.c \
nps.srcs += math/pprz_geodetic_wmm2010.c
nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=IvyTransport
nps.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/ivy_transport.c
nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
nps.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c subsystems/datalink/ivy_transport.c
conf/firmwares/subsystems/fixedwing/telemetry_superbitrf.makefile
+2 -2
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@@ -5,8 +5,8 @@
ap.CFLAGS += -DUSE_$(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=PprzTransport -DDATALINK=SUPERBITRF
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_FBW_DEVICE=superbitrf -DDOWNLINK_AP_DEVICE=superbitrf
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=SUPERBITRF
#ap.CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
ap.srcs += peripherals/cyrf6936.c
conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile
+4 -2
View File
@@ -1,9 +1,11 @@
# Hey Emacs, this is a -*- makefile -*-
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=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
telemetry_CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
telemetry_CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(PPRZ_MODEM_PORT_LOWER) -DPPRZ_UART=$(MODEM_PORT)
telemetry_CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
telemetry_srcs = subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
ap.CFLAGS += $(telemetry_CFLAGS)
conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile
+2 -2
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@@ -4,8 +4,8 @@
#serial USB (e.g. /dev/ttyACM0)
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DUSE_USB_SERIAL -DUSE_USB_HIGH_PCLK
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=UsbS
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DUSE_USB_SERIAL -DUSE_USB_HIGH_PCLK
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c
ap.srcs += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
conf/firmwares/subsystems/fixedwing/telemetry_w5100.makefile
+3 -3
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@@ -7,10 +7,10 @@ W5100_SUBNET ?= "255,255,255,0"
W5100_MULTICAST_IP ?= "224,1,1,11"
W5100_MULTICAST_PORT ?= "1234"
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=W5100
ap.CFLAGS += -DDOWNLINK_TRANSPORT=W5100Transport -DDATALINK=W5100
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=chip0
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=W5100
ap.CFLAGS += -DW5100_IP=$(W5100_IP) -DW5100_SUBNET=$(W5100_SUBNET) -DW5100_MULTICAST_IP=$(W5100_MULTICAST_IP) -DW5100_MULTICAST_PORT=$(W5100_MULTICAST_PORT)
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/w5100.c
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/w5100.c subsystems/datalink/pprz_transport.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c
ifeq ($(ARCH), lpc21)
conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile
+4 -2
View File
@@ -2,10 +2,12 @@
# XBee modems in API mode
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=$(MODEM_BAUD)
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT)
ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(XBEE_MODEM_PORT_LOWER) -DXBEE_UART=$(MODEM_PORT)
ap.CFLAGS += -DDOWNLINK_TRANSPORT=xbee_tp -DDATALINK=XBEE
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/xbee.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c
conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
+2 -2
View File
@@ -62,8 +62,8 @@ nps.srcs += $(NPSDIR)/nps_main.c \
# for geo mag calculation
nps.srcs += math/pprz_geodetic_wmm2010.c
nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=IvyTransport -DDefaultPeriodic='&telemetry_Main'
nps.srcs += $(SRC_ARCH)/ivy_transport.c
nps.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp -DDefaultPeriodic='&telemetry_Main'
nps.srcs += subsystems/datalink/ivy_transport.c
nps.srcs += subsystems/datalink/downlink.c subsystems/datalink/telemetry.c
nps.srcs += $(SRC_FIRMWARE)/rotorcraft_telemetry.c
nps.srcs += $(SRC_FIRMWARE)/datalink.c
conf/firmwares/subsystems/rotorcraft/telemetry_superbitrf.makefile
+2 -2
View File
@@ -5,8 +5,8 @@
ap.CFLAGS += -DUSE_$(MODEM_PORT)
ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=SuperbitRF
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=SUPERBITRF
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=superbitrf
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=SUPERBITRF
ap.CFLAGS += -DDefaultPeriodic='&telemetry_Main'
#ap.CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile
+4 -2
View File
@@ -5,10 +5,12 @@
# MODEM_BAUD
#
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=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DDefaultPeriodic='&telemetry_Main'
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(PPRZ_MODEM_PORT_LOWER) -DPPRZ_UART=$(MODEM_PORT)
ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DDefaultPeriodic='&telemetry_Main'
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
conf/firmwares/subsystems/rotorcraft/telemetry_transparent_udp.makefile
+5 -2
View File
@@ -8,11 +8,14 @@ MODEM_PORT_OUT ?= 4242
MODEM_PORT_IN ?= 4243
MODEM_BROADCAST ?= TRUE
UDP_MODEM_PORT_LOWER=$(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=$(MODEM_DEV) -DPPRZ_UART=$(MODEM_DEV)
TELEM_CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DDefaultPeriodic='&telemetry_Main'
TELEM_CFLAGS = -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(UDP_MODEM_PORT_LOWER) -DPPRZ_UART=$(MODEM_DEV)
TELEM_CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ -DDefaultPeriodic='&telemetry_Main'
ap.CFLAGS += $(MODEM_CFLAGS) $(TELEM_CFLAGS)
conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile
+2 -2
View File
@@ -2,8 +2,8 @@
#serial USB (e.g. /dev/ttyACM0)
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DUSE_USB_SERIAL -DDefaultPeriodic='&telemetry_Main'
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=usb_serial -DPPRZ_UART=UsbS
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
ap.srcs += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile
+4 -2
View File
@@ -6,10 +6,12 @@
# MODEM_BAUD
#
XBEE_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
ap.CFLAGS += -DUSE_$(MODEM_PORT)
ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -DXBEE_BAUD=$(MODEM_BAUD)
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT)
ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE -DDefaultPeriodic='&telemetry_Main'
ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(XBEE_MODEM_PORT_LOWER) -DXBEE_UART=$(MODEM_PORT)
ap.CFLAGS += -DDOWNLINK_TRANSPORT=xbee_tp -DDATALINK=XBEE -DDefaultPeriodic='&telemetry_Main'
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/xbee.c subsystems/datalink/telemetry.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
conf/firmwares/test_progs.makefile
+2 -1
View File
@@ -65,8 +65,9 @@ COMMON_TEST_SRCS += $(SRC_ARCH)/led_hw.c
COMMON_TEST_SRCS += $(SRC_ARCH)/mcu_periph/gpio_arch.c
endif
COMMON_TELEMETRY_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
COMMON_TELEMETRY_CFLAGS = -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
COMMON_TELEMETRY_CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
COMMON_TELEMETRY_CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=pprz_tp -DDOWNLINK_DEVICE=$(COMMON_TELEMETRY_MODEM_PORT_LOWER)
COMMON_TELEMETRY_CFLAGS += -DDefaultPeriodic='&telemetry_Main'
COMMON_TELEMETRY_CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)
COMMON_TELEMETRY_SRCS = mcu_periph/uart.c
conf/flight_plans/flight_plan.dtd
+3 -1
View File
@@ -162,7 +162,9 @@ value CDATA #REQUIRED>
<!ATTLIST call
fun CDATA #REQUIRED
until CDATA #IMPLIED>
until CDATA #IMPLIED
loop CDATA #IMPLIED
break CDATA #IMPLIED>
<!ATTLIST follow
ac_id CDATA #REQUIRED
conf/messages.xml
+1 -1
View File
@@ -551,7 +551,7 @@
<field name="start_angle" type="float" unit="deg"/>
<field name="angle" type="float" unit="deg"/>
<field name="last_block" type="float"/>
<field name="count" type="int16" unit=""/>
<field name="count" type="uint16" unit=""/>
<field name="shutter" type="uint8" unit="s"/>
</message>
conf/modules/extra_dl.xml
+5 -1
View File
@@ -11,11 +11,15 @@
</header>
<event fun="ExtraDatalinkEvent()"/>
<makefile target="ap">
<define name="EXTRA_DOWNLINK_DEVICE" value="$(EXTRA_DL_PORT)"/>
<raw>
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"/>
<file name="pprz_transport.c" dir="subsystems/datalink"/>
</makefile>
</module>
fix_code_style.sh
+2 -2
View File
@@ -24,7 +24,7 @@ if [ $(bc <<< "$ASTYLE_VERSION >= 2.03") -eq 1 ]; then
--unpad-paren \
--keep-one-line-blocks \
--keep-one-line-statements \
--align-pointer=type \
--align-pointer=name \
--suffix=none \
--lineend=linux \
--add-brackets \
@@ -42,7 +42,7 @@ else
--unpad-paren \
--keep-one-line-blocks \
--keep-one-line-statements \
--align-pointer=type \
--align-pointer=name \
--suffix=none \
--lineend=linux \
--add-brackets \
sw/airborne/arch/lpc21/uart_tunnel.c
+1 -1
View File
@@ -11,7 +11,7 @@
#define TXD1_PIN 8
#define RXD1_PIN 9
int main (int argc, char** argv) {
int main(int argc __attribute__((unused)), char** argv __attribute__((unused))) {
int tx=0, rx=0;
int tx_shadow=1, rx_shadow=1;
mcu_init();
sw/airborne/arch/lpc21/usb_ser_hw.c
+24 -3
View File
@@ -434,7 +434,7 @@ int VCOM_check_available(void)
@param [in] bEP
@param [in] bEPStatus
*/
static void BulkOut(U8 bEP, U8 bEPStatus)
static void BulkOut(U8 bEP, U8 bEPStatus __attribute__((unused)))
{
int i, iLen;
@@ -463,7 +463,7 @@ static void BulkOut(U8 bEP, U8 bEPStatus)
@param [in] bEP
@param [in] bEPStatus
*/
static void BulkIn(U8 bEP, U8 bEPStatus)
static void BulkIn(U8 bEP, U8 bEPStatus __attribute__((unused)))
{
int i, iLen;
@@ -541,7 +541,7 @@ static void USBIntHandler(void)
}
static void USBFrameHandler(U16 wFrame)
static void USBFrameHandler(U16 wFrame __attribute__((unused)))
{
if (fifo_avail(&txfifo) > 0) {
// data available, enable NAK interrupt on bulk in
@@ -549,6 +549,21 @@ static void USBFrameHandler(U16 wFrame)
}
}
// Periph with generic device API
struct usb_serial_periph usb_serial;
// Functions for the generic device API
static int usb_serial_check_free_space(struct usb_serial_periph* p __attribute__((unused)), uint8_t len)
{
return (int)VCOM_check_free_space(len);
}
static void usb_serial_transmit(struct usb_serial_periph* p __attribute__((unused)), uint8_t byte)
{
VCOM_putchar(byte);
}
static void usb_serial_send(struct usb_serial_periph* p __attribute__((unused))) { }
void VCOM_init(void) {
// initialise stack
@@ -588,6 +603,12 @@ void VCOM_init(void) {
// connect to bus
USBHwConnect(TRUE);
// 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.send_message = (send_message_t) usb_serial_send;
}
sw/airborne/arch/sim/ivy_transport.c
-3
View File
@@ -1,3 +0,0 @@
char ivy_buf[256];
char *ivy_p = ivy_buf;
int ivy_dl_enabled = 1;
sw/airborne/arch/sim/ivy_transport.h
-73
View File
@@ -1,73 +0,0 @@
#include <stdio.h>
#include <Ivy/ivy.h>
extern char ivy_buf[];
extern char* ivy_p;
extern int ivy_dl_enabled;
#define IvyTransportCheckFreeSpace(_dev,_) TRUE
#define IvyTransportSizeOf(_dev, x) (x)
#define IvyTransportHeader(_dev,len) ivy_p=ivy_buf;
#define IvyTransportTrailer(_dev) { *(--ivy_p) = '\0'; if (ivy_dl_enabled) { IvySendMsg("%s",ivy_buf); } }
#define IvyTransportPutUint8(_dev,x) { ivy_p += sprintf(ivy_p, "%u ", x); }
#define IvyTransportPutNamedUint8(_dev,_name, _x) { ivy_p += sprintf(ivy_p, "%s ", _name); }
#define Space() ivy_p += sprintf(ivy_p, " ");
#define Comma() ivy_p += sprintf(ivy_p, ",");
#define DelimStart() ivy_p += sprintf(ivy_p, "|");
#define DelimEnd() ivy_p += sprintf(ivy_p, "|");
#define IvyTransportPutcByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%c", *x);
#define IvyTransportPutCharByAddr(_dev,x) IvyTransportPutcByAddr(_dev,x) Space()
#define IvyTransportPutUintByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%u", *x);
#define IvyTransportPutUint8ByAddr(_dev,x) IvyTransportPutUintByAddr(_dev,x) Space()
#define IvyTransportPutUint16ByAddr(_dev,x) IvyTransportPutUintByAddr(_dev,x) Space()
#define IvyTransportPutUint32ByAddr(_dev,x) IvyTransportPutUintByAddr(_dev,x) Space()
#define IvyTransportPutUint64ByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%llu", *x); Space()
#define IvyTransportPutIntByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%d", *x);
#define IvyTransportPutInt8ByAddr(_dev,x) IvyTransportPutIntByAddr(_dev,x) Space()
#define IvyTransportPutInt16ByAddr(_dev,x) IvyTransportPutIntByAddr(_dev,x) Space()
#define IvyTransportPutInt32ByAddr(_dev,x) IvyTransportPutIntByAddr(_dev,x) Space()
#define IvyTransportPutInt64ByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%lld", *x); Space()
#define IvyTransportPutOneFloatByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%f", *x);
#define IvyTransportPutFloatByAddr(_dev,x) IvyTransportPutOneFloatByAddr(_dev,x) Space()
#define IvyTransportPutDoubleByAddr(_dev,x) IvyTransportPutOneFloatByAddr(_dev,x) Space()
#define IvyTransportPutArray(_dev,_put, _n, _x) { \
int __i; \
DelimStart(); \
for(__i = 0; __i < _n; __i++) { \
_put(_dev,&_x[__i]); \
Comma(); \
} DelimEnd(); Space(); \
}
#define IvyTransportPutInt8Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
#define IvyTransportPutUint8Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
#define IvyTransportPutCharArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutcByAddr, _n, _x)
#define IvyTransportPutInt16Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
#define IvyTransportPutUint16Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
#define IvyTransportPutUint32Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
#define IvyTransportPutInt32Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
#define IvyTransportPutUint64Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
#define IvyTransportPutInt64Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
#define IvyTransportPutFloatArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutOneFloatByAddr, _n, _x)
#define IvyTransportPutDoubleArray(_dev,_n, _x) IvyTransportPutFloatArray(_dev,_n, _x)
#define IvyTransportPutInt8FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
#define IvyTransportPutUint8FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
#define IvyTransportPutCharFixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutcByAddr, _n, _x)
#define IvyTransportPutInt16FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
#define IvyTransportPutUint16FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
#define IvyTransportPutUint32FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
#define IvyTransportPutInt32FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
#define IvyTransportPutUint64FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
#define IvyTransportPutInt64FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
#define IvyTransportPutFloatFixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutOneFloatByAddr, _n, _x)
#define IvyTransportPutDoubleFixedArray(_dev,_n, _x) IvyTransportPutFloatArray(_dev,_n, _x)
sw/airborne/arch/sim/sim_ap.c
+1 -1
View File
@@ -110,7 +110,7 @@ value update_bat(value bat) {
}
value update_dl_status(value dl_enabled) {
ivy_dl_enabled = Int_val(dl_enabled);
ivy_tp.ivy_dl_enabled = Int_val(dl_enabled);
return Val_unit;
}
sw/airborne/arch/stm32/mcu_arch.c
+1 -18
View File
@@ -39,23 +39,6 @@
#include "std.h"
#if defined(STM32F4)
/** 25MHz external clock to PLL it to 168MHz */
const clock_scale_t hse_25mhz_3v3_168mhz = { /* 168MHz */
.pllm = 25,
.plln = 336,
.pllp = 2,
.pllq = 7,
.hpre = RCC_CFGR_HPRE_DIV_NONE,
.ppre1 = RCC_CFGR_PPRE_DIV_4,
.ppre2 = RCC_CFGR_PPRE_DIV_2,
.flash_config = FLASH_ACR_ICE | FLASH_ACR_DCE |
FLASH_ACR_LATENCY_5WS,
.apb1_frequency = 42000000,
.apb2_frequency = 84000000,
};
#endif
void mcu_arch_init(void) {
#if LUFTBOOT
PRINT_CONFIG_MSG("We are running luftboot, the interrupt vector is being relocated.")
@@ -85,7 +68,7 @@ PRINT_CONFIG_MSG("Using 16MHz external clock to PLL it to 168MHz.")
#elif EXT_CLK == 25000000
#if defined(STM32F4)
PRINT_CONFIG_MSG("Using 25MHz external clock to PLL it to 168MHz.")
rcc_clock_setup_hse_3v3(&hse_25mhz_3v3_168mhz);
rcc_clock_setup_hse_3v3(&hse_25mhz_3v3[CLOCK_3V3_168MHZ]);
#endif
#else
#error EXT_CLK is either set to an unsupported frequency or not defined at all. Please check!
sw/airborne/arch/stm32/mcu_arch.h
-9
View File
@@ -31,7 +31,6 @@
#define STM32_MCU_ARCH_H
#include "std.h"
#include <libopencm3/stm32/timer.h>
extern void mcu_arch_init(void);
@@ -50,14 +49,6 @@ extern void mcu_arch_init(void);
#define mcu_int_enable() {}
#define mcu_int_disable() {}
/** @todo: these should go into libopencm3 */
#ifdef TIM9_BASE
#define TIM9 TIM9_BASE
#endif
#ifdef TIM12_BASE
#define TIM12 TIM12_BASE
#endif
uint32_t timer_get_frequency(uint32_t timer_peripheral);
#endif /* STM32_MCU_ARCH_H */
sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
+3 -18
View File
@@ -1003,12 +1003,7 @@ void i2c1_hw_init(void) {
// enable peripheral
i2c_peripheral_enable(I2C1);
/*
* XXX: there is a function to do that already in libopencm3 but I am not
* sure if it is correct, using direct register instead (esden)
*/
//i2c_set_own_7bit_slave_address(I2C1, 0);
I2C_OAR1(I2C1) = 0 | 0x4000;
i2c_set_own_7bit_slave_address(I2C1, 0);
// enable error interrupts
i2c_enable_interrupt(I2C1, I2C_CR2_ITERREN);
@@ -1078,12 +1073,7 @@ void i2c2_hw_init(void) {
// enable peripheral
i2c_peripheral_enable(I2C2);
/*
* XXX: there is a function to do that already in libopencm3 but I am not
* sure if it is correct, using direct register instead (esden)
*/
//i2c_set_own_7bit_slave_address(I2C2, 0);
I2C_OAR1(I2C2) = 0 | 0x4000;
i2c_set_own_7bit_slave_address(I2C2, 0);
// enable error interrupts
i2c_enable_interrupt(I2C2, I2C_CR2_ITERREN);
@@ -1153,12 +1143,7 @@ void i2c3_hw_init(void) {
// enable peripheral
i2c_peripheral_enable(I2C3);
/*
* XXX: there is a function to do that already in libopencm3 but I am not
* sure if it is correct, using direct register instead (esden)
*/
//i2c_set_own_7bit_slave_address(I2C3, 0);
I2C_OAR1(I2C3) = 0 | 0x4000;
i2c_set_own_7bit_slave_address(I2C3, 0);
// enable error interrupts
i2c_enable_interrupt(I2C3, I2C_CR2_ITERREN);
sw/airborne/arch/stm32/peripherals/ms2100_arch.c
+1 -1
View File
@@ -69,7 +69,7 @@ void ms2100_reset_cb( struct spi_transaction * t __attribute__ ((unused)) ) {
int32_t end_cpu_ticks = systick_get_value() - dt_ticks;
if (end_cpu_ticks < 0)
end_cpu_ticks += systick_get_reload();
while (systick_get_value() > end_cpu_ticks)
while (systick_get_value() > (uint32_t)end_cpu_ticks)
;
Ms2100Reset();
sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.c
+3 -2
View File
@@ -23,10 +23,11 @@
* STM32 PWM and dualPWM servos shared functions.
*/
#include "subsystems/actuators/actuators_shared_arch.h"
#include "arch/stm32/subsystems/actuators/actuators_shared_arch.h"
#include <libopencm3/stm32/timer.h>
// for timer_get_frequency
#include "mcu_arch.h"
#include "arch/stm32/mcu_arch.h"
/** Set PWM channel configuration
sw/airborne/boards/ardrone/navdata.c
+5 -5
View File
@@ -121,8 +121,8 @@ static void navdata_write(const uint8_t *buf, size_t count)
#if PERIODIC_TELEMETRY
#include "subsystems/datalink/telemetry.h"
static void send_navdata(void) {
DOWNLINK_SEND_ARDRONE_NAVDATA(DefaultChannel, DefaultDevice,
static void send_navdata(struct transport_tx *trans, struct link_device *dev) {
pprz_msg_send_ARDRONE_NAVDATA(trans, dev, AC_ID,
&navdata.taille,
&navdata.nu_trame,
&navdata.ax,
@@ -154,12 +154,12 @@ static void send_navdata(void) {
&nav_port.checksum_errors);
}
static void send_fliter_status(void) {
static void send_filter_status(struct transport_tx *trans, struct link_device *dev) {
uint8_t mde = 3;
if (ahrs.status == AHRS_UNINIT) mde = 2;
if (imu_lost) mde = 5;
uint16_t val = 0;
DOWNLINK_SEND_STATE_FILTER_STATUS(DefaultChannel, DefaultDevice, &mde, &val);
pprz_msg_send_STATE_FILTER_STATUS(trans, dev, AC_ID, &mde, &val);
}
#endif
@@ -231,7 +231,7 @@ bool_t navdata_init()
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "ARDRONE_NAVDATA", send_navdata);
register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_fliter_status);
register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_filter_status);
#endif
return TRUE;
sw/airborne/firmwares/beth/overo_test_uart.c
+6 -6
View File
@@ -146,9 +146,9 @@ static void main_periodic(int my_sig_num) {
#include "subsystems/datalink/downlink.h"
#if 0
uint8_t downlink_nb_ovrn;
uint16_t downlink_nb_bytes;
uint16_t downlink_nb_msgs;
uint8_t downlink.nb_ovrn;
uint16_t downlink.nb_bytes;
uint16_t downlink.nb_msgs;
#define __Transport(dev, _x) dev##_x
#define _Transport(dev, _x) __Transport(dev, _x)
@@ -161,11 +161,11 @@ uint16_t downlink_nb_msgs;
#define DownlinkPutUint8ByAddr(_chan, _x) Transport(_chan, PutUint8ByAddr(_x))
#define DownlinkPutUint8Array(_chan, _n, _x) Transport(_chan, PutUint8Array(_n, _x))
#define DownlinkOverrun(_chan) downlink_nb_ovrn++;
#define DownlinkCountBytes(_chan, _n) downlink_nb_bytes += _n;
#define DownlinkOverrun(_chan) downlink.nb_ovrn++;
#define DownlinkCountBytes(_chan, _n) downlink.nb_bytes += _n;
#define DownlinkStartMessage(_chan, _name, msg_id, payload_len) { \
downlink_nb_msgs++; \
downlink.nb_msgs++; \
Transport(_chan, Header(DownlinkIDsSize(_chan, payload_len))); \
Transport(_chan, PutUint8(AC_ID)); \
Transport(_chan, PutNamedUint8(_name, msg_id)); \
sw/airborne/firmwares/fixedwing/autopilot.c
+37 -32
View File
@@ -56,87 +56,92 @@ bool_t gps_lost;
bool_t power_switch;
static void send_alive(void) {
DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
static void send_alive(struct transport_tx *trans, struct link_device *dev) {
pprz_msg_send_ALIVE(trans, dev, AC_ID, 16, MD5SUM);
}
#if defined RADIO_CALIB && defined RADIO_CONTROL_SETTINGS
#include "rc_settings.h"
static void send_rc_settings(void) {
static void send_rc_settings(struct transport_tx *trans, struct link_device *dev) {
if (!RcSettingsOff())
DOWNLINK_SEND_SETTINGS(DefaultChannel, DefaultDevice, &slider_1_val, &slider_2_val);
pprz_msg_send_SETTINGS(trans, dev, AC_ID, &slider_1_val, &slider_2_val);
}
#else
uint8_t rc_settings_mode = 0;
#endif
void autopilot_send_mode(void) {
DOWNLINK_SEND_PPRZ_MODE(DefaultChannel, DefaultDevice,
static void send_mode(struct transport_tx *trans, struct link_device *dev) {
pprz_msg_send_PPRZ_MODE(trans, dev, AC_ID,
&pprz_mode, &v_ctl_mode, &lateral_mode, &horizontal_mode, &rc_settings_mode, &mcu1_status);
}
static void send_attitude(void) {
void autopilot_send_mode(void) {
// use default telemetry here
send_mode(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
}
static void send_attitude(struct transport_tx *trans, struct link_device *dev) {
struct FloatEulers* att = stateGetNedToBodyEulers_f();
DOWNLINK_SEND_ATTITUDE(DefaultChannel, DefaultDevice,
pprz_msg_send_ATTITUDE(trans, dev, AC_ID,
&(att->phi), &(att->psi), &(att->theta));
};
static void send_estimator(void) {
DOWNLINK_SEND_ESTIMATOR(DefaultChannel, DefaultDevice,
static void send_estimator(struct transport_tx *trans, struct link_device *dev) {
pprz_msg_send_ESTIMATOR(trans, dev, AC_ID,
&(stateGetPositionUtm_f()->alt), &(stateGetSpeedEnu_f()->z));
}
static void send_bat(void) {
static void send_bat(struct transport_tx *trans, struct link_device *dev) {
int16_t amps = (int16_t) (current/10);
int16_t e = energy;
DOWNLINK_SEND_BAT(DefaultChannel, DefaultDevice,
pprz_msg_send_BAT(trans, dev, AC_ID,
&v_ctl_throttle_slewed, &vsupply, &amps,
&autopilot_flight_time, &kill_throttle,
&autopilot_flight_time, (uint8_t*)(&kill_throttle),
&block_time, &stage_time, &e);
}
static void send_energy(void) {
const int16_t e = energy;
const float vsup = ((float)vsupply) / 10.0f;
const float curs = ((float)current) / 1000.0f;
const float power = vsup * curs;
DOWNLINK_SEND_ENERGY(DefaultChannel, DefaultDevice, &vsup, &curs, &e, &power);
static void send_energy(struct transport_tx *trans, struct link_device *dev) {
uint16_t e = energy;
float vsup = ((float)vsupply) / 10.0f;
float curs = ((float)current) / 1000.0f;
float power = vsup * curs;
pprz_msg_send_ENERGY(trans, dev, AC_ID, &vsup, &curs, &e, &power);
}
static void send_dl_value(void) {
PeriodicSendDlValue(DefaultChannel, DefaultDevice);
static void send_dl_value(struct transport_tx *trans, struct link_device *dev) {
PeriodicSendDlValue(trans, dev);
}
// FIXME not the best place
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include CTRL_TYPE_H
static void send_desired(void) {
static void send_desired(struct transport_tx *trans, struct link_device *dev) {
#ifndef USE_AIRSPEED
float v_ctl_auto_airspeed_setpoint = NOMINAL_AIRSPEED;
#endif
DOWNLINK_SEND_DESIRED(DefaultChannel, DefaultDevice,
pprz_msg_send_DESIRED(trans, dev, AC_ID,
&h_ctl_roll_setpoint, &h_ctl_pitch_loop_setpoint, &h_ctl_course_setpoint,
&desired_x, &desired_y, &v_ctl_altitude_setpoint, &v_ctl_climb_setpoint,
&v_ctl_auto_airspeed_setpoint);
}
static void send_airspeed(void) {
static void send_airspeed(struct transport_tx *trans __attribute__((unused)), struct link_device *dev __attribute__((unused))) {
#ifdef MEASURE_AIRSPEED
float* airspeed = stateGetAirspeed_f();
DOWNLINK_SEND_AIRSPEED(DefaultChannel, DefaultDevice, airspeed, airspeed, airspeed, airspeed);
pprz_msg_send_AIRSPEED(trans, dev, AC_ID, airspeed, airspeed, airspeed, airspeed);
#elif USE_AIRSPEED
DOWNLINK_SEND_AIRSPEED(DefaultChannel, DefaultDevice,
pprz_msg_send_AIRSPEED(trans, dev, AC_ID,
stateGetAirspeed_f(), &v_ctl_auto_airspeed_setpoint,
&v_ctl_auto_airspeed_controlled, &v_ctl_auto_groundspeed_setpoint);
#endif
}
static void send_downlink(void) {
static void send_downlink(struct transport_tx *trans, struct link_device *dev) {
static uint16_t last;
uint16_t rate = (downlink_nb_bytes - last) / PERIOD_DOWNLINK_Ap_0;
last = downlink_nb_bytes;
DOWNLINK_SEND_DOWNLINK(DefaultChannel, DefaultDevice,
&downlink_nb_ovrn, &rate, &downlink_nb_msgs);
uint16_t rate = (downlink.nb_bytes - last) / PERIOD_DOWNLINK_Ap_0;
last = downlink.nb_bytes;
pprz_msg_send_DOWNLINK(trans, dev, AC_ID,
&downlink.nb_ovrn, &rate, &downlink.nb_msgs);
}
void autopilot_init(void) {
@@ -157,7 +162,7 @@ void autopilot_init(void) {
/* register some periodic message */
register_periodic_telemetry(DefaultPeriodic, "ALIVE", send_alive);
register_periodic_telemetry(DefaultPeriodic, "PPRZ_MODE", autopilot_send_mode);
register_periodic_telemetry(DefaultPeriodic, "PPRZ_MODE", send_mode);
register_periodic_telemetry(DefaultPeriodic, "DOWNLINK", send_downlink);
register_periodic_telemetry(DefaultPeriodic, "ATTITUDE", send_attitude);
register_periodic_telemetry(DefaultPeriodic, "ESTIMATOR", send_estimator);
sw/airborne/firmwares/fixedwing/datalink.c
+2 -2
View File
@@ -103,7 +103,7 @@ void dl_parse_msg(void) {
#endif
if (msg_id == DL_PING) {
DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice)
DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
} else
#ifdef TRAFFIC_INFO
if (msg_id == DL_ACINFO && DL_ACINFO_ac_id(dl_buffer) != AC_ID) {
@@ -139,7 +139,7 @@ void dl_parse_msg(void) {
DOWNLINK_SEND_WP_MOVED(DefaultChannel, DefaultDevice, &wp_id, &utm.east, &utm.north, &a, &nav_utm_zone0);
} else if (msg_id == DL_BLOCK && DL_BLOCK_ac_id(dl_buffer) == AC_ID) {
nav_goto_block(DL_BLOCK_block_id(dl_buffer));
SEND_NAVIGATION(DefaultChannel, DefaultDevice);
SEND_NAVIGATION(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
} else
#endif /** NAV */
#ifdef WIND_INFO

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