[actuators] fix and clean

conf/airframes/examples/lisa_asctec.xml

@@ -214,7 +214,7 @@
   <firmware name="lisa_test_progs">
     <target name="test_led"   board="lisa_l_1.1"/>
     <target name="test_uart"   board="lisa_l_1.1"/>
-    <!--target name="test_servos"   board="lisa_l_1.1"/-->
+    <target name="test_servos"   board="lisa_l_1.1"/>
     <target name="test_telemetry"   board="lisa_l_1.1"/>
     <target name="test_baro"        board="lisa_l_1.1"/>
     <target name="test_imu_b2"      board="lisa_l_1.1"/>

conf/airframes/examples/setup_lisam2.xml

@@ -11,7 +11,7 @@
     <target name="test_led"	                board="lisa_m_2.0"/>
     <target name="test_sys_time"            board="lisa_m_2.0"/>
     <target name="test_uart"                board="lisa_m_2.0"/>
-    <!--target name="test_servos"              board="lisa_m_2.0"/-->
+    <target name="test_servos"              board="lisa_m_2.0"/>
     <target name="test_telemetry"           board="lisa_m_2.0"/>
     <target name="test_baro"                board="lisa_m_2.0"/>
     <target name="test_rc_spektrum"         board="lisa_m_2.0"/>

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

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

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

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

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 */

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 <libopencm3/stm32/f1/gpio.h>

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)

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();
 }

sw/airborne/subsystems/actuators/actuators_pwm.c

@@ -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();
-}
-

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);
+/** Arch dependent init file.
-
+ * implemented in arch files
-#define ActuatorsPwmInit() actuators_pwm_init()
-/* ActuatorSet and ActuatorsPwmCommit are implemented in arch files
  */
+extern void actuators_pwm_arch_init(void);
+
+#define ActuatorsPwmInit() actuators_pwm_arch_init()
 
 #endif /* ACTUATORS_PWM_H */

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<MOTOR_MIXING_NB_MOTOR; i++)
-    autopilot.commands[i] = (double)(motor_mixing.commands[i]/MAX_PPRZ);
+    autopilot.commands[i] = (double)motor_mixing.commands[i]/MAX_PPRZ;
 
 }