[modules] move ABI interface to modules

sw/airborne/arch/chibios/modules/core/shell_arch.c

@@ -27,7 +27,7 @@
 #include "modules/core/microrl/microrlShell.h"
 #include "mcu_periph/uart.h"
 #include "printf.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 /*************************
  * Basic static commands *

sw/airborne/boards/apogee/baro_board.c

@@ -33,7 +33,7 @@
 // to get MPU status
 #include "boards/apogee/imu_apogee.h"
 
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "led.h"
 
 // sd-log

sw/airborne/boards/apogee/imu_apogee.c

@@ -31,7 +31,7 @@
 #include "boards/apogee/imu_apogee.h"
 #include "mcu_periph/i2c.h"
 #include "led.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 // Downlink
 #include "mcu_periph/uart.h"

sw/airborne/boards/ardrone/baro_board.c

@@ -27,7 +27,7 @@
  */
 
 #include "subsystems/sensors/baro.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "baro_board.h"
 #include "navdata.h"
 

sw/airborne/boards/ardrone/navdata.c

@@ -45,7 +45,7 @@
 #include "navdata.h"
 #include "subsystems/ins.h"
 #include "subsystems/ahrs.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "mcu_periph/gpio.h"
 
 /* Internal used functions */

sw/airborne/boards/baro_board_ms5611_i2c.c

@@ -35,7 +35,7 @@
 #include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "std.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 #include "mcu_periph/uart.h"
 #include "pprzlink/messages.h"

sw/airborne/boards/baro_board_ms5611_spi.c

@@ -33,7 +33,7 @@
 #include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "std.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 #include "mcu_periph/uart.h"
 #include "pprzlink/messages.h"

sw/airborne/boards/bebop/actuators.c

@@ -30,7 +30,7 @@
 #include "actuators.h"
 #include "led_hw.h"
 #include "autopilot.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"

sw/airborne/boards/disco/actuators.c

@@ -34,7 +34,7 @@
 #include "modules/energy/electrical.h"
 #include "actuators.h"
 #include "autopilot.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include <endian.h>
 #include <string.h>
 

sw/airborne/boards/krooz/imu_krooz.c

@@ -34,7 +34,7 @@
 #include "mcu_periph/i2c.h"
 #include "led.h"
 #include "filters/median_filter.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 // Downlink
 #include "mcu_periph/uart.h"

sw/airborne/boards/krooz/imu_krooz_memsic.c

@@ -36,7 +36,7 @@
 #include "led.h"
 #include "filters/median_filter.h"
 #include "mcu_periph/sys_time.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 #if !defined KROOZ_LOWPASS_FILTER && !defined  KROOZ_SMPLRT_DIV
 #define KROOZ_LOWPASS_FILTER MPU60X0_DLPF_256HZ

sw/airborne/boards/lia/baro_board.c

@@ -29,7 +29,7 @@
 #include "peripherals/bmp085.h"
 #include "peripherals/bmp085_regs.h"
 #include <libopencm3/stm32/gpio.h>
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 #include "led.h"
 

sw/airborne/boards/lisa_l/baro_board.c

@@ -23,7 +23,7 @@
 #include "std.h"
 #include "subsystems/sensors/baro.h"
 #include "mcu_periph/i2c.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "led.h"
 
 enum LisaBaroStatus {

sw/airborne/boards/lisa_m/baro_board.c

@@ -29,7 +29,7 @@
 #include "peripherals/bmp085.h"
 #include "peripherals/bmp085_regs.h"
 #include <libopencm3/stm32/gpio.h>
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 #include "led.h"
 

sw/airborne/boards/lisa_mx/baro_board.c

@@ -29,7 +29,7 @@
 #include "peripherals/bmp085.h"
 #include "peripherals/bmp085_regs.h"
 #include <libopencm3/stm32/gpio.h>
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 #include "led.h"
 

sw/airborne/boards/lisa_mxs/baro_board.c

@@ -29,7 +29,7 @@
 #include "peripherals/bmp085.h"
 #include "peripherals/bmp085_regs.h"
 #include <libopencm3/stm32/gpio.h>
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 #include "led.h"
 

sw/airborne/boards/navstik/baro_board.c

@@ -29,7 +29,7 @@
 #include "peripherals/bmp085.h"
 #include "peripherals/bmp085_regs.h"
 #include <libopencm3/stm32/gpio.h>
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 #include "led.h"
 

sw/airborne/boards/swing/baro_board.c

@@ -25,7 +25,7 @@
  */
 
 #include "subsystems/sensors/baro.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "baro_board.h"
 #include <stdlib.h>
 #include <stdio.h>

sw/airborne/firmwares/demo/demo_ahrs_actuators.c

@@ -34,7 +34,7 @@
 #include "subsystems/datalink/telemetry.h"
 #include "subsystems/datalink/datalink.h"
 #include "subsystems/datalink/downlink.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 #include "generated/airframe.h"
 #include "generated/settings.h"

sw/airborne/firmwares/fixedwing/autopilot_static.c

@@ -62,7 +62,7 @@ static inline void copy_from_to_fbw(void);
 
 /// @todo, properly implement or remove
 #ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 volatile uint8_t new_ins_attitude = 0;
 static abi_event new_att_ev;
 static void new_att_cb(uint8_t sender_id __attribute__((unused)),

sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c

@@ -66,7 +66,7 @@
 #include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include "autopilot.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 /////// DEFAULT GUIDANCE_V NECESSITIES //////
 

sw/airborne/firmwares/fixedwing/main_ap.c

@@ -42,7 +42,7 @@
 
 #include "generated/airframe.h"
 #include "generated/modules.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 #include "led.h"
 

sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c

@@ -46,7 +46,7 @@
 #include "stabilization/stabilization_attitude_ref_quat_int.h"
 #include "firmwares/rotorcraft/stabilization.h"
 #include "filters/low_pass_filter.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 // The acceleration reference is calculated with these gains. If you use GPS,
 // they are probably limited by the update rate of your GPS. The default

sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c

@@ -43,7 +43,7 @@
 #include "firmwares/rotorcraft/stabilization.h"
 #include "stdio.h"
 #include "filters/low_pass_filter.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
 
 

sw/airborne/firmwares/rotorcraft/main_ap.c

@@ -42,7 +42,7 @@
 #endif
 
 #include "generated/modules.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 /* if PRINT_CONFIG is defined, print some config options */
 PRINT_CONFIG_VAR(PERIODIC_FREQUENCY)

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c

@@ -40,7 +40,7 @@
 #include "generated/airframe.h"
 #include "subsystems/radio_control.h"
 #include "subsystems/actuators.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "filters/low_pass_filter.h"
 #include "wls/wls_alloc.h"
 #include <stdio.h>

sw/airborne/firmwares/rover/main_ap.c

@@ -37,7 +37,7 @@
 #include "firmwares/rover/main_ap.h"
 
 #include "generated/modules.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 /* if PRINT_CONFIG is defined, print some config options */
 PRINT_CONFIG_VAR(PERIODIC_FREQUENCY)

sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.c

@@ -26,7 +26,7 @@
 
 #include "modules/ahrs/ahrs_madgwick_wrapper.h"
 #include "subsystems/ahrs.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "mcu_periph/sys_time.h"
 #include "message_pragmas.h"
 #include "state.h"

sw/airborne/modules/air_data/air_data.c

@@ -29,7 +29,7 @@
  */
 
 #include "modules/air_data/air_data.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "math/pprz_isa.h"
 #include "state.h"
 #include "generated/airframe.h"

sw/airborne/modules/calibration/mag_calib_ukf.c

@@ -31,7 +31,7 @@
 #include "math/pprz_algebra_double.h"
 #include "state.h"
 #include "subsystems/imu.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "generated/airframe.h"
 #include "subsystems/ahrs/ahrs_magnetic_field_model.h"
 #include "subsystems/datalink/telemetry.h"

sw/airborne/modules/computer_vision/colorfilter.c

@@ -53,7 +53,7 @@ uint8_t color_cr_max  = 255;
 // Result
 volatile int color_count = 0;
 
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 // Function
 static struct image_t *colorfilter_func(struct image_t *img, uint8_t camera_id __attribute__((unused)))

sw/airborne/modules/computer_vision/cv_detect_color_object.c

@@ -28,7 +28,7 @@
 // Own header
 #include "modules/computer_vision/cv_detect_color_object.h"
 #include "modules/computer_vision/cv.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "std.h"
 
 #include <stdio.h>

sw/airborne/modules/computer_vision/cv_target_localization.c

@@ -31,7 +31,7 @@
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_geodetic_float.h"
 #include "state.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "subsystems/datalink/downlink.h"
 #include "subsystems/navigation/waypoints.h"
 #include "generated/flight_plan.h"

sw/airborne/modules/computer_vision/detect_gate.c

@@ -14,8 +14,8 @@
 #include "math/pprz_algebra.h"
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_simple_matrix.h"
-#include "subsystems/abi.h"
-#include "subsystems/abi_sender_ids.h"
+#include "modules/core/abi.h"
+#include "modules/core/abi_sender_ids.h"
 
 #include "modules/computer_vision/snake_gate_detection.h"
 

sw/airborne/modules/computer_vision/opticflow_module.c

@@ -30,7 +30,7 @@
 #include <stdio.h>
 #include <pthread.h>
 #include "state.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 #include "lib/v4l/v4l2.h"
 #include "lib/encoding/jpeg.h"

sw/airborne/modules/core/abi.h

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/abi.h
+ * @file modules/core/abi.h
  *
  * Main include for ABI (AirBorneInterface).
  * @todo explain how to use ABI

sw/airborne/modules/core/abi_common.h

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/abi_common.h
+ * @file modules/core/abi_common.h
  *
  * Common tools for ABI middelware.
  */
@@ -37,7 +37,7 @@
  * Ex: '#include "subsystems/gps.h"' in order to use the GpsState structure
  */
 
-#include "subsystems/abi_sender_ids.h"
+#include "modules/core/abi_sender_ids.h"
 
 /* Some magic to avoid to compile C code, only headers */
 #ifdef ABI_C

sw/airborne/modules/core/abi_sender_ids.h

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/abi_sender_ids.h
+ * @file modules/core/abi_sender_ids.h
  *
  * Convenience defines for ABI sender IDs.
  */

sw/airborne/modules/ctrl/object_tracking.c

@@ -26,7 +26,7 @@
 #include "modules/ctrl/object_tracking.h"
 
 #include "firmwares/rotorcraft/navigation.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "generated/airframe.h"
 #include "generated/modules.h"
 

sw/airborne/modules/ctrl/optical_flow_hover.c

@@ -23,7 +23,7 @@
 
 #include "generated/airframe.h"
 #include "paparazzi.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "firmwares/rotorcraft/stabilization.h"
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
 #include "modules/energy/electrical.h"

sw/airborne/modules/ctrl/optical_flow_landing.c

@@ -45,7 +45,7 @@
 
 #include "generated/airframe.h"
 #include "paparazzi.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "firmwares/rotorcraft/stabilization.h"
 #include "firmwares/rotorcraft/guidance/guidance_v_adapt.h"
 

sw/airborne/modules/ctrl/shift_tracking.c

@@ -30,7 +30,7 @@
 
 #include "firmwares/fixedwing/nav.h"
 #include "autopilot.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "math/pprz_algebra_float.h"
 #include "generated/airframe.h"
 

sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c

@@ -28,7 +28,7 @@
 
 #include "generated/airframe.h"
 #include "paparazzi.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "firmwares/rotorcraft/stabilization.h"
 
 /* Default sonar/agl to use */

sw/airborne/modules/decawave/decawave_anchorless_communication.c

@@ -42,7 +42,7 @@
 #include "subsystems/radio_control.h"
 #include "state.h"
 #include "mcu_periph/uart.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include <stdio.h>
 
 #define UWB_SERIAL_PORT (&((SERIAL_UART).device))

sw/airborne/modules/decawave/dw1000_arduino.c

@@ -29,7 +29,7 @@
 #include "mcu_periph/uart.h"
 #include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "modules/decawave/trilateration.h"
 #include "subsystems/gps.h"
 #include "state.h"

sw/airborne/modules/dragspeed/dragspeed.c

@@ -38,8 +38,8 @@
 
 #include "modules/dragspeed/dragspeed.h"
 
-#include "subsystems/abi.h"
-#include "subsystems/abi_common.h"
+#include "modules/core/abi.h"
+#include "modules/core/abi_common.h"
 #include "subsystems/datalink/telemetry.h"
 
 #include <stdio.h>

sw/airborne/modules/geo_mag/geo_mag.c

@@ -30,7 +30,7 @@
 #include "math/pprz_geodetic_wmm2020.h"
 #include "math/pprz_algebra_double.h"
 #include "subsystems/gps.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 //FIXME: should not be in this spot
 //for kill_throttle check

sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.c

@@ -30,7 +30,7 @@
 // Own Header
 #include "guidance_opticflow_hover.h"
 
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 // Stabilization
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"

sw/airborne/modules/helicopter/throttle_curve.c

@@ -28,7 +28,7 @@
 #include "modules/core/commands.h"
 #include "autopilot.h"
 #include "subsystems/radio_control.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 
 /* The switching values for the Throttle Curve Mode switch */
 #define THROTTLE_CURVE_SWITCH_VAL (MAX_PPRZ*2/THROTTLE_CURVES_NB)

sw/airborne/modules/imu/filter_1euro_imu.c

@@ -27,7 +27,7 @@
 #include "filters/1e_filter.h"
 #include "math/pprz_algebra_int.h"
 #include "math/pprz_algebra_float.h"
-#include "subsystems/abi.h"
+#include "modules/core/abi.h"
 #include "generated/airframe.h"
 
 /** Enable by default */