Merge branch 'dev' into 4.0_beta

Makefile

@@ -260,7 +260,7 @@ ab_clean:
 	find sw/airborne -name '*~' -exec rm -f {} \;
 
 test_all_example_airframes: replace_current_conf_xml
-	for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/"//'`; do echo "Making $$ap"; make -C ./ AIRCRAFT=$$ap clean_ac ap.compile || exit 1;   done
+	for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/".*//'`; do for airframe in `grep $$ap conf/conf.xml.example | sed -e 's/.*airframe=\"//' | sed -e 's/".*//'`; do for target in `grep target conf/$$airframe | grep name | sed -e 's/.*name=\"//' | sed -e 's/\".*//'`; do echo "Making $$ap $$target"; make -C ./ AIRCRAFT=$$ap clean_ac $$target.compile || exit 1; done; done; done
 
 replace_current_conf_xml:
 	test conf/conf.xml || mv conf/conf.xml conf/conf.xml.backup.`date +%Y%m%d-%H%M%s`

conf/airframes/Poine/booz2_a1.xml

@@ -209,15 +209,5 @@
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
-  <firmware name="booz_test_progs">
-    <target name="test_telemetry"     board="booz_1.0"/>
-    <target name="test_baro"          board="booz_1.0"/>
-    <target name="test_rc_spektrum"   board="booz_1.0"/>
-    <target name="test_rc_ppm"        board="booz_1.0"/>
-    <target name="test_esc_mkk_simple" board="booz_1.0"/>
-    <target name="test_actuators_mkk" board="booz_1.0"/>
-    <target name="test_ami601"        board="booz_1.0"/>
-  </firmware>
-
 
 </airframe>

conf/airframes/Poine/h_hex.xml

@@ -174,11 +174,6 @@
       <subsystem name="radio_control" type="spektrum"/>
       <subsystem name="actuators"     type="mkk"/>
     </target>
-    <target name="sim" board="pc">
-      <subsystem name="fdm"           type="nps"/>
-      <subsystem name="radio_control" type="ppm"/>
-      <subsystem name="actuators"     type="mkk"/>
-    </target>
     <subsystem name="telemetry"     type="transparent"/>
 <!--    <subsystem name="imu"           type="b2_v1.1"/> -->
     <subsystem name="imu"           type="aspirin_v1.0"/>

conf/airframes/booz2_flixr.xml

@@ -22,7 +22,7 @@
   </firmware>
 
   <firmware name="booz2_test_progs">
-    <target name="test_telemetry" board="booz_1.0"/>
+    <target name="test_downlink"  board="booz_1.0"/>
     <target name="test_baro"      board="booz_1.0"/>
     <target name="test_spektrum"  board="booz_1.0"/>
     <target name="tunnel"         board="booz_1.0"/>

conf/airframes/delta_wing_minimal_example.xml

@@ -28,7 +28,6 @@
 
   <firmware name="setup">
     <target name="tunnel" 	        board="tiny_2.11"/>
-    <target name="setup_actuators" 	board="tiny_2.11"/>
   </firmware>
 
   <servos>

conf/airframes/easy_glider_example.xml

@@ -171,7 +171,6 @@
 
   <firmware name="setup">
     <target name="tunnel" 		    board="tiny_0.99" />
-    <target name="setup_actuators" 	board="tiny_0.99" />
   </firmware>
 
   <modules>

conf/airframes/easystar_ets_example.xml

@@ -31,7 +31,6 @@
 
   <firmware name="setup">
     <target name="tunnel" 		board="twog_1.0" />
-    <target name="setup_actuators" 	board="twog_1.0" />
   </firmware>
 
   <modules>

conf/airframes/easystar_example.xml

@@ -30,7 +30,6 @@
 
   <firmware name="setup">
     <target name="tunnel" 		board="twog_1.0"/>
-    <target name="setup_actuators" 	board="twog_1.0"/>
   </firmware>
 
 <!-- commands section -->

conf/airframes/esden/lisa_asctec.xml

@@ -225,18 +225,5 @@
     <target name="test_actuators_asctecv1"  board="lisa_l_1.1"/>
   </firmware>
 
-  <firmware name="lisa_passthrough">
-    <target name="overo_test_passthrough" board="lisa_l_1.1"  >
-      <configure name="HOST"          value="A7"/>
-      <configure name="USER"          value=""/>
-      <configure name="TARGET_DIR"    value="~"/>
-      <configure name="PERIODIC_FREQ" value="512"/>
-    </target>
-    <target name="stm_passthrough" board="lisa_l_1.1">
-      <subsystem name="radio_control" type="spektrum"/>
-      <subsystem name="imu" type="b2_v1.1"/>
-    </target>
- </firmware>
-
 
 </airframe>

conf/airframes/flixr_discovery.xml

@@ -56,7 +56,6 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
   <firmware name="setup">
     <target name="tunnel"          board="twog_1.0" />
     <target name="usb_tunnel_0"    board="twog_1.0" />
-    <target name="setup_actuators" board="twog_1.0" />
   </firmware>
 
 

conf/airframes/funjet_cam_example.xml

@@ -36,7 +36,6 @@
 
   <firmware name="setup">
     <target name="tunnel" 		    board="tiny_2.11"/>
-    <target name="setup_actuators" 	board="tiny_2.11"/>
   </firmware>
 
   <modules main_freq="60">

conf/airframes/funjet_example.xml

@@ -39,7 +39,6 @@
 
   <firmware name="setup">
     <target name="tunnel" 		    board="tiny_2.11"/>
-    <target name="setup_actuators" 	board="tiny_2.11"/>
   </firmware>
 
 <!-- commands section -->

conf/airframes/mentor_tum.xml

@@ -31,7 +31,6 @@
   <firmware name="setup">
     <target name="tunnel"          board="twog_1.0" />
     <target name="usb_tunnel_0"    board="twog_1.0" />
-    <target name="setup_actuators" board="twog_1.0" />
   </firmware>
 
   <modules main_freq="60">

conf/airframes/microjet_example.xml

@@ -202,7 +202,6 @@
     <target name="tunnel"           board="tiny_1.1" />
     <target name="usb_tunnel_0"     board="tiny_1.1" />
     <target name="usb_tunnel_1"     board="tiny_1.1" />
-    <target name="setup_actuators"  board="tiny_1.1" />
   </firmware>
 
 </airframe>

conf/airframes/twinjet_example.xml

@@ -33,7 +33,6 @@
     <target name="tunnel"           board="twog_1.0" />
     <target name="usb_tunnel_0"     board="twog_1.0" />
     <target name="usb_tunnel_1"     board="twog_1.0" />
-    <target name="setup_actuators"  board="twog_1.0" />
   </firmware>
 
   <modules>

conf/airframes/twinjet_overo.xml

@@ -32,7 +32,6 @@
 
   <firmware name="setup">
     <target name="tunnel"       board="twog_1.0" />
-    <target name="setup_actuators"  board="twog_1.0" />
   </firmware>
 
   <modules>

conf/airframes/twinstar_example.xml

@@ -29,7 +29,6 @@
 
   <firmware name="setup">
     <target name="tunnel" 		board="twog_1.0"/>
-    <target name="setup_actuators" 	board="twog_1.0"/>
   </firmware>
 
   <modules>

conf/autopilot/lisa_test_progs.makefile

@@ -528,6 +528,7 @@ test_actuators_asctecv1.srcs    = $(COMMON_TEST_SRCS)
 test_actuators_asctecv1.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
 test_actuators_asctecv1.srcs   += $(COMMON_TELEMETRY_SRCS)
 
+test_actuators_asctecv1.srcs   += test/test_actuators.c
 test_actuators_asctecv1.srcs   += $(SRC_FIRMWARE)/commands.c
 test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
 test_actuators_asctecv1.srcs   += $(SRC_FIRMWARE)/actuators/actuators_asctec.c

conf/autopilot/setup.makefile

@@ -97,11 +97,16 @@ endif
 
 # a test program to setup actuators
 ifeq ($(ARCH), lpc21)
-setup_actuators.CFLAGS += -DFBW -DUSE_LED -DSYS_TIME_LED=1
+setup_actuators.CFLAGS += -DFBW -DUSE_LED -DPERIPHERALS_AUTO_INIT
 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 += $(SETUP_INC) -Ifirmwares/fixedwing
+ifneq ($(SYS_TIME_LED),none)
+setup_actuators.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
+endif
+setup_actuators.CFLAGS += -DPERIODIC_FREQUENCY='60'
+setup_actuators.CFLAGS += -DUSE_SYS_TIME
 setup_actuators.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c subsystems/datalink/downlink.c $(SRC_FIRMWARE)/setup_actuators.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c firmwares/fixedwing/main.c mcu.c $(SRC_ARCH)/mcu_arch.c
 else ifeq ($(TARGET),setup_actuators)
 $(error setup_actuators currently only implemented for the lpc21)

conf/conf.xml.example

@@ -2,92 +2,21 @@
 
 <conf>
 
+<!-- NOTE: All targets in the example config need to be on single lines so that the "make test_all_example_airframes" target can build all targets for each aircraft airframe -->
+
 <!-- arm7 aircrafts -->
 
 <!-- booz2 -->
-   <aircraft
+   <aircraft name="BOOZ2_A1" ac_id="150" airframe="airframes/Poine/booz2_a1.xml" radio="radios/cockpitSX.xml" telemetry="telemetry/telemetry_booz2.xml" flight_plan="flight_plans/dummy.xml" settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml" gui_color="white" />
-   name="BOOZ2_A1"
-   ac_id="150"
-   airframe="airframes/Poine/booz2_a1.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
-   gui_color="white"
-  />
 
 <!-- LISA -->
-  <aircraft
+  <aircraft name="Hexa_LisaL" ac_id="153" airframe="airframes/Poine/h_hex.xml" radio="radios/cockpitSX.xml" telemetry="telemetry/telemetry_booz2.xml" flight_plan="flight_plans/dummy.xml" settings="settings/settings_booz2.xml" gui_color="white" />
-   name="Hexa_LisaL"
+  <aircraft name="LISA_ASCTEC_PIOTR" ac_id="161" airframe="airframes/esden/lisa_asctec.xml" radio="radios/cockpitSX.xml" telemetry="telemetry/telemetry_booz2.xml" flight_plan="flight_plans/dummy.xml" settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml" gui_color="white" />
-   ac_id="153"
-   airframe="airframes/Poine/h_hex.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/settings_booz2.xml"
-   gui_color="white"
-  />
-  <aircraft
-   name="BOOZ2_A7"
-   ac_id="159"
-   airframe="airframes/Poine/booz2_a7.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/settings_booz2.xml"
-   gui_color="white"
-  />
-  <aircraft
-   name="LISA_ASCTEC_PIOTR"
-   ac_id="161"
-   airframe="airframes/esden/lisa_asctec.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
-   gui_color="white"
-  />
 
  <!-- tiny -->
-  <aircraft
+  <aircraft name="Microjet" ac_id="5" airframe="airframes/microjet_example.xml" radio="radios/cockpitMM.xml" telemetry="telemetry/default.xml" flight_plan="flight_plans/basic.xml" settings="settings/basic_infrared.xml" gui_color="#6293ba" />
-    name="Microjet"
+  <aircraft name="Tiny_IMU" ac_id="7" airframe="airframes/example_twog_analogimu.xml" radio="radios/cockpitSX.xml" telemetry="telemetry/default_fixedwing_imu.xml" flight_plan="flight_plans/versatile.xml" settings="settings/tuning_ins.xml" gui_color="blue" />
-    ac_id="5"
+  <aircraft name="Twinjet" ac_id="6" airframe="airframes/twinjet_example.xml" radio="radios/cockpitMM.xml" telemetry="telemetry/default.xml" flight_plan="flight_plans/versatile.xml" settings="settings/tuning.xml settings/infrared.xml" gui_color="#ba6293" />
-    airframe="airframes/microjet_example.xml"
+  <aircraft name="EasyStar_ETS" ac_id="8" airframe="airframes/easystar_ets_example.xml" radio="radios/cockpitSX.xml" telemetry="telemetry/default.xml" flight_plan="flight_plans/versatile.xml" settings="settings/tuning.xml settings/infrared.xml" gui_color="red" />
-    radio="radios/cockpitMM.xml"
-    telemetry="telemetry/default_fixedwing.xml"
-    flight_plan="flight_plans/basic.xml"
-    settings="settings/basic_infrared.xml"
-    gui_color="#6293ba"
-  />
-  <aircraft
-   name="Tiny_IMU"
-   ac_id="7"
-   airframe="airframes/example_twog_analogimu.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing_imu.xml"
-   flight_plan="flight_plans/versatile.xml"
-   settings="settings/tuning_ins.xml"
-   gui_color="blue"
-  />
-  <aircraft
-    name="Twinjet"
-    ac_id="6"
-    airframe="airframes/twinjet_example.xml"
-    radio="radios/cockpitMM.xml"
-    telemetry="telemetry/default_fixedwing.xml"
-    flight_plan="flight_plans/versatile.xml"
-    settings="settings/tuning.xml settings/infrared.xml"
-    gui_color="#ba6293"
-  />
-  <aircraft
-    name="EasyStar_ETS"
-    ac_id="8"
-    airframe="airframes/easystar_ets_example.xml"
-    radio="radios/cockpitSX.xml"
-    telemetry="telemetry/default_fixedwing.xml"
-    flight_plan="flight_plans/versatile.xml"
-    settings="settings/tuning.xml settings/infrared.xml"
-    gui_color="red"
-  />
 
 </conf>

sw/airborne/arch/stm32/mcu_periph/i2c_arch.c

@@ -80,7 +80,6 @@ static inline void abort_and_reset(struct i2c_periph *p) {
     end_of_transaction(p);
 }
 
-#ifdef USE_I2C2
 static inline void on_status_start_requested(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event);
 static inline void on_status_addr_wr_sent(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event);
 static inline void on_status_sending_byte(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event);
@@ -439,7 +438,7 @@ static inline void i2c_reset_init(struct i2c_periph *p)
   // enable error interrupts
   I2C_ITConfig(p->reg_addr, I2C_IT_ERR, ENABLE);
 }
-#endif /* USE_I2C2 */
+
 
 #ifdef USE_I2C1
 

sw/airborne/boards/booz/test_baro.c

@@ -47,7 +47,7 @@ int main(void) {
   main_init();
 
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task();
   }
@@ -57,7 +57,7 @@ int main(void) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   booz2_analog_init();
   baro_init();
   mcu_int_enable();

sw/airborne/boards/lisa_l/test_baro.c

@@ -33,6 +33,8 @@
 #include "mcu_periph/sys_time.h"
 #include "mcu_periph/uart.h"
 
+#include "led.h"
+
 #include "subsystems/datalink/downlink.h"
 
 #include "subsystems/sensors/baro.h"
@@ -50,7 +52,7 @@ int main(void) {
   main_init();
 
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task();
   }
@@ -60,7 +62,7 @@ int main(void) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   baro_init();
 
   //  DEBUG_SERVO1_INIT();

sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c

@@ -51,7 +51,7 @@ static inline void main_event_task( void );
 int main( void ) {
   main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task();
   }
@@ -60,7 +60,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   mcu_int_enable();
 }
 

sw/airborne/booz/test/booz2_test_crista.c

@@ -45,7 +45,7 @@ static inline void on_imu_event(void);
 int main( void ) {
   main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task();
   }
@@ -54,7 +54,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   led_init();
 
 /*   LED_ON(4); */

sw/airborne/booz/test/booz2_test_gps.c

@@ -39,7 +39,7 @@ static void on_gps_sol(void);
 int main( void ) {
   main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task();
   }
@@ -48,7 +48,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   led_init();
   gps_init();
   mcu_int_enable();

sw/airborne/booz/test/booz2_test_max1168.c

@@ -48,7 +48,7 @@ static void SSP_ISR(void) __attribute__((naked));
 int main( void ) {
   main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task();
   }
@@ -57,7 +57,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
 
   main_init_ssp();
   max1168_init();

sw/airborne/booz/test/booz2_test_micromag.c

@@ -50,7 +50,7 @@ static void SSP_ISR(void) __attribute__((naked));
 int main( void ) {
   main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task();
   }
@@ -59,7 +59,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   led_init();
 
   uart1_init_tx();

sw/airborne/booz/test/booz2_test_usb.c

@@ -43,7 +43,7 @@ static inline void main_event_task( void );
 int main( void ) {
   main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task();
   }
@@ -52,7 +52,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   led_init();
 
   VCOM_init();

sw/airborne/csc/csc_ap_main.c

@@ -142,7 +142,7 @@ static void on_gpspos_cmd( struct CscGPSPosMsg *msg )
 static void csc_main_init( void ) {
 
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   led_init();
 
   Uart0Init();
@@ -213,7 +213,7 @@ static void csc_main_event( void )
 int main( void ) {
   csc_main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       csc_main_periodic();
     csc_main_event();
   }

sw/airborne/csc/csc_main.c

@@ -67,7 +67,7 @@ struct NedCoor_i booz_ins_gps_speed_cm_s_ned;
 static void csc_main_init( void ) {
 
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   led_init();
 
 #ifdef USE_UART0
@@ -219,7 +219,7 @@ static inline void on_motor_cmd(struct CscMotorMsg *msg)
 int main( void ) {
   csc_main_init();
   while(1) {
-  if (sys_time_periodic())
+  if (sys_time_check_and_ack_timer(0))
     csc_main_periodic();
     csc_main_event();
   }

sw/airborne/csc/mercury_csc_main.c

@@ -81,7 +81,7 @@ static uint32_t can_msg_count = 0;
 static void csc_main_init( void ) {
 
 	hw_init();
-	sys_time_init();
+	sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
 	led_init();
 
 	actuators_init();
@@ -252,7 +252,7 @@ int main( void ) {
 	csc_main_init();
 //	Uart0PrintString("Hello");
 	while(1) {
-		if (sys_time_periodic()) {
+		if (sys_time_check_and_ack_timer(0)) {
 			csc_main_periodic();
 		}
 		csc_main_event();

sw/airborne/csc/mercury_main.c

@@ -74,7 +74,7 @@ static inline void csc_main_event( void );
 int main( void ) {
   csc_main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       csc_main_periodic();
     csc_main_event();
   }
@@ -106,7 +106,7 @@ static void on_rc_cmd(struct CscRCMsg *msg)
 static inline void csc_main_init( void ) {
 
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   led_init();
 
   Uart0Init();

sw/airborne/csc/ppm_bridge_main.c

@@ -53,7 +53,7 @@ static uint16_t cpu_time = 0;
 static void csc_main_init( void ) {
 
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   led_init();
 
   Uart0Init();
@@ -123,7 +123,7 @@ static void csc_main_event( void )
 int main( void ) {
   csc_main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       csc_main_periodic();
     csc_main_event();
   }

sw/airborne/firmwares/beth/main_beth.c

@@ -17,7 +17,7 @@ static inline void main_on_bench_sensors( void );
 int main( void ) {
   main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
   }
   return 0;
@@ -25,7 +25,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   mcu_int_enable();
 }
 

sw/airborne/firmwares/beth/main_coders.c

@@ -64,7 +64,7 @@ int main(void) {
   servos[3] = 4;
 
   while (1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic();
     main_event();
   }
@@ -74,7 +74,7 @@ int main(void) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   main_init_adc();
   bench_sensors_init();
   mcu_int_enable();

sw/airborne/firmwares/beth/main_stm32.c

@@ -54,7 +54,7 @@ int main(void) {
   main_init();
 
   while (1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic();
     main_event();
   }
@@ -63,7 +63,7 @@ int main(void) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   actuators_init();
   //radio_control_init();
   imu_init();

sw/airborne/firmwares/motor_bench/turntable_systime.c

@@ -22,6 +22,9 @@ void sys_time_arch_init( void ) {
   /* enable timer 0                  */
   T0TCR = TCR_ENABLE;
 
+  /* set first sys tick interrupt    */
+  T0MR0 = SYS_TIME_RESOLUTION_CPU_TICKS;
+
   /* select TIMER0 as IRQ    */
   VICIntSelect &= ~VIC_BIT(VIC_TIMER0);
   /* enable TIMER0 interrupt */
@@ -30,9 +33,6 @@ void sys_time_arch_init( void ) {
   _VIC_CNTL(TIMER0_VIC_SLOT) = VIC_ENABLE | VIC_TIMER0;
   /* address of the ISR      */
   _VIC_ADDR(TIMER0_VIC_SLOT) = (uint32_t)TIMER0_ISR;
-
-  /* set first sys tick interrupt */
-  T0MR1 = SYS_TIME_RESOLUTION_CPU_TICKS;
 }
 
 static inline void sys_tick_irq_handler(void) {

sw/airborne/firmwares/setup/setup_actuators.c

@@ -7,12 +7,12 @@
 #include "generated/airframe.h"
 #define DATALINK_C
 #include "subsystems/datalink/datalink.h"
-#include "mcu_periph/uart.h"
 #include "subsystems/datalink/pprz_transport.h"
-#include "firmwares/fixedwing/main_fbw.h"
+#include "mcu_periph/uart.h"
 #include "subsystems/datalink/downlink.h"
-#include "generated/settings.h"
+#include "firmwares/fixedwing/main_fbw.h"
 
+#include "generated/settings.h"
 
 #define IdOfMsg(x) (x[1])
 
@@ -44,14 +44,9 @@ void dl_parse_msg( void ) {
 #endif
 }
 
-#define PprzUartInit() Link(Init())
 
 void init_fbw( void ) {
   mcu_init();
-  sys_time_init();
-  led_init();
-
-  PprzUartInit();
 
   actuators_init();
 
@@ -62,9 +57,18 @@ void init_fbw( void ) {
 
   //  SetServo(SERVO_GAZ, SERVO_GAZ_MIN);
 
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
+
   mcu_int_enable();
 }
 
+void handle_periodic_tasks_fbw(void) {
+
+  if (sys_time_check_and_ack_timer(0))
+    periodic_task_fbw();
+
+}
+
 void periodic_task_fbw(void) {
    /* static float t; */
    /* t += 1./60.; */
@@ -76,16 +80,5 @@ void periodic_task_fbw(void) {
 }
 
 void event_task_fbw(void) {
-  if (PprzBuffer()) {
+  DatalinkEvent();
-    ReadPprzBuffer();
-  }
-  if (pprz_msg_received) {
-    pprz_msg_received = FALSE;
-    pprz_parse_payload();
-    LED_TOGGLE(3);
-  }
-  if (dl_msg_available) {
-    dl_parse_msg();
-    dl_msg_available = FALSE;
-  }
 }

sw/airborne/firmwares/wind_tunnel/main.c

@@ -30,7 +30,7 @@ uint16_t datalink_time;
 int main( void ) {
   main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task( );
   }
@@ -39,7 +39,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   led_init();
   uart0_init();
 

sw/airborne/firmwares/wind_tunnel/main_mb.c

@@ -29,7 +29,7 @@ uint16_t datalink_time;
 int main( void ) {
   main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task( );
   }
@@ -38,7 +38,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   led_init();
   uart0_init();
 

sw/airborne/fms/lpc_test_spi.c

@@ -42,7 +42,7 @@ static void SPI0_ISR(void) __attribute__((naked));
 int main( void ) {
   main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task();
   }
@@ -51,7 +51,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   main_spi_init();
   mcu_int_enable();
 }

sw/airborne/sd_card/main.c

@@ -26,7 +26,7 @@ uint16_t datalink_time;
 int main( void ) {
   main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task( );
   }
@@ -35,7 +35,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   led_init();
   Uart0Init();
 

sw/airborne/subsystems/imu.c

@@ -39,7 +39,7 @@ void imu_init(void) {
 #if defined IMU_MAG_X_NEUTRAL && defined IMU_MAG_Y_NEUTRAL && defined IMU_MAG_Z_NEUTRAL
   VECT3_ASSIGN(imu.mag_neutral,   IMU_MAG_X_NEUTRAL,   IMU_MAG_Y_NEUTRAL,   IMU_MAG_Z_NEUTRAL);
 #else
-#warning Info: Magnetomter neutrals are set to zero.
+#pragma message "Info: Magnetomter neutrals are set to zero."
   INT_VECT3_ZERO(imu.mag_neutral);
 #endif