diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml index c65616a7a6..0d38e840c1 100644 --- a/conf/airframes/examples/lisa_asctec.xml +++ b/conf/airframes/examples/lisa_asctec.xml @@ -214,7 +214,7 @@ - + diff --git a/conf/airframes/examples/setup_lisam2.xml b/conf/airframes/examples/setup_lisam2.xml index a300d55697..0d228f0fd9 100644 --- a/conf/airframes/examples/setup_lisam2.xml +++ b/conf/airframes/examples/setup_lisam2.xml @@ -11,7 +11,7 @@ - + diff --git a/conf/firmwares/lisa_test_progs.makefile b/conf/firmwares/lisa_test_progs.makefile index 3c4cafe1c5..c5d55b2e43 100644 --- a/conf/firmwares/lisa_test_progs.makefile +++ b/conf/firmwares/lisa_test_progs.makefile @@ -140,7 +140,6 @@ test_servos.srcs = $(COMMON_TEST_SRCS) test_servos.CFLAGS += -I$(SRC_LISA) test_servos.LDFLAGS += -lm test_servos.srcs += $(SRC_LISA)/test_servos.c -test_servos.srcs += subsystems/actuators/actuators_pwm.c test_servos.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c ifeq ($(BOARD), lisa_m) test_servos.CFLAGS += -DUSE_SERVOS_7AND8 diff --git a/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile b/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile index ccf7d83b07..99663ac7c6 100644 --- a/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile +++ b/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile @@ -82,6 +82,7 @@ nps.srcs += $(SRC_FIRMWARE)/telemetry.c \ subsystems/datalink/downlink.c \ $(SRC_ARCH)/ivy_transport.c +nps.srcs += subsystems/actuators.c nps.srcs += $(SRC_FIRMWARE)/commands.c nps.srcs += $(SRC_FIRMWARE)/datalink.c diff --git a/conf/firmwares/subsystems/shared/actuators_pwm.makefile b/conf/firmwares/subsystems/shared/actuators_pwm.makefile index a47ef259c4..c476520918 100644 --- a/conf/firmwares/subsystems/shared/actuators_pwm.makefile +++ b/conf/firmwares/subsystems/shared/actuators_pwm.makefile @@ -1,5 +1,4 @@ $(TARGET).CFLAGS += -DACTUATORS -$(TARGET).srcs += subsystems/actuators/actuators_pwm.c $(TARGET).srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c diff --git a/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.c index 27b9c2a361..82c801c03d 100644 --- a/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.c +++ b/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.c @@ -19,9 +19,10 @@ * Boston, MA 02111-1307, USA. */ -#include "std.h" -#include "subsystems/actuators.h" #include "subsystems/actuators/actuators_pwm_arch.h" +#include "std.h" +#include BOARD_CONFIG +#include "generated/airframe.h" /* 40 Hz */ #ifndef SERVOS_PERIOD diff --git a/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h b/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h index 071b4c288b..e54d87a41e 100644 --- a/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h +++ b/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h @@ -115,6 +115,4 @@ extern const uint8_t pwm_latch_value; PWMLER = pwm_latch_value; \ } -extern void actuators_pwm_arch_init(void); - #endif /* ACTUATORS_PWM_ARCH_H */ diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c index 193fb1cb9d..8827c23bf6 100644 --- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c +++ b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c @@ -23,7 +23,6 @@ * STM32 PWM servos handling. */ -#include "subsystems/actuators.h" #include "subsystems/actuators/actuators_pwm_arch.h" #include diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h index e5d0d547b7..e81fd46c41 100644 --- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h +++ b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h @@ -40,7 +40,6 @@ extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; -extern void actuators_pwm_arch_init(void); extern void actuators_pwm_commit(void); #define SERVOS_TICS_OF_USEC(_v) (_v) diff --git a/sw/airborne/lisa/test_servos.c b/sw/airborne/lisa/test_servos.c index 30fe68c776..3270f8bb70 100644 --- a/sw/airborne/lisa/test_servos.c +++ b/sw/airborne/lisa/test_servos.c @@ -42,7 +42,7 @@ int main(void) { static inline void main_init( void ) { mcu_init(); sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL); - actuators_init(); + ActuatorsPwmInit(); } static inline void main_periodic( void ) { @@ -50,9 +50,9 @@ static inline void main_periodic( void ) { foo += 0.0025; int32_t bar = 1500 + 500. * sin(foo); for (int i = 0; i < ACTUATORS_PWM_NB; i++) { - actuators_pwm_values[i] = bar; + ActuatorPwmSet(i, bar); } - actuators_pwm_commit(); + ActuatorsPwmCommit(); LED_PERIODIC(); } diff --git a/sw/airborne/subsystems/actuators/actuators_pwm.c b/sw/airborne/subsystems/actuators/actuators_pwm.c deleted file mode 100644 index 0606133b38..0000000000 --- a/sw/airborne/subsystems/actuators/actuators_pwm.c +++ /dev/null @@ -1,29 +0,0 @@ -/* - * Copyright (C) 2010-2012 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. - */ - -#include "subsystems/actuators/actuators_pwm.h" - -void actuators_pwm_init(void) -{ - // implemented in arch files - actuators_pwm_arch_init(); -} - diff --git a/sw/airborne/subsystems/actuators/actuators_pwm.h b/sw/airborne/subsystems/actuators/actuators_pwm.h index 80953089fa..184d695957 100644 --- a/sw/airborne/subsystems/actuators/actuators_pwm.h +++ b/sw/airborne/subsystems/actuators/actuators_pwm.h @@ -22,16 +22,13 @@ #ifndef ACTUATORS_PWM_H #define ACTUATORS_PWM_H -#include "std.h" -#include "generated/airframe.h" - -#include BOARD_CONFIG #include "subsystems/actuators/actuators_pwm_arch.h" -extern void actuators_pwm_init(void); - -#define ActuatorsPwmInit() actuators_pwm_init() -/* ActuatorSet and ActuatorsPwmCommit are implemented in arch files +/** Arch dependent init file. + * implemented in arch files */ +extern void actuators_pwm_arch_init(void); + +#define ActuatorsPwmInit() actuators_pwm_arch_init() #endif /* ACTUATORS_PWM_H */ diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c index 3ec8b45a16..51ae195d95 100644 --- a/sw/simulator/nps/nps_autopilot_rotorcraft.c +++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c @@ -101,7 +101,7 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) { /* scale final motor commands to 0-1 for feeding the fdm */ /* FIXME: autopilot.commands is of length NB_COMMANDS instead of number of motors */ for (uint8_t i=0; i