[actuators] start to rework actuators

- use multiple drivers at the same time
- all actuators firmware independant
- default actuators can still be defined for some boards
- only lpc part modified yet
- for now microjet example is compiling...

conf/airframes/airframe.dtd

@@ -1,21 +1,18 @@
 <!-- Paparazzi airframe DTD -->
 
-<!ELEMENT airframe (include|servos|commands|csc_boards|rc_commands|auto_rc_commands|ap_only_commands|command_laws|section|makefile|modules|firmware)*>
+<!ELEMENT airframe (include|servos|commands|rc_commands|auto_rc_commands|ap_only_commands|command_laws|section|makefile|modules|firmware)*>
 <!ELEMENT include EMPTY>
 <!ELEMENT servos (servo)*>
 <!ELEMENT commands (axis)*>
-<!ELEMENT csc_boards (board)*>
-<!ELEMENT board (msg)*>
-<!ELEMENT msg (field_map)*>
-<!ELEMENT field_map EMPTY>
 <!ELEMENT rc_commands (set)*>
 <!ELEMENT auto_rc_commands (set)*>
 <!ELEMENT ap_only_commands (copy)*>
-<!ELEMENT command_laws (let|set|ratelimit)*>
+<!ELEMENT command_laws (let|set|call|ratelimit)*>
 <!ELEMENT section (define|linear)*>
 <!ELEMENT servo EMPTY>
 <!ELEMENT axis EMPTY>
 <!ELEMENT set EMPTY>
+<!ELEMENT call EMPTY>
 <!ELEMENT ratelimit EMPTY>
 <!ELEMENT copy EMPTY>
 <!ELEMENT let EMPTY>
@@ -54,7 +51,6 @@ driver CDATA #IMPLIED>
 <!ATTLIST rc_commands>
 <!ATTLIST ap_only_commands>
 <!ATTLIST command_laws>
-<!ATTLIST csc_boards>
 
 <!ATTLIST section
 name CDATA #IMPLIED
@@ -67,17 +63,6 @@ min CDATA #REQUIRED
 neutral CDATA #REQUIRED
 max CDATA #REQUIRED>
 
-<!ATTLIST board
-id CDATA #REQUIRED>
-
-<!ATTLIST msg
-id CDATA #REQUIRED
-type CDATA #REQUIRED>
-
-<!ATTLIST field_map
-field CDATA #REQUIRED
-servo_id CDATA #REQUIRED>
-
 <!ATTLIST axis
 name CDATA #REQUIRED
 failsafe_value CDATA #REQUIRED>
@@ -87,6 +72,9 @@ value CDATA #REQUIRED
 command CDATA #IMPLIED
 servo CDATA #IMPLIED>
 
+<!ATTLIST call
+fun CDATA #REQUIRED>
+
 <!ATTLIST copy
 command CDATA #REQUIRED>
 

conf/firmwares/subsystems/shared/actuators_4015.makefile

@@ -1,4 +1,4 @@
 # for Tiny v1.1
 
-$(TARGET).CFLAGS 	+= -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
-$(TARGET).srcs 	+= $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
+$(TARGET).CFLAGS 	+= -DACTUATORS -DSERVOS_4015_MAT
+$(TARGET).srcs 	+= $(SRC_ARCH)/subsystems/actuators/servos_4015_MAT_hw.c subsystems/actuators.c

conf/firmwares/subsystems/shared/actuators_4017.makefile

@@ -1,4 +1,4 @@
 # for Tiny v2 or Twog v1
 
-$(TARGET).CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-$(TARGET).srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+$(TARGET).CFLAGS += -DACTUATORS -DSERVOS_4017
+$(TARGET).srcs += $(SRC_ARCH)/subsystems/actuators/servos_4017_hw.c subsystems/actuators.c

conf/firmwares/subsystems/shared/actuators_direct.makefile

@@ -1,5 +1,5 @@
 
 
-$(TARGET).CFLAGS += -DACTUATORS=\"subsystems/actuators/actuators_pwm.h\" -DSERVOS_DIRECT
-$(TARGET).srcs   += subsystems/actuators/actuators_pwm.c actuators.c
+$(TARGET).CFLAGS += -DACTUATORS -DSERVOS_DIRECT
+$(TARGET).srcs   += subsystems/actuators/actuators_pwm.c subsystems/actuators.c
 $(TARGET).srcs   += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c

conf/firmwares/subsystems/shared/actuators_ppm.makefile

@@ -5,6 +5,6 @@
 # The PPM is output on the SERV_CLK pin. The PPM frame rate, pulse width, and number of channels
 # can be adjusted in the "servos_ppm_hw.h" file to suit your particular receiver.
 
-$(TARGET).CFLAGS += -DACTUATORS=\"servos_ppm_hw.h\" -DSERVOS_PPM_MAT
-$(TARGET).srcs += $(SRC_ARCH)/servos_ppm_hw.c actuators.c
+$(TARGET).CFLAGS += -DACTUATORS -DSERVOS_PPM_MAT
+$(TARGET).srcs += $(SRC_ARCH)/subsystems/actuators/servos_ppm_hw.c subsystems/actuators.c
 

sw/airborne/arch/lpc21/mcu_periph/sys_time_arch.c

@@ -37,7 +37,15 @@
 #define SYS_TICK_IT TIR_MR0I
 
 #if defined ACTUATORS && ( defined SERVOS_4017 || defined SERVOS_4015_MAT || defined SERVOS_PPM_MAT)
-#include ACTUATORS
+#ifdef SERVOS_4015_MAT
+#include "subsystems/actuators/servos_4015_MAT_hw.h"
+#endif
+#ifdef SERVOS_4017
+#include "subsystems/actuators/servos_4017_hw.h"
+#endif
+#ifdef SERVOS_PPM
+#include "subsystems/actuators/servos_ppm_hw.h"
+#endif
 #else
 #define ACTUATORS_IT 0x00
 #endif /* ACTUATORS */

sw/airborne/arch/lpc21/servos_csc.h

@@ -1,20 +0,0 @@
-#ifndef SERVOS_CSC_H
-#define SERVOS_CSC_H
-
-#include "LPC21xx.h"
-#include "generated/airframe.h"
-#include "actuators.h"
-#include "mcu_periph/sys_time.h"
-
-#define SERVOS_TICS_OF_USEC(s) CPU_TICKS_OF_USEC(s)
-#define ChopServo(x,a,b) Chop(x, a, b)
-#define SERVO_COUNT 4
-
-#define Actuator(i) actuators[i]
-
-static inline void ActuatorsCommit(void)
-{
-
-}
-
-#endif /* SERVOS_CSC_H */

sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.c

@@ -28,7 +28,7 @@ const uint8_t pwm_latch_value = 0
 #endif
   ;
 
-void actuators_init ( void ) {
+void actuators_pwm_init ( void ) {
 
   /* configure pins for PWM */
 #if defined PWM_SERVO_0

sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h

@@ -15,7 +15,7 @@
 #define SERVO_REG_5 PWMMR2
 
 #define COMMAND_(i) SERVO_REG_ ## i
-#define Actuator(i) COMMAND_(i)
+#define ActuatorPwm(i) COMMAND_(i)
 
 
 /*
@@ -76,8 +76,11 @@ PWM6        PWM2  SSEL0  EINT2   P0.7
 
 extern const uint8_t pwm_latch_value;
 
-#define ActuatorsCommit() { \
+#define ActuatorsPwmCommit() { \
     PWMLER = pwm_latch_value;   \
   }
 
+extern void actuators_pwm_init(void);
+#define ActuatorsPwmInit() actuators_pwm_init()
+
 #endif /* ACTUATORS_PWM_ARCH_H */

sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_MAT_hw.c

@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2006  Antoine Drouin
  *
  * This file is part of paparazzi.
@@ -27,7 +25,7 @@
  */
 
 
-#include "actuators.h"
+#include "subsystems/actuators.h"
 #include "paparazzi.h"
 #include "generated/airframe.h"
 
@@ -36,7 +34,7 @@ uint32_t servos_delay = SERVO_REFRESH_TICS;
 
 #define START_TIMEOUT 0xFFFF;
 
-void actuators_init ( void ) {
+void actuators_4015_init ( void ) {
   /* select clock pin as MAT0.1 output */
   IO0DIR |= _BV(SERVO_CLOCK_PIN);
   SERVO_CLOCK_PINSEL |= SERVO_CLOCK_PINSEL_VAL << SERVO_CLOCK_PINSEL_BIT;

sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_MAT_hw.h

@@ -42,9 +42,11 @@
 
 #define _4015_NB_CHANNELS 8
 extern uint16_t servos_values[_4015_NB_CHANNELS];
-#define Actuator(i) servos_values[i]
+#define Actuator4015(i) servos_values[i]
 
-#define ActuatorsCommit() {}
+extern void actuators_4015_init(void);
+#define Actuators4015Commit() {}
+#define Actuators4015Init() actuators_4015_init()
 extern uint8_t servos_4015_idx;
 extern uint32_t servos_delay;
 

sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw.c

@@ -1,4 +1,25 @@
-#include "actuators.h"
+/*
+ * Copyright (C) 2006  Antoine Drouin
+ *
+ * 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.
+ *
+ */
+#include "subsystems/actuators.h"
 #include "armVIC.h"
 
 #include "generated/airframe.h"
@@ -19,7 +40,7 @@ uint16_t servos_values[_4015_NB_CHANNELS];
 #define PWMIR_MRI_SERV1 PWMIR_MR2I
 
 
-void actuators_init ( void ) {
+void actuators_4015_init ( void ) {
   /* PWM selected as IRQ */
   VICIntSelect &= ~VIC_BIT(VIC_PWM);
   /* PWM interrupt enabled */

sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw.h

@@ -35,9 +35,11 @@
 
 #define _4015_NB_CHANNELS 8
 extern uint16_t servos_values[_4015_NB_CHANNELS];
-#define Actuator(i) servos_values[i]
+#define Actuator4015(i) servos_values[i]
 
-#define ActuatorsCommit() {}
+extern void actuators_4015_init(void);
+#define Actuators4015Commit() {}
+#define Actuators4015Init() actuators_4015_init()
 
 void PWM_ISR ( void ) __attribute__((naked));
 

sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw_new.c

@@ -1,4 +1,25 @@
-#include "actuators.h"
+/*
+ * Copyright (C) 2006  Antoine Drouin
+ *
+ * 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.
+ *
+ */
+#include "subsystems/actuators.h"
 #include "armVIC.h"
 
 #include "generated/airframe.h"
@@ -19,7 +40,7 @@ uint16_t servos_values[_4015_NB_CHANNELS];
 #define PWMIR_MRI_SERV1 PWMIR_MR2I
 
 
-void actuators_init ( void ) {
+void actuators_4015_init ( void ) {
   /* PWM selected as IRQ */
   VICIntSelect &= ~VIC_BIT(VIC_PWM);
   /* PWM interrupt enabled */

sw/airborne/arch/lpc21/subsystems/actuators/servos_4017_hw.c

@@ -1,4 +1,25 @@
-#include "actuators.h"
+/*
+ * Copyright (C) 2006  Antoine Drouin
+ *
+ * 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.
+ *
+ */
+#include "subsystems/actuators.h"
 
 #include "paparazzi.h"
 #include "generated/airframe.h"
@@ -7,7 +28,7 @@ uint8_t servos_4017_idx;
 
 #define START_TIMEOUT 0xFFFF;
 
-void actuators_init ( void ) {
+void actuators_4017_init ( void ) {
   /* select clock pin as MAT0.1 output */
   IO0DIR |= _BV(SERVO_CLOCK_PIN);
   SERVO_CLOCK_PINSEL |= SERVO_CLOCK_PINSEL_VAL << SERVO_CLOCK_PINSEL_BIT;

sw/airborne/arch/lpc21/subsystems/actuators/servos_4017_hw.h

@@ -19,9 +19,11 @@
 #endif
 
 extern uint16_t servos_values[_4017_NB_CHANNELS];
-#define Actuator(i) servos_values[i]
+#define Actuator4017(i) servos_values[i]
 
-#define ActuatorsCommit() {}
+extern void actuators_4017_init(void);
+#define Actuators4017Commit() {}
+#define Actuators4017Init() actuators_4017_init()
 
 extern uint8_t servos_4017_idx;
 

sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.c

@@ -26,7 +26,7 @@
  *  \ for a R/C receiver which has a microcontroller to drive the servos
  *  \(not a 4015 or 4017 decade counter chip).
  */
-#include "actuators.h"
+#include "subsystems/actuators.h"
 #include "paparazzi.h"
 #include "generated/airframe.h"
 
@@ -36,7 +36,7 @@ uint32_t servos_delay = SERVO_REFRESH_TICS;
 
 #define START_TIMEOUT 0xFFFF;
 
-void actuators_init ( void ) {
+void actuators_ppm_init ( void ) {
   /* select ppm output pin as MAT0.1 output */
   SERVO_CLOCK_PINSEL |= SERVO_CLOCK_PINSEL_VAL << SERVO_CLOCK_PINSEL_BIT;
 

sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.h

@@ -40,9 +40,11 @@
 
 #define _PPM_NB_CHANNELS 8
 extern uint16_t servos_values[_PPM_NB_CHANNELS];
-#define Actuator(i) servos_values[i]
+#define ActuatorPpm(i) servos_values[i]
 
-#define ActuatorsCommit() {}
+extern void actuators_ppm_init(void);
+#define ActuatorsPpmCommit() {}
+#define ActuatorsPpmInit() actuators_ppm_init()
 extern uint8_t servos_PPM_idx;
 extern uint32_t servos_delay;
 extern uint8_t ppm_pulse; /* 1=start of pulse, 0=end of pulse */

sw/airborne/boards/tiny_0.99.h

@@ -35,6 +35,12 @@
 #define LED_2_BANK 1
 #define LED_2_PIN 19
 
+/* Default actuators driver */
+#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4015.h"
+#define ActuatorDefault(_x) Actuator4015(_x)
+#define ActuatorsDefaultInit() Actuators4015Init()
+#define ActuatorsDefaultCommit() Actuators4015Commit()
+
 /* P0.5 aka MAT0.1  */
 #define SERVO_CLOCK_PIN  5
 #define SERVO_CLOCK_PINSEL PINSEL0

sw/airborne/boards/tiny_1.1.h

@@ -46,6 +46,12 @@
 
 #define POWER_SWITCH_LED 3
 
+/* Default actuators driver */
+#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4015.h"
+#define ActuatorDefault(_x) Actuator4015(_x)
+#define ActuatorsDefaultInit() Actuators4015Init()
+#define ActuatorsDefaultCommit() Actuators4015Commit()
+
 /* P0.5 aka MAT0.1  */
 #define SERVO_CLOCK_PIN  5
 #define SERVO_CLOCK_PINSEL PINSEL0

sw/airborne/boards/tiny_2.0.h

@@ -49,6 +49,12 @@
 
 #define POWER_SWITCH_LED 4
 
+/* Default actuators driver */
+#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4017.h"
+#define ActuatorDefault(_x) Actuator4017(_x)
+#define ActuatorsDefaultInit() Actuators4017Init()
+#define ActuatorsDefaultCommit() Actuators4017Commit()
+
 /* P0.5 aka MAT0.1  */
 #define SERVO_CLOCK_PIN  5
 #define SERVO_CLOCK_PINSEL PINSEL0

sw/airborne/boards/tiny_2.1.h

@@ -86,6 +86,12 @@
 #define Set_GPS_RESET_Pin_LOW() LED_ON(GPS_RESET)
 #define Open_GPS_RESET_Pin() ClearBit(LED_DIR(GPS_RESET), LED_PIN(GPS_RESET))
 
+/* Default actuators driver */
+#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4017.h"
+#define ActuatorDefault(_x) Actuator4017(_x)
+#define ActuatorsDefaultInit() Actuators4017Init()
+#define ActuatorsDefaultCommit() Actuators4017Commit()
+
 /* P0.5 aka MAT0.1  */
 #define SERVO_CLOCK_PIN  5
 #define SERVO_CLOCK_PINSEL PINSEL0

sw/airborne/boards/tiny_sim.h

@@ -29,6 +29,12 @@
 #define LED_2_BANK 1
 #define LED_2_PIN 19
 
+/* Default actuators driver */
+#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4017.h"
+#define ActuatorDefault(_x) Actuator4017(_x)
+#define ActuatorsDefaultInit() Actuators4017Init()
+#define ActuatorsDefaultCommit() Actuators4017Commit()
+
 /* p0.21 aka PWM5 */
 #define SERV0_CLOCK_PIN 21
 #define SERV0_CLOCK_PINSEL PINSEL1

sw/airborne/boards/umarim_1.0.h

@@ -30,6 +30,12 @@
 #define LED_2_BANK 1
 #define LED_2_PIN 24
 
+/* Default actuators driver */
+#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4017.h"
+#define ActuatorDefault(_x) Actuator4017(_x)
+#define ActuatorsDefaultInit() Actuators4017Init()
+#define ActuatorsDefaultCommit() Actuators4017Commit()
+
 /* P0.5 aka MAT0.1  */
 #define SERVO_CLOCK_PIN  5
 #define SERVO_CLOCK_PINSEL PINSEL0

sw/airborne/boards/umarim_lite_2.0.h

@@ -30,6 +30,12 @@
 #define LED_2_BANK 1
 #define LED_2_PIN 24
 
+/* Default actuators driver */
+#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4017.h"
+#define ActuatorDefault(_x) Actuator4017(_x)
+#define ActuatorsDefaultInit() Actuators4017Init()
+#define ActuatorsDefaultCommit() Actuators4017Commit()
+
 /* P0.5 aka MAT0.1  */
 #define SERVO_CLOCK_PIN  5
 #define SERVO_CLOCK_PINSEL PINSEL0

sw/airborne/firmwares/fixedwing/fbw_downlink.h

@@ -40,7 +40,7 @@
 #include "generated/periodic_telemetry.h"
 #include "generated/airframe.h"
 #include "commands.h"
-#include "actuators.h"
+#include "subsystems/actuators.h"
 
 #include "mcu_periph/uart.h"
 #include "firmwares/fixedwing/main_fbw.h"
@@ -78,7 +78,7 @@
 #endif // RADIO_CONTROL
 
 #ifdef ACTUATORS
-#define PERIODIC_SEND_ACTUATORS(_trans, _dev) DOWNLINK_SEND_ACTUATORS(_trans, _dev, SERVOS_NB, actuators)
+#define PERIODIC_SEND_ACTUATORS(_trans, _dev) DOWNLINK_SEND_ACTUATORS(_trans, _dev, ACTUATORS_NB, actuators)
 #else
 #define PERIODIC_SEND_ACTUATORS(_trans, _dev) {}
 #endif

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -37,7 +37,7 @@
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
 #include "commands.h"
-#include "firmwares/fixedwing/actuators.h"
+#include "subsystems/actuators.h"
 #include "subsystems/electrical.h"
 #include "subsystems/radio_control.h"
 #include "firmwares/fixedwing/autopilot.h"

sw/airborne/firmwares/setup/setup_actuators.c

@@ -30,7 +30,7 @@ void dl_parse_msg( void ) {
     uint8_t servo_no = DL_SET_ACTUATOR_no(dl_buffer);
     uint16_t servo_value = DL_SET_ACTUATOR_value(dl_buffer);
     LED_TOGGLE(2);
-    if (servo_no < SERVOS_NB)
+    if (servo_no < ACTUATORS_NB)
       SetServo(servo_no, servo_value);
   }
 #ifdef DlSetting
@@ -58,7 +58,7 @@ void init_fbw( void ) {
   actuators_init();
 
   uint8_t i;
-  for(i = 0; i < SERVOS_NB; i++) {
+  for(i = 0; i < ACTUATORS_NB; i++) {
     SetServo(i, 1500);
   }
 
@@ -83,7 +83,7 @@ void periodic_task_fbw(void) {
    /* SetServo(SERVO_THROTTLE, servo_value); */
 
   RunOnceEvery(300, DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM));
-  RunOnceEvery(300, DOWNLINK_SEND_ACTUATORS(DefaultChannel, DefaultDevice, SERVOS_NB, actuators ));
+  RunOnceEvery(300, DOWNLINK_SEND_ACTUATORS(DefaultChannel, DefaultDevice, ACTUATORS_NB, actuators ));
 }
 
 void event_task_fbw(void) {

sw/airborne/subsystems/actuators.c

@@ -24,6 +24,13 @@
  *
  */
 
-#include "firmwares/fixedwing/actuators.h"
+#include "subsystems/actuators.h"
 
-uint16_t actuators[SERVOS_NB];
+uint16_t actuators[ACTUATORS_NB];
+
+void actuators_init(void) {
+
+  // Init macro from generated airframe.h
+  AllActuatorsInit();
+
+}

sw/airborne/subsystems/actuators.h

@@ -1,5 +1,6 @@
 /*
  * (c) 2003-2005 Pascal Brisset, Antoine Drouin
+ * (c) 2012 Gautier Hattenberger
  *
  * This file is part of paparazzi.
  *
@@ -26,32 +27,29 @@
 #ifndef ACTUATORS_H
 #define ACTUATORS_H
 
-#if defined ACTUATORS
-
 #include "paparazzi.h"
 
-/** Defines SetActuatorsFromCommands() macro */
+/** Defines SetActuatorsFromCommands() macro
+ *  Defines ACTUATORS_NB to 0 if no servo
+ *  Include servos drivers
+ */
 #include "generated/airframe.h"
 
-/** Must be defined by specific hardware implementation */
+#if ACTUATORS_NB
+
 extern void actuators_init( void );
 
 /** Temporary storage (for debugging purpose, downlinked via telemetry) */
-extern uint16_t actuators[SERVOS_NB];
+extern uint16_t actuators[ACTUATORS_NB];
 
-#include ACTUATORS
+#define SetServo(x, v) { actuators[x##_IDX] = v; }
 
-#define SetServo(x, v) {                                        \
-    Actuator(x) = SERVOS_TICS_OF_USEC(ChopServo(v,700,2400));   \
-    actuators[x] = v;                                           \
-  }
+#else /* ACTUATORS_NB */
 
-#else /* ACTUATORS */
-
-// define empty SetServo makro for sim
+// define empty SetServo makro for sim (really needed ?)
 #define SetServo(x, v) {}
 
-#endif /* ACTUATORS */
+#endif /* ACTUATORS_NB */
 
 
 #endif /* ACTUATORS_H */

sw/airborne/subsystems/actuators/actuators_4015.h

@@ -0,0 +1,27 @@
+/*
+ * Copyright (C) 2012 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.
+ */
+
+#ifndef ACTUATORS_4015_H
+#define ACTUATORS_4015_H
+
+#include "subsystems/actuators/servos_4015_MAT_hw.h"
+
+#endif /* ACTUATORS_4015_H */

sw/airborne/subsystems/actuators/actuators_4017.h

@@ -0,0 +1,27 @@
+/*
+ * Copyright (C) 2012 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.
+ */
+
+#ifndef ACTUATORS_4017_H
+#define ACTUATORS_4017_H
+
+#include "subsystems/actuators/servos_4017_hw.h"
+
+#endif /* ACTUATORS_4017_H */

sw/airborne/subsystems/actuators/actuators_default.h

@@ -1,36 +1,30 @@
 /*
- * Copyright (C) 2010-2012 The Paparazzi Team
+ * Copyright (C) 2012 Gautier Hattenberger
  *
- * This file is part of paparazzi.
+ * This file is part of Paparazzi.
  *
- * paparazzi is free software; you can redistribute it and/or modify
+ * 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,
+ * 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
+ * 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 actuators.h
- *  Generic Actuators API.
+#ifndef ACTUATORS_DEFAULT_H
+#define ACTUATORS_DEFAULT_H
+
+/** Dummy include of default actuators header
  */
+#include BOARD_CONFIG
+#include DEFAULT_ACTUATORS
 
-#ifndef ACTUATORS_H
-#define ACTUATORS_H
-
-//#include ACTUATORS
-
-#include "std.h"
-
-extern void actuators_init(void);
-extern void actuators_set(bool_t motors_on);
-
-#endif /* ACTUATORS_H */
+#endif /* ACTUATORS_DEFAULT_H */

sw/airborne/subsystems/actuators/actuators_ppm.h

@@ -0,0 +1,27 @@
+/*
+ * Copyright (C) 2012 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.
+ */
+
+#ifndef ACTUATORS_PPM_H
+#define ACTUATORS_PPM_H
+
+#include "subsystems/actuators/servos_ppm_hw.h"
+
+#endif /* ACTUATORS_PPM_H */

sw/tools/gen_airframe.ml

@@ -150,7 +150,10 @@ let preprocess_value = fun s v prefix ->
   let s = Str.global_replace pprz_value (sprintf "%s[%s_\\1]" v prefix) s in
   Str.global_replace var_value "_var_\\1" s
 
-
+let print_actuators_idx = fun () ->
+  let nb = Hashtbl.fold (fun s _d i -> printf "#define SERVO_%s_IDX %d\n" s i; i+1) servos_drivers 0 in
+  define "ACTUATORS_NB" (string_of_int nb);
+  nl ()
 
 let parse_command_laws = fun command ->
   let a = fun s -> ExtXml.attrib command s in
@@ -162,15 +165,18 @@ let parse_command_laws = fun command ->
        printf "  command_value = %s;\\\n" v;
        printf "  command_value *= command_value>0 ? SERVO_%s_TRAVEL_UP : SERVO_%s_TRAVEL_DOWN;\\\n" servo servo;
        printf "  servo_value = SERVO_%s_NEUTRAL + (int32_t)(command_value);\\\n" servo;
-       printf "  actuators[SERVO_%s] = ChopServo(servo_value, SERVO_%s_MIN, SERVO_%s_MAX);\\\n\\\n" servo servo servo;
+       printf "  actuators[SERVO_%s_IDX] = ChopServo(servo_value, SERVO_%s_MIN, SERVO_%s_MAX);\\\n\\\n" servo servo servo;
 
        let driver = get_servo_driver servo in
-       printf "  Actuator%s(SERVO_%s) = SERVOS_TICS_OF_USEC(actuators[SERVO_%s]);\\\n\\\n" driver servo servo
+       printf "  Actuator%s(SERVO_%s) = SERVOS_TICS_OF_USEC(actuators[SERVO_%s_IDX]);\\\n\\\n" driver servo servo
    | "let" ->
        let var = a "var"
        and value = a "value" in
        let v = preprocess_value value "values" "COMMAND" in
        printf "  int16_t _var_%s = %s;\\\n" var v
+   | "call" ->
+       let f = a "fun" in
+       printf "  %s;\\\n" f
    | "ratelimit" ->
        let var = a "var"
        and value = a "value"
@@ -182,40 +188,6 @@ let parse_command_laws = fun command ->
        parse_element "" command
    | _ -> xml_error "set|let"
 
-let parse_csc_fields = fun csc_fields ->
-  let a = fun s -> ExtXml.attrib csc_fields s in
-   match Xml.tag csc_fields with
-     "field_map" ->
-       let servo_id = a "servo_id"
-       and field = a "field" in
-       printf "  temp.%s = actuators[%s]; \\\n" field servo_id;
-      | _ -> xml_error "field_map"
-
-let parse_csc_messages = (let msg_index_ref = ref 0 in fun csc_id csc_messages ->
-  let a = fun s -> ExtXml.attrib csc_messages s in
-   match Xml.tag csc_messages with
-     "msg" ->
-       let msg_id = a "id"
-       and msg_type = a "type"
-       and msg_index = msg_index_ref.contents in
-       msg_index_ref.contents <- msg_index + 1;
-       printf "{\\\n  struct Csc%s temp; \\\n" msg_type;
-       List.iter parse_csc_fields (Xml.children csc_messages);
-       printf "  can_write_csc(%s, CSC_%s, (uint8_t *)&temp, sizeof(struct Csc%s)); \\\n" csc_id msg_id msg_type;
-       printf "} \\\n"
-      | _ -> xml_error "msg"
-  )
-
-let parse_csc_boards = fun csc_board ->
-  let a = fun s -> ExtXml.attrib csc_board s in
-   match Xml.tag csc_board with
-     "board" ->
-       let csc_id = a "id" in
-       List.iter (parse_csc_messages csc_id) (Xml.children csc_board);
-   | "define" ->
-       parse_element "" csc_board
-   | _ -> xml_error "board"
-
 let parse_rc_commands = fun rc ->
   let a = fun s -> ExtXml.attrib rc s in
   match Xml.tag rc with
@@ -255,11 +227,12 @@ let rec parse_section = fun s ->
       List.iter (parse_element prefix) (Xml.children s);
       nl ()
   | "servos" ->
-      let driver = ExtXml.attrib_or_default s "driver" "" in
+      let driver = ExtXml.attrib_or_default s "driver" "Default" in
       let servos = Xml.children s in
       let nb_servos = List.fold_right (fun s m -> Pervasives.max (int_of_string (ExtXml.attrib s "no")) m) servos min_int + 1 in
 
-      define "SERVOS_NB" (string_of_int nb_servos);
+      define (sprintf "SERVOS_%s_NB" (String.uppercase driver)) (string_of_int nb_servos);
+      printf "#include \"subsystems/actuators/actuators_%s.h\"\n" (String.lowercase driver);
       nl ();
       List.iter (parse_servo driver) servos;
       nl ()
@@ -282,6 +255,8 @@ let rec parse_section = fun s ->
       List.iter parse_ap_only_commands (Xml.children s);
       printf "}\n\n"
   | "command_laws" ->
+      print_actuators_idx ();
+
       printf "#define SetActuatorsFromCommands(values) { \\\n";
       printf "  uint32_t servo_value;\\\n";
       printf "  float command_value;\\\n";
@@ -295,12 +270,6 @@ let rec parse_section = fun s ->
       printf "#define AllActuatorsInit() { \\\n";
       List.iter (fun d -> printf "  Actuators%sInit();\\\n" d) drivers;
       printf "}\n\n";
-  | "csc_boards" ->
-      let boards = Array.of_list (Xml.children s) in
-      define "CSC_BOARD_NB" (string_of_int (Array.length boards));
-      printf "#define SendCscFromActuators() { \\\n";
-      List.iter parse_csc_boards (Xml.children s);
-      printf "}\n"
   | "include" ->
       let filename = ExtXml.attrib s "href" in
       let subxml = Xml.parse_file filename in