booz_pwm is now a module

conf/airframes/ENAC/quadrotor/blender.xml

@@ -1,19 +1,32 @@
 <airframe name="Blender">
 
   <modules main_freq="512">
+    <load name="booz_pwm.xml">
+      <define name="USE_PWM1"/>
+    </load>
     <load name="booz_drop.xml"/>
     <load name="booz_cam.xml"/>
     <!--load name="sonar_maxbotix_booz.xml"/-->
   </modules>
 
   <firmware name="rotorcraft">
+    <define name="USE_INS_NAV_INIT"/>
+    <define name="USE_ADAPT_HOVER"/>
+    <define name="NO_FUCKING_STARTUP_DELAY"/>
+    <!--define name="GUIDANCE_H_USE_REF"/-->
+
     <target name="ap" board="booz_1.0">
       <define name="FAILSAFE_GROUND_DETECT"/>
       <define name="USE_GPS_ACC4R"/>
+      <define name="BOOZ_START_DELAY" value="3"/>
+      <!--define name="BOOZ_ACTUATORS_MAX_THRUST" value="160"/-->
+      <!--define name="BOOZ_THRUST_LOWPASS" value="17"/-->
     </target>
     <target name="sim" board="pc">
       <subsystem name="fdm"         type="nps"/>
+      <!--define name="NPS_NO_SUPERVISION"/-->
     </target>
+
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="actuators"     type="asctec"/>
     <subsystem name="imu"           type="b2_v1.1"/>
@@ -218,7 +231,7 @@
    <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
    <define name="FACE_REINJ_1"  value="1024"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
-   <define name="BoozDropPwm(_v)" value="Booz2SetPwm1Value(_v)"/>
+   <define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
    <define name="IMU_MAG_OFFSET" value="-9."/>
  </section>
 
@@ -228,22 +241,4 @@
     <define name="ALT_SHIFT_MINUS" value="-1"/>
   </section>
 
-  <makefile location="after">
-
-ap.CFLAGS += -DGUIDANCE_H_USE_REF
-
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 -DUSE_PWM1
-ap.CFLAGS += -DBOOZ_ACTUATORS_MAX_THRUST=160 -DBOOZ_THRUST_LOWPASS=17
-
-ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
-
-sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
-sim.CFLAGS += -DNPS_NO_SUPERVISION
-
-sim.CFLAGS += -DGUIDANCE_H_USE_REF
-sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
-sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
-
-  </makefile>
-
 </airframe>

sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.c

@@ -1,7 +1,7 @@
 /*
  * $Id: $
  *
- * Copyright (C) 2007  ENAC
+ * Copyright (C) 2011  ENAC
  *
  * This file is part of paparazzi.
  *
@@ -22,12 +22,12 @@
  *
  */
 
-#include "booz2_pwm_hw.h"
+#include "modules/core/booz_pwm_arch.h"
 
 #define PWM_PERIOD SYS_TICS_OF_USEC(20000)
 #define PWM_DUTY SYS_TICS_OF_USEC(1500)
 
-void booz2_pwm_init_hw( void ) {
+void booz_pwm_init_arch( void ) {
 
   /* start PWM5 */
   /* select P0.21 as PWM5 */

sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.h

@@ -1,7 +1,7 @@
 /*
  * $Id: $
  *
- * Copyright (C) 2007  ENAC
+ * Copyright (C) 2011  ENAC
  *
  * This file is part of paparazzi.
  *
@@ -22,25 +22,25 @@
  *
  */
 
-#ifndef BOOZ2_PWM_HW_H
+#ifndef BOOZ_PWM_ARCH_H
-#define BOOZ2_PWM_HW_H
+#define BOOZ_PWM_ARCH_H
 
 #include "std.h"
 #include "sys_time.h"
 
-extern void booz2_pwm_init_hw(void);
+extern void booz_pwm_init_arch(void);
 
 // Default PWM is PWM0
-#define Booz2SetPwmValue(_v) Booz2SetPwm0Value(_v)
+#define BoozSetPwmValue(_v) BoozSetPwm0Value(_v)
 
-#define Booz2SetPwm0Value(_v) { \
+#define BoozSetPwm0Value(_v) { \
   PWMMR5 = SYS_TICS_OF_USEC(_v); \
   PWMLER = PWMLER_LATCH5; \
 }
 
-#define Booz2SetPwm1Value(_v) { \
+#define BoozSetPwm1Value(_v) { \
   PWMMR2 = SYS_TICS_OF_USEC(_v); \
   PWMLER = PWMLER_LATCH2; \
 }
 
-#endif /* BOOZ2_PWM_HW_H */
+#endif /* BOOZ_PWM_ARCH_H */

sw/airborne/firmwares/rotorcraft/main.c

@@ -55,10 +55,6 @@
 #include "subsystems/ahrs.h"
 #include "subsystems/ins.h"
 
-#if defined USE_CAM || USE_DROP
-#include "booz2_pwm_hw.h"
-#endif
-
 #include "firmwares/rotorcraft/main.h"
 
 #ifdef SITL
@@ -88,11 +84,13 @@ int main( void ) {
 
 STATIC_INLINE void main_init( void ) {
 
+#ifndef NO_FUCKING_STARTUP_DELAY
 #ifndef RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT
   /* IF THIS IS NEEDED SOME PERHIPHERAL THEN PLEASE MOVE IT THERE */
   for (uint32_t startup_counter=0; startup_counter<2000000; startup_counter++){
     __asm("nop");
   }
+#endif
 #endif
 
   mcu_init();
@@ -105,10 +103,6 @@ STATIC_INLINE void main_init( void ) {
   booz2_analog_init();
   baro_init();
 
-#if defined USE_CAM || USE_DROP
-  booz2_pwm_init_hw();
-#endif
-
   battery_init();
   imu_init();
 

sw/airborne/modules/cam_control/booz_cam.c

@@ -23,7 +23,7 @@
  */
 
 #include "cam_control/booz_cam.h"
-#include "booz2_pwm_hw.h"
+#include "modules/core/booz_pwm_arch.h"
 #include "subsystems/ahrs.h"
 #include "firmwares/rotorcraft/navigation.h"
 #include "subsystems/ins.h"
@@ -64,7 +64,7 @@ int16_t booz_cam_pan;
 
 // PWM definition
 #ifndef BOOZ_CAM_SetPwm
-#define BOOZ_CAM_SetPwm(_v) Booz2SetPwmValue(_v)
+#define BOOZ_CAM_SetPwm(_v) BoozSetPwmValue(_v)
 #endif
 
 #ifndef BOOZ_CAM_DEFAULT_MODE

sw/airborne/modules/drop/booz_drop.c

@@ -21,8 +21,8 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "booz_drop.h"
+#include "modules/drop/booz_drop.h"
-#include "booz2_pwm_hw.h"
+#include "modules/core/booz_pwm_arch.h"
 #include "generated/airframe.h"
 
 bool_t booz_drop_ball;
@@ -37,7 +37,7 @@ int16_t booz_drop_servo;
 
 // PWM definition
 #ifndef BoozDropPwm
-#define BoozDropPwm(_v) Booz2SetPwmValue(_v)
+#define BoozDropPwm(_v) BoozSetPwmValue(_v)
 #endif
 
 void booz_drop_init(void) {