diff --git a/Makefile.ac b/Makefile.ac index 93e3c50fc1..02cf338b77 100644 --- a/Makefile.ac +++ b/Makefile.ac @@ -53,7 +53,6 @@ TUNING_H=$(AC_GENERATED)/tuning.h SUPERVISION=./paparazzi MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) MODULES_H=$(AC_GENERATED)/modules.h -MODULES_DIR=$(PAPARAZZI_HOME)/conf/modules/ AIRCRAFT_MD5=$(AIRCRAFT_CONF_DIR)/aircraft.md5 # "make Q=''" to get full echo @@ -132,7 +131,7 @@ $(TUNING_H) : $(SETTINGS_XMLS) $(CONF_XML) $(TOOLS)/gen_tuning.out $(MODULES_H) : $(CONF)/$(AIRFRAME_XML) $(TOOLS)/gen_modules.out $(CONF)/modules/*.xml $(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED) @echo BUILD $@ - $(Q)$(TOOLS)/gen_modules.out $(MODULES_DIR) $(SETTINGS_MODULES) $< > $@ + $(Q)$(TOOLS)/gen_modules.out $(SETTINGS_MODULES) $< > $@ $(Q)chmod a+r $@ $(SETTINGS_MODULES) : $(MODULES_H) diff --git a/Makefile.install b/Makefile.install index 978a38ec64..c973665dd3 100644 --- a/Makefile.install +++ b/Makefile.install @@ -37,17 +37,28 @@ install_conf: $(INSTALLDATA) conf/gui.xml $(DESTDIR)/conf/ $(INSTALL) -d $(DESTDIR)/conf/airframes $(INSTALLDATA) conf/airframes/airframe.dtd $(DESTDIR)/conf/airframes - $(INSTALLDATA) conf/airframes/microjet5.xml $(DESTDIR)/conf/airframes - $(INSTALLDATA) conf/airframes/twinstar1.xml $(DESTDIR)/conf/airframes - $(INSTALLDATA) conf/airframes/twinjet1.xml $(DESTDIR)/conf/airframes + $(INSTALLDATA) conf/airframes/microjet_example.xml $(DESTDIR)/conf/airframes + $(INSTALLDATA) conf/airframes/twinstar_example.xml $(DESTDIR)/conf/airframes + $(INSTALLDATA) conf/airframes/twinjet_example.xml $(DESTDIR)/conf/airframes $(INSTALLDATA) conf/airframes/tiny_hitl.xml $(DESTDIR)/conf/airframes - $(INSTALLDATA) conf/airframes/booz2_a2.xml $(DESTDIR)/conf/airframes + $(INSTALLDATA) conf/airframes/example_twog_analogimu.xml $(DESTDIR)/conf/airframes $(INSTALL) -d $(DESTDIR)/conf/autopilot $(INSTALLDATA) conf/autopilot/*.makefile $(DESTDIR)/conf/autopilot $(INSTALLDATA) conf/autopilot/*.h $(DESTDIR)/conf/autopilot + $(INSTALL) -d $(DESTDIR)/conf/autopilot/subsystems + $(INSTALLDATA) conf/autopilot/subsystems/*.makefile $(DESTDIR)/conf/autopilot/subsystems + $(INSTALL) -d $(DESTDIR)/conf/autopilot/subsystems/fixedwing + $(INSTALLDATA) conf/autopilot/subsystems/fixedwing/*.makefile $(DESTDIR)/conf/autopilot/subsystems/fixedwing + $(INSTALL) -d $(DESTDIR)/conf/autopilot/subsystems/rotorcraft + $(INSTALLDATA) conf/autopilot/subsystems/rotorcraft/*.makefile $(DESTDIR)/conf/autopilot/subsystems/rotorcraft + $(INSTALL) -d $(DESTDIR)/conf/autopilot/subsystems/shared + $(INSTALLDATA) conf/autopilot/subsystems/shared/*.makefile $(DESTDIR)/conf/autopilot/subsystems/shared $(INSTALL) -d $(DESTDIR)/conf/flight_plans $(INSTALLDATA) conf/flight_plans/*.dtd $(DESTDIR)/conf/flight_plans $(INSTALLDATA) conf/flight_plans/*.xml $(DESTDIR)/conf/flight_plans + $(INSTALL) -d $(DESTDIR)/conf/modules + $(INSTALLDATA) conf/modules/*.dtd $(DESTDIR)/conf/modules + $(INSTALLDATA) conf/modules/*.xml $(DESTDIR)/conf/modules $(INSTALL) -d $(DESTDIR)/conf/gps $(INSTALLDATA) conf/gps/Makefile $(DESTDIR)/conf/gps $(INSTALLDATA) conf/gps/ublox_conf.c $(DESTDIR)/conf/gps @@ -111,16 +122,12 @@ install_libs: install_tools: $(INSTALLDATA) Makefile.ac $(DESTDIR) - $(INSTALL) -d $(DESTDIR)/sw/tools/ $(INSTALLDATA) conf/Makefile* $(DESTDIR)/conf + $(INSTALL) -d $(DESTDIR)/sw/tools/ $(INSTALL) sw/tools/*.out $(DESTDIR)/sw/tools/ rm -f $(DESTDIR)/sw/tools/gen_flight_plan.out - $(INSTALLDATA) sw/tools/fp_syntax.cmo $(DESTDIR)/sw/tools - $(INSTALLDATA) sw/tools/fp_parser.cmo $(DESTDIR)/sw/tools - $(INSTALLDATA) sw/tools/fp_lexer.cmo $(DESTDIR)/sw/tools $(INSTALLDATA) sw/tools/fp_proc.cmo $(DESTDIR)/sw/tools $(INSTALLDATA) sw/tools/gen_flight_plan.cmo $(DESTDIR)/sw/tools - $(INSTALLDATA) sw/tools/extract_makefile.ml $(DESTDIR)/sw/tools/ $(INSTALLDATA) sw/tools/gen_aircraft.ml $(DESTDIR)/sw/tools/ $(INSTALLDATA) sw/tools/gen_airframe.ml $(DESTDIR)/sw/tools/ $(INSTALLDATA) sw/tools/gen_messages.ml $(DESTDIR)/sw/tools/ @@ -130,6 +137,14 @@ install_tools: $(INSTALLDATA) sw/tools/gen_settings.ml $(DESTDIR)/sw/tools/ $(INSTALLDATA) sw/tools/gen_tuning.ml $(DESTDIR)/sw/tools/ $(INSTALLDATA) sw/tools/gen_ubx.ml $(DESTDIR)/sw/tools/ + $(INSTALLDATA) sw/tools/gen_xsens.ml $(DESTDIR)/sw/tools/ + $(INSTALLDATA) sw/tools/gen_modules.ml $(DESTDIR)/sw/tools/ + $(INSTALLDATA) sw/tools/gen_common.cmo $(DESTDIR)/sw/tools/ + $(INSTALL) -d $(DESTDIR)/sw/tools/calibration + $(INSTALLDATA) sw/tools/calibration/calibrate.py $(DESTDIR)/sw/tools/calibration + $(INSTALLDATA) sw/tools/calibration/calibrate_gyro.py $(DESTDIR)/sw/tools/calibration + $(INSTALLDATA) sw/tools/calibration/calibration_utils.py $(DESTDIR)/sw/tools/calibration + $(INSTALLDATA) sw/tools/calibration/README $(DESTDIR)/sw/tools/calibration $(INSTALL) -d $(DESTDIR)/sw/ground_segment/lpc21iap $(INSTALL) sw/ground_segment/lpc21iap/lpc21iap $(DESTDIR)/sw/ground_segment/lpc21iap/ $(INSTALL) -d $(DESTDIR)/sw/simulator @@ -142,7 +157,7 @@ install_tools: install_airborne_sources: $(INSTALL) -d $(DESTDIR)/sw/ - tar --exclude=CVS -cf - sw/airborne/ | tar -C $(DESTDIR) -xf - + tar -cf - sw/airborne/ | tar -C $(DESTDIR) -xf - $(INSTALL) -d $(DESTDIR)/sw/include $(INSTALLDATA) sw/include/std.h $(DESTDIR)/sw/include $(INSTALLDATA) var/include/*.h $(DESTDIR)/sw/include diff --git a/conf/airframes/ENAC/fixed-wing/drops.xml b/conf/airframes/ENAC/fixed-wing/drops.xml index cf7359cc92..289865ccae 100644 --- a/conf/airframes/ENAC/fixed-wing/drops.xml +++ b/conf/airframes/ENAC/fixed-wing/drops.xml @@ -221,7 +221,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -233,11 +233,11 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -269,7 +269,7 @@ ap.srcs += subsystems/navigation/snav.c # include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c -sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml index fa11fa8574..124a14b520 100644 --- a/conf/airframes/ENAC/fixed-wing/firestorm.xml +++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml @@ -213,7 +213,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -225,7 +225,7 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -262,7 +262,7 @@ ap.CFLAGS += -DUSE_MODULES # Config for SITL simulation #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) -sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN diff --git a/conf/airframes/ENAC/fixed-wing/funjet1.xml b/conf/airframes/ENAC/fixed-wing/funjet1.xml index 80580c7832..47d29560c7 100644 --- a/conf/airframes/ENAC/fixed-wing/funjet1.xml +++ b/conf/airframes/ENAC/fixed-wing/funjet1.xml @@ -232,7 +232,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -244,11 +244,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU @@ -298,7 +298,7 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 # Config for SITL simulation #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) -sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN @@ -317,8 +317,8 @@ sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_re # a test program to setup actuators setup_actuators.ARCHDIR = $(ARCHI) -setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1 -setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c +setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1 +setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml index 827fb19b8f..2ab3b975ac 100644 --- a/conf/airframes/ENAC/fixed-wing/merlin.xml +++ b/conf/airframes/ENAC/fixed-wing/merlin.xml @@ -19,7 +19,7 @@ - + @@ -29,6 +29,10 @@ + + + + diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml index 959e0eabdc..153f9e63bf 100644 --- a/conf/airframes/ENAC/fixed-wing/minimag1.xml +++ b/conf/airframes/ENAC/fixed-wing/minimag1.xml @@ -175,7 +175,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -187,10 +187,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/ENAC/fixed-wing/slayer2.xml b/conf/airframes/ENAC/fixed-wing/slayer2.xml index 4a74c62cd5..5be6b30153 100644 --- a/conf/airframes/ENAC/fixed-wing/slayer2.xml +++ b/conf/airframes/ENAC/fixed-wing/slayer2.xml @@ -201,7 +201,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -213,7 +213,7 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c # AEROCOMM # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 @@ -221,7 +221,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # RADIOTRONIX ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU @@ -241,7 +241,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c # Camera power switch on ADC_7 pin -ap.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=10 -DPOWER_SWITCH_LED=3 +ap.CFLAGS += -DUSE_LED_3_BANK=0 -DUSE_LED_3_PIN=10 -DPOWER_SWITCH_LED=3 ap.CFLAGS += -DUSE_GYRO -DADXRS150 @@ -271,7 +271,7 @@ ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D BARO_MS5534A # Config for SITL simulation #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) -sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DUSE_BARO_MS5534A diff --git a/conf/airframes/ENAC/fixed-wing/soarzi.xml b/conf/airframes/ENAC/fixed-wing/soarzi.xml index 03f799119b..e0cf78c35f 100644 --- a/conf/airframes/ENAC/fixed-wing/soarzi.xml +++ b/conf/airframes/ENAC/fixed-wing/soarzi.xml @@ -179,7 +179,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -191,10 +191,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#XBEE ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/ENAC/fixed-wing/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/solarstorm.xml index 7c1cf6a949..ec953714e9 100644 --- a/conf/airframes/ENAC/fixed-wing/solarstorm.xml +++ b/conf/airframes/ENAC/fixed-wing/solarstorm.xml @@ -206,7 +206,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -218,7 +218,7 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -253,7 +253,7 @@ ap.CFLAGS += -DUSE_MODULES # Config for SITL simulation #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) -sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN diff --git a/conf/airframes/ENAC/fixed-wing/spocII.xml b/conf/airframes/ENAC/fixed-wing/spocII.xml index a0c71c742f..675df4be66 100644 --- a/conf/airframes/ENAC/fixed-wing/spocII.xml +++ b/conf/airframes/ENAC/fixed-wing/spocII.xml @@ -212,7 +212,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -225,7 +225,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -253,7 +253,7 @@ ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3 # Config for SITL simulation #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) -sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN @@ -274,8 +274,8 @@ jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c # a test program to setup actuators setup_actuators.ARCHDIR = $(ARCHI) -setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1 -setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c +setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1 +setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml index 6197ff36a6..c118819f03 100644 --- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml +++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml @@ -225,7 +225,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.CFLAGS += -DINTER_MCU @@ -242,11 +242,11 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ########## Modems ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ########## ADC ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 @@ -298,7 +298,7 @@ ap.CFLAGS += -DUSE_MODULES #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) -sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl_n.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DPITCH_TRIM -DALT_KALMAN diff --git a/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml b/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml index 4cf13bf2b8..2fddd20c7e 100644 --- a/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml +++ b/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml @@ -156,7 +156,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_MODULES ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -171,7 +171,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # Telemetry configuration ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/Paul/minimag1.xml b/conf/airframes/Paul/minimag1.xml index f16f2aca5f..cfe17c9d28 100644 --- a/conf/airframes/Paul/minimag1.xml +++ b/conf/airframes/Paul/minimag1.xml @@ -176,7 +176,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_2_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_2_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -188,7 +188,7 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/Poine/antenna.xml b/conf/airframes/Poine/antenna.xml index 19a339e347..98d24b8294 100644 --- a/conf/airframes/Poine/antenna.xml +++ b/conf/airframes/Poine/antenna.xml @@ -23,10 +23,10 @@ ant.LOCK_FUSE = ff ant.CFLAGS += -DBOARD_CONFIG=\"antenna.h\" ant.srcs = main_antenna.c sys_time.c $(SRC_ARCH)/sys_time_hw.c -ant.CFLAGS += -DLED +ant.CFLAGS += -DUSE_LED ant.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -ant.srcs += $(SRC_ARCH)/uart_hw.c +ant.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c ant.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 ant.srcs += downlink.c pprz_transport.c diff --git a/conf/airframes/Poine/autoplato.xml b/conf/airframes/Poine/autoplato.xml index b509daabbf..48a5844d0e 100644 --- a/conf/airframes/Poine/autoplato.xml +++ b/conf/airframes/Poine/autoplato.xml @@ -16,17 +16,17 @@ test_usb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS) test_usb.srcs += $(SRC_BOOZ_TEST)/atpt_main.c test_usb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' # -DTIME_LED=1 -test_usb.CFLAGS += -DLED +test_usb.CFLAGS += -DUSE_LED test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c #test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -#test_usb.srcs += $(SRC_ARCH)/uart_hw.c +#test_usb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c #test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 #test_usb.srcs += downlink.c pprz_transport.c test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL test_usb.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ -test_usb.srcs += downlink.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/usb_ser_hw.c pprz_transport.c +test_usb.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c pprz_transport.c # datalink.c test_usb.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c test_usb.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml index ed7388ddb1..e8b8102ba5 100644 --- a/conf/airframes/Poine/beth.xml +++ b/conf/airframes/Poine/beth.xml @@ -114,7 +114,7 @@ main_stm32.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c main_stm32.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -main_stm32.srcs += $(SRC_ARCH)/uart_hw.c +main_stm32.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 main_stm32.srcs += downlink.c pprz_transport.c @@ -186,7 +186,7 @@ main_coders.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' main_coders.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c main_coders.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -main_coders.srcs += $(SRC_ARCH)/uart_hw.c +main_coders.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 main_coders.srcs += downlink.c pprz_transport.c diff --git a/conf/airframes/Poine/bl_mc.xml b/conf/airframes/Poine/bl_mc.xml index 51d00613d0..21d5e7adee 100644 --- a/conf/airframes/Poine/bl_mc.xml +++ b/conf/airframes/Poine/bl_mc.xml @@ -26,11 +26,11 @@ main.srcs = main_bl_mc.c main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-2)' main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -main.CFLAGS += -DLED +main.CFLAGS += -DUSE_LED #-DTIME_LED=1 main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 -main.srcs += $(SRC_ARCH)/uart_hw.c +main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 main.srcs += downlink.c pprz_transport.c diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml index 44394d52a2..ab1f292c39 100644 --- a/conf/airframes/Poine/easy_glider1.xml +++ b/conf/airframes/Poine/easy_glider1.xml @@ -163,7 +163,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -177,7 +177,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # transparent ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/Poine/motor_bench.xml b/conf/airframes/Poine/motor_bench.xml index 2cfb8b27a2..dca7fe4d33 100644 --- a/conf/airframes/Poine/motor_bench.xml +++ b/conf/airframes/Poine/motor_bench.xml @@ -17,12 +17,12 @@ main.CFLAGS += -DPERIODIC_TASK_FREQ='250.' main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./PERIODIC_TASK_FREQ)' main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -main.CFLAGS += -DLED +main.CFLAGS += -DUSE_LED main.srcs += $(SRC_ARCH)/armVIC.c main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 -main.srcs += $(SRC_ARCH)/uart_hw.c +main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 main.srcs += downlink.c pprz_transport.c @@ -61,7 +61,7 @@ foo.CFLAGS += -DPERIODIC_TASK_FREQ='250.' foo.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./PERIODIC_TASK_FREQ)' foo.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -foo.CFLAGS += -DLED +foo.CFLAGS += -DUSE_LED foo.srcs += $(SRC_ARCH)/armVIC.c foo.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=9 @@ -80,7 +80,7 @@ bar.CFLAGS += -DPERIODIC_TASK_FREQ='250.' bar.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./PERIODIC_TASK_FREQ)' bar.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -bar.CFLAGS += -DLED +bar.CFLAGS += -DUSE_LED bar.srcs += $(SRC_ARCH)/armVIC.c bar.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=9 diff --git a/conf/airframes/Poine/pt_ant.xml b/conf/airframes/Poine/pt_ant.xml index 93ade9c70e..765384cf20 100644 --- a/conf/airframes/Poine/pt_ant.xml +++ b/conf/airframes/Poine/pt_ant.xml @@ -10,7 +10,7 @@ tunnel.ARCHDIR = $(ARCH) -tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"conf_demo.h\" -DLED -DTIME_LED=1 +tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"conf_demo.h\" -DUSE_LED -DTIME_LED=1 tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c ARCH=lpc21 @@ -26,12 +26,12 @@ main.srcs = $(PT_ANT)/pt_ant_main.c main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1.66666667e-2)' main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -main.CFLAGS += -DLED +main.CFLAGS += -DUSE_LED main.srcs += $(SRC_ARCH)/armVIC.c main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -main.srcs += $(SRC_ARCH)/uart_hw.c +main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 main.srcs += downlink.c pprz_transport.c $(PT_ANT)/pt_ant_telemetry.c diff --git a/conf/airframes/Poine/turntable.xml b/conf/airframes/Poine/turntable.xml index 77c99e020c..dc97e08e98 100644 --- a/conf/airframes/Poine/turntable.xml +++ b/conf/airframes/Poine/turntable.xml @@ -25,7 +25,7 @@ main.srcs += sys_time.c $(MB)/turntable_systime.c #main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UsbS main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 -main.srcs += $(SRC_ARCH)/uart_hw.c +main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 main.srcs += downlink.c pprz_transport.c diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml index ab356a2d2e..ee3384716b 100644 --- a/conf/airframes/TU_Delft/MicrojetBR.xml +++ b/conf/airframes/TU_Delft/MicrojetBR.xml @@ -258,7 +258,7 @@ diff --git a/conf/airframes/TU_Delft/Trip50A.xml b/conf/airframes/TU_Delft/Trip50A.xml index 0a681fbb23..36081877f7 100644 --- a/conf/airframes/TU_Delft/Trip50A.xml +++ b/conf/airframes/TU_Delft/Trip50A.xml @@ -249,7 +249,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=2 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=2 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -261,15 +261,15 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -#DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c # Maxstream API protocol ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/TU_Delft/Trip50B.xml b/conf/airframes/TU_Delft/Trip50B.xml index af557a6d57..1cbde06526 100644 --- a/conf/airframes/TU_Delft/Trip50B.xml +++ b/conf/airframes/TU_Delft/Trip50B.xml @@ -254,7 +254,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=2 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=2 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -266,15 +266,15 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -#DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c # Maxstream API protocol ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/TU_Delft/holiday50.xml b/conf/airframes/TU_Delft/holiday50.xml index 3a1745e964..d95a52bb30 100644 --- a/conf/airframes/TU_Delft/holiday50.xml +++ b/conf/airframes/TU_Delft/holiday50.xml @@ -248,7 +248,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP # main files (including the 60Hz timing) -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c # Command allocation and Radio Mixers @@ -264,7 +264,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # Paparazzi protocol on UART0 at 57600 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c # communication from FBW and AP ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml index a5201efd9e..3f3b051975 100644 --- a/conf/airframes/booz2_flixr.xml +++ b/conf/airframes/booz2_flixr.xml @@ -16,7 +16,9 @@ - + + + @@ -25,10 +27,11 @@ - + + @@ -38,13 +41,6 @@ - - - - - - - @@ -84,10 +80,6 @@ - - - - diff --git a/conf/airframes/booz2_s1.xml b/conf/airframes/booz2_s1.xml index bc0035c8cb..844dbe70cf 100644 --- a/conf/airframes/booz2_s1.xml +++ b/conf/airframes/booz2_s1.xml @@ -196,7 +196,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\" # Enables Canon Hack Development Kit features. -ap.CFLAGS += -DLED -DCANON_CHDK +ap.CFLAGS += -DUSE_LED -DCANON_CHDK ap.srcs += $(PAPARAZZI_SRC)/sw/airborne/chdk.c include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile diff --git a/conf/airframes/demo.xml b/conf/airframes/demo.xml index e70c819f25..8fd502eaca 100644 --- a/conf/airframes/demo.xml +++ b/conf/airframes/demo.xml @@ -26,7 +26,7 @@ demo2.srcs = main_demo2.c demo2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)' demo2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -demo2.CFLAGS += -DLED +demo2.CFLAGS += -DUSE_LED # # UART (interrupts) and formated ascii printing @@ -39,12 +39,12 @@ demo3.srcs = main_demo3.c demo3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)' demo3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -demo3.CFLAGS += -DLED +demo3.CFLAGS += -DUSE_LED demo3.srcs += $(SRC_ARCH)/armVIC.c demo3.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -demo3.srcs += $(SRC_ARCH)/uart_hw.c +demo3.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c # # DOWNLINK : send formated messages according to messages.xml description @@ -58,12 +58,12 @@ demo4.srcs = main_demo4.c demo4.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)' demo4.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -demo4.CFLAGS += -DLED +demo4.CFLAGS += -DUSE_LED demo4.srcs += $(SRC_ARCH)/armVIC.c demo4.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -demo4.srcs += $(SRC_ARCH)/uart_hw.c +demo4.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c demo4.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 demo4.srcs += downlink.c pprz_transport.c @@ -81,12 +81,12 @@ demo5.srcs = main_demo5.c demo5.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)' demo5.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -demo5.CFLAGS += -DLED +demo5.CFLAGS += -DUSE_LED demo5.srcs += $(SRC_ARCH)/armVIC.c demo5.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -demo5.srcs += $(SRC_ARCH)/uart_hw.c +demo5.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c demo5.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 demo5.srcs += downlink.c pprz_transport.c @@ -105,7 +105,7 @@ demo6.srcs = main_demo6.c demo6.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)' demo6.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -demo6.CFLAGS += -DLED +demo6.CFLAGS += -DUSE_LED demo6.srcs += $(SRC_ARCH)/armVIC.c @@ -132,7 +132,7 @@ test_spk.srcs = main_test_spk.c test_spk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_spk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -test_spk.CFLAGS += -DLED +test_spk.CFLAGS += -DUSE_LED test_spk.srcs += $(SRC_ARCH)/armVIC.c @@ -143,7 +143,7 @@ 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 test_spk.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200 -test_spk.srcs += $(SRC_ARCH)/uart_hw.c +test_spk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml index f8e4223226..fc3166cfd7 100644 --- a/conf/airframes/demo_module.xml +++ b/conf/airframes/demo_module.xml @@ -164,7 +164,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c $(SRC_FIRMWARE)/main.c ap.CFLAGS += -DINTER_MCU @@ -181,7 +181,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ########## Modem ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ########## ADC ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml index b50f519ac1..313e793a84 100644 --- a/conf/airframes/easy_glider_example.xml +++ b/conf/airframes/easy_glider_example.xml @@ -180,8 +180,7 @@ - - + diff --git a/conf/airframes/hitl_usb.xml b/conf/airframes/hitl_usb.xml index 7108d6acf2..653b66330c 100644 --- a/conf/airframes/hitl_usb.xml +++ b/conf/airframes/hitl_usb.xml @@ -114,7 +114,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -129,7 +129,7 @@ ap.srcs += pprz_transport.c #XBEE ap.srcs += xbee.c -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/usb_ser_hw.c datalink.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c datalink.c ap.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c @@ -154,7 +154,7 @@ ap.CFLAGS += -DGPS_USE_LATLONG # simulating LEA 5H # Config for SITL simulation sim.ARCHDIR = $(ARCH) -sim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED +sim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED sim.srcs = latlong.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c diff --git a/conf/airframes/logger_sd.xml b/conf/airframes/logger_sd.xml index c310466dc7..0d6a3714b3 100644 --- a/conf/airframes/logger_sd.xml +++ b/conf/airframes/logger_sd.xml @@ -43,7 +43,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED +ap.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_logger.c #choose one @@ -53,7 +53,7 @@ ap.CFLAGS += -DLOG_XBEE #set the speed ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600 -DUSE_UART0_RX_ONLY ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600 -DUSE_UART1_RX_ONLY -ap.srcs += $(SRC_ARCH)/uart_hw.c +ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c #set SPI interface for SD card (0 or 1) ap.CFLAGS += -DHW_ENDPOINT_LPC2000_SPINUM=1 diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml index 9e4f2be2ed..4d00f9c4fa 100644 --- a/conf/airframes/mentor_tum.xml +++ b/conf/airframes/mentor_tum.xml @@ -29,8 +29,9 @@ - - + + + diff --git a/conf/airframes/microjet_raw_makefile.xml b/conf/airframes/microjet_raw_makefile.xml index 050277440c..28b71fef98 100644 --- a/conf/airframes/microjet_raw_makefile.xml +++ b/conf/airframes/microjet_raw_makefile.xml @@ -181,7 +181,7 @@ CONFIG=\"tiny_2_11.h\" include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP - ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 + ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT @@ -189,7 +189,7 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 - ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c + ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 diff --git a/conf/airframes/mm/extra/logger_sd_adc.xml b/conf/airframes/mm/extra/logger_sd_adc.xml index 390fac3e6e..e7d5417246 100644 --- a/conf/airframes/mm/extra/logger_sd_adc.xml +++ b/conf/airframes/mm/extra/logger_sd_adc.xml @@ -60,7 +60,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DLOGGER +ap.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DLOGGER ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_logger.c #choose one @@ -70,7 +70,7 @@ ap.CFLAGS += -DLOG_XBEE #set the speed ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 -DUSE_UART0_RX_ONLY ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUSE_UART1_RX_ONLY -ap.srcs += $(SRC_ARCH)/uart_hw.c +ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c #set SPI interface for SD card (0 or 1) ap.CFLAGS += -DHW_ENDPOINT_LPC2000_SPINUM=0 diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml index 38dfec588a..8263abb2a4 100644 --- a/conf/airframes/mm/extra/press_t.xml +++ b/conf/airframes/mm/extra/press_t.xml @@ -227,7 +227,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -239,11 +239,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/extra/quiet.xml b/conf/airframes/mm/extra/quiet.xml index 0fac57e481..0d3754173d 100644 --- a/conf/airframes/mm/extra/quiet.xml +++ b/conf/airframes/mm/extra/quiet.xml @@ -23,7 +23,7 @@ ap.CFLAGS += -DLOG_XBEE #set the speed ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 -DUSE_UART0_RX_ONLY ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUSE_UART1_RX_ONLY -ap.srcs += $(SRC_ARCH)/uart_hw.c +ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c diff --git a/conf/airframes/mm/extra/rctx.xml b/conf/airframes/mm/extra/rctx.xml index 45f385c3c0..ec0c2d90d2 100644 --- a/conf/airframes/mm/extra/rctx.xml +++ b/conf/airframes/mm/extra/rctx.xml @@ -32,14 +32,14 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED +ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DUSE_LED ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_rctx.c ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c xbee.c ap.CFLAGS += -DUSE_DOWNLINK_BROADCAST diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml index 69dc6e5362..d725fffcde 100644 --- a/conf/airframes/mm/fixed-wing/drops.xml +++ b/conf/airframes/mm/fixed-wing/drops.xml @@ -243,7 +243,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -255,11 +255,11 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -293,7 +293,7 @@ sim.ARCHDIR = $(ARCHI) sim.ARCH = sitl sim.TARGET = autopilot sim.TARGETDIR = autopilot -sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml index a0130847fa..b0e551ada1 100644 --- a/conf/airframes/mm/fixed-wing/funjeteth1.xml +++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml @@ -204,7 +204,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -216,11 +216,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml index 6c092bac67..1aee3db2a0 100644 --- a/conf/airframes/mm/fixed-wing/funjeteth2.xml +++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml @@ -205,7 +205,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -217,11 +217,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml index 190f934f62..183fe6112c 100644 --- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml +++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml @@ -207,7 +207,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -219,11 +219,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml index 4147a894e9..0e006dc4e1 100644 --- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml +++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml @@ -206,7 +206,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -218,11 +218,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml index 2f89ac7e7d..467eb62730 100644 --- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml +++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml @@ -206,7 +206,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -218,11 +218,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml index 8f0fdbb206..402d3614d4 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml @@ -184,7 +184,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -196,11 +196,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml index f5d33639e7..3647cddfc0 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi3.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi3.xml @@ -196,7 +196,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -208,10 +208,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml index a4bbe25fa9..dd100932fc 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml @@ -185,7 +185,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -197,11 +197,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml index a849c6653a..0731f33820 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml @@ -186,7 +186,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -198,11 +198,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml index 233c49573c..e4f607d80b 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml @@ -186,7 +186,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -198,11 +198,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml index 3e7abb3574..be48d15148 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml @@ -186,7 +186,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -198,11 +198,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml index 2a4de16260..aaacc21284 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml @@ -186,7 +186,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -198,11 +198,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml index 4485d2195a..b9dd882225 100644 --- a/conf/airframes/mm/fixed-wing/funjetmm2.xml +++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml @@ -212,7 +212,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -224,11 +224,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml index 3e9f7d9597..68bee9865c 100644 --- a/conf/airframes/mm/fixed-wing/miniwing.xml +++ b/conf/airframes/mm/fixed-wing/miniwing.xml @@ -180,7 +180,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -192,7 +192,7 @@ ap.CFLAGS += -DRADIO_CONTROL -DUSE_RC_TELEMETRY ap.srcs += radio_control.c ppm_telemetry.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml index ddf00fbd9a..13fca656e9 100644 --- a/conf/airframes/mm/fixed-wing/slowfast.xml +++ b/conf/airframes/mm/fixed-wing/slowfast.xml @@ -227,7 +227,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -239,11 +239,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml index 708cf98ac2..13db40d0c9 100644 --- a/conf/airframes/mm/fixed-wing/slowfast2.xml +++ b/conf/airframes/mm/fixed-wing/slowfast2.xml @@ -241,7 +241,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -253,11 +253,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml index 92db7ebddb..870947b36c 100644 --- a/conf/airframes/mm/fixed-wing/twinstarmm.xml +++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml @@ -203,7 +203,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -216,11 +216,11 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #XBEE #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -247,7 +247,7 @@ ap.srcs += subsystems/navigation/snav.c # Config for SITL simulation # include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) -sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml index fcb1f0398f..be9796bf51 100644 --- a/conf/airframes/mm/hangar/black_one.xml +++ b/conf/airframes/mm/hangar/black_one.xml @@ -216,7 +216,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -228,10 +228,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml index c87a0f442c..e8bf7ff754 100644 --- a/conf/airframes/mm/hangar/glass_one1.xml +++ b/conf/airframes/mm/hangar/glass_one1.xml @@ -206,7 +206,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -218,10 +218,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml index d1b53ac34e..2aa4cd4511 100644 --- a/conf/airframes/mm/hangar/glass_one2.xml +++ b/conf/airframes/mm/hangar/glass_one2.xml @@ -180,7 +180,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -192,10 +192,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml index 8eb4e8755e..64c7c610fb 100644 --- a/conf/airframes/mm/hangar/glass_one3.xml +++ b/conf/airframes/mm/hangar/glass_one3.xml @@ -207,7 +207,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -219,10 +219,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml index c93cca0366..1dd11c946a 100644 --- a/conf/airframes/mm/hangar/lila.xml +++ b/conf/airframes/mm/hangar/lila.xml @@ -203,7 +203,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -215,11 +215,11 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -247,7 +247,7 @@ ap.srcs += subsystems/navigation/snav.c # Config for SITL simulation sim.ARCHDIR = $(ARCHI) -sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN diff --git a/conf/airframes/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml index e7e2240692..932014cd75 100644 --- a/conf/airframes/mm/hangar/mac06a.xml +++ b/conf/airframes/mm/hangar/mac06a.xml @@ -200,7 +200,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -212,10 +212,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#XBEE ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml index e2aca5ec54..887601c421 100644 --- a/conf/airframes/mm/hangar/red_one.xml +++ b/conf/airframes/mm/hangar/red_one.xml @@ -227,7 +227,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -239,10 +239,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/dc_mc.xml b/conf/airframes/obsolete/dc_mc.xml index fa94047805..76e6aff207 100644 --- a/conf/airframes/obsolete/dc_mc.xml +++ b/conf/airframes/obsolete/dc_mc.xml @@ -20,11 +20,11 @@ main.srcs = main_dc_mc.c main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)' main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -main.CFLAGS += -DLED +main.CFLAGS += -DUSE_LED #-DTIME_LED=1 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -main.srcs += $(SRC_ARCH)/uart_hw.c +main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 main.srcs += downlink.c pprz_transport.c diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml index 2ebf40831f..bc44601368 100644 --- a/conf/airframes/obsolete/easystar2.xml +++ b/conf/airframes/obsolete/easystar2.xml @@ -178,7 +178,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_MODULES ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -193,7 +193,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # Telemetry configuration ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/example.xml b/conf/airframes/obsolete/example.xml index 81bd9b7c2b..e225a43a4d 100644 --- a/conf/airframes/obsolete/example.xml +++ b/conf/airframes/obsolete/example.xml @@ -20,12 +20,12 @@ example_gps.srcs = example/example_gps.c example_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)' example_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -example_gps.CFLAGS += -DLED +example_gps.CFLAGS += -DUSE_LED example_gps.srcs += $(SRC_ARCH)/armVIC.c example_gps.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -example_gps.srcs += $(SRC_ARCH)/uart_hw.c +example_gps.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c example_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 example_gps.srcs += downlink.c pprz_transport.c diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml index 6f5519ba87..b56de424ca 100644 --- a/conf/airframes/obsolete/kalscott_easystar.xml +++ b/conf/airframes/obsolete/kalscott_easystar.xml @@ -158,7 +158,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_MODULES ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -173,7 +173,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # Telemetry configuration ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml index 418d2ba25f..5a7971bc76 100644 --- a/conf/airframes/obsolete/microjet5.xml +++ b/conf/airframes/obsolete/microjet5.xml @@ -175,7 +175,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -187,7 +187,7 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml index 2202e38386..5e2287cacd 100644 --- a/conf/airframes/obsolete/microjet5_tp_auto.xml +++ b/conf/airframes/obsolete/microjet5_tp_auto.xml @@ -177,10 +177,10 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c -ap.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=17 -DLED_4_BANK=0 -DLED_4_PIN=18 -DLED_5_BANK=0 -DLED_5_PIN=19 -DLED_6_BANK=0 -DLED_6_PIN=20 +ap.CFLAGS += -DUSE_LED_3_BANK=0 -DUSE_LED_3_PIN=17 -DUSE_LED_4_BANK=0 -DUSE_LED_4_PIN=18 -DUSE_LED_5_BANK=0 -DUSE_LED_5_PIN=19 -DUSE_LED_6_BANK=0 -DUSE_LED_6_PIN=20 ap.srcs += commands.c @@ -192,10 +192,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c latlong.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c latlong.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml index b253366e0c..71f9184796 100644 --- a/conf/airframes/obsolete/microjet6.xml +++ b/conf/airframes/obsolete/microjet6.xml @@ -200,7 +200,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -213,11 +213,11 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # API mode # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600 -# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +# ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c # transparent ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml index ed08e55f50..1be67762ec 100644 --- a/conf/airframes/obsolete/microjetI.xml +++ b/conf/airframes/obsolete/microjetI.xml @@ -187,7 +187,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -200,11 +200,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B19200 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c # transparent # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +# ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml index 1948c1959d..913e68d99b 100644 --- a/conf/airframes/obsolete/microjetII.xml +++ b/conf/airframes/obsolete/microjetII.xml @@ -187,7 +187,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -200,11 +200,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B19200 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c # transparent #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml index 36df078b8c..4697f6e2cc 100644 --- a/conf/airframes/obsolete/microjetIII.xml +++ b/conf/airframes/obsolete/microjetIII.xml @@ -176,7 +176,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -189,11 +189,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c # transparent #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml index 4e5aa431e1..2f73162216 100644 --- a/conf/airframes/obsolete/minimag_fs.xml +++ b/conf/airframes/obsolete/minimag_fs.xml @@ -182,7 +182,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -195,7 +195,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/nova.xml b/conf/airframes/obsolete/nova.xml index 365565a847..256c6ae89e 100644 --- a/conf/airframes/obsolete/nova.xml +++ b/conf/airframes/obsolete/nova.xml @@ -11,10 +11,10 @@ timu.ARCHDIR = $(ARCHI) timu.CFLAGS += -DBOARD_CONFIG=\"tiny_2_0.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)' timu.srcs = nova_test_imu.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c -timu.CFLAGS += -DLED -DLED -DTIME_LED=1 +timu.CFLAGS += -DUSE_LED -DUSE_LED -DTIME_LED=1 timu.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -timu.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c +timu.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c pprz_transport.c timu.srcs += $(SRC_ARCH)/ADS8344.c diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml index 086cbd8421..d44389ac6e 100644 --- a/conf/airframes/obsolete/slayer1.xml +++ b/conf/airframes/obsolete/slayer1.xml @@ -192,7 +192,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -204,10 +204,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -DXBEE868 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c latlong.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c latlong.c xbee.c #transp ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#transp ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#transp ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml index 928b3c88d8..b6f57d2451 100644 --- a/conf/airframes/obsolete/slayer3.xml +++ b/conf/airframes/obsolete/slayer3.xml @@ -194,7 +194,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -206,10 +206,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml index 48b830b90b..2cec49a721 100644 --- a/conf/airframes/obsolete/slayerJH.xml +++ b/conf/airframes/obsolete/slayerJH.xml @@ -175,7 +175,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -188,11 +188,11 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #MAXSTREAM #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml index 3cd8b34397..784f96a463 100644 --- a/conf/airframes/obsolete/slicer1.xml +++ b/conf/airframes/obsolete/slicer1.xml @@ -186,7 +186,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -200,7 +200,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # Radiotronix ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml index 0311507969..2705338724 100644 --- a/conf/airframes/obsolete/slicer2.xml +++ b/conf/airframes/obsolete/slicer2.xml @@ -168,7 +168,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -182,7 +182,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # Radiotronix ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml index 53c1dc9c9e..ed3b0b5b42 100644 --- a/conf/airframes/obsolete/spirit.xml +++ b/conf/airframes/obsolete/spirit.xml @@ -185,7 +185,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -199,7 +199,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # transparent ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml index 257a656625..108e8b940f 100644 --- a/conf/airframes/obsolete/spirit_proto.xml +++ b/conf/airframes/obsolete/spirit_proto.xml @@ -173,7 +173,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -187,7 +187,7 @@ ap.srcs += poradio_control.c $(SRC_ARCH)/ppm_hw.c # transparent ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml index 99dc34336d..aa4eb82ea4 100644 --- a/conf/airframes/obsolete/storm1.xml +++ b/conf/airframes/obsolete/storm1.xml @@ -228,7 +228,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -241,17 +241,17 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -#DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DTELEMETRY_MODE_FBW=1 #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/tiny2.xml b/conf/airframes/obsolete/tiny2.xml index 4220672e22..d18fb4a59b 100644 --- a/conf/airframes/obsolete/tiny2.xml +++ b/conf/airframes/obsolete/tiny2.xml @@ -199,7 +199,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -211,10 +211,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +#XBEE ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/tl.xml b/conf/airframes/obsolete/tl.xml index 0787729120..9412650b8c 100644 --- a/conf/airframes/obsolete/tl.xml +++ b/conf/airframes/obsolete/tl.xml @@ -86,7 +86,7 @@ ap.ARCHDIR = $(ARCHI) ap.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)' -I$(TL) ap.srcs = $(TL)/tl_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c -ap.CFLAGS += -DLED -DLED -DTIME_LED=1 +ap.CFLAGS += -DUSE_LED -DUSE_LED -DTIME_LED=1 ap.CFLAGS += -DADC ap.srcs += $(SRC_ARCH)/adc_hw.c $(TL)/tl_bat.c @@ -101,7 +101,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # transparent ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c $(TL)/tl_telemetry.c datalink.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c pprz_transport.c $(TL)/tl_telemetry.c datalink.c ap.CFLAGS += -DTL_AP_MODE_AUTO=TL_AP_MODE_NAV -DDT_VFILTER="(1./60.)" ap.srcs += $(TL)/tl_autopilot.c $(TL)/tl_control.c $(TL)/tl_estimator.c $(TL)/tl_vfilter.c @@ -133,9 +133,9 @@ tmm.ARCHDIR = $(ARCHI) tmm.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)' tmm.srcs = $(TL)/tl_test_mm_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c -tmm.CFLAGS += -DLED -DLED -DTIME_LED=1 +tmm.CFLAGS += -DUSE_LED -DUSE_LED -DTIME_LED=1 tmm.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DUART0_BAUD=B57600 -tmm.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c +tmm.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c pprz_transport.c tmm.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c @@ -148,9 +148,9 @@ timu.ARCHDIR = $(ARCHI) timu.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)' timu.srcs = $(TL)/tl_test_imu_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c -timu.CFLAGS += -DLED -DLED -DTIME_LED=1 +timu.CFLAGS += -DUSE_LED -DUSE_LED -DTIME_LED=1 timu.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DUART0_BAUD=B57600 -timu.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c +timu.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c pprz_transport.c timu.srcs += $(TL)/tl_imu.c timu.CFLAGS += -DADC -DUSE_ADC_5 -DADC_CHANNEL_GR=ADC_5 -DUSE_ADC_6 -DADC_CHANNEL_RM=ADC_6 -DUSE_ADC_7 -DADC_CHANNEL_ACCEL=ADC_7 diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml index 0721f67e8b..8c2450f8d4 100644 --- a/conf/airframes/obsolete/twinjet1.xml +++ b/conf/airframes/obsolete/twinjet1.xml @@ -172,7 +172,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile # FLASH_MODE=ISP FLASH_MODE=IAP -fbw.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1 +fbw.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c fbw.srcs += commands.c @@ -184,7 +184,7 @@ fbw.CFLAGS += -DRADIO_CONTROL fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600 -fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c +fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c @@ -193,14 +193,14 @@ fbw.CFLAGS += -DADC -DUSE_AD0 fbw.srcs += $(SRC_ARCH)/adc_hw.c -ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=2 +ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=2 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c subsystems/navigation/traffic_info.c xbee.c +#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/navigation/traffic_info.c xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c @@ -237,8 +237,8 @@ ap.CFLAGS += -DUSE_LIGHT -test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600 -test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4017_hw.c main.c +test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600 +test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c # Config for SITL simulation include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile diff --git a/conf/airframes/obsolete/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml index a7a381a4eb..30aeb79607 100644 --- a/conf/airframes/obsolete/twinstar6.xml +++ b/conf/airframes/obsolete/twinstar6.xml @@ -180,7 +180,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile # FLASH_MODE=ISP FLASH_MODE=IAP -fbw.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1 +fbw.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c fbw.srcs += commands.c @@ -192,7 +192,7 @@ fbw.CFLAGS += -DRADIO_CONTROL fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600 -fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c +fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c @@ -201,11 +201,11 @@ fbw.CFLAGS += -DADC -DUSE_AD0 fbw.srcs += $(SRC_ARCH)/adc_hw.c -ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=2 +ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=2 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c subsystems/navigation/traffic_info.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/navigation/traffic_info.c pprz_transport.c ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c @@ -237,8 +237,8 @@ ap.CFLAGS += -DDIGITAL_CAM ap.srcs += dc.c -test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600 -test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4017_hw.c main.c +test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600 +test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c # Config for SITL simulation include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile diff --git a/conf/airframes/obsolete/twisted.xml b/conf/airframes/obsolete/twisted.xml index a9db415bc8..19ebf649b7 100644 --- a/conf/airframes/obsolete/twisted.xml +++ b/conf/airframes/obsolete/twisted.xml @@ -46,7 +46,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_coax.c main.c ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT @@ -56,7 +56,7 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B19200 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml index 15feae9864..049cea6a4f 100644 --- a/conf/airframes/obsolete/tyto1.xml +++ b/conf/airframes/obsolete/tyto1.xml @@ -204,7 +204,7 @@ FLASH_MODE=IAP ap.CFLAGS += -DTELEMETRY_MODE_FBW=1 -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -216,10 +216,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +# ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml index 7c967182fa..972d9e9809 100644 --- a/conf/airframes/obsolete/xxx1.xml +++ b/conf/airframes/obsolete/xxx1.xml @@ -209,7 +209,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -222,10 +222,10 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU @@ -278,8 +278,8 @@ sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_re # a test program to setup actuators setup_actuators.ARCHDIR = $(ARCHI) -setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0 -setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c +setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0 +setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c diff --git a/conf/airframes/test_hb.xml b/conf/airframes/test_hb.xml new file mode 100644 index 0000000000..ec26252172 --- /dev/null +++ b/conf/airframes/test_hb.xml @@ -0,0 +1,209 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + +
+ +
+ + +
+ +
+ + +
+ +
+ + + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + + + + + + + + + + +
+ +
+ + +
+ +
+ + + + + + + + +
+ +
+ + + + + +
+ +
+ +
+ + diff --git a/conf/airframes/test_i2c.xml b/conf/airframes/test_i2c.xml index c575a5cd8e..8ddf557a10 100644 --- a/conf/airframes/test_i2c.xml +++ b/conf/airframes/test_i2c.xml @@ -19,10 +19,10 @@ FLASH_MODE = ISP mb.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-3)' mb.srcs = $(SRC_ARCH)/main_test_i2c.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c -mb.CFLAGS += -DLED +mb.CFLAGS += -DUSE_LED mb.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -mb.srcs += $(SRC_ARCH)/uart_hw.c +mb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c mb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 mb.srcs += downlink.c pprz_transport.c diff --git a/conf/airframes/tiny_hitl.xml b/conf/airframes/tiny_hitl.xml index ac97fa1fc3..4638d90d03 100644 --- a/conf/airframes/tiny_hitl.xml +++ b/conf/airframes/tiny_hitl.xml @@ -165,7 +165,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile FLASH_MODE=IAP -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs += commands.c @@ -179,7 +179,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # transparent ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c +ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml index dbece1f26f..70fd68b0b7 100644 --- a/conf/airframes/twinjet_example.xml +++ b/conf/airframes/twinjet_example.xml @@ -34,6 +34,12 @@ + + + + + + diff --git a/conf/airframes/vor.xml b/conf/airframes/vor.xml index ea7f66b737..ef449a636a 100644 --- a/conf/airframes/vor.xml +++ b/conf/airframes/vor.xml @@ -14,14 +14,14 @@ main.srcs = firmwares/vor/lpc_vor_main.c main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./29880.)' main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -main.CFLAGS += -DLED +main.CFLAGS += -DUSE_LED main.srcs += $(SRC_ARCH)/armVIC.c main.srcs += firmwares/vor/lpc_vor_convertions.c main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600 -main.srcs += $(SRC_ARCH)/uart_hw.c +main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 main.srcs += downlink.c pprz_transport.c diff --git a/conf/airframes/wind_tunnel.xml b/conf/airframes/wind_tunnel.xml index 2ae886c686..418362b110 100644 --- a/conf/airframes/wind_tunnel.xml +++ b/conf/airframes/wind_tunnel.xml @@ -17,12 +17,12 @@ ap.srcs = $(WIND_TUNNEL)/main.c ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)' ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -ap.CFLAGS += -DLED +ap.CFLAGS += -DUSE_LED ap.srcs += $(SRC_ARCH)/armVIC.c ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -ap.srcs += $(SRC_ARCH)/uart_hw.c +ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 ap.srcs += downlink.c pprz_transport.c @@ -47,12 +47,12 @@ mb.srcs = $(WIND_TUNNEL)/main_mb.c mb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-2)' mb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -mb.CFLAGS += -DLED +mb.CFLAGS += -DUSE_LED mb.srcs += $(SRC_ARCH)/armVIC.c mb.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -mb.srcs += $(SRC_ARCH)/uart_hw.c +mb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c mb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 mb.srcs += downlink.c pprz_transport.c diff --git a/conf/autopilot/booz2_test_progs.makefile b/conf/autopilot/booz2_test_progs.makefile index 1d35e9ce1b..ec7cc603ac 100644 --- a/conf/autopilot/booz2_test_progs.makefile +++ b/conf/autopilot/booz2_test_progs.makefile @@ -22,6 +22,8 @@ # # +include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile + # # test_led : blinks all leds # @@ -47,7 +49,7 @@ test_downlink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./10.))' -DTIM test_downlink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_downlink.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_downlink.srcs += $(SRC_ARCH)/uart_hw.c +test_downlink.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_downlink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_downlink.srcs += downlink.c pprz_transport.c @@ -66,7 +68,7 @@ test_max1168.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIM test_max1168.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_max1168.srcs += $(SRC_ARCH)/uart_hw.c +test_max1168.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_max1168.srcs += downlink.c pprz_transport.c @@ -83,11 +85,11 @@ test_micromag.ARCHDIR = $(ARCH) test_micromag.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) test_micromag.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag.c test_micromag.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 -test_micromag.CFLAGS += -DLED +test_micromag.CFLAGS += -DUSE_LED test_micromag.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_micromag.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_micromag.srcs += $(SRC_ARCH)/uart_hw.c +test_micromag.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_micromag.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_micromag.srcs += downlink.c pprz_transport.c @@ -108,12 +110,13 @@ tunnel.ARCHDIR = $(ARCH) tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS) tunnel.srcs += $(SRC_BOOZ_TEST)/booz2_tunnel.c tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 -tunnel.CFLAGS += -DLED +tunnel.CFLAGS += -DUSE_LED tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c +tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c tunnel.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -tunnel.srcs += $(SRC_ARCH)/uart_hw.c +tunnel.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c # @@ -124,7 +127,7 @@ tunnel_bb.ARCHDIR = $(ARCH) tunnel_bb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS) tunnel_bb.srcs += $(SRC_BOOZ_TEST)/booz2_tunnel_bb.c tunnel_bb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 -tunnel_bb.CFLAGS += -DLED +tunnel_bb.CFLAGS += -DUSE_LED tunnel_bb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c @@ -137,11 +140,11 @@ test_gps.ARCHDIR = $(ARCH) test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 -test_gps.CFLAGS += -DLED +test_gps.CFLAGS += -DUSE_LED test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_gps.srcs += $(SRC_ARCH)/uart_hw.c +test_gps.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_gps.srcs += downlink.c pprz_transport.c @@ -162,11 +165,11 @@ test_modem.ARCHDIR = $(ARCH) test_modem.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS) test_modem.srcs += $(SRC_BOOZ_TEST)/booz2_test_modem.c test_modem.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 -test_modem.CFLAGS += -DLED +test_modem.CFLAGS += -DUSE_LED test_modem.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_modem.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_modem.srcs += $(SRC_ARCH)/uart_hw.c +test_modem.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_modem.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_modem.srcs += downlink.c pprz_transport.c @@ -184,17 +187,17 @@ test_usb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS) test_usb.srcs += $(SRC_BOOZ_TEST)/booz2_test_usb.c test_usb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' # -DTIME_LED=1 -test_usb.CFLAGS += -DLED +test_usb.CFLAGS += -DUSE_LED test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c #test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -#test_usb.srcs += $(SRC_ARCH)/uart_hw.c +#test_usb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c #test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 #test_usb.srcs += downlink.c pprz_transport.c test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL test_usb.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ -test_usb.srcs += downlink.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/usb_ser_hw.c pprz_transport.c +test_usb.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c pprz_transport.c # $(SRC_FIRMWARE)/datalink.c test_usb.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c test_usb.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c @@ -212,11 +215,11 @@ test_ami.ARCHDIR = $(ARCH) test_ami.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS) test_ami.srcs += $(SRC_BOOZ_TEST)/booz2_test_ami.c test_ami.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./50.))' -DTIME_LED=1 -test_ami.CFLAGS += -DLED +test_ami.CFLAGS += -DUSE_LED test_ami.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_ami.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_ami.srcs += $(SRC_ARCH)/uart_hw.c +test_ami.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_ami.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_ami.srcs += downlink.c pprz_transport.c @@ -235,11 +238,11 @@ test_crista.ARCHDIR = $(ARCH) test_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) test_crista.srcs += $(SRC_BOOZ_TEST)/booz2_test_crista.c test_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 -test_crista.CFLAGS += -DLED +test_crista.CFLAGS += -DUSE_LED test_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_crista.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 -test_crista.srcs += $(SRC_ARCH)/uart_hw.c +test_crista.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 test_crista.srcs += downlink.c pprz_transport.c @@ -261,11 +264,11 @@ test_micromag2.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag_2.c test_micromag2.CFLAGS += -DSSP_VIC_SLOT=9 test_micromag2.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=8 test_micromag2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./50.))' -DTIME_LED=1 -test_micromag2.CFLAGS += -DLED +test_micromag2.CFLAGS += -DUSE_LED test_micromag2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_micromag2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_micromag2.srcs += $(SRC_ARCH)/uart_hw.c +test_micromag2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_micromag2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_micromag2.srcs += downlink.c pprz_transport.c @@ -283,11 +286,11 @@ test_imu_b2.ARCHDIR = $(ARCH) test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz2_test_imu_b2.c test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 -test_imu_b2.CFLAGS += -DLED +test_imu_b2.CFLAGS += -DUSE_LED test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_imu_b2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c +test_imu_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_imu_b2.srcs += downlink.c pprz_transport.c @@ -313,11 +316,11 @@ test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) $(BOOZ_CFLA test_rc_spektrum.CFLAGS += -DPERIPHERALS_AUTO_INIT test_rc_spektrum.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 -test_rc_spektrum.CFLAGS += -DLED +test_rc_spektrum.CFLAGS += -DUSE_LED test_rc_spektrum.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c #test_rc_spektrum.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -#test_rc_spektrum.srcs += $(SRC_ARCH)/uart_hw.c +#test_rc_spektrum.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c #test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 #test_rc_spektrum.srcs += downlink.c pprz_transport.c test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL @@ -333,7 +336,7 @@ test_rc_spektrum.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LINK=Uart0 test_rc_spektrum.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \ $(SRC_SUBSYSTEMS)/radio_control_spektrum.c \ - $(SRC_ARCH)/uart_hw.c + $(SRC_ARCH)/mcu_periph/uart_arch.c # # test rc ppm @@ -345,11 +348,11 @@ test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARC test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT test_rc_ppm.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 -test_rc_ppm.CFLAGS += -DLED +test_rc_ppm.CFLAGS += -DUSE_LED test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c #test_rc_ppm.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -#test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c +#test_rc_ppm.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c #test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 #test_rc_ppm.srcs += downlink.c pprz_transport.c test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL @@ -374,11 +377,11 @@ test_mc.ARCHDIR = $(ARCH) test_mc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) test_mc.srcs += $(SRC_BOOZ_TEST)/booz2_test_mc.c test_mc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 -test_mc.CFLAGS += -DLED +test_mc.CFLAGS += -DUSE_LED test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_mc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_mc.srcs += $(SRC_ARCH)/uart_hw.c +test_mc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_mc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_mc.srcs += downlink.c pprz_transport.c @@ -403,7 +406,7 @@ test_buss_bldc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DT test_buss_bldc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_buss_bldc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_buss_bldc.srcs += $(SRC_ARCH)/uart_hw.c +test_buss_bldc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_buss_bldc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_buss_bldc.srcs += downlink.c pprz_transport.c @@ -421,11 +424,11 @@ test_amc.ARCHDIR = $(ARCH) test_amc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) test_amc.srcs += $(SRC_BOOZ_TEST)/booz2_test_amc.c test_amc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 -test_amc.CFLAGS += -DLED +test_amc.CFLAGS += -DUSE_LED test_amc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_amc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_amc.srcs += $(SRC_ARCH)/uart_hw.c +test_amc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_amc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_amc.srcs += downlink.c pprz_transport.c @@ -465,12 +468,12 @@ test_baro_24.ARCHDIR = $(ARCH) test_baro_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) $(BOOZ_CFLAGS) test_baro_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_baro_24.c test_baro_24.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./5.))' -DTIME_LED=1 -test_baro_24.CFLAGS += -DLED +test_baro_24.CFLAGS += -DUSE_LED test_baro_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_baro_24.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_baro_24.srcs += $(SRC_ARCH)/uart_hw.c +test_baro_24.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_baro_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_baro_24.srcs += downlink.c pprz_transport.c diff --git a/conf/autopilot/csc.makefile b/conf/autopilot/csc.makefile index 2f83265bca..f30151ea99 100644 --- a/conf/autopilot/csc.makefile +++ b/conf/autopilot/csc.makefile @@ -46,14 +46,14 @@ ap.ARCHDIR = $(ARCHI) ap.CFLAGS += -I$(SRC_CSC) ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) ap.srcs += $(SRC_CSC)/csc_main.c -ap.CFLAGS += -DLED -DTIME_LED=1 +ap.CFLAGS += -DUSE_LED -DTIME_LED=1 ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID) ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1 ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c -ap.srcs += $(SRC_ARCH)/uart_hw.c +ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c ap.srcs += $(SRC_ARCH)/adc_hw.c ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1 @@ -99,13 +99,13 @@ test_uart.ARCHDIR = $(ARCHI) test_uart.CFLAGS += -I$(SRC_CSC) test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_uart.srcs += $(SRC_CSC)/csc_test_uart.c -test_uart.CFLAGS += -DLED +test_uart.CFLAGS += -DUSE_LED # -DTIME_LED=1 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1 test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c -test_uart.srcs += $(SRC_ARCH)/uart_hw.c +test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \ @@ -123,7 +123,7 @@ test_can1.ARCHDIR = $(ARCHI) test_can1.CFLAGS += -I$(SRC_CSC) test_can1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_can1.srcs += $(SRC_CSC)/test_can1.c -test_can1.CFLAGS += -DLED +test_can1.CFLAGS += -DUSE_LED # -DTIME_LED=1 test_can1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1 diff --git a/conf/autopilot/csc_ap.makefile b/conf/autopilot/csc_ap.makefile index ee88e9d2c1..d1d6b55322 100644 --- a/conf/autopilot/csc_ap.makefile +++ b/conf/autopilot/csc_ap.makefile @@ -46,14 +46,14 @@ ap.ARCHDIR = $(ARCHI) ap.CFLAGS += -I$(SRC_CSC) ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) ap.srcs += $(SRC_CSC)/csc_ap_main.c -ap.CFLAGS += -DLED -DTIME_LED=1 +ap.CFLAGS += -DUSE_LED -DTIME_LED=1 ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID) ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./40.))' -DTIMER0_VIC_SLOT=1 ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c -ap.srcs += $(SRC_ARCH)/uart_hw.c +ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c ap.srcs += $(SRC_ARCH)/adc_hw.c ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1 @@ -102,13 +102,13 @@ test_uart.ARCHDIR = $(ARCHI) test_uart.CFLAGS += -I$(SRC_CSC) test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_uart.srcs += $(SRC_CSC)/csc_test_uart.c -test_uart.CFLAGS += -DLED +test_uart.CFLAGS += -DUSE_LED # -DTIME_LED=1 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1 test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c -test_uart.srcs += $(SRC_ARCH)/uart_hw.c +test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \ diff --git a/conf/autopilot/mercury.makefile b/conf/autopilot/mercury.makefile index 1c2a5b1a9e..0bf68c81ef 100644 --- a/conf/autopilot/mercury.makefile +++ b/conf/autopilot/mercury.makefile @@ -49,7 +49,7 @@ ap.ARCHDIR = $(ARCHI) ap.CFLAGS += -I$(SRC_CSC) -I$(SRC_BOOZ) -I$(SRC_CSC_ARCH) ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) ap.srcs += $(SRC_CSC)/mercury_main.c -ap.CFLAGS += -DLED -DTIME_LED=1 +ap.CFLAGS += -DUSE_LED -DTIME_LED=1 ap.CFLAGS += -DAHRS_ALIGNER_LED=2 ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID) @@ -57,7 +57,7 @@ ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID) ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1 ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c -ap.srcs += $(SRC_ARCH)/uart_hw.c +ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c ap.srcs += $(SRC_ARCH)/adc_hw.c ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1 @@ -128,13 +128,13 @@ test_uart.ARCHDIR = $(ARCHI) test_uart.CFLAGS += -I$(SRC_CSC) test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_uart.srcs += $(SRC_CSC)/csc_test_uart.c -test_uart.CFLAGS += -DLED +test_uart.CFLAGS += -DUSE_LED # -DTIME_LED=1 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1 test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c -test_uart.srcs += $(SRC_ARCH)/uart_hw.c +test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \ diff --git a/conf/autopilot/mercury_csc.makefile b/conf/autopilot/mercury_csc.makefile index 1515defa7b..b8f5cd04e8 100644 --- a/conf/autopilot/mercury_csc.makefile +++ b/conf/autopilot/mercury_csc.makefile @@ -47,7 +47,7 @@ ap.ARCHDIR = $(ARCH) ap.CFLAGS += -I$(SRC_CSC) -I$(SRC_CSC_ARCH) ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) ap.srcs += $(SRC_CSC)/mercury_csc_main.c -ap.CFLAGS += -DLED -DTIME_LED=1 +ap.CFLAGS += -DUSE_LED -DTIME_LED=1 ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID) @@ -79,7 +79,7 @@ ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 -DUART0_VIC_SLOT=5 ap.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\" ap.srcs += actuators.c -ap.srcs += $(SRC_ARCH)/uart_hw.c +ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c ap.srcs += $(SRC_ARCH)/servos_direct_hw.c ap.srcs += $(SRC_CSC)/csc_servos.c ap.srcs += $(SRC_CSC)/csc_bat_monitor.c @@ -98,13 +98,13 @@ test_uart.ARCHDIR = $(ARCH) test_uart.CFLAGS += -I$(SRC_CSC) test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_uart.srcs += $(SRC_CSC)/csc_test_uart.c -test_uart.CFLAGS += -DLED +test_uart.CFLAGS += -DUSE_LED # -DTIME_LED=1 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1 test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c -test_uart.srcs += $(SRC_ARCH)/uart_hw.c +test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \ @@ -122,7 +122,7 @@ test_can1.ARCHDIR = $(ARCH) test_can1.CFLAGS += -I$(SRC_CSC) test_can1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_can1.srcs += $(SRC_CSC)/test_can1.c -test_can1.CFLAGS += -DLED +test_can1.CFLAGS += -DUSE_LED # -DTIME_LED=1 test_can1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1 diff --git a/conf/autopilot/obsolete/booz_test_progs.makefile b/conf/autopilot/obsolete/booz_test_progs.makefile index 1374184582..00fa88a447 100644 --- a/conf/autopilot/obsolete/booz_test_progs.makefile +++ b/conf/autopilot/obsolete/booz_test_progs.makefile @@ -77,7 +77,7 @@ test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT) test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) test_telemetry.srcs += downlink.c pprz_transport.c -test_telemetry.srcs += $(SRC_ARCH)/uart_hw.c +test_telemetry.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c # @@ -102,7 +102,7 @@ test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) test_baro.srcs += downlink.c pprz_transport.c test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -test_baro.srcs += $(SRC_ARCH)/uart_hw.c +test_baro.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_baro.srcs += $(SRC_BOARD)/baro_board.c test_baro.CFLAGS += -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))' test_baro.CFLAGS += -DADC0_VIC_SLOT=2 @@ -146,7 +146,7 @@ test_rc_ppm.CFLAGS += -DTIME_LED=$(SYS_TIME_LED) test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c +test_rc_ppm.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) test_rc_ppm.srcs += downlink.c pprz_transport.c test_rc_ppm.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED) @@ -192,7 +192,7 @@ test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_actuators_mkk.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c +test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) test_actuators_mkk.srcs += downlink.c pprz_transport.c @@ -223,7 +223,7 @@ test_ami601.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_ami601.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_ami601.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -test_ami601.srcs += $(SRC_ARCH)/uart_hw.c +test_ami601.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_ami601.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) test_ami601.srcs += downlink.c pprz_transport.c diff --git a/conf/autopilot/obsolete/lisa_test_progs.makefile b/conf/autopilot/obsolete/lisa_test_progs.makefile index 820d88da9d..7be32e25e9 100644 --- a/conf/autopilot/obsolete/lisa_test_progs.makefile +++ b/conf/autopilot/obsolete/lisa_test_progs.makefile @@ -186,7 +186,7 @@ test_uart.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_uart.srcs += $(SRC_ARCH)/uart_hw.c +test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c @@ -205,7 +205,7 @@ test_telemetry1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 test_telemetry1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_telemetry1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_telemetry1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_telemetry1.srcs += $(SRC_ARCH)/uart_hw.c +test_telemetry1.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_telemetry1.srcs += downlink.c pprz_transport.c @@ -225,7 +225,7 @@ test_telemetry2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 test_telemetry2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_telemetry2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_telemetry2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_telemetry2.srcs += $(SRC_ARCH)/uart_hw.c +test_telemetry2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_telemetry2.srcs += downlink.c pprz_transport.c @@ -245,7 +245,7 @@ test_telemetry3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 test_telemetry3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_telemetry3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_telemetry3.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600 -test_telemetry3.srcs += $(SRC_ARCH)/uart_hw.c +test_telemetry3.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart3 test_telemetry3.srcs += downlink.c pprz_transport.c @@ -264,7 +264,7 @@ test_datalink.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 test_datalink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_datalink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_datalink.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_datalink.srcs += $(SRC_ARCH)/uart_hw.c +test_datalink.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_datalink.srcs += downlink.c pprz_transport.c test_datalink.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 @@ -296,7 +296,7 @@ tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 #tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200 #tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B115200 -tunnel.srcs += $(SRC_ARCH)/uart_hw.c +tunnel.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c @@ -315,7 +315,7 @@ test_float.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 test_float.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_float.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_float.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_float.srcs += $(SRC_ARCH)/uart_hw.c +test_float.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_float.srcs += downlink.c pprz_transport.c test_float.srcs += lisa/plug_sys.c @@ -352,7 +352,7 @@ test_rc_24.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' test_rc_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_rc_24.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_rc_24.srcs += $(SRC_ARCH)/uart_hw.c +test_rc_24.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_rc_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_rc_24.srcs += downlink.c pprz_transport.c @@ -363,7 +363,7 @@ test_rc_24.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200 test_rc_24.CFLAGS += -DRADIO_CONTROL_LINK=Uart3 test_rc_24.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \ $(SRC_BOOZ)/subsystems/radio_control/spektrum.c -# $(SRC_ARCH)/uart_hw.c +# $(SRC_ARCH)/mcu_periph/uart_arch.c # @@ -389,7 +389,7 @@ test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/ac #test_servos.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -#test_servos.srcs += $(SRC_ARCH)/uart_hw.c +#test_servos.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c #test_servos.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 #test_servos.srcs += downlink.c pprz_transport.c @@ -416,7 +416,7 @@ test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_imu_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c +test_imu_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_imu_b2.srcs += downlink.c pprz_transport.c @@ -450,7 +450,7 @@ test_imu_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' test_imu_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_imu_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_imu_crista.srcs += $(SRC_ARCH)/uart_hw.c +test_imu_crista.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_imu_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_imu_crista.srcs += downlink.c pprz_transport.c @@ -482,7 +482,7 @@ test_imu_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' test_imu_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_imu_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_imu_aspirin.srcs += $(SRC_ARCH)/uart_hw.c +test_imu_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_imu_aspirin.srcs += downlink.c pprz_transport.c @@ -558,7 +558,7 @@ test_mc_asctec_v1_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_mc_asctec_v1_simple.CFLAGS += -DUSE_I2C1 test_mc_asctec_v1_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c test_mc_asctec_v1_simple.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/uart_hw.c +test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_mc_asctec_v1_simple.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_mc_asctec_v1_simple.srcs += downlink.c pprz_transport.c @@ -602,7 +602,7 @@ test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c +test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_actuators_mkk.srcs += downlink.c pprz_transport.c @@ -635,7 +635,7 @@ test_actuators_asctec.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.) test_actuators_asctec.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_actuators_asctec.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_actuators_asctec.srcs += $(SRC_ARCH)/uart_hw.c +test_actuators_asctec.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_actuators_asctec.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_actuators_asctec.srcs += downlink.c pprz_transport.c @@ -686,7 +686,7 @@ test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_baro.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_baro.srcs += $(SRC_ARCH)/uart_hw.c +test_baro.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_baro.srcs += downlink.c pprz_transport.c @@ -708,7 +708,7 @@ test_baro2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_baro2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_baro2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_baro2.srcs += $(SRC_ARCH)/uart_hw.c +test_baro2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_baro2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_baro2.srcs += downlink.c pprz_transport.c @@ -734,7 +734,7 @@ test_baro3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_baro3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_baro3.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_baro3.srcs += $(SRC_ARCH)/uart_hw.c +test_baro3.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_baro3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_baro3.srcs += downlink.c pprz_transport.c @@ -760,7 +760,7 @@ test_spi_slave.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_spi_slave.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_spi_slave.CFLAGS += -DUSE_SPI1_IRQ test_spi_slave.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_spi_slave.srcs += $(SRC_ARCH)/uart_hw.c +test_spi_slave.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_spi_slave.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_spi_slave.srcs += downlink.c pprz_transport.c @@ -780,7 +780,7 @@ test_spi_slave2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 test_spi_slave2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_spi_slave2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_spi_slave2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -test_spi_slave2.srcs += $(SRC_ARCH)/uart_hw.c +test_spi_slave2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_spi_slave2.srcs += downlink.c pprz_transport.c @@ -804,7 +804,7 @@ stm_test_spi_link.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' stm_test_spi_link.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c stm_test_spi_link.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -stm_test_spi_link.srcs += $(SRC_ARCH)/uart_hw.c +stm_test_spi_link.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c stm_test_spi_link.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UP=AutopilotMessageFoo -DOVERO_LINK_MSG_DOWN=AutopilotMessageFoo stm_test_spi_link.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ @@ -844,7 +844,7 @@ test_sc18is600.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./128.))' test_sc18is600.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_sc18is600.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_sc18is600.srcs += $(SRC_ARCH)/uart_hw.c +test_sc18is600.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_sc18is600.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_sc18is600.srcs += downlink.c pprz_transport.c @@ -878,7 +878,7 @@ 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 +test_max1168.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_max1168.srcs += downlink.c pprz_transport.c @@ -907,7 +907,7 @@ 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 +test_ms2001.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_ms2001.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_ms2001.srcs += downlink.c pprz_transport.c @@ -930,7 +930,7 @@ test_adxl345.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' test_adxl345.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_adxl345.srcs += $(SRC_ARCH)/uart_hw.c +test_adxl345.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_adxl345.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_adxl345.srcs += downlink.c pprz_transport.c @@ -955,7 +955,7 @@ test_adxl345_dma.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' test_adxl345_dma.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_adxl345_dma.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_adxl345_dma.srcs += $(SRC_ARCH)/uart_hw.c +test_adxl345_dma.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_adxl345_dma.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_adxl345_dma.srcs += downlink.c pprz_transport.c @@ -984,7 +984,7 @@ test_itg3200.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' test_itg3200.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_itg3200.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_itg3200.srcs += $(SRC_ARCH)/uart_hw.c +test_itg3200.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_itg3200.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_itg3200.srcs += downlink.c pprz_transport.c @@ -1010,7 +1010,7 @@ test_hmc5843.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_hmc5843.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_hmc5843.srcs += $(SRC_ARCH)/uart_hw.c +test_hmc5843.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_hmc5843.srcs += downlink.c pprz_transport.c @@ -1042,7 +1042,7 @@ test_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' test_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_aspirin.srcs += $(SRC_ARCH)/uart_hw.c +test_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_aspirin.srcs += downlink.c pprz_transport.c @@ -1086,7 +1086,7 @@ ptw.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c # Telemetry ptw.CFLAGS += -DUSE_OVERO_LINK_TELEMETRY #ptw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -#ptw.srcs += $(SRC_ARCH)/uart_hw.c +#ptw.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=OveroLinkTelemetry ptw.srcs += downlink.c pprz_transport.c @@ -1111,7 +1111,7 @@ ptw.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \ ptw.CFLAGS += -DRADIO_CONTROL_LED=6 ptw.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200 ptw.CFLAGS += -DRADIO_CONTROL_LINK=Uart3 -ptw.srcs += $(SRC_ARCH)/uart_hw.c +ptw.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c # Actuators ptw.srcs += $(SRC_FIRMWARE)/actuators/supervision.c @@ -1138,7 +1138,7 @@ test_csc_servo.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_csc_servo.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_csc_servo.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_csc_servo.srcs += $(SRC_ARCH)/uart_hw.c +test_csc_servo.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_csc_servo.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 test_csc_servo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 @@ -1176,7 +1176,7 @@ test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LE test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_gps.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_gps.srcs += $(SRC_ARCH)/uart_hw.c +test_gps.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_gps.srcs += downlink.c pprz_transport.c @@ -1207,7 +1207,7 @@ test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_skytraq.c # test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c # # test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -# test_adc.srcs += $(SRC_ARCH)/uart_hw.c +# test_adc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c # # test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 # test_adc.srcs += downlink.c pprz_transport.c @@ -1231,7 +1231,7 @@ test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_adc.srcs += $(SRC_ARCH)/uart_hw.c +test_adc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 @@ -1259,7 +1259,7 @@ test_board.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_board.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_board.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -test_board.srcs += $(SRC_ARCH)/uart_hw.c +test_board.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_board.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 test_board.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 @@ -1305,7 +1305,7 @@ hs_gyro_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' hs_gyro_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c hs_gyro_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -hs_gyro_aspirin.srcs += $(SRC_ARCH)/uart_hw.c +hs_gyro_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c hs_gyro_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 hs_gyro_aspirin.srcs += downlink.c pprz_transport.c @@ -1343,7 +1343,7 @@ hs_gyro_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' hs_gyro_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c hs_gyro_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -hs_gyro_b2.srcs += $(SRC_ARCH)/uart_hw.c +hs_gyro_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c hs_gyro_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 hs_gyro_b2.srcs += downlink.c pprz_transport.c @@ -1376,7 +1376,7 @@ hs_gyro_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' hs_gyro_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c hs_gyro_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 -hs_gyro_crista.srcs += $(SRC_ARCH)/uart_hw.c +hs_gyro_crista.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c hs_gyro_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 hs_gyro_crista.srcs += downlink.c pprz_transport.c diff --git a/conf/autopilot/subsystems/fixedwing/testing.makefile b/conf/autopilot/obsolete/testing.makefile similarity index 73% rename from conf/autopilot/subsystems/fixedwing/testing.makefile rename to conf/autopilot/obsolete/testing.makefile index f1b539ccfc..f75a6c8ab0 100644 --- a/conf/autopilot/subsystems/fixedwing/testing.makefile +++ b/conf/autopilot/obsolete/testing.makefile @@ -3,23 +3,23 @@ # a test program to setup actuators setup_actuators.ARCHDIR = $(ARCH) -setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0 -setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c +setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0 +setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c # a test program to tunnel between both uart tunnel.ARCHDIR = $(ARCH) -tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DLED +tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_LED tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c # A test program to monitor the ADC values test_adcs.ARCHDIR = $(ARCH) -test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_ADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7 +test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_ADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7 test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -test_adcs.srcs += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c +test_adcs.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c xbee.c test_adcs.srcs += sys_time.c $(SRC_ARCH)/mcu_periph/adc_arch.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test/test_adcs.c # pprz_transport.c @@ -28,16 +28,16 @@ test_adcs.srcs += sys_time.c $(SRC_ARCH)/mcu_periph/adc_arch.c $(SRC_ARCH)/sys_t # a configuration program to access both uart through usb usb_tunnel_0.ARCHDIR = $(ARCH) usb_tunnel_0.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART0 -DUART0_BAUD=B115200 -usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED -usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c +usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED +usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c usb_tunnel_1.ARCHDIR = $(ARCH) usb_tunnel_1.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART1 -DUART1_BAUD=B115200 -usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED -usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c +usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED +usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c diff --git a/conf/autopilot/obsolete/tiny.makefile b/conf/autopilot/obsolete/tiny.makefile index b9ef9f08fc..71df9d2cea 100644 --- a/conf/autopilot/obsolete/tiny.makefile +++ b/conf/autopilot/obsolete/tiny.makefile @@ -32,23 +32,23 @@ ADC_GYRO_NB_SAMPLES = 16 # a test program to setup actuators setup_actuators.ARCHDIR = $(ARCHI) -setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0 -setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c +setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0 +setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c # a test program to tunnel between both uart tunnel.ARCHDIR = $(ARCHI) -tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DLED +tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_LED tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c # A test program to monitor the ADC values test_adcs.ARCHDIR = $(ARCHI) -test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7 +test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7 test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -test_adcs.srcs += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c +test_adcs.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c xbee.c test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_adcs.c # pprz_transport.c @@ -57,16 +57,16 @@ test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c $(SR # a configuration program to access both uart through usb usb_tunnel_0.ARCHDIR = $(ARCHI) usb_tunnel_0.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART0 -DUART0_BAUD=B115200 -usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED -usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c +usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED +usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c usb_tunnel_1.ARCHDIR = $(ARCHI) usb_tunnel_1.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART1 -DUART1_BAUD=B115200 -usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED -usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c +usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED +usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c diff --git a/conf/autopilot/obsolete/twin_mcu_avr.makefile b/conf/autopilot/obsolete/twin_mcu_avr.makefile index 49a4e0b050..04ef99b046 100644 --- a/conf/autopilot/obsolete/twin_mcu_avr.makefile +++ b/conf/autopilot/obsolete/twin_mcu_avr.makefile @@ -1,8 +1,8 @@ include $(PAPARAZZI_SRC)/conf/autopilot/twin_avr.makefile include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu.makefile -ap.srcs += $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/sys_time_hw.c +ap.srcs += $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/sys_time_hw.c ap.CFLAGS += -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 fbw.CFLAGS += -DACTUATORS=\"servos_4017.h\" -DSERVOS_4017 -DADC -fbw.srcs += actuators.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/servos_4017.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/sys_time_hw.c +fbw.srcs += actuators.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/servos_4017.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/sys_time_hw.c diff --git a/conf/autopilot/setup.makefile b/conf/autopilot/setup.makefile index c889667725..c1ec32d90a 100644 --- a/conf/autopilot/setup.makefile +++ b/conf/autopilot/setup.makefile @@ -12,72 +12,66 @@ SRC_FIRMWARE=firmwares/setup SETUP_INC = -I$(SRC_FIRMWARE) - -# for the usb_tunnel we need to set PCLK higher -# so we just use tiny_2_1_1_usb.h as board file for the usb tunnels -ifeq ($(TARGET), usb_tunnel_0) - usb_tunnel_0.CFLAGS += -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -else - ifeq ($(TARGET), usb_tunnel_1) - usb_tunnel_1.CFLAGS += -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" - else - $(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) - endif -endif - +$(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) # a test program to tunnel between both uart -tunnel.CFLAGS += -DFBW -DLED +tunnel.CFLAGS += -DUSE_LED tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c +tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c +# for the usb_tunnel we need to set PCLK higher with the flag USE_USB_HIGH_PCLK + # a configuration program to access both uart through usb -usb_tunnel_0.CFLAGS += -DFBW -DUSE_UART0 -DUART0_BAUD=B115200 -usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED -usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c +usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 +usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK +usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c +usb_tunnel_0.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c -usb_tunnel_1.CFLAGS += -DFBW -DUSE_UART1 -DUART1_BAUD=B115200 -usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED -usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c +usb_tunnel_1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200 +usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK +usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c +usb_tunnel_1.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c - -ifeq ($(ACTUATORS),) - ifeq ($(BOARD),tiny) - ifeq ($(BOARD_VERSION),1.1) - include $(CFG_SHARED)/actuators_4015.makefile - else - ifeq ($(BOARD_VERSION),0.99) +ifeq ($(TARGET), setup_actuators) + ifeq ($(ACTUATORS),) + ifeq ($(BOARD),tiny) + ifeq ($(BOARD_VERSION),1.1) include $(CFG_SHARED)/actuators_4015.makefile else - include $(CFG_SHARED)/actuators_4017.makefile + ifeq ($(BOARD_VERSION),0.99) + include $(CFG_SHARED)/actuators_4015.makefile + else + include $(CFG_SHARED)/actuators_4017.makefile + endif endif endif - endif - ifeq ($(BOARD),twog) - include $(CFG_SHARED)/actuators_4017.makefile - endif + ifeq ($(BOARD),twog) + include $(CFG_SHARED)/actuators_4017.makefile + endif - ifeq ($(BOARD),lisa_l) - include $(CFG_SHARED)/actuators_direct.makefile - endif + ifeq ($(BOARD),lisa_l) + include $(CFG_SHARED)/actuators_direct.makefile + endif -else - include $(CFG_SHARED)/$(ACTUATORS).makefile + else + include $(CFG_SHARED)/$(ACTUATORS).makefile + endif endif # a test program to setup actuators -setup_actuators.CFLAGS += -DFBW -DLED -DTIME_LED=1 +setup_actuators.CFLAGS += -DFBW -DUSE_LED -DTIME_LED=1 setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1 setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 setup_actuators.CFLAGS += $(SETUP_INC) -Ifirmwares/fixedwing -setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c $(SRC_FIRMWARE)/setup_actuators.c $(SRC_ARCH)/uart_hw.c firmwares/fixedwing/main.c +setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c $(SRC_FIRMWARE)/setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c firmwares/fixedwing/main.c mcu.c $(SRC_ARCH)/mcu_arch.c diff --git a/conf/autopilot/sitl.makefile b/conf/autopilot/sitl.makefile index 22b74c9876..b05421888e 100644 --- a/conf/autopilot/sitl.makefile +++ b/conf/autopilot/sitl.makefile @@ -1,5 +1,5 @@ sim.ARCHDIR = $(ARCH) -sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO +sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs += latlong.c\ radio_control.c\ downlink.c\ diff --git a/conf/autopilot/sitl_jsbsim.makefile b/conf/autopilot/sitl_jsbsim.makefile index 7259edccef..4b46e00a19 100644 --- a/conf/autopilot/sitl_jsbsim.makefile +++ b/conf/autopilot/sitl_jsbsim.makefile @@ -24,7 +24,7 @@ else jsbsim.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim endif -jsbsim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO -Ifirmwares/fixedwing +jsbsim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO -Ifirmwares/fixedwing jsbsim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_transport.c $(SRC_ARCH)/ivy_transport.c jsbsim.srcs += latlong.c downlink.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c \ $(SRC_FIXEDWING)/stabilization/stabilization_attitude.c \ diff --git a/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile b/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile index aa4509a479..7395522edb 100644 --- a/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile +++ b/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile @@ -33,6 +33,7 @@ ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES) $(TARGET).CFLAGS += -DUSE_INFRARED $(TARGET).srcs += subsystems/sensors/infrared.c +$(TARGET).srcs += subsystems/sensors/infrared_adc.c sim.srcs += $(SRC_ARCH)/sim_ir.c jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c diff --git a/conf/autopilot/subsystems/fixedwing/attitude_infrared_i2c.makefile b/conf/autopilot/subsystems/fixedwing/attitude_infrared_i2c.makefile new file mode 100644 index 0000000000..b3f9355b11 --- /dev/null +++ b/conf/autopilot/subsystems/fixedwing/attitude_infrared_i2c.makefile @@ -0,0 +1,8 @@ +# attitude via IR I2C sensors + +$(TARGET).CFLAGS += -DUSE_INFRARED_I2C +$(TARGET).srcs += subsystems/sensors/infrared.c +$(TARGET).srcs += subsystems/sensors/infrared_i2c.c + +sim.srcs += $(SRC_ARCH)/sim_ir.c +jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile index f70c299815..3ea53af26e 100644 --- a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile +++ b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile @@ -1,8 +1,15 @@ # -# Booz Mikrokopter Actuators +# Mikrokopter Actuators +# +# enable the subsystem for your firmware: +# +# ... +# +# +# # # -# required xml: +# required xml configuration: #
# # @@ -24,8 +31,11 @@ # # +# set default i2c timing if not already configured +ifeq ($(MKK_I2C_SCL_TIME), ) +MKK_I2C_SCL_TIME=150 +endif -# ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c ap.srcs += mcu_periph/i2c.c @@ -33,7 +43,7 @@ ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c ifeq ($(ARCH), lpc21) ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0 -ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 +ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10 else ifeq ($(ARCH), stm32) ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 ap.CFLAGS += -DUSE_I2C1 @@ -42,6 +52,6 @@ endif # Simulator sim.srcs += $(SRC_FIRMWARE)/actuators/supervision.c sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c -sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c1 +sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c1 sim.srcs += mcu_periph/i2c.c sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c diff --git a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile index 8a0b64bafe..3764888244 100644 --- a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile +++ b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile @@ -70,7 +70,7 @@ sim.srcs += firmwares/rotorcraft/main.c sim.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' # -DTIME_LED=1 -#sim.CFLAGS += -DLED +#sim.CFLAGS += -DUSE_LED sim.srcs += sys_time.c diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile index dcf1a660a3..f3074ca2bb 100644 --- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile +++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile @@ -9,25 +9,25 @@ # # # -# -# -# +# +# +# # # # # # -# -# -# +# +# +# # # # # # -# -# -# +# +# +# # # #
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile index bfef8c6aca..e06aeeb7df 100644 --- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile +++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile @@ -9,25 +9,25 @@ # # # -# -# -# +# +# +# # # # # # -# -# -# +# +# +# # # # # # -# -# -# +# +# +# # # # diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile index 844b6c786d..bbbbb58e1b 100644 --- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile +++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile @@ -9,25 +9,25 @@ # # # -# -# -# +# +# +# # # # # # -# -# -# +# +# +# # # # # # -# -# -# +# +# +# # # # diff --git a/conf/modules/adc_generic.xml b/conf/modules/adc_generic.xml index a198c04280..8f2917cf2b 100644 --- a/conf/modules/adc_generic.xml +++ b/conf/modules/adc_generic.xml @@ -2,9 +2,8 @@ @@ -15,6 +14,16 @@ + + +ifneq ($(ADC_CHANNEL_GENERIC1),) +ap.CFLAGS += -DADC_CHANNEL_GENERIC1=$(ADC_CHANNEL_GENERIC1) -DUSE_$(ADC_CHANNEL_GENERIC1) +endif + +ifneq ($(ADC_CHANNEL_GENERIC2),) +ap.CFLAGS += -DADC_CHANNEL_GENERIC2=$(ADC_CHANNEL_GENERIC2) -DUSE_$(ADC_CHANNEL_GENERIC2) +endif + + - diff --git a/conf/modules/infrared_adc.xml b/conf/modules/infrared_adc.xml new file mode 100644 index 0000000000..d5fd02f078 --- /dev/null +++ b/conf/modules/infrared_adc.xml @@ -0,0 +1,28 @@ + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + diff --git a/conf/modules/infrared_i2c.xml b/conf/modules/infrared_i2c.xml index ef630b5c0c..b73dd757d6 100644 --- a/conf/modules/infrared_i2c.xml +++ b/conf/modules/infrared_i2c.xml @@ -1,4 +1,5 @@ +
@@ -9,11 +10,12 @@ - - + + + - sim.srcs += $(SRC_ARCH)/sim_ir.c + diff --git a/conf/modules/ins_xsens_MTiG_fixedwing.xml b/conf/modules/ins_xsens_MTiG_fixedwing.xml index f4db3c1776..27e67847cd 100644 --- a/conf/modules/ins_xsens_MTiG_fixedwing.xml +++ b/conf/modules/ins_xsens_MTiG_fixedwing.xml @@ -10,9 +10,9 @@ - - - + + + diff --git a/conf/modules/module.dtd b/conf/modules/module.dtd index 84a4b8138f..33122841b8 100644 --- a/conf/modules/module.dtd +++ b/conf/modules/module.dtd @@ -60,8 +60,10 @@ value CDATA #IMPLIED type CDATA #IMPLIED> +name CDATA #REQUIRED +dir CDATA #IMPLIED> +name CDATA #REQUIRED +dir CDATA #IMPLIED> diff --git a/debian/changelog.lenny b/debian/changelog.lenny index 6a78c9aacf..55d3e0cb12 100644 --- a/debian/changelog.lenny +++ b/debian/changelog.lenny @@ -1,3 +1,10 @@ +paparazzi (3.3-1) unstable; urgency=low + + * New build system with modules and subsystems + * Change dependency from subversion to git + + -- Gautier Hattenberger Wed, 29 Dec 2010 12:49:00 +0100 + paparazzi (3.2-10) unstable; urgency=low * Dependencie over gpsd, libgps-dev, python-lxml, python-wxgtk2.8 added diff --git a/debian/control.lenny b/debian/control.lenny index 8abef20019..6587b5a8e3 100644 --- a/debian/control.lenny +++ b/debian/control.lenny @@ -1,15 +1,15 @@ Source: paparazzi Section: extra Priority: optional -Maintainer: Pascal Brisset +Maintainer: Gautier Hattenberger Build-Depends: debhelper (>= 4.0.0) Standards-Version: 3.6.1 Package: paparazzi-dev Architecture: any -Suggests: paparazzi-avr, paparazzi-arm7, eagle, gs-common, tetex-extra, dia-gnome, boa -Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, gnuplot, libgnomecanvas2-dev, bzip2, subversion, liblablgtk2-gnome-ocaml-dev, libusb-dev, speech-dispatcher, glade, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev, meschach-dev | libmeschach-dev, ivy-python, gpsd, libgps-dev, python-lxml, python-wxgtk2.8 +Suggests: paparazzi-avr, paparazzi-arm7, eagle, gs-common, tetex-extra, dia-gnome, boa, gitk +Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, gnuplot, libgnomecanvas2-dev, bzip2, git-core, liblablgtk2-gnome-ocaml-dev, libusb-dev, speech-dispatcher, glade, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev, meschach-dev | libmeschach-dev, ivy-python, gpsd, libgps-dev, python-lxml, python-wxgtk2.8 Description: Paparazzi Meta Package : common support diff --git a/debian/paparazzi-bin.postinst b/debian/paparazzi-bin.postinst index 6ae37e021d..83cbee528d 100755 --- a/debian/paparazzi-bin.postinst +++ b/debian/paparazzi-bin.postinst @@ -31,4 +31,4 @@ cd ${DESTDIR}/sw/supervision ${OCAMLC} -custom -I +xml-light -I +lablgtk2 -I ${DESTDIR}/sw/lib/ocaml unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma lablglade.cma lablgnomeui.cma gtkInit.cmo gtk_pc.cmo gtk_process.cmo pc_common.cmo pc_aircraft.cmo pc_control_panel.cmo paparazzicenter.cmo -o paparazzicenter cd ${DESTDIR}/sw/tools -${OCAMLC} -custom -I +xml-light -I +lablgtk2 -I ${DESTDIR}/sw/lib/ocaml unix.cma str.cma xml-light.cma ivy-ocaml.cma lib-pprz.cma fp_syntax.cmo fp_parser.cmo fp_lexer.cmo fp_proc.cmo gen_flight_plan.cmo -o gen_flight_plan.out +${OCAMLC} -custom -I +xml-light -I +lablgtk2 -I ${DESTDIR}/sw/lib/ocaml unix.cma str.cma xml-light.cma ivy-ocaml.cma lib-pprz.cma fp_proc.cmo gen_flight_plan.cmo -o gen_flight_plan.out diff --git a/debian/rules b/debian/rules old mode 100644 new mode 100755 diff --git a/sw/airborne/ap_downlink.h b/sw/airborne/ap_downlink.h index a45945cf33..c8aa3e389e 100644 --- a/sw/airborne/ap_downlink.h +++ b/sw/airborne/ap_downlink.h @@ -115,8 +115,8 @@ #define PERIODIC_SEND_SETTINGS(_chan) {} #endif -#if defined USE_INFRARED || USE_INFRARED_I2C -#define PERIODIC_SEND_IR_SENSORS(_chan) DOWNLINK_SEND_IR_SENSORS(_chan, &infrared.ir1, &infrared.ir2, &infrared.pitch, &infrared.roll, &infrared.top); +#if defined USE_INFRARED || USE_INFRARED_TELEMETRY +#define PERIODIC_SEND_IR_SENSORS(_chan) DOWNLINK_SEND_IR_SENSORS(_chan, &infrared.value.ir1, &infrared.value.ir2, &infrared.pitch, &infrared.roll, &infrared.top); #else #define PERIODIC_SEND_IR_SENSORS(_chan) ; #endif diff --git a/sw/airborne/arch/lpc21/uart_tunnel.c b/sw/airborne/arch/lpc21/uart_tunnel.c index 04fd72dce1..9f4bbd5ef2 100644 --- a/sw/airborne/arch/lpc21/uart_tunnel.c +++ b/sw/airborne/arch/lpc21/uart_tunnel.c @@ -3,7 +3,7 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "led.h" #define TXD0_PIN 0 @@ -14,7 +14,7 @@ int main (int argc, char** argv) { int tx=0, rx=0; int tx_shadow=1, rx_shadow=1; - hw_init(); + mcu_init(); led_init(); LED_ON(1); diff --git a/sw/airborne/arch/lpc21/usb_tunnel.c b/sw/airborne/arch/lpc21/usb_tunnel.c index f7f324da24..aeef32b1dc 100644 --- a/sw/airborne/arch/lpc21/usb_tunnel.c +++ b/sw/airborne/arch/lpc21/usb_tunnel.c @@ -53,7 +53,7 @@ int main( void ) { VCOM_init(); #endif - int_enable(); + mcu_int_enable(); LED_ON(3); diff --git a/sw/airborne/arch/sim/sim_ir.c b/sw/airborne/arch/sim/sim_ir.c index 88441205f8..1ec7884faf 100644 --- a/sw/airborne/arch/sim/sim_ir.c +++ b/sw/airborne/arch/sim/sim_ir.c @@ -21,7 +21,8 @@ value set_ir(value roll __attribute__ ((unused)), value top __attribute__ ((unused)), value air_speed ) { -#if defined USE_INFRARED || USE_INFRARED_I2C + // INFRARED_TELEMETRY : Stupid hack to use with modules +#if defined USE_INFRARED || USE_INFRARED_TELEMETRY infrared.roll = Int_val(roll); infrared.pitch = Int_val(front); infrared.top = Int_val(top); diff --git a/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c b/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c index b20c2ccef4..c19f2ff874 100644 --- a/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c +++ b/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c @@ -23,7 +23,7 @@ #include -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "interrupt_hw.h" #include "downlink.h" @@ -59,9 +59,9 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/booz/test/booz2_test_crista.c b/sw/airborne/booz/test/booz2_test_crista.c index 21af105e1d..82f990afe4 100644 --- a/sw/airborne/booz/test/booz2_test_crista.c +++ b/sw/airborne/booz/test/booz2_test_crista.c @@ -24,10 +24,10 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" @@ -53,7 +53,7 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); @@ -66,7 +66,7 @@ static inline void main_init( void ) { imu_impl_init(); imu_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/booz/test/booz2_test_gps.c b/sw/airborne/booz/test/booz2_test_gps.c index 0c67b7886a..a85f6f30a0 100644 --- a/sw/airborne/booz/test/booz2_test_gps.c +++ b/sw/airborne/booz/test/booz2_test_gps.c @@ -24,7 +24,7 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" #include "booz_gps.h" @@ -47,11 +47,11 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); booz_gps_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/booz/test/booz2_test_led.c b/sw/airborne/booz/test/booz2_test_led.c index 126358b6b4..4986fb2a6d 100644 --- a/sw/airborne/booz/test/booz2_test_led.c +++ b/sw/airborne/booz/test/booz2_test_led.c @@ -24,7 +24,7 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "interrupt_hw.h" @@ -43,9 +43,9 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/booz/test/booz2_test_max1168.c b/sw/airborne/booz/test/booz2_test_max1168.c index 12c858a824..dc57a9a454 100644 --- a/sw/airborne/booz/test/booz2_test_max1168.c +++ b/sw/airborne/booz/test/booz2_test_max1168.c @@ -24,7 +24,7 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "interrupt_hw.h" #include "messages.h" @@ -56,13 +56,13 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); main_init_ssp(); max1168_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/booz/test/booz2_test_micromag.c b/sw/airborne/booz/test/booz2_test_micromag.c index 68377fb5ef..9ba50b7fee 100644 --- a/sw/airborne/booz/test/booz2_test_micromag.c +++ b/sw/airborne/booz/test/booz2_test_micromag.c @@ -24,10 +24,10 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" @@ -58,7 +58,7 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); @@ -72,7 +72,7 @@ static inline void main_init( void ) { main_init_ssp(); micromag_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/booz/test/booz2_test_modem.c b/sw/airborne/booz/test/booz2_test_modem.c index 1b5fb38628..df06203773 100644 --- a/sw/airborne/booz/test/booz2_test_modem.c +++ b/sw/airborne/booz/test/booz2_test_modem.c @@ -23,11 +23,11 @@ #include -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" #include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" @@ -47,11 +47,11 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); uart1_init_tx(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/booz/test/booz2_test_radio_control.c b/sw/airborne/booz/test/booz2_test_radio_control.c index 0c9e57e53a..cc0ea59b95 100644 --- a/sw/airborne/booz/test/booz2_test_radio_control.c +++ b/sw/airborne/booz/test/booz2_test_radio_control.c @@ -52,7 +52,7 @@ static inline void main_init( void ) { mcu_init(); sys_time_init(); radio_control_init(); - int_enable(); + mcu_int_enable(); } extern uint32_t debug_len; diff --git a/sw/airborne/booz/test/booz2_test_rc.c b/sw/airborne/booz/test/booz2_test_rc.c index d88f5e9e75..5806e65250 100644 --- a/sw/airborne/booz/test/booz2_test_rc.c +++ b/sw/airborne/booz/test/booz2_test_rc.c @@ -24,10 +24,10 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" @@ -52,7 +52,7 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); @@ -61,7 +61,7 @@ static inline void main_init( void ) { ppm_init(); radio_control_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/booz/test/booz2_test_usb.c b/sw/airborne/booz/test/booz2_test_usb.c index c694603709..9e35042c62 100644 --- a/sw/airborne/booz/test/booz2_test_usb.c +++ b/sw/airborne/booz/test/booz2_test_usb.c @@ -24,7 +24,7 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" @@ -51,13 +51,13 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); VCOM_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/booz/test/booz2_tunnel.c b/sw/airborne/booz/test/booz2_tunnel.c index 9229ae1aef..9f8a4689ea 100644 --- a/sw/airborne/booz/test/booz2_tunnel.c +++ b/sw/airborne/booz/test/booz2_tunnel.c @@ -24,10 +24,10 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" static inline void main_init( void ); static inline void main_periodic_task( void ); @@ -44,12 +44,12 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); uart0_init(); uart1_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/booz/test/booz2_tunnel_bb.c b/sw/airborne/booz/test/booz2_tunnel_bb.c index 33f8b7ff65..db0deaa5d3 100644 --- a/sw/airborne/booz/test/booz2_tunnel_bb.c +++ b/sw/airborne/booz/test/booz2_tunnel_bb.c @@ -25,7 +25,7 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "led.h" #define TXD0_PIN 0 @@ -34,7 +34,7 @@ #define RXD1_PIN 9 int main (int argc, char** argv) { - hw_init(); + mcu_init(); led_init(); /* TXD0 and TXD1 output */ diff --git a/sw/airborne/booz/test/booz_test_imu.c b/sw/airborne/booz/test/booz_test_imu.c index c5f5c32291..0747c0300c 100644 --- a/sw/airborne/booz/test/booz_test_imu.c +++ b/sw/airborne/booz/test/booz_test_imu.c @@ -24,10 +24,10 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" @@ -56,7 +56,7 @@ int main( void ) { static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); imu_init(); @@ -64,7 +64,7 @@ static inline void main_init( void ) { DEBUG_SERVO2_INIT(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/booz/test/booz_test_telemetry.c b/sw/airborne/booz/test/booz_test_telemetry.c index 940952d9fd..f21b005ff9 100644 --- a/sw/airborne/booz/test/booz_test_telemetry.c +++ b/sw/airborne/booz/test/booz_test_telemetry.c @@ -23,7 +23,7 @@ #include -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "interrupt_hw.h" @@ -45,9 +45,9 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/csc/csc_ap_main.c b/sw/airborne/csc/csc_ap_main.c index 55273d6d65..012d151e38 100644 --- a/sw/airborne/csc/csc_ap_main.c +++ b/sw/airborne/csc/csc_ap_main.c @@ -28,11 +28,11 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" #include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "downlink.h" #include "generated/periodic.h" #include "generated/airframe.h" @@ -141,7 +141,7 @@ static void on_gpspos_cmd( struct CscGPSPosMsg *msg ) static void csc_main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); @@ -167,7 +167,7 @@ static void csc_main_init( void ) { actuators_init(); csc_ap_init(); - int_enable(); + mcu_int_enable(); } diff --git a/sw/airborne/csc/csc_baro.c b/sw/airborne/csc/csc_baro.c index ed6ddf8278..22649b4f4a 100644 --- a/sw/airborne/csc/csc_baro.c +++ b/sw/airborne/csc/csc_baro.c @@ -1,10 +1,10 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" #include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" #include "csc_booz2_ins.h" diff --git a/sw/airborne/csc/csc_datalink.c b/sw/airborne/csc/csc_datalink.c index 04362db411..72118be9e0 100644 --- a/sw/airborne/csc/csc_datalink.c +++ b/sw/airborne/csc/csc_datalink.c @@ -5,7 +5,7 @@ #include "downlink.h" #include "messages.h" #include "dl_protocol.h" -#include "uart.h" +#include "mcu_periph/uart.h" #define IdOfMsg(x) (x[1]) diff --git a/sw/airborne/csc/csc_protocol.c b/sw/airborne/csc/csc_protocol.c index f3167c7c20..f2027347eb 100644 --- a/sw/airborne/csc/csc_protocol.c +++ b/sw/airborne/csc/csc_protocol.c @@ -29,7 +29,7 @@ #include "mcu_periph/can.h" #include "csc_msg_def.h" -// #include "init_hw.h" +// #include "mcu.h" // #include "sys_time.h" // #include "downlink.h" diff --git a/sw/airborne/csc/csc_rc_spektrum.c b/sw/airborne/csc/csc_rc_spektrum.c index 4771fc55e9..9347a8d9f7 100644 --- a/sw/airborne/csc/csc_rc_spektrum.c +++ b/sw/airborne/csc/csc_rc_spektrum.c @@ -34,7 +34,7 @@ #include "paparazzi.h" #include "downlink.h" #include "messages.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "string.h" #include "csc_ap_link.h" #include "csc_msg_def.h" diff --git a/sw/airborne/csc/csc_xsens.c b/sw/airborne/csc/csc_xsens.c index e71569cbe5..ee0a2e6ec0 100644 --- a/sw/airborne/csc/csc_xsens.c +++ b/sw/airborne/csc/csc_xsens.c @@ -34,7 +34,7 @@ #include "downlink.h" #include "messages.h" -#include "uart.h" +#include "mcu_periph/uart.h" //#include "com_stats.h" #include "math/pprz_algebra_float.h" #include "string.h" diff --git a/sw/airborne/csc/mercury_csc_main.c b/sw/airborne/csc/mercury_csc_main.c index 18f81b3197..4c259524a9 100644 --- a/sw/airborne/csc/mercury_csc_main.c +++ b/sw/airborne/csc/mercury_csc_main.c @@ -28,7 +28,7 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" @@ -47,7 +47,7 @@ // #include "ams5812.h" #include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "csc_telemetry.h" #include "generated/periodic.h" diff --git a/sw/airborne/csc/mercury_main.c b/sw/airborne/csc/mercury_main.c index 637b5bf7c7..b6914fb70f 100644 --- a/sw/airborne/csc/mercury_main.c +++ b/sw/airborne/csc/mercury_main.c @@ -28,11 +28,11 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" #include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "downlink.h" #include "generated/periodic.h" #include "generated/airframe.h" @@ -105,7 +105,7 @@ static void on_rc_cmd(struct CscRCMsg *msg) static inline void csc_main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); @@ -136,7 +136,7 @@ static inline void csc_main_init( void ) { props_init(); csc_ap_init(); - int_enable(); + mcu_int_enable(); stabilization_attitude_enter(); } diff --git a/sw/airborne/csc/mercury_xsens.c b/sw/airborne/csc/mercury_xsens.c index d8a3692132..54f4c5e447 100644 --- a/sw/airborne/csc/mercury_xsens.c +++ b/sw/airborne/csc/mercury_xsens.c @@ -39,7 +39,7 @@ #include "downlink.h" #include "messages.h" -#include "uart.h" +#include "mcu_periph/uart.h" //#include "com_stats.h" #include "math/pprz_algebra_float.h" #include "string.h" diff --git a/sw/airborne/csc/ppm_bridge_main.c b/sw/airborne/csc/ppm_bridge_main.c index b2e1bcff8a..e2915321b7 100644 --- a/sw/airborne/csc/ppm_bridge_main.c +++ b/sw/airborne/csc/ppm_bridge_main.c @@ -28,11 +28,11 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" #include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "downlink.h" #include "generated/periodic.h" #include "generated/airframe.h" @@ -52,7 +52,7 @@ static uint16_t cpu_time = 0; static void csc_main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); @@ -66,7 +66,7 @@ static void csc_main_init( void ) { IO0DIR = IO0DIR | (0x1 << 21); IO0PIN = IO0DIR | (0x1 << 21); - int_enable(); + mcu_int_enable(); } diff --git a/sw/airborne/firmwares/beth/main_beth.c b/sw/airborne/firmwares/beth/main_beth.c index 42da9633e3..ff7ee9a0b9 100644 --- a/sw/airborne/firmwares/beth/main_beth.c +++ b/sw/airborne/firmwares/beth/main_beth.c @@ -1,5 +1,5 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "interrupt_hw.h" @@ -24,9 +24,9 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/firmwares/beth/main_coders.c b/sw/airborne/firmwares/beth/main_coders.c index 31e873270d..c0ea74c6fd 100644 --- a/sw/airborne/firmwares/beth/main_coders.c +++ b/sw/airborne/firmwares/beth/main_coders.c @@ -1,5 +1,5 @@ #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "mcu_periph/can.h" #include "sys_time.h" #include "downlink.h" @@ -73,11 +73,11 @@ int main(void) { static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); main_init_adc(); bench_sensors_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic( void ) { diff --git a/sw/airborne/firmwares/beth/rcv_telemetry.c b/sw/airborne/firmwares/beth/rcv_telemetry.c index 904932f7de..72b1d92359 100755 --- a/sw/airborne/firmwares/beth/rcv_telemetry.c +++ b/sw/airborne/firmwares/beth/rcv_telemetry.c @@ -44,7 +44,7 @@ #ifndef DOWNLINK_DEVICE #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE #endif -#include "uart.h" +#include "mcu_periph/uart.h" #include "downlink.h" diff --git a/sw/airborne/firmwares/beth/uart_hw.c b/sw/airborne/firmwares/beth/uart_hw.c index 6b0c583ace..5a769e4a83 100644 --- a/sw/airborne/firmwares/beth/uart_hw.c +++ b/sw/airborne/firmwares/beth/uart_hw.c @@ -21,7 +21,7 @@ * Boston, MA 02111-1307, USA. */ -#include "uart.h" +#include "mcu_periph/uart.h" #include #include diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c index 38dfd44864..dccfb23e5c 100644 --- a/sw/airborne/firmwares/fixedwing/main_ap.c +++ b/sw/airborne/firmwares/fixedwing/main_ap.c @@ -39,7 +39,9 @@ #include "firmwares/fixedwing/stabilization/stabilization_attitude.h" #include "firmwares/fixedwing/guidance/guidance_v.h" #include "gps.h" +#ifdef USE_INFRARED #include "subsystems/sensors/infrared.h" +#endif #include "gyro.h" #include "ap_downlink.h" #include "subsystems/nav.h" @@ -387,11 +389,11 @@ void periodic_task_ap( void ) { #ifdef PERIODIC_FREQUENCY -#warning Using HighSpeed Periodic: Manually check to make sure PERIODIC_FREQUENCY is a multiple of 60. +#warning Using HighSpeed Periodic: Manually check to make sure PERIODIC_FREQUENCY is a multiple of 60. static uint8_t _60Hz = 0; _60Hz++; if (_60Hz >= (PERIODIC_FREQUENCY / 60)) - { + { _60Hz = 0; } else @@ -584,6 +586,10 @@ void init_ap( void ) { /*********** EVENT ***********************************************************/ void event_task_ap( void ) { +#ifdef USE_INFRARED + infrared_event(); +#endif + #ifdef USE_AHRS ImuEvent(on_gyro_accel_event, on_mag_event); #endif // USE_AHRS @@ -696,7 +702,7 @@ static inline void on_gyro_accel_event( void ) { INT32_VECT3_SDIV(gyr_avg, gyr_avg, (PERIODIC_FREQUENCY / AHRS_PROPAGATE_FREQUENCY) ); imu.gyro_unscaled.p = gyr_avg.x; imu.gyro_unscaled.q = gyr_avg.y; - imu.gyro_unscaled.r = gyr_avg.z; + imu.gyro_unscaled.r = gyr_avg.z; INT_VECT3_ZERO(gyr_avg); ImuScaleGyro(imu); @@ -715,7 +721,7 @@ static inline void on_gyro_accel_event( void ) { ahrs_update_fw_estimator(); } } - + #ifdef AHRS_CPU_LED LED_OFF(AHRS_CPU_LED); #endif diff --git a/sw/airborne/firmwares/logger/main_logger.c b/sw/airborne/firmwares/logger/main_logger.c index 69a104dde1..8f3eea1406 100644 --- a/sw/airborne/firmwares/logger/main_logger.c +++ b/sw/airborne/firmwares/logger/main_logger.c @@ -520,7 +520,7 @@ static inline void main_init( void ) { max11040_init(); #endif - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/firmwares/motor_bench/main_turntable.c b/sw/airborne/firmwares/motor_bench/main_turntable.c index d170077efc..8345c948e7 100644 --- a/sw/airborne/firmwares/motor_bench/main_turntable.c +++ b/sw/airborne/firmwares/motor_bench/main_turntable.c @@ -1,5 +1,5 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" #include "interrupt_hw.h" @@ -32,10 +32,10 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); main_init_tacho(); - int_enable(); + mcu_int_enable(); } #define NB_STEP 256 diff --git a/sw/airborne/firmwares/motor_bench/mb_tacho.c b/sw/airborne/firmwares/motor_bench/mb_tacho.c index 7875b3c3b7..31e26ae80d 100644 --- a/sw/airborne/firmwares/motor_bench/mb_tacho.c +++ b/sw/airborne/firmwares/motor_bench/mb_tacho.c @@ -31,7 +31,7 @@ uint32_t mb_tacho_get_duration( void ) { my_duration = mb_tacho_duration; } got_one_pulse = FALSE; - int_enable(); + mcu_int_enable(); return my_duration; } @@ -53,7 +53,7 @@ float mb_tacho_get_averaged( void ) { mb_tacho_averaged = 0.; mb_tacho_nb_pulse = 0; - int_enable(); + mcu_int_enable(); return ret; diff --git a/sw/airborne/firmwares/tutorial/main_demo2.c b/sw/airborne/firmwares/tutorial/main_demo2.c index 005b76e505..0ced604473 100644 --- a/sw/airborne/firmwares/tutorial/main_demo2.c +++ b/sw/airborne/firmwares/tutorial/main_demo2.c @@ -1,6 +1,6 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" @@ -17,7 +17,7 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); } diff --git a/sw/airborne/firmwares/tutorial/main_demo3.c b/sw/airborne/firmwares/tutorial/main_demo3.c index 29ae419e12..5699adefe5 100644 --- a/sw/airborne/firmwares/tutorial/main_demo3.c +++ b/sw/airborne/firmwares/tutorial/main_demo3.c @@ -19,11 +19,11 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); uart0_init_tx(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/firmwares/tutorial/main_demo6.c b/sw/airborne/firmwares/tutorial/main_demo6.c index af9d8f777a..dd312de7a2 100644 --- a/sw/airborne/firmwares/tutorial/main_demo6.c +++ b/sw/airborne/firmwares/tutorial/main_demo6.c @@ -1,5 +1,5 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" #include "interrupt_hw.h" @@ -21,11 +21,11 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); usb_serial_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/firmwares/vor/lpc_vor_main.c b/sw/airborne/firmwares/vor/lpc_vor_main.c index dd1e2e77d6..bb6ee1e1b4 100644 --- a/sw/airborne/firmwares/vor/lpc_vor_main.c +++ b/sw/airborne/firmwares/vor/lpc_vor_main.c @@ -1,9 +1,9 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" #include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "print.h" //#include "messages.h" //#include "downlink.h" @@ -86,14 +86,14 @@ static inline void main_report( void ) { static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); uart0_init(); vor_int_demod_init(); VorDacInit(); vor_adc_init(); - int_enable(); + mcu_int_enable(); } diff --git a/sw/airborne/firmwares/wind_tunnel/main.c b/sw/airborne/firmwares/wind_tunnel/main.c index a8f779296a..e32d4f3441 100644 --- a/sw/airborne/firmwares/wind_tunnel/main.c +++ b/sw/airborne/firmwares/wind_tunnel/main.c @@ -1,9 +1,9 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" #include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" @@ -38,7 +38,7 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); uart0_init(); @@ -50,7 +50,7 @@ static inline void main_init( void ) { spi_init(); wt_baro_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/firmwares/wind_tunnel/main_mb.c b/sw/airborne/firmwares/wind_tunnel/main_mb.c index 48e0403f44..437e0fab32 100644 --- a/sw/airborne/firmwares/wind_tunnel/main_mb.c +++ b/sw/airborne/firmwares/wind_tunnel/main_mb.c @@ -1,9 +1,9 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" #include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" @@ -37,7 +37,7 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); uart0_init(); @@ -49,7 +49,7 @@ static inline void main_init( void ) { //motor_power = 0; - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/fms/lpc_test_spi.c b/sw/airborne/fms/lpc_test_spi.c index 9ca9f5b902..97a0de0407 100644 --- a/sw/airborne/fms/lpc_test_spi.c +++ b/sw/airborne/fms/lpc_test_spi.c @@ -24,7 +24,7 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "interrupt_hw.h" #include "armVIC.h" @@ -50,10 +50,10 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); main_spi_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/led.h b/sw/airborne/led.h index 98a943dbed..55a9c0493e 100644 --- a/sw/airborne/led.h +++ b/sw/airborne/led.h @@ -31,8 +31,7 @@ #ifndef LED_H #define LED_H -// FIXME : remove LED -#if defined USE_LED || defined LED +#if defined USE_LED #include "led_hw.h" diff --git a/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c b/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c index 5a115a0c74..a718ad9a7c 100644 --- a/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c +++ b/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c @@ -22,7 +22,7 @@ * */ -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "lisa/lisa_overo_link.h" #include "lisa/lisa_spistream.h" @@ -91,7 +91,7 @@ int main(void) { static inline void main_init(void) { - hw_init(); + mcu_init(); sys_time_init(); overo_link_init(); diff --git a/sw/airborne/lisa/stm_test_spi_link.c b/sw/airborne/lisa/stm_test_spi_link.c index 0f5ae21ae5..6aed277afc 100644 --- a/sw/airborne/lisa/stm_test_spi_link.c +++ b/sw/airborne/lisa/stm_test_spi_link.c @@ -27,7 +27,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "lisa/lisa_overo_link.h" @@ -42,7 +42,7 @@ static inline void on_overo_link_lost(void); int main(void) { - hw_init(); + mcu_init(); sys_time_init(); overo_link_init(); DEBUG_SERVO1_INIT(); diff --git a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c index 2c5a646ebc..bc3e4c8f64 100644 --- a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c +++ b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c @@ -22,7 +22,7 @@ */ -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "booz2_commands.h" #include "actuators.h" @@ -49,7 +49,7 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); actuators_init(); } diff --git a/sw/airborne/lisa/test/lisa_test_adxl345.c b/sw/airborne/lisa/test/lisa_test_adxl345.c index 40f6bd8906..6b8c65ca58 100644 --- a/sw/airborne/lisa/test/lisa_test_adxl345.c +++ b/sw/airborne/lisa/test/lisa_test_adxl345.c @@ -35,7 +35,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" @@ -63,7 +63,7 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); main_init_hw(); diff --git a/sw/airborne/lisa/test/lisa_test_adxl345_dma.c b/sw/airborne/lisa/test/lisa_test_adxl345_dma.c index 20dfd6f70b..fa74e5018a 100644 --- a/sw/airborne/lisa/test/lisa_test_adxl345_dma.c +++ b/sw/airborne/lisa/test/lisa_test_adxl345_dma.c @@ -29,7 +29,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" @@ -58,7 +58,7 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); main_init_hw(); diff --git a/sw/airborne/lisa/test/lisa_test_aspirin.c b/sw/airborne/lisa/test/lisa_test_aspirin.c index 4f7cbecbb3..2641273fe2 100644 --- a/sw/airborne/lisa/test/lisa_test_aspirin.c +++ b/sw/airborne/lisa/test/lisa_test_aspirin.c @@ -28,7 +28,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" @@ -60,7 +60,7 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); main_init_hw(); diff --git a/sw/airborne/lisa/test/lisa_test_max1168.c b/sw/airborne/lisa/test/lisa_test_max1168.c index af7bc514c9..38a6cc67bc 100644 --- a/sw/airborne/lisa/test/lisa_test_max1168.c +++ b/sw/airborne/lisa/test/lisa_test_max1168.c @@ -29,7 +29,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" #include "peripherals/max1168.h" @@ -54,7 +54,7 @@ int main(void) { static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); max1168_init(); main_spi2_init(); diff --git a/sw/airborne/lisa/test/lisa_test_ms2001.c b/sw/airborne/lisa/test/lisa_test_ms2001.c index 1eb0342e80..7fe419587c 100644 --- a/sw/airborne/lisa/test/lisa_test_ms2001.c +++ b/sw/airborne/lisa/test/lisa_test_ms2001.c @@ -29,7 +29,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" #include "peripherals/ms2001.h" @@ -54,7 +54,7 @@ int main(void) { static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); ms2001_init(); main_spi2_init(); diff --git a/sw/airborne/lisa/test/lisa_test_ms2100.c b/sw/airborne/lisa/test/lisa_test_ms2100.c index cedf7cacd2..aabd4aa9ed 100644 --- a/sw/airborne/lisa/test/lisa_test_ms2100.c +++ b/sw/airborne/lisa/test/lisa_test_ms2100.c @@ -29,7 +29,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" #include "peripherals/ms2100.h" @@ -54,7 +54,7 @@ int main(void) { static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); max1168_init(); main_spi2_init(); diff --git a/sw/airborne/lisa/test/lisa_test_sc18is600.c b/sw/airborne/lisa/test/lisa_test_sc18is600.c index 044ba8cad3..846e4cab96 100644 --- a/sw/airborne/lisa/test/lisa_test_sc18is600.c +++ b/sw/airborne/lisa/test/lisa_test_sc18is600.c @@ -26,7 +26,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" #include "peripherals/sc18is600.h" @@ -51,7 +51,7 @@ int main(void) { static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); sc18is600_init(); main_spi2_init(); diff --git a/sw/airborne/lisa/test/lisa_tunnel.c b/sw/airborne/lisa/test/lisa_tunnel.c index 1a7bec287a..48c5072eca 100644 --- a/sw/airborne/lisa/test/lisa_tunnel.c +++ b/sw/airborne/lisa/test/lisa_tunnel.c @@ -44,7 +44,7 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); } diff --git a/sw/airborne/lisa/test/test_board.c b/sw/airborne/lisa/test/test_board.c index 292fb22bca..603f6ec155 100644 --- a/sw/airborne/lisa/test/test_board.c +++ b/sw/airborne/lisa/test/test_board.c @@ -98,7 +98,7 @@ int main( void ) { static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); diff --git a/sw/airborne/lisa/test/test_bswap.c b/sw/airborne/lisa/test/test_bswap.c index b1a9cc5bc3..ccf1a9ad33 100644 --- a/sw/airborne/lisa/test/test_bswap.c +++ b/sw/airborne/lisa/test/test_bswap.c @@ -1,6 +1,6 @@ #include -#include "init_hw.h" +#include "mcu.h" #define MyByteSwap16(n) \ diff --git a/sw/airborne/lisa/test/test_mc_asctec_v1_simple.c b/sw/airborne/lisa/test/test_mc_asctec_v1_simple.c index be1a213223..b83160e704 100644 --- a/sw/airborne/lisa/test/test_mc_asctec_v1_simple.c +++ b/sw/airborne/lisa/test/test_mc_asctec_v1_simple.c @@ -28,7 +28,7 @@ */ -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" @@ -51,7 +51,7 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); } diff --git a/sw/airborne/lisa/test_csc_servo.c b/sw/airborne/lisa/test_csc_servo.c index d0fe135f49..7249d89ec4 100644 --- a/sw/airborne/lisa/test_csc_servo.c +++ b/sw/airborne/lisa/test_csc_servo.c @@ -22,7 +22,7 @@ */ -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "csc_msg_def.h" #include "csc_protocol.h" diff --git a/sw/airborne/lisa/test_datalink.c b/sw/airborne/lisa/test_datalink.c index 2315f1370f..ce5a02f314 100644 --- a/sw/airborne/lisa/test_datalink.c +++ b/sw/airborne/lisa/test_datalink.c @@ -24,7 +24,7 @@ #define DATALINK_C #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" @@ -47,7 +47,7 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); } diff --git a/sw/airborne/lisa/test_float.c b/sw/airborne/lisa/test_float.c index 0188012ca9..0339888cac 100644 --- a/sw/airborne/lisa/test_float.c +++ b/sw/airborne/lisa/test_float.c @@ -24,7 +24,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" static inline void main_init( void ); @@ -43,7 +43,7 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); } diff --git a/sw/airborne/lisa/test_mc.c b/sw/airborne/lisa/test_mc.c index fa6f1a3d3c..978c2857d1 100644 --- a/sw/airborne/lisa/test_mc.c +++ b/sw/airborne/lisa/test_mc.c @@ -30,7 +30,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" static inline void main_init( void ); @@ -55,7 +55,7 @@ int main(void) { static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); main_i2c_init(); test_gpios(); diff --git a/sw/airborne/lisa/test_periodic.c b/sw/airborne/lisa/test_periodic.c index 40f8c1371f..6104c4ad3e 100644 --- a/sw/airborne/lisa/test_periodic.c +++ b/sw/airborne/lisa/test_periodic.c @@ -25,7 +25,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" static inline void main_init( void ); @@ -43,7 +43,7 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); } diff --git a/sw/airborne/lisa/test_spi_slave.c b/sw/airborne/lisa/test_spi_slave.c index 001219a8e4..d78e32ccdd 100644 --- a/sw/airborne/lisa/test_spi_slave.c +++ b/sw/airborne/lisa/test_spi_slave.c @@ -26,7 +26,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" @@ -51,7 +51,7 @@ int main(void) { static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); main_spi_slave_init(); } diff --git a/sw/airborne/lisa/test_spi_slave2.c b/sw/airborne/lisa/test_spi_slave2.c index 75c5e8ecc8..09bdee54e5 100644 --- a/sw/airborne/lisa/test_spi_slave2.c +++ b/sw/airborne/lisa/test_spi_slave2.c @@ -27,7 +27,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" #include "fms/fms_autopilot_msg.h" @@ -59,7 +59,7 @@ int main(void) { static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); main_spi_slave_init(); } diff --git a/sw/airborne/lisa/tunnel_hw.c b/sw/airborne/lisa/tunnel_hw.c index 0d9770e05b..10741ff5ae 100644 --- a/sw/airborne/lisa/tunnel_hw.c +++ b/sw/airborne/lisa/tunnel_hw.c @@ -27,7 +27,7 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" @@ -52,7 +52,7 @@ void Delay(__IO uint32_t nCount) { int main(void) { - hw_init(); + mcu_init(); sys_time_init(); diff --git a/sw/airborne/mcu.c b/sw/airborne/mcu.c index d1f02766d7..e0853e4bab 100644 --- a/sw/airborne/mcu.c +++ b/sw/airborne/mcu.c @@ -36,7 +36,7 @@ #if defined USE_UART0 || defined USE_UART1 || defined USE_UART2 || defined USE_UART3 || defined USE_UART4 || defined USE_UART5 #include "mcu_periph/uart.h" #endif -#if defined USE_I2C0 || defined USE_I2C1 || defined USE_I2C2 +#if defined USE_I2C0 || defined USE_I2C1 || defined USE_I2C2 #include "mcu_periph/i2c.h" #endif #if defined USE_ADC diff --git a/sw/airborne/modules/core/extra_pprz_dl.h b/sw/airborne/modules/core/extra_pprz_dl.h index 676075a90c..5c562122b2 100644 --- a/sw/airborne/modules/core/extra_pprz_dl.h +++ b/sw/airborne/modules/core/extra_pprz_dl.h @@ -138,7 +138,7 @@ extern uint8_t extra_pprz_ovrn, extra_pprz_error; extern volatile uint8_t extra_pprz_payload_len; #include "led.h" -//#include "uart.h" +//#include "mcu_periph/uart.h" //#include "messages.h" //#include "downlink.h" static inline void parse_extra_pprz( uint8_t c ) { diff --git a/sw/airborne/modules/sensors/infrared_adc.h b/sw/airborne/modules/sensors/infrared_adc.h new file mode 100644 index 0000000000..9a0efb291a --- /dev/null +++ b/sw/airborne/modules/sensors/infrared_adc.h @@ -0,0 +1,33 @@ +/* + * Copyright (C) 2010 ENAC + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/* + * Wrapper for adc infrared sensor module + */ + +#ifndef INFRARED_ADC_H +#define INFRARED_ADC_H + +#include "subsystems/sensors/infrared_adc.h" + +#endif // INFRARED_ADC_H + diff --git a/sw/airborne/modules/sensors/infrared_i2c.h b/sw/airborne/modules/sensors/infrared_i2c.h index 0b3422667c..95e9ea1d01 100644 --- a/sw/airborne/modules/sensors/infrared_i2c.h +++ b/sw/airborne/modules/sensors/infrared_i2c.h @@ -21,43 +21,12 @@ */ /* - * Driver for i2c infrared sensor + * Wrapper for i2c infrared sensor module */ #ifndef INFRARED_I2C_H #define INFRARED_I2C_H -#include "std.h" -#include "generated/airframe.h" -#include "subsystems/sensors/infrared.h" -#include "mcu_periph/i2c.h" - -extern int16_t ir_i2c_ir1; -extern int16_t ir_i2c_ir2; -extern int16_t ir_i2c_top; -extern volatile bool_t ir_i2c_done; -extern bool_t ir_i2c_data_available; -extern uint8_t ir_i2c_conf_word; -extern bool_t ir_i2c_conf_hor_done, ir_i2c_conf_ver_done; - -extern struct i2c_transaction irh_trans, irv_trans; - -extern void infrared_i2c_init( void ); -extern void infrared_i2c_update( void ); -extern void infrared_i2c_hor_event( void ); -extern void infrared_i2c_ver_event( void ); - -#define infrared_i2cEvent() { \ - if (irh_trans.status == I2CTransSuccess) infrared_i2c_hor_event(); \ - if (irv_trans.status == I2CTransSuccess) infrared_i2c_ver_event(); \ -} - -#define infrared_i2cDownlink() DOWNLINK_SEND_DEBUG_IR_I2C(DefaultChannel, &ir_i2c_ir1, &ir_i2c_ir2, &ir_i2c_top) - -#define infrared_i2c_SetConfWord(_v) { \ - ir_i2c_conf_hor_done = FALSE; \ - ir_i2c_conf_ver_done = FALSE; \ - ir_i2c_conf_word = _v; \ -} +#include "subsystems/sensors/infrared_i2c.h" #endif // INFRARED_I2C_H diff --git a/sw/airborne/obsolete/3dmg.c b/sw/airborne/obsolete/3dmg.c index eaaa3c6917..589dcc14e8 100644 --- a/sw/airborne/obsolete/3dmg.c +++ b/sw/airborne/obsolete/3dmg.c @@ -26,7 +26,7 @@ #include "std.h" #include "3dmg.h" -#include "uart.h" +#include "mcu_periph/uart.h" volatile bool_t _3dmg_data_ready; int16_t _3dmg_roll, _3dmg_pitch, _3dmg_yaw; diff --git a/sw/airborne/sd_card/main.c b/sw/airborne/sd_card/main.c index a77f922b58..5ab9371101 100644 --- a/sw/airborne/sd_card/main.c +++ b/sw/airborne/sd_card/main.c @@ -34,7 +34,7 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); Uart0Init(); @@ -42,7 +42,7 @@ static inline void main_init( void ) { spi_init(); sd_card_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/subsystems/sensors/infrared.c b/sw/airborne/subsystems/sensors/infrared.c index c90784dd89..caa00a1b5d 100644 --- a/sw/airborne/subsystems/sensors/infrared.c +++ b/sw/airborne/subsystems/sensors/infrared.c @@ -23,105 +23,22 @@ */ /** \file subsystems/sensors/infrared.c - * \brief Regroup all functions link to \a ir + * \brief common infrared */ - - - -#include - #include "subsystems/sensors/infrared.h" -#include "mcu_periph/adc.h" - -#include BOARD_CONFIG #include "generated/airframe.h" - -#if defined IR_ESTIMATED_PHI_PI_4 || defined IR_ESTIMATED_PHI_MINUS_PI_4 || defined IR_ESTIMATED_THETA_PI_4 -#error "IR_ESTIMATED_PHI_PI_4 correction has been deprecated. Please remove the definition from your airframe config file" -#endif #ifdef INFRARED #error "The flag INFRARED has been deprecated. Please replace it with USE_INFRARED." #endif -#if defined IR_ADC_ROLL_NEUTRAL || defined IR_ADC_PITCH_NEUTRAL -#error "Neutrals on ROLL and PITCH deprecated. Please define IR_ADC_IR1_NEUTRAL and IR_ADC_IR2_NEUTRAL" -#endif -#ifdef IR_360 -#warning "IR_360 flag deprecated. Now default" -#endif -#ifdef IR_360_LATERAL_CORRECTION -#error "IR_360_LATERAL_CORRECTION now IR_LATERAL_CORRECTION" -#endif - -#ifdef IR_360_LONGITUDINAL_CORRECTION -#error "IR_360_LONGITUDINAL_CORRECTION now IR_LONGITUDINAL_CORRECTION" -#endif - -#ifdef IR_360_VERTICAL_CORRECTION -#error "IR_360_VERTICAL_CORRECTION now IR_VERTICAL_CORRECTION" -#endif - struct Infrared infrared; -#if !defined IR_CORRECTION_LEFT -#define IR_CORRECTION_LEFT 1. -#endif - -#if !defined IR_CORRECTION_RIGHT -#define IR_CORRECTION_RIGHT 1. -#endif - -#if !defined IR_CORRECTION_UP -#define IR_CORRECTION_UP 1. -#endif - -#if !defined IR_CORRECTION_DOWN -#define IR_CORRECTION_DOWN 1. -#endif - -#if ! (defined SITL || defined HITL) -static struct adc_buf buf_ir1; -static struct adc_buf buf_ir2; - -#ifdef ADC_CHANNEL_IR_TOP -static struct adc_buf buf_ir_top; -#endif -#endif - - -#ifndef ADC_CHANNEL_IR_NB_SAMPLES -#define ADC_CHANNEL_IR_NB_SAMPLES DEFAULT_AV_NB_SAMPLE -#endif - -#ifndef IR_LATERAL_CORRECTION -#define IR_LATERAL_CORRECTION 1. -#endif - -#ifndef IR_LONGITUDINAL_CORRECTION -#define IR_LONGITUDINAL_CORRECTION 1. -#endif - -#ifndef IR_VERTICAL_CORRECTION -#define IR_VERTICAL_CORRECTION 1. -#endif - - -/** \brief Initialisation of \a ir */ -/** Initialize \a adc_buf_channel +/** \brief Initialisation of \a ir structure */ -void infrared_init(void) { -#if ! (defined SITL || defined HITL) - adc_buf_channel(ADC_CHANNEL_IR1, &buf_ir1, ADC_CHANNEL_IR_NB_SAMPLES); - adc_buf_channel(ADC_CHANNEL_IR2, &buf_ir2, ADC_CHANNEL_IR_NB_SAMPLES); -#ifdef ADC_CHANNEL_IR_TOP - adc_buf_channel(ADC_CHANNEL_IR_TOP, &buf_ir_top, ADC_CHANNEL_IR_NB_SAMPLES); -#endif -#endif - - - infrared.roll_neutral = RadOfDeg(IR_ROLL_NEUTRAL_DEFAULT); +void infrared_struct_init(void) { + infrared.roll_neutral = RadOfDeg(IR_ROLL_NEUTRAL_DEFAULT); infrared.pitch_neutral = RadOfDeg(IR_PITCH_NEUTRAL_DEFAULT); infrared.correction_left = IR_CORRECTION_LEFT; @@ -133,57 +50,6 @@ void infrared_init(void) { infrared.longitudinal_correction = IR_LONGITUDINAL_CORRECTION; infrared.vertical_correction = IR_VERTICAL_CORRECTION; -#if ! (defined ADC_CHANNEL_IR_TOP || defined HITL || defined SITL) - infrared.top = IR_DEFAULT_CONTRAST; -#endif } -#ifndef IR_IR1_SIGN -#define IR_IR1_SIGN 1 -#endif /* IR_IR1_SIGN */ - -#ifndef IR_IR2_SIGN -#define IR_IR2_SIGN 1 -#endif /* IR_IR2_SIGN */ - -#ifndef IR_TOP_SIGN -#define IR_TOP_SIGN 1 -#endif /* IR_TOP_SIGN */ - -/* Sensor installation */ -#if defined IR_HORIZ_SENSOR_ALIGNED -/* IR1 on the lateral axis, IR2 on the longitudal axis */ -#define IR_RollOfIrs(_ir1, _ir2) (_ir1) -#define IR_PitchOfIrs(_ir1, _ir2) (_ir2) -#elif IR_HORIZ_SENSOR_TILTED -/* IR1 rear-left -- front-right, IR2 rear-right -- front-left - IR1_SIGN and IR2_SIGN give positive values when it's warm on the right side -*/ -#define IR_RollOfIrs(_ir1, _ir2) (_ir1 + _ir2) -#define IR_PitchOfIrs(_ir1, _ir2) (-(_ir1) + _ir2) -#endif - -#ifdef ADC_CHANNEL_IR_TOP -#ifndef IR_TopOfIr -#define IR_TopOfIr(_ir) ((IR_TOP_SIGN)*(_ir)) -#endif -#endif - - -/** \brief Update \a ir_roll and ir_pitch from ADCs or from simulator - * message in HITL and SITL modes - */ -void infrared_update(void) { -#if ! (defined SITL || defined HITL) - infrared.ir1 = (IR_IR1_SIGN)*((int32_t)(buf_ir1.sum/buf_ir1.av_nb_sample) - IR_ADC_IR1_NEUTRAL); - infrared.ir2 = (IR_IR2_SIGN)*((int32_t)(buf_ir2.sum/buf_ir2.av_nb_sample) - IR_ADC_IR2_NEUTRAL); - infrared.roll = infrared.lateral_correction * IR_RollOfIrs(infrared.ir1, infrared.ir2); - infrared.pitch = infrared.longitudinal_correction * IR_PitchOfIrs(infrared.ir1, infrared.ir2); -#ifdef ADC_CHANNEL_IR_TOP - infrared.ir3 = (int32_t)(buf_ir_top.sum/buf_ir_top.av_nb_sample) - IR_ADC_TOP_NEUTRAL; - infrared.top = infrared.vertical_correction * IR_TopOfIr(infrared.ir3); -#endif // IR_TOP -#endif /* !SITL && !HITL */ -/** #else ir_roll set by simulator in sim_ir.c */ -} diff --git a/sw/airborne/subsystems/sensors/infrared.h b/sw/airborne/subsystems/sensors/infrared.h index 60a1baf3c8..f49a9b0187 100644 --- a/sw/airborne/subsystems/sensors/infrared.h +++ b/sw/airborne/subsystems/sensors/infrared.h @@ -27,19 +27,91 @@ #include "std.h" #include "generated/airframe.h" +#include "estimator.h" -struct Infrared { +/* + * Sensor installation + */ + +#ifndef IR_IR1_SIGN +#define IR_IR1_SIGN 1 +#endif /* IR_IR1_SIGN */ + +#ifndef IR_IR2_SIGN +#define IR_IR2_SIGN 1 +#endif /* IR_IR2_SIGN */ + +#ifndef IR_TOP_SIGN +#define IR_TOP_SIGN 1 +#endif /* IR_TOP_SIGN */ + +#if defined IR_HORIZ_SENSOR_ALIGNED +/* IR1 on the lateral axis, IR2 on the longitudal axis */ +#define IR_RollOfIrs(_ir1, _ir2) (_ir1) +#define IR_PitchOfIrs(_ir1, _ir2) (_ir2) +#elif IR_HORIZ_SENSOR_TILTED +/* IR1 rear-left -- front-right, IR2 rear-right -- front-left + IR1_SIGN and IR2_SIGN give positive values when it's warm on the right side +*/ +#define IR_RollOfIrs(_ir1, _ir2) (_ir1 + _ir2) +#define IR_PitchOfIrs(_ir1, _ir2) (-(_ir1) + _ir2) +#endif +/* Vertical sensor, TOP_SIGN gives positice values when it's warm on the bottom */ +#ifndef IR_TopOfIr +#define IR_TopOfIr(_ir) (_ir) +#endif + +/* + * Default correction values + */ + +#ifndef IR_LATERAL_CORRECTION +#define IR_LATERAL_CORRECTION 1. +#endif + +#ifndef IR_LONGITUDINAL_CORRECTION +#define IR_LONGITUDINAL_CORRECTION 1. +#endif + +#ifndef IR_VERTICAL_CORRECTION +#define IR_VERTICAL_CORRECTION 1. +#endif + +#ifndef IR_CORRECTION_LEFT +#define IR_CORRECTION_LEFT 1. +#endif + +#ifndef IR_CORRECTION_RIGHT +#define IR_CORRECTION_RIGHT 1. +#endif + +#ifndef IR_CORRECTION_UP +#define IR_CORRECTION_UP 1. +#endif + +#ifndef IR_CORRECTION_DOWN +#define IR_CORRECTION_DOWN 1. +#endif + +struct Infrared_raw { /* the 3 channels of the sensor */ int16_t ir1; int16_t ir2; int16_t ir3; +}; + +/** Infrared structure */ +struct Infrared { + /* raw infrared values + */ + struct Infrared_raw value; /* neutrals in radians */ float roll_neutral; float pitch_neutral; float pitch_vneutral; - /* roll, pitch, yaw unscaled reading + /* roll, pitch, top unscaled reading */ int16_t roll; int16_t pitch; @@ -61,7 +133,22 @@ struct Infrared { extern struct Infrared infrared; +#define UpdateIRValue(_v) { \ + infrared.value.ir1 = (IR_IR1_SIGN)*_v.ir1; \ + infrared.value.ir2 = (IR_IR2_SIGN)*_v.ir2; \ + infrared.value.ir3 = (IR_TOP_SIGN)*_v.ir3; \ + infrared.roll = infrared.lateral_correction * IR_RollOfIrs(infrared.value.ir1, infrared.value.ir2); \ + infrared.pitch = infrared.longitudinal_correction * IR_PitchOfIrs(infrared.value.ir1, infrared.value.ir2); \ + infrared.top = infrared.vertical_correction * IR_TopOfIr(infrared.value.ir3); \ + estimator_update_state_infrared(); \ +} + +// initialization of the infrared structure +void infrared_struct_init(void); + +// implementation dependent functions void infrared_init(void); void infrared_update(void); +void infrared_event(void); #endif /* SUBSYSTEMS_SENSORS_INFRARED_H */ diff --git a/sw/airborne/subsystems/sensors/infrared_adc.c b/sw/airborne/subsystems/sensors/infrared_adc.c new file mode 100644 index 0000000000..86533aeb67 --- /dev/null +++ b/sw/airborne/subsystems/sensors/infrared_adc.c @@ -0,0 +1,104 @@ +/* + * $Id$ + * + * Copyright (C) 2003-2010 The Paparazzi Team + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/** \file subsystems/sensors/infrared_adc.c + * \brief Regroup all functions link to ADC \a ir + */ + + + + +#include + +#include "subsystems/sensors/infrared_adc.h" +#include "mcu_periph/adc.h" + +#include BOARD_CONFIG +#include "generated/airframe.h" + +// TODO Specific sim implementation +#if ! (defined SITL || defined HITL) +static struct adc_buf buf_ir1; +static struct adc_buf buf_ir2; + +#ifdef ADC_CHANNEL_IR_TOP +static struct adc_buf buf_ir3; +#endif +#endif + +#ifndef ADC_CHANNEL_IR_NB_SAMPLES +#define ADC_CHANNEL_IR_NB_SAMPLES DEFAULT_AV_NB_SAMPLE +#endif + +struct Infrared_raw ir_adc; + +// Standard infrared implementation +void infrared_init(void) { + infrared_adc_init(); +} + +void infrared_update(void) { + infrared_adc_update(); +} + +/* No event with adc ir */ +void infrared_event(void) {} + +/** \brief Initialisation of \a ir */ +/** Initialize \a adc_buf_channel + */ +void infrared_adc_init(void) { +#if ! (defined SITL || defined HITL) + adc_buf_channel(ADC_CHANNEL_IR1, &buf_ir1, ADC_CHANNEL_IR_NB_SAMPLES); + adc_buf_channel(ADC_CHANNEL_IR2, &buf_ir2, ADC_CHANNEL_IR_NB_SAMPLES); +#ifdef ADC_CHANNEL_IR_TOP + adc_buf_channel(ADC_CHANNEL_IR_TOP, &buf_ir3, ADC_CHANNEL_IR_NB_SAMPLES); +#endif +#endif + + infrared_struct_init(); + +#if ! (defined ADC_CHANNEL_IR_TOP || defined HITL || defined SITL) + ir_adc.ir3 = IR_DEFAULT_CONTRAST; +#endif +} + + +/** \brief Update \a ir_roll and ir_pitch from ADCs or from simulator + * message in HITL and SITL modes + */ +void infrared_adc_update(void) { +#if ! (defined SITL || defined HITL) + ir_adc.ir1 = (int32_t)(buf_ir1.sum/buf_ir1.av_nb_sample) - IR_ADC_IR1_NEUTRAL; + ir_adc.ir2 = (int32_t)(buf_ir2.sum/buf_ir2.av_nb_sample) - IR_ADC_IR2_NEUTRAL; +#ifdef ADC_CHANNEL_IR_TOP + ir_adc.ir3 = (int32_t)(buf_ir3.sum/buf_ir3.av_nb_sample) - IR_ADC_TOP_NEUTRAL; +#endif // IR_TOP +#ifndef IR_ADC_READ_ONLY + UpdateIRValue(ir_adc); +#endif +#endif /* !SITL && !HITL */ +/** #else ir_roll set by simulator in sim_ir.c */ +} + diff --git a/sw/airborne/subsystems/sensors/infrared_adc.h b/sw/airborne/subsystems/sensors/infrared_adc.h new file mode 100644 index 0000000000..74dd729daa --- /dev/null +++ b/sw/airborne/subsystems/sensors/infrared_adc.h @@ -0,0 +1,39 @@ +/* + * Copyright (C) 2010 ENAC + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/* + * Driver for adc infrared sensor + */ + +#ifndef SUBSYSTEMS_SENSORS_INFRARED_ADC_H +#define SUBSYSTEMS_SENSORS_INFRARED_ADC_H + +#include "std.h" +#include "subsystems/sensors/infrared.h" + +extern struct Infrared_raw ir_adc; + +extern void infrared_adc_init(void); +extern void infrared_adc_update(void); + +#endif // SUBSYSTEMS_SENSORS_INFRARED_ADC_H + diff --git a/sw/airborne/modules/sensors/infrared_i2c.c b/sw/airborne/subsystems/sensors/infrared_i2c.c similarity index 55% rename from sw/airborne/modules/sensors/infrared_i2c.c rename to sw/airborne/subsystems/sensors/infrared_i2c.c index a6c4520766..40df90406d 100644 --- a/sw/airborne/modules/sensors/infrared_i2c.c +++ b/sw/airborne/subsystems/sensors/infrared_i2c.c @@ -34,102 +34,20 @@ #define IR_START_CONV (1 << 7) -#ifndef IR_IR1_NEUTRAL -#define IR_IR1_NEUTRAL 0 +#ifndef IR_I2C_IR1_NEUTRAL +#define IR_I2C_IR1_NEUTRAL 0 #endif -#ifndef IR_IR2_NEUTRAL -#define IR_IR2_NEUTRAL 0 +#ifndef IR_I2C_IR2_NEUTRAL +#define IR_I2C_IR2_NEUTRAL 0 #endif -#ifndef IR_TOP_NEUTRAL -#define IR_TOP_NEUTRAL 0 +#ifndef IR_I2C_TOP_NEUTRAL +#define IR_I2C_TOP_NEUTRAL 0 #endif -// Standard infrared interface -int16_t ir_ir1; -int16_t ir_ir2; -int16_t ir_roll; -int16_t ir_pitch; -int16_t ir_top; - -#ifndef IR_IR1_SIGN -#define IR_IR1_SIGN 1 -#endif // IR_IR1_SIGN - -#ifndef IR_IR2_SIGN -#define IR_IR2_SIGN 1 -#endif // IR_IR2_SIGN - -#ifndef IR_TOP_SIGN -#define IR_TOP_SIGN 1 -#endif // IR_TOP_SIGN - -float ir_roll_neutral; -float ir_pitch_neutral; - -float ir_correction_left; -float ir_correction_right; -float ir_correction_down; -float ir_correction_up; - -#ifndef IR_CORRECTION_LEFT -#define IR_CORRECTION_LEFT 1. -#endif - -#ifndef IR_CORRECTION_RIGHT -#define IR_CORRECTION_RIGHT 1. -#endif - -#ifndef IR_CORRECTION_UP -#define IR_CORRECTION_UP 1. -#endif - -#ifndef IR_CORRECTION_DOWN -#define IR_CORRECTION_DOWN 1. -#endif - -float ir_lateral_correction; -float ir_longitudinal_correction; -float ir_vertical_correction; - -#ifndef IR_LATERAL_CORRECTION -#define IR_LATERAL_CORRECTION 1. -#endif - -#ifndef IR_LONGITUDINAL_CORRECTION -#define IR_LONGITUDINAL_CORRECTION 1. -#endif - -#ifndef IR_VERTICAL_CORRECTION -#define IR_VERTICAL_CORRECTION 1. -#endif - -/* Sensor installation */ -#if defined IR_HORIZ_SENSOR_ALIGNED -/* IR1 on the lateral axis, IR2 on the longitudal axis */ -#define IR_RollOfIrs(_ir1, _ir2) (_ir1) -#define IR_PitchOfIrs(_ir1, _ir2) (_ir2) -#elif IR_HORIZ_SENSOR_TILTED -/* IR1 rear-left -- front-right, IR2 rear-right -- front-left - IR1_SIGN and IR2_SIGN give positive values when it's warm on the right side -*/ -#define IR_RollOfIrs(_ir1, _ir2) (_ir1 + _ir2) -#define IR_PitchOfIrs(_ir1, _ir2) (-(_ir1) + _ir2) -#endif -/* Vertical sensor, TOP_SIGN gives positice values when it's warm on the bottom */ -#define IR_TopOfIr(_ir) ((IR_TOP_SIGN)*(_ir)) - - - -// Global variables -int16_t ir_i2c_ir1; -int16_t ir_i2c_ir2; -int16_t ir_i2c_top; - -float ir_i2c_phi, ir_i2c_theta; - -bool_t ir_i2c_data_available; +struct Infrared_raw ir_i2c; +bool_t ir_i2c_data_hor_available, ir_i2c_data_ver_available; uint8_t ir_i2c_conf_word; bool_t ir_i2c_conf_hor_done, ir_i2c_conf_ver_done; @@ -149,13 +67,24 @@ static uint8_t ir_i2c_hor_status; // I2C structure struct i2c_transaction irh_trans, irv_trans; -//FIXME standard infrared should not ba ADC-dependent -void ir_init(void) {} +// Standard infrared implementation +void infrared_init(void) { + infrared_i2c_init(); +} + +void infrared_update(void) { + infrared_i2c_update(); +} + +void infrared_event(void) { + infrared_i2cEvent(); +} /** Initialisation */ void infrared_i2c_init( void ) { - ir_i2c_data_available = FALSE; + ir_i2c_data_hor_available = FALSE; + ir_i2c_data_ver_available = FALSE; ir_i2c_hor_status = IR_I2C_IDLE; ir_i2c_conf_word = IR_I2C_DEFAULT_CONF; ir_i2c_conf_hor_done = FALSE; @@ -163,21 +92,9 @@ void infrared_i2c_init( void ) { irh_trans.status = I2CTransDone; irv_trans.status = I2CTransDone; - // Initialisation of standard infrared interface - ir_roll_neutral = RadOfDeg(IR_ROLL_NEUTRAL_DEFAULT); - ir_pitch_neutral = RadOfDeg(IR_PITCH_NEUTRAL_DEFAULT); - - ir_correction_left = IR_CORRECTION_LEFT; - ir_correction_right = IR_CORRECTION_RIGHT; - ir_correction_up = IR_CORRECTION_UP; - ir_correction_down = IR_CORRECTION_DOWN; - - ir_lateral_correction = IR_LATERAL_CORRECTION; - ir_longitudinal_correction = IR_LONGITUDINAL_CORRECTION; - ir_vertical_correction = IR_VERTICAL_CORRECTION; + infrared_struct_init(); } -#include "led.h" void infrared_i2c_update( void ) { #if ! (defined SITL || defined HITL) // IR horizontal @@ -189,7 +106,7 @@ void infrared_i2c_update( void ) { } else { // Read next values I2CReceive(i2c0, irh_trans, IR_HOR_I2C_ADDR, 3); - ir_i2c_data_available = FALSE; + ir_i2c_data_hor_available = FALSE; ir_i2c_hor_status = IR_I2C_READ_IR1; } } @@ -201,7 +118,7 @@ void infrared_i2c_update( void ) { } else { // Read next values I2CReceive(i2c0, irv_trans, IR_VER_I2C_ADDR, 2); - ir_i2c_data_available = FALSE; + ir_i2c_data_ver_available = FALSE; } } #else /* SITL || HITL */ @@ -225,7 +142,8 @@ void infrared_i2c_hor_event( void ) { } // Read IR1 value int16_t ir1 = (irh_trans.buf[0]<<8) | irh_trans.buf[1]; - ir_i2c_ir1 = FilterIR(ir_i2c_ir1, ir1); + ir1 = ir1 - (IR_I2C_IR1_NEUTRAL << ir_i2c_conf_word); + ir_i2c.ir1 = FilterIR(ir_i2c.ir1, ir1); // Select IR2 channel irh_trans.buf[0] = IR_HOR_I2C_SELECT_IR2 | IR_HOR_OC_BIT | ir_i2c_conf_word | IR_START_CONV; I2CTransmit(i2c0, irh_trans, IR_HOR_I2C_ADDR, 1); @@ -243,11 +161,17 @@ void infrared_i2c_hor_event( void ) { break; } int16_t ir2 = (irh_trans.buf[0]<<8) | irh_trans.buf[1]; - ir_i2c_ir2 = FilterIR(ir_i2c_ir2, ir2); + ir2 = ir2 - (IR_I2C_IR2_NEUTRAL << ir_i2c_conf_word); + ir_i2c.ir2 = FilterIR(ir_i2c.ir2, ir2); // Update estimator - ir_i2c_data_available = TRUE; - ir_update(); - estimator_update_state_infrared(); + ir_i2c_data_hor_available = TRUE; +#ifndef IR_I2C_READ_ONLY + if (ir_i2c_data_ver_available) { + ir_i2c_data_hor_available = FALSE; + ir_i2c_data_ver_available = FALSE; + UpdateIRValue(ir_i2c); + } +#endif // Select IR1 channel irh_trans.buf[0] = IR_HOR_I2C_SELECT_IR1 | IR_HOR_OC_BIT | ir_i2c_conf_word | IR_START_CONV; I2CTransmit(i2c0, irh_trans, IR_HOR_I2C_ADDR, 1); @@ -271,11 +195,17 @@ void infrared_i2c_ver_event( void ) { irv_trans.status = I2CTransDone; // Read TOP value if (irv_trans.type == I2CTransRx) { - int16_t top = (irv_trans.buf[0]<<8) | irv_trans.buf[1]; - ir_i2c_top = FilterIR(ir_i2c_top, top); - ir_i2c_data_available = TRUE; - ir_update(); - estimator_update_state_infrared(); + int16_t ir3 = (irv_trans.buf[0]<<8) | irv_trans.buf[1]; + ir3 = ir3 - (IR_I2C_TOP_NEUTRAL << ir_i2c_conf_word); + ir_i2c.ir3 = FilterIR(ir_i2c.ir3, ir3); + ir_i2c_data_ver_available = TRUE; +#ifndef IR_I2C_READ_ONLY + if (ir_i2c_data_hor_available) { + ir_i2c_data_hor_available = FALSE; + ir_i2c_data_ver_available = FALSE; + UpdateIRValue(ir_i2c); + } +#endif } if (irv_trans.type == I2CTransTx) { ir_i2c_conf_ver_done = TRUE; @@ -283,34 +213,3 @@ void infrared_i2c_ver_event( void ) { #endif /* !SITL && !HITL */ } -#include "stdio.h" - -void ir_update(void) { - ir_ir1 = (IR_IR1_SIGN)*(ir_i2c_ir1 - (IR_IR1_NEUTRAL << ir_i2c_conf_word)); - ir_ir2 = (IR_IR2_SIGN)*(ir_i2c_ir2 - (IR_IR2_NEUTRAL << ir_i2c_conf_word)); - ir_roll = ir_lateral_correction * IR_RollOfIrs(ir_ir1, ir_ir2); - ir_pitch = ir_longitudinal_correction * IR_PitchOfIrs(ir_ir1, ir_ir2); - ir_top = ir_vertical_correction * IR_TopOfIr(ir_i2c_top - (IR_TOP_NEUTRAL << ir_i2c_conf_word)); -} - -void estimator_update_state_infrared(void) { - - estimator_phi = atan2(ir_roll, ir_top) - ir_roll_neutral; - estimator_theta = atan2(ir_pitch, ir_top) - ir_pitch_neutral; - - if (estimator_theta < -M_PI_2) - estimator_theta += M_PI; - else if (estimator_theta > M_PI_2) - estimator_theta -= M_PI; - - if (estimator_phi >= 0) - estimator_phi *= ir_correction_right; - else - estimator_phi *= ir_correction_left; - - if (estimator_theta >= 0) - estimator_theta *= ir_correction_up; - else - estimator_theta *= ir_correction_down; - -} diff --git a/sw/airborne/subsystems/sensors/infrared_i2c.h b/sw/airborne/subsystems/sensors/infrared_i2c.h new file mode 100644 index 0000000000..855e186424 --- /dev/null +++ b/sw/airborne/subsystems/sensors/infrared_i2c.h @@ -0,0 +1,60 @@ +/* + * Copyright (C) 2010 ENAC + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/* + * Driver for i2c infrared sensor + */ + +#ifndef SUBSYSTEMS_SENSORS_INFRARED_I2C_H +#define SUBSYSTEMS_SENSORS_INFRARED_I2C_H + +#include "std.h" +#include "generated/airframe.h" +#include "subsystems/sensors/infrared.h" +#include "mcu_periph/i2c.h" + +extern struct Infrared_raw ir_i2c; +extern bool_t ir_i2c_data_hor_available, ir_i2c_data_ver_available; +extern uint8_t ir_i2c_conf_word; +extern bool_t ir_i2c_conf_hor_done, ir_i2c_conf_ver_done; + +extern struct i2c_transaction irh_trans, irv_trans; + +extern void infrared_i2c_init( void ); +extern void infrared_i2c_update( void ); +extern void infrared_i2c_hor_event( void ); +extern void infrared_i2c_ver_event( void ); + +#define infrared_i2cEvent() { \ + if (irh_trans.status == I2CTransSuccess) infrared_i2c_hor_event(); \ + if (irv_trans.status == I2CTransSuccess) infrared_i2c_ver_event(); \ +} + +#define infrared_i2cDownlink() DOWNLINK_SEND_DEBUG_IR_I2C(DefaultChannel, &ir_i2c.ir1, &ir_i2c.ir2, &ir_i2c.ir3) + +#define infrared_i2c_SetConfWord(_v) { \ + ir_i2c_conf_hor_done = FALSE; \ + ir_i2c_conf_ver_done = FALSE; \ + ir_i2c_conf_word = _v; \ +} + +#endif // SUBSYSTEMS_SENSORS_INFRARED_I2C_H diff --git a/sw/airborne/test/nova_test_imu.c b/sw/airborne/test/nova_test_imu.c index e3a764b1e2..35f6a89d5e 100644 --- a/sw/airborne/test/nova_test_imu.c +++ b/sw/airborne/test/nova_test_imu.c @@ -1,10 +1,10 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "interrupt_hw.h" #include "sys_time.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" @@ -25,7 +25,7 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); @@ -35,7 +35,7 @@ static inline void main_init( void ) { ADS8344_init(); - int_enable(); + mcu_int_enable(); ADS8344_start(); } diff --git a/sw/airborne/test/test_telemetry.c b/sw/airborne/test/test_telemetry.c index d85739657b..bd2760fc7f 100644 --- a/sw/airborne/test/test_telemetry.c +++ b/sw/airborne/test/test_telemetry.c @@ -44,7 +44,7 @@ int main(void) { static inline void main_init( void ) { mcu_init(); sys_time_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic( void ) { diff --git a/sw/tools/Makefile b/sw/tools/Makefile index 6cdf1dadfd..e0f0b33ccf 100644 --- a/sw/tools/Makefile +++ b/sw/tools/Makefile @@ -24,13 +24,13 @@ Q=@ OCAML=ocaml OCAMLC=ocamlc -INCLUDES=-I ../lib/ocaml $(shell ocamlfind query -r -i-format xml-light) +INCLUDES=-I ../lib/ocaml $(shell ocamlfind query -r -i-format xml-light) -I . OCAMLNETINCLUDES=$(shell ocamlfind query -r -i-format netstring) OCAMLNETCMA=$(shell ocamlfind query -r -a-format -predicates byte netstring) OCAMLLEX=ocamllex OCAMLYACC=ocamlyacc -all: gen_aircraft.out gen_airframe.out gen_messages2.out gen_messages.out gen_ubx.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_tuning.out gen_xsens.out gen_modules.out find_free_msg_id.out +all: gen_common.cmo gen_aircraft.out gen_airframe.out gen_messages2.out gen_messages.out gen_ubx.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_tuning.out gen_xsens.out gen_modules.out find_free_msg_id.out FP_CMO = fp_proc.cmo gen_flight_plan.cmo ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%) @@ -42,13 +42,13 @@ gen_flight_plan.out : $(FP_CMO) ../lib/ocaml/lib-pprz.cma fp_proc.cmo : fp_proc.cmi gen_flight_plan.cmo : fp_proc.cmi +gen_common.cmo : gen_common.cmi - -%.out : %.ml Makefile +%.out : %.ml gen_common.ml Makefile @echo OC $< - $(Q)$(OCAMLC) $(INCLUDES) -o $@ unix.cma str.cma ivy-ocaml.cma xml-light.cma lib-pprz.cma $< + $(Q)$(OCAMLC) $(INCLUDES) -o $@ unix.cma str.cma ivy-ocaml.cma xml-light.cma lib-pprz.cma gen_common.cmo $< @cat ../../pprz_src_test.sh > $@ - @echo '$(OCAML) $(shell ocamlfind query -r -i-format xml-light) $(OCAMLNETINCLUDES) -I $$PAPARAZZI_SRC/sw/lib/ocaml unix.cma str.cma ivy-ocaml.cma xml-light.cma $(OCAMLNETCMA) lib-pprz.cma $$PAPARAZZI_BIN/$< $$*' >> $@ + @echo '$(OCAML) -I $$PAPARAZZI_SRC/sw/tools $(shell ocamlfind query -r -i-format xml-light) $(OCAMLNETINCLUDES) -I $$PAPARAZZI_SRC/sw/lib/ocaml unix.cma str.cma ivy-ocaml.cma xml-light.cma $(OCAMLNETCMA) lib-pprz.cma gen_common.cmo $$PAPARAZZI_BIN/$< $$*' >> $@ @chmod a+x $@ %.cmo : %.ml ../lib/ocaml/lib-pprz.cma diff --git a/sw/tools/gen_aircraft.ml b/sw/tools/gen_aircraft.ml index 2f127e60d3..6d290cf5fc 100644 --- a/sw/tools/gen_aircraft.ml +++ b/sw/tools/gen_aircraft.ml @@ -27,11 +27,12 @@ open Printf module U = Unix +open Gen_common + let (//) = Filename.concat let paparazzi_conf = Env.paparazzi_home // "conf" let conf_xml = paparazzi_conf // "conf.xml" -let modules_dir = paparazzi_conf // "modules" let mkdir = fun d -> assert (Sys.command (sprintf "mkdir -p %s" d) = 0) @@ -59,65 +60,15 @@ let check_unique_id_and_name = fun conf -> -let pipe_regexp = Str.regexp "|" -let targets_of_field = fun field -> - try - Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim") - with - _ -> [] - -(** singletonize a sorted list *) -let rec singletonize = fun l -> - match l with - [] | [_] -> l - | x :: ((y :: t) as yt) -> if x = y then singletonize yt else x :: singletonize yt - -(** union of two lists *) -let union = fun l1 l2 -> - let l = l1 @ l2 in - let sl = List.sort compare l in - singletonize sl - -let union_of_lists = fun l -> - let sl = List.sort compare (List.flatten l) in - singletonize sl - (** [get_modules dir xml] * [dir] is the conf directory for modules, [xml] is the parsed airframe.xml *) let get_modules = fun dir xml -> - (* extract all "modules" sections *) - let modules = List.map (fun x -> - match String.lowercase (Xml.tag x) with - "modules" -> Xml.children x - | _ -> [] - ) (Xml.children xml) in - (* flatten the list (result is a list of "load" xml nodes) *) - let modules = List.flatten modules in + let modules = Gen_common.get_modules_of_airframe xml in (* build a list (file name, (xml, xml list of flags)) *) - let extract = List.map (fun m -> - match String.lowercase (Xml.tag m) with - "load" -> let file = dir // ExtXml.attrib m "name" in - (file, (ExtXml.parse_file file, Xml.children m)) - | tag -> failwith (sprintf "Warning: tag load is undefined; found '%s'" tag) - ) modules in + let extract = List.map Gen_common.get_full_module_conf modules in (* return a list of name and a list of pairs (xml, xml list) *) List.split extract -(** [get_targets_of_module xml] Returns the list of targets of a module *) -let get_targets_of_module = fun m -> - let targets = List.map (fun x -> - match String.lowercase (Xml.tag x) with - "makefile" -> targets_of_field x - | _ -> [] - ) (Xml.children m) in - (* return a singletonized list *) - singletonize (List.sort compare (List.flatten targets)) - -(** [get_modules_dir xml] Returns the list of modules directories *) -let get_modules_dir = fun modules -> - let dir = List.map (fun (m, _) -> try Xml.attrib m "dir" with _ -> ExtXml.attrib m "name") modules in - singletonize (List.sort compare dir) - (** Search and dump the module section : xml : the parsed airframe.xml @@ -125,14 +76,14 @@ let get_modules_dir = fun modules -> **) let dump_module_section = fun xml f -> (* get modules *) - let (files, modules) = get_modules modules_dir xml in + let (files, modules) = get_modules Gen_common.modules_dir xml in (* print modules directories and includes for all targets *) fprintf f "\n####################################################\n"; fprintf f "# modules makefile section\n"; fprintf f "####################################################\n"; fprintf f "\n# include modules directory for all targets\n"; (* get dir and target list *) - let dir_list = get_modules_dir modules in + let dir_list = Gen_common.get_modules_dir modules in (** let target_list = union_of_lists (List.map (fun (m,_) -> get_targets_of_module m) modules) in List.iter (fun target -> fprintf f "%s.CFLAGS += -I modules -I arch/$(ARCH)/modules\n" target) target_list; @@ -146,7 +97,7 @@ let dump_module_section = fun xml f -> let dir = try Xml.attrib m "dir" with _ -> name in let dir_name = (String.uppercase dir)^"_DIR" in (* get the list of all the targets for this module *) - let module_target_list = get_targets_of_module m in + let module_target_list = Gen_common.get_targets_of_module m in (* print global flags as compilation defines and flags *) fprintf f "\n# makefile for module %s in modules/%s\n" name dir; List.iter (fun flag -> @@ -166,7 +117,7 @@ let dump_module_section = fun xml f -> (* Look for makefile section *) List.iter (fun l -> if ExtXml.tag_is l "makefile" then begin - let targets = targets_of_field l in + let targets = Gen_common.targets_of_field l in (* Look for defines, flags, files, ... *) List.iter (fun field -> match String.lowercase (Xml.tag field) with @@ -186,10 +137,12 @@ let dump_module_section = fun xml f -> ) targets | "file" -> let name = Xml.attrib field "name" in - List.iter (fun target -> fprintf f "%s.srcs += $(%s)/%s\n" target dir_name name) targets + let dir_name = ExtXml.attrib_or_default field "dir" ("$("^dir_name^")") in + List.iter (fun target -> fprintf f "%s.srcs += %s/%s\n" target dir_name name) targets | "file_arch" -> let name = Xml.attrib field "name" in - List.iter (fun target -> fprintf f "%s.srcs += arch/$(ARCH)/$(%s)/%s\n" target dir_name name) targets + let dir_name = ExtXml.attrib_or_default field "dir" ("$("^dir_name^")") in + List.iter (fun target -> fprintf f "%s.srcs += arch/$(ARCH)/%s/%s\n" target dir_name name) targets | "raw" -> begin match Xml.children field with [Xml.PCData s] -> fprintf f "%s\n" s diff --git a/sw/tools/gen_airframe.ml b/sw/tools/gen_airframe.ml index f438224ed0..0f2d0ddad9 100644 --- a/sw/tools/gen_airframe.ml +++ b/sw/tools/gen_airframe.ml @@ -29,7 +29,6 @@ let max_pprz = 9600. (* !!!! MAX_PPRZ From paparazzi.h !!!! *) open Printf open Xml2h - type channel = { min : float; max : float; neutral : float } type control = { failsafe_value : int; foo : int } @@ -217,26 +216,6 @@ let parse_ap_only_commands = fun ap_only -> printf " commands[COMMAND_%s] = ap_commands[COMMAND_%s];\\\n" com com | _ -> xml_error "copy" -(** -let parse_subsystem_defines = fun options -> - match Xml.tag options with - "param" -> - printf "// -param: %s\n" (ExtXml.attrib options "name") - | "define" -> - printf "#define %s %s\n" (ExtXml.attrib options "name") (ExtXml.attrib options "value") - | _ -> xml_error "define|param" - - -let parse_subsystems = fun subsystem -> - match Xml.tag subsystem with - "param" -> - printf "// subsystem parameter: %s\n" (ExtXml.attrib subsystem "name") - | "subsystem" -> - printf "// -%s:\n" (ExtXml.attrib subsystem "name"); - List.iter parse_subsystem_defines (Xml.children subsystem) - | _ -> xml_error "subsystem" -**) - let parse_command = fun command no -> let command_name = "COMMAND_"^ExtXml.attrib command "name" in define command_name (string_of_int no); diff --git a/sw/tools/gen_common.ml b/sw/tools/gen_common.ml new file mode 100644 index 0000000000..a1c30c5fae --- /dev/null +++ b/sw/tools/gen_common.ml @@ -0,0 +1,150 @@ +(* + * $Id$ + * + * generic tools for modules + * + * Copyright (C) 2010 Gautier Hattenberger + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + *) + +open Printf + +let (//) = Filename.concat + +let paparazzi_conf = Env.paparazzi_home // "conf" +let modules_dir = paparazzi_conf // "modules" + +(** remove all duplicated elements of a list *) +let singletonize = fun l -> + let rec loop = fun l -> + match l with + [] | [_] -> l + | x::((x'::_) as xs) -> + if x = x' then loop xs else x::loop xs in + loop (List.sort compare l) + +(** union of two lists *) +let union = fun l1 l2 -> + let l = l1 @ l2 in + let sl = List.sort compare l in + singletonize sl + +(** union of a list of list *) +let union_of_lists = fun l -> + let sl = List.sort compare (List.flatten l) in + singletonize sl + +(** [get_modules_of_airframe xml] + * Returns a list of modules ("load" node) from airframe file *) +let get_modules_of_airframe = fun xml -> + (* extract all "modules" sections *) + let modules = List.map (fun x -> + match String.lowercase (Xml.tag x) with + "modules" -> Xml.children x + | _ -> [] + ) (Xml.children xml) in + (* flatten the list (result is a list of "load" xml nodes) *) + List.flatten modules + +(** [get_full_module_conf module] Parse module configuration file + * Returns module file name and a pair (xml, xml list): parsed file, children *) +let get_full_module_conf = fun m -> + match Xml.tag m with + "load" -> let file = modules_dir // ExtXml.attrib m "name" in + (file, (ExtXml.parse_file file, Xml.children m)) + | _ -> Xml2h.xml_error "load" + +(** [get_module_conf module] Parse module configuration file + * Returns parsed xml file *) +let get_module_conf = fun m -> + let (_ , (conf, _)) = get_full_module_conf m in + conf + +(** [get_targets_of_module xml] Returns the list of targets of a module *) +let get_targets_of_module = fun m -> + let pipe_regexp = Str.regexp "|" in + let targets_of_field = fun field -> try + Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim") with _ -> [] in + let targets = List.map (fun x -> + match String.lowercase (Xml.tag x) with + "makefile" -> targets_of_field x + | _ -> [] + ) (Xml.children m) in + (* return a singletonized list *) + singletonize (List.sort compare (List.flatten targets)) + +(* gm *) +(** [unload_unused_modules modules ?print_error] + * Returns a list of [modules] where unused modules are removed + * If [print_error] is true, a warning is printed *) +let unload_unused_modules = fun modules print_error -> + let target = try Sys.getenv "TARGET" with _ -> "" in + let is_target_in_module = fun m -> + let target_is_in_module = List.exists (fun x -> String.compare target x = 0) (get_targets_of_module m) in + if print_error && not target_is_in_module then + Printf.fprintf stderr "Module %s unloaded, target %s not supported\n" (Xml.attrib m "name") target; + target_is_in_module + in + if String.length target = 0 then + modules + else + List.find_all is_target_in_module modules + + +(* gp *) +(** [get_modules_name xml] + * Returns a list of loaded modules' name *) +let get_modules_name = fun xml -> + (* extract all "modules" sections *) + let modules = get_modules_of_airframe xml in + (* parse modules *) + let modules = List.map (fun m -> ExtXml.parse_file (modules_dir // ExtXml.attrib m "name")) modules in + (* filter the list if target is not supported *) + let modules = unload_unused_modules modules false in + (* return a list of modules name *) + List.map (fun m -> ExtXml.attrib m "name") modules + +(** [targets_of_field] + * Returns the targets of a makefile node in modules + * Default "ap|sim" *) +let pipe_regexp = Str.regexp "|" +let targets_of_field = fun field -> + try + Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim") + with + _ -> [] + +(** [get_targets_of_module xml] + * Returns the list of targets of a module *) +let get_targets_of_module = fun m -> + let targets = List.map (fun x -> + match String.lowercase (Xml.tag x) with + "makefile" -> targets_of_field x + | _ -> [] + ) (Xml.children m) in + (* return a singletonized list *) + singletonize (List.sort compare (List.flatten targets)) + +(** [get_modules_dir xml] + * Returns the list of modules directories *) +let get_modules_dir = fun modules -> + let dir = List.map (fun (m, _) -> try Xml.attrib m "dir" with _ -> ExtXml.attrib m "name") modules in + singletonize (List.sort compare dir) + diff --git a/sw/tools/gen_common.mli b/sw/tools/gen_common.mli new file mode 100644 index 0000000000..9ec2fc7774 --- /dev/null +++ b/sw/tools/gen_common.mli @@ -0,0 +1,64 @@ +(* + * $Id$ + * + * generic tools for modules + * + * Copyright (C) 2010 Gautier Hattenberger + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + *) + +val modules_dir : string + +(** remove all duplicated elements of a list *) +val singletonize : 'a list -> 'a list + +(** [get_modules_of_airframe xml] + * Returns a list of modules ("load" node) from airframe file *) +val get_modules_of_airframe : Xml.xml -> Xml.xml list + +(** [get_full_module_conf module] Parse module configuration file + * Returns module file name and a pair (xml, xml list): parsed file, children *) +val get_full_module_conf : Xml.xml -> (string * (Xml.xml * Xml.xml list)) + +(** [get_module_conf module] Parse module configuration file + * Returns parsed xml file *) +val get_module_conf : Xml.xml -> Xml.xml + +(** [get_targets_of_module xml] Returns the list of targets of a module *) +val get_targets_of_module : Xml.xml -> string list + +(** [unload_unused_modules modules ?print_error] + * Returns a list of [modules] where unused modules are removed + * If [print_error] is true, a warning is printed *) +val unload_unused_modules : Xml.xml list -> bool -> Xml.xml list + +(** [get_modules_name xml] + * Returns a list of loaded modules' name *) +val get_modules_name : Xml.xml -> string list + +(** [targets_of_field] + * Returns the targets of a makefile node in modules + * Default "ap|sim" *) +val targets_of_field : Xml.xml -> string list + +(** [get_modules_dir xml] + * Returns the list of modules directories *) +val get_modules_dir : (Xml.xml * 'a) list -> string list + diff --git a/sw/tools/gen_modules.ml b/sw/tools/gen_modules.ml index 8c203f018c..20e078db55 100644 --- a/sw/tools/gen_modules.ml +++ b/sw/tools/gen_modules.ml @@ -26,6 +26,7 @@ open Printf open Xml2h +module GC = Gen_common (** Default main frequency = 60Hz *) let freq = ref 60 @@ -97,14 +98,6 @@ let print_init_functions = fun modules -> left (); lprintf out_h "}\n" -let remove_dup = fun l -> - let rec loop = fun l -> - match l with - [] | [_] -> l - | x::((x'::_) as xs) -> - if x = x' then loop xs else x::loop xs in - loop (List.sort compare l) - let print_periodic_functions = fun modules -> let min_period = 1. /. float !freq and max_period = 65536. /. float !freq @@ -131,7 +124,7 @@ let print_periodic_functions = fun modules -> ((x, module_name), min 65535 (max 1 (int_of_float (float_of_int !freq /. f)))) ) periodic) modules) in - let modulos = remove_dup (List.map snd functions_modulo) in + let modulos = GC.singletonize (List.map snd functions_modulo) in (** Print modulos *) List.iter (fun modulo -> let v = sprintf "i%d" modulo in @@ -261,15 +254,6 @@ let parse_modules modules = nl (); fprintf out_h "#endif // MODULES_DATALINK_C\n" -let get_modules = fun dir m -> - match Xml.tag m with - "load" -> begin - let name = ExtXml.attrib m "name" in - let xml = Xml.parse_file (dir^name) in - xml - end - | _ -> xml_error "load" - let test_section_modules = fun xml -> List.fold_right (fun x r -> ExtXml.tag_is x "modules" || r) (Xml.children xml) false @@ -324,44 +308,13 @@ let write_settings = fun xml_file out_set modules -> fprintf out_set " \n"; fprintf out_set "\n" -let get_targets_of_module = fun m -> - let pipe_regexp = Str.regexp "|" in - let targets_of_field = fun field -> try - Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim") with _ -> [] in - let rec singletonize = fun l -> - match l with - [] | [_] -> l - | x :: ((y :: t) as yt) -> if x = y then singletonize yt else x :: singletonize yt - in - let targets = List.map (fun x -> - match String.lowercase (Xml.tag x) with - "makefile" -> targets_of_field x - | _ -> [] - ) (Xml.children m) in - (* return a singletonized list *) - singletonize (List.sort compare (List.flatten targets)) - -let unload_unused_modules = fun modules -> - let target = try Sys.getenv "TARGET" with _ -> "" in - let is_target_in_module = fun m -> - let target_is_in_module = List.exists (fun x -> String.compare target x = 0) (get_targets_of_module m) in - if not target_is_in_module then - Printf.fprintf stderr "Module %s unloaded, target %s not supported\n" (Xml.attrib m "name") target; - target_is_in_module - in - if String.length target = 0 then - modules - else - List.find_all is_target_in_module modules - let h_name = "MODULES_H" let () = - if Array.length Sys.argv <> 4 then - failwith (Printf.sprintf "Usage: %s conf_modules_dir out_settings_file xml_file" Sys.argv.(0)); - let xml_file = Sys.argv.(3) - and out_set = open_out Sys.argv.(2) - and modules_dir = Sys.argv.(1) in + if Array.length Sys.argv <> 3 then + failwith (Printf.sprintf "Usage: %s out_settings_file xml_file" Sys.argv.(0)); + let xml_file = Sys.argv.(2) + and out_set = open_out Sys.argv.(1) in try let xml = start_and_begin xml_file h_name in fprintf out_h "#define MODULES_IDLE 0\n"; @@ -378,8 +331,8 @@ let () = let modules = try (ExtXml.child xml "modules") with _ -> Xml.Element("modules",[],[]) in let main_freq = try (int_of_string (Xml.attrib modules "main_freq")) with _ -> !freq in freq := main_freq; - let modules_list = List.map (get_modules modules_dir) (Xml.children modules) in - let modules_list = unload_unused_modules modules_list in + let modules_list = List.map GC.get_module_conf (Xml.children modules) in + let modules_list = GC.unload_unused_modules modules_list false in let modules_name = (List.map (fun l -> try Xml.attrib l "name" with _ -> "") (Xml.children modules)) @ (List.map (fun m -> try Xml.attrib m "name" with _ -> "") modules_list) in diff --git a/sw/tools/gen_periodic.ml b/sw/tools/gen_periodic.ml index dc7275e27c..4729a82173 100644 --- a/sw/tools/gen_periodic.ml +++ b/sw/tools/gen_periodic.ml @@ -25,13 +25,10 @@ *) open Printf +module GC = Gen_common let (//) = Filename.concat -let paparazzi_conf = Env.paparazzi_home // "conf" -let modules_dir = paparazzi_conf // "modules" - - let margin = ref 0 let step = 2 @@ -42,18 +39,7 @@ let lprintf = fun c f -> fprintf c "%s" (String.make !margin ' '); fprintf c f -(**let freq = ref 60 *) - -let remove_dup = fun l -> - let rec loop = fun l -> - match l with - [] | [_] -> l - | x::((x'::_) as xs) -> - if x = x' then loop xs else x::loop xs in - loop (List.sort compare l) - - -let output_modes = fun avr_h process_name channel_name modes freq modules -> +let output_modes = fun avr_h process_name channel_name modes freq modules -> let min_period = 1./.float freq in let max_period = 65536. /. float freq in (** For each mode in this process *) @@ -74,7 +60,7 @@ let output_modes = fun avr_h process_name channel_name modes freq modules -> fprintf stderr "Warning: period is bound between %.3fs and %.3fs for message %s\n%!" min_period max_period (ExtXml.attrib x "name"); (x, min 65535 (max 1 (int_of_float (p*.float_of_int freq)))) ) filtered_msg in - let modulos = remove_dup (List.map snd messages) in + let modulos = GC.singletonize (List.map snd messages) in List.iter (fun m -> let v = sprintf "i%d" m in let _type = if m >= 256 then "uint16_t" else "uint8_t" in @@ -107,52 +93,6 @@ let output_modes = fun avr_h process_name channel_name modes freq modules -> lprintf avr_h "}\\\n") modes -(** [get_targets_of_module xml] Returns the list of targets of a module *) -let get_targets_of_module = fun m -> - let pipe_regexp = Str.regexp "|" in - let targets_of_field = fun field -> try - Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim") with _ -> [] in - let rec singletonize = fun l -> - match l with - [] | [_] -> l - | x :: ((y :: t) as yt) -> if x = y then singletonize yt else x :: singletonize yt - in - let targets = List.map (fun x -> - match String.lowercase (Xml.tag x) with - "makefile" -> targets_of_field x - | _ -> [] - ) (Xml.children m) in - (* return a singletonized list *) - singletonize (List.sort compare (List.flatten targets)) - -let unload_unused_modules = fun modules -> - let target = try Sys.getenv "TARGET" with _ -> "" in - let is_target_in_module = fun m -> - let target_is_in_module = List.exists (fun x -> String.compare target x = 0) (get_targets_of_module m) in - target_is_in_module - in - if String.length target = 0 then - modules - else - List.find_all is_target_in_module modules - -(** [get_modules_name dir xml] Returns a list of modules name *) -let get_modules_name = fun dir xml -> - (* extract all "modules" sections *) - let modules = List.map (fun x -> - match String.lowercase (Xml.tag x) with - "modules" -> Xml.children x - | _ -> [] - ) (Xml.children xml) in - (* flatten the list (result is a list of "load" xml nodes) *) - let modules = List.flatten modules in - (* parse modules *) - let modules = List.map (fun m -> ExtXml.parse_file (dir // ExtXml.attrib m "name")) modules in - (* filter the list if target is not supported *) - let modules = unload_unused_modules modules in - (* return a list of modules name *) - List.map (fun m -> ExtXml.attrib m "name") modules - let _ = if Array.length Sys.argv <> 5 then begin @@ -166,7 +106,7 @@ let _ = with Dtd.Check_error e -> failwith (Dtd.check_error e) in - let modules_name = get_modules_name modules_dir (ExtXml.parse_file Sys.argv.(1)) in + let modules_name = GC.get_modules_name (ExtXml.parse_file Sys.argv.(1)) in let avr_h = stdout in