diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml old mode 100755 new mode 100644 diff --git a/conf/airframes/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml old mode 100755 new mode 100644 diff --git a/conf/airframes/mm/fixed-wing/funjetgfi8.xml b/conf/airframes/mm/fixed-wing/funjetgfi8.xml index cb284e816e..2f28f49668 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi8.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi8.xml @@ -1,8 +1,7 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -38,7 +76,7 @@ - + @@ -81,8 +119,6 @@
- -
@@ -91,8 +127,6 @@ - - @@ -125,7 +159,6 @@ -
@@ -140,10 +173,6 @@ - - -
@@ -160,87 +189,14 @@ -
- -
- - - - - -
- -
- -
-
- -
+
+ + + + + +
- -CONFIG = \"tiny_2_1.h\" - -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile - -FLASH_MODE=IAP - -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c - -ap.srcs += commands.c - -ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c - -ap.CFLAGS += -DRADIO_CONTROL -ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c - -ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c - -#TRANSPARENT -#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c - - -ap.CFLAGS += -DINTER_MCU -ap.srcs += inter_mcu.c - -ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -ap.srcs += $(SRC_ARCH)/adc_hw.c - -ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -# -DGPS_LED=2 -ap.srcs += gps_ubx.c gps.c latlong.c - -ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET -ap.srcs += infrared.c estimator.c - -ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c - -ap.srcs += subsystems/navigation/nav_line.c -ap.srcs += subsystems/navigation/nav_survey_rectangle.c - -ap.srcs += humid_sht.c -ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2 - -ap.srcs += baro_scp.c -ap.CFLAGS += -DUSE_BARO_SCP - -ap.srcs += joystick.c -ap.CFLAGS += -DUSE_JOYSTICK - -# Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile -sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c - -sim.srcs += joystick.c -sim.CFLAGS += -DUSE_JOYSTICK - - - diff --git a/conf/airframes/mm/fixed-wing/funjetlisa.xml b/conf/airframes/mm/fixed-wing/funjetlisa.xml new file mode 100644 index 0000000000..d6e6556d1c --- /dev/null +++ b/conf/airframes/mm/fixed-wing/funjetlisa.xml @@ -0,0 +1,173 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + + + + + +
+ + +
+ +
+ + + + + + + + + + + + + + + +
+ +
+ +
+ +
+ + + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + + + + + + + + + + +
+ +
+ + +
+ +
+ + + + + +
+ +
+ +
+ + diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml old mode 100755 new mode 100644 diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml old mode 100755 new mode 100644 index 2c010bd134..8935328ed0 --- a/conf/airframes/mm/rotor/qmk1.xml +++ b/conf/airframes/mm/rotor/qmk1.xml @@ -189,8 +189,9 @@ + - + diff --git a/conf/autopilot/csc_baro.makefile b/conf/autopilot/csc_baro.makefile index cb2444b04d..c233cdc6f0 100644 --- a/conf/autopilot/csc_baro.makefile +++ b/conf/autopilot/csc_baro.makefile @@ -1,4 +1,4 @@ # baro scp bits ap.CFLAGS += -DUSE_BARO_SCP -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -ap.srcs += $(SRC_CSC)/csc_baro.c spi.c $(SRC_ARCH)/spi_hw.c +ap.srcs += $(SRC_CSC)/csc_baro.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile index d7e3afa0b7..ab9527b999 100644 --- a/conf/autopilot/lisa_l_test_progs.makefile +++ b/conf/autopilot/lisa_l_test_progs.makefile @@ -280,7 +280,7 @@ test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT) test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) test_adc.srcs += downlink.c pprz_transport.c -test_adc.srcs += $(SRC_ARCH)/adc_hw.c +test_adc.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 # -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4 test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER @@ -681,4 +681,4 @@ tunnel.CFLAGS += -DUSE_LED tunnel.srcs += $(SRC_ARCH)/led_hw.c tunnel.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED) tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' -tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c \ No newline at end of file +tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c diff --git a/conf/autopilot/lisa_passthrough.makefile b/conf/autopilot/lisa_passthrough.makefile index 5798922428..2241a70455 100644 --- a/conf/autopilot/lisa_passthrough.makefile +++ b/conf/autopilot/lisa_passthrough.makefile @@ -103,12 +103,12 @@ stm_passthrough.CFLAGS += -DUSE_CAN1 \ -DCAN_BS1_TQ=CAN_BS1_3tq \ -DCAN_BS2_TQ=CAN_BS2_4tq \ -DCAN_ERR_RESUME=DISABLE -stm_passthrough.srcs += can.c $(SRC_ARCH)/can_hw.c +stm_passthrough.srcs += mcu_periph/can.c $(SRC_ARCH)/mcu_periph/can_arch.c stm_passthrough.srcs += $(SRC_CSC)/csc_protocol.c # ADC -stm_passthrough.srcs += $(SRC_ARCH)/adc_hw.c +stm_passthrough.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c stm_passthrough.CFLAGS += -DUSE_AD1 \ -DUSE_AD1_1 \ -DUSE_AD1_2 \ diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile index d29a13b1fc..07274c0b94 100644 --- a/conf/autopilot/rotorcraft.makefile +++ b/conf/autopilot/rotorcraft.makefile @@ -55,6 +55,8 @@ ap.ARCHDIR = $(ARCH) ap.CFLAGS += $(ROTORCRAFT_INC) ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT ap.srcs = $(SRC_FIRMWARE)/main.c +ap.srcs += mcu.c +ap.srcs += $(SRC_ARCH)/mcu_arch.c ifeq ($(ARCH), stm32) ap.srcs += lisa/plug_sys.c @@ -90,7 +92,7 @@ endif # # Telemetry/Datalink # -ap.srcs += $(SRC_ARCH)/uart_hw.c +ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport ap.CFLAGS += -DDOWNLINK_DEVICE=$(MODEM_PORT) ap.srcs += $(SRC_FIRMWARE)/telemetry.c \ diff --git a/conf/autopilot/sitl.makefile b/conf/autopilot/sitl.makefile index d0d1f39582..f3971eb938 100644 --- a/conf/autopilot/sitl.makefile +++ b/conf/autopilot/sitl.makefile @@ -6,7 +6,7 @@ sim.srcs += latlong.c\ commands.c\ gps.c\ inter_mcu.c\ - infrared.c\ + subsystems/sensors/infrared.c\ $(SRC_FIRMWARE)/stabilization/stabilization_attitude.c\ $(SRC_FIRMWARE)/guidance/guidance_v.c \ subsystems/nav.c\ diff --git a/conf/autopilot/sitl_jsbsim.makefile b/conf/autopilot/sitl_jsbsim.makefile index ea7153f87b..06f62f724e 100644 --- a/conf/autopilot/sitl_jsbsim.makefile +++ b/conf/autopilot/sitl_jsbsim.makefile @@ -26,7 +26,7 @@ endif jsbsim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO -Ifirmwares/fixedwing jsbsim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_transport.c $(SRC_ARCH)/ivy_transport.c -jsbsim.srcs += latlong.c downlink.c commands.c gps.c inter_mcu.c infrared.c \ +jsbsim.srcs += latlong.c downlink.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c \ $(SRC_FIXEDWING)/stabilization/stabilization_attitude.c \ $(SRC_FIXEDWING)/guidance/guidance_v.c\ subsystems/nav.c estimator.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c datalink.c diff --git a/conf/autopilot/sitl_link_pprz.makefile b/conf/autopilot/sitl_link_pprz.makefile index 41ba561388..2fcd2b8d91 100644 --- a/conf/autopilot/sitl_link_pprz.makefile +++ b/conf/autopilot/sitl_link_pprz.makefile @@ -1,3 +1,3 @@ sim.ARCHDIR = $(ARCH) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_INFRARED -DRADIO_CONTROL_SETTINGS -DSIM_UART -DDOWNLINK_AP_DEVICE=SimUart -DDOWNLINK_FBW_DEVICE=SimUart -DDATALINK=PPRZ -sim.srcs = radio_control.c downlink.c pprz_transport.c commands.c gps.c inter_mcu.c infrared.c $(SRC_FIRMWARE)/stabilization/stabilization_attitude.c $(SRC_FIRMWARE)/guidance/guidance_v.c subsystems/nav.c estimator.c cam.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/sim_uart.c datalink.c +sim.srcs = radio_control.c downlink.c pprz_transport.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c $(SRC_FIRMWARE)/stabilization/stabilization_attitude.c $(SRC_FIRMWARE)/guidance/guidance_v.c nav.c estimator.c cam.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/sim_uart.c datalink.c diff --git a/conf/autopilot/sitl_link_xbee.makefile b/conf/autopilot/sitl_link_xbee.makefile index ee5d37a179..6928643999 100644 --- a/conf/autopilot/sitl_link_xbee.makefile +++ b/conf/autopilot/sitl_link_xbee.makefile @@ -1,3 +1,3 @@ sim.ARCHDIR = $(ARCH) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=XBeeTransport -DUSE_INFRARED -DRADIO_CONTROL_SETTINGS -DSIM_UART -DSIM_XBEE -DXBEE_UART=SimUart -sim.srcs = radio_control.c downlink.c xbee.c commands.c gps.c inter_mcu.c infrared.c $(SRC_FIXEDWING)/stabilization/stabilization_attitude.c $(SRC_FIXEDWING)/guidance/guidance_v.c subsystems/nav.c estimator.c cam.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/sim_uart.c +sim.srcs = radio_control.c downlink.c xbee.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c $(SRC_FIXEDWING)/stabilization/stabilization_attitude.c $(SRC_FIXEDWING)/guidance/guidance_v.c nav.c estimator.c cam.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/sim_uart.c diff --git a/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile b/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile index cf762bf1ff..aa4509a479 100644 --- a/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile +++ b/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile @@ -32,7 +32,7 @@ endif ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES) $(TARGET).CFLAGS += -DUSE_INFRARED -$(TARGET).srcs += $(SRC_FIXEDWING)/infrared.c +$(TARGET).srcs += subsystems/sensors/infrared.c sim.srcs += $(SRC_ARCH)/sim_ir.c jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile index 7a334a7338..075eae6ae9 100644 --- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile +++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile @@ -29,7 +29,7 @@ # temporary hack for ADCs ifeq ($(ARCH), stm32) -$(TARGET).CFLAGS += -DSTM32 +# FIXME : this is for the battery $(TARGET).CFLAGS += -DUSE_AD1_3 endif # @@ -37,8 +37,12 @@ endif # $(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +$(TARGET).CFLAGS += -DPERIPHERALS_AUTO_INIT $(TARGET).CFLAGS += $(FIXEDWING_INC) +$(TARGET).srcs += mcu.c +$(TARGET).srcs += $(SRC_ARCH)/mcu_arch.c + # # Common Options # @@ -54,7 +58,7 @@ $(TARGET).CFLAGS += -DTRAFFIC_INFO # LEDs # -$(TARGET).CFLAGS += -DLED +$(TARGET).CFLAGS += -DUSE_LED ifneq ($(ARCH), lpc21) ifneq ($(ARCH), jsbsim) $(TARGET).srcs += $(SRC_ARCH)/led_hw.c @@ -126,7 +130,7 @@ ns_srcs += $(SRC_ARCH)/sys_time_hw.c # UARTS # -ns_srcs += $(SRC_ARCH)/uart_hw.c +ns_srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c # # ANALOG @@ -134,10 +138,7 @@ ns_srcs += $(SRC_ARCH)/uart_hw.c ns_CFLAGS += -DADC #ifeq ($(ARCH), lpc21) - ns_srcs += $(SRC_ARCH)/adc_hw.c -#else ifeq ($(ARCH), stm32) -# ns_srcs += lisa/lisa_analog_plug.c -#endif + ns_srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c ifeq ($(ARCH), stm32) ns_CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER endif @@ -207,9 +208,9 @@ jsbsim.srcs += downlink.c datalink.c $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsi ifeq ($(BOARD),classix) fbw.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE - fbw.srcs += $(SRC_FIXEDWING)/link_mcu.c $(SRC_FIXEDWING)/spi.c $(SRC_ARCH)/spi_hw.c + fbw.srcs += $(SRC_FIXEDWING)/link_mcu.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c ap.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 - ap.srcs += $(SRC_FIXEDWING)/link_mcu.c $(SRC_FIXEDWING)/spi.c $(SRC_ARCH)/spi_hw.c + ap.srcs += $(SRC_FIXEDWING)/link_mcu.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c else # Single MCU's run both ap.CFLAGS += $(fbw_CFLAGS) diff --git a/conf/autopilot/subsystems/fixedwing/i2c.makefile b/conf/autopilot/subsystems/fixedwing/i2c.makefile index 7a16bd4ebe..0f8769cf04 100644 --- a/conf/autopilot/subsystems/fixedwing/i2c.makefile +++ b/conf/autopilot/subsystems/fixedwing/i2c.makefile @@ -1,3 +1,5 @@ #generic i2c driver -ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c -sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c +ap.srcs += mcu_periph/i2c.c +ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c +sim.srcs += mcu_periph/i2c.c +sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c diff --git a/conf/autopilot/subsystems/fixedwing/spi.makefile b/conf/autopilot/subsystems/fixedwing/spi.makefile index 42106f69f5..d6ff15a24a 100644 --- a/conf/autopilot/subsystems/fixedwing/spi.makefile +++ b/conf/autopilot/subsystems/fixedwing/spi.makefile @@ -1,5 +1,5 @@ #generic spi driver $(TARGET).CFLAGS += -DUSE_SPI -ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c -sim.srcs += spi.c $(SRC_ARCH)/spi_hw.c +ap.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c +sim.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c diff --git a/conf/autopilot/subsystems/fixedwing/testing.makefile b/conf/autopilot/subsystems/fixedwing/testing.makefile index 909daa7715..527e9de60f 100644 --- a/conf/autopilot/subsystems/fixedwing/testing.makefile +++ b/conf/autopilot/subsystems/fixedwing/testing.makefile @@ -21,7 +21,7 @@ test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DADC -DUSE_ADC_ test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 test_adcs.srcs += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c -test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test/test_adcs.c +test_adcs.srcs += sys_time.c $(SRC_ARCH)/mcu_periph/adc_arch.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test/test_adcs.c # pprz_transport.c diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile index 9e092b0c83..cfc69bc2cb 100644 --- a/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile +++ b/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile @@ -1,6 +1,7 @@ # asctec controllers ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c -ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c +ap.srcs += mcu_periph/i2c.c +ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c ifeq ($(ARCH), lpc21) ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0 @@ -16,5 +17,6 @@ endif # Simulator sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 -sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c +sim.srcs += mcu_periph/i2c.c +sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile index e59570a96c..c1cfc48f37 100644 --- a/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile +++ b/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile @@ -19,7 +19,8 @@ ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c ap.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c -ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c +ap.srcs += mcu_periph/i2c.c +ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c ifeq ($(ARCH), lpc21) ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0 diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile index c64e676752..95e3591951 100644 --- a/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile +++ b/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile @@ -7,4 +7,4 @@ ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_heli.c ap.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c # fixme : this is needed by baro and usualy added by actuators_mkk or actuators_asctec -ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c +ap.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile index 031567385e..f70c299815 100644 --- a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile +++ b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile @@ -28,7 +28,8 @@ # ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c -ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c +ap.srcs += mcu_periph/i2c.c +ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c ifeq ($(ARCH), lpc21) ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0 @@ -42,4 +43,5 @@ endif sim.srcs += $(SRC_FIRMWARE)/actuators/supervision.c sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c1 -sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c +sim.srcs += mcu_periph/i2c.c +sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c diff --git a/conf/autopilot/subsystems/shared/radio_control_spektrum.makefile b/conf/autopilot/subsystems/shared/radio_control_spektrum.makefile index 5f288cdc7f..ae53bd7a26 100644 --- a/conf/autopilot/subsystems/shared/radio_control_spektrum.makefile +++ b/conf/autopilot/subsystems/shared/radio_control_spektrum.makefile @@ -7,7 +7,7 @@ endif ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\" -ifeq ($(BOARD), booz) +ifeq ($(ARCH), lpc21) ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL) endif ifdef RADIO_CONTROL_LED diff --git a/conf/boards/lisa_l_1.0.makefile b/conf/boards/lisa_l_1.0.makefile index d98f433b5e..24fc846132 100644 --- a/conf/boards/lisa_l_1.0.makefile +++ b/conf/boards/lisa_l_1.0.makefile @@ -78,8 +78,8 @@ ADC_IR2 = 2 ADC_IR2_CHAN = 1 endif ifndef ADC_IR3 -ADC_IR_TOP = 3 -ADC_IR_TOP_CHAN = 2 +ADC_IR_TOP = 4 +ADC_IR_TOP_CHAN = 3 endif ifndef ADC_IR_NB_SAMPLES ADC_IR_NB_SAMPLES = 16 diff --git a/conf/flight_plans/basic_booz.xml b/conf/flight_plans/basic_booz.xml index 83ad26c841..434d3c9a5a 100644 --- a/conf/flight_plans/basic_booz.xml +++ b/conf/flight_plans/basic_booz.xml @@ -1,9 +1,6 @@ -
- #include "booz_fms.h" -
@@ -63,15 +60,6 @@ - - - diff --git a/conf/modules/baro_scp.xml b/conf/modules/baro_scp.xml index f76579e90f..8bb3c9d8b2 100644 --- a/conf/modules/baro_scp.xml +++ b/conf/modules/baro_scp.xml @@ -14,6 +14,8 @@ + + diff --git a/conf/settings/basic.xml b/conf/settings/basic.xml index a69afe1978..d982774302 100644 --- a/conf/settings/basic.xml +++ b/conf/settings/basic.xml @@ -29,8 +29,8 @@ - - + + diff --git a/conf/settings/tuning.xml b/conf/settings/tuning.xml index 170cea7188..c7d1c10dd4 100644 --- a/conf/settings/tuning.xml +++ b/conf/settings/tuning.xml @@ -34,7 +34,7 @@ - + diff --git a/conf/settings/tuningJH.xml b/conf/settings/tuningJH.xml index c70089189a..f981b3a7c3 100644 --- a/conf/settings/tuningJH.xml +++ b/conf/settings/tuningJH.xml @@ -26,7 +26,7 @@ - + diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml index 373fcf1c06..f61ce9a3c2 100644 --- a/conf/settings/tuning_ctl_new.xml +++ b/conf/settings/tuning_ctl_new.xml @@ -34,7 +34,7 @@ - + diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml index 87521b9950..61f378a4d2 100644 --- a/conf/settings/tuning_loiter.xml +++ b/conf/settings/tuning_loiter.xml @@ -34,7 +34,7 @@ - + diff --git a/sw/airborne/6dof.h b/sw/airborne/6dof.h deleted file mode 100644 index 029585afc0..0000000000 --- a/sw/airborne/6dof.h +++ /dev/null @@ -1,31 +0,0 @@ -#ifndef _6DOF_H -#define _6DOF_H - -#define AXIS_X 0 -#define AXIS_Y 1 -#define AXIS_Z 2 -#define AXIS_NB 3 - -#define AXIS_P 0 -#define AXIS_Q 1 -#define AXIS_R 2 - -#define AXIS_U 0 -#define AXIS_V 1 -#define AXIS_W 2 - -#define EULER_PHI 0 -#define EULER_THETA 1 -#define EULER_PSI 2 -#define EULER_NB 3 - -#define QUAT_QI 0 -#define QUAT_QX 1 -#define QUAT_QY 2 -#define QUAT_QZ 3 -#define QUAT_NB 4 - - - - -#endif /* _6DOF_H */ diff --git a/sw/airborne/agl_vfilter.h b/sw/airborne/agl_vfilter.h index 91ce89532f..f7fd036e86 100644 --- a/sw/airborne/agl_vfilter.h +++ b/sw/airborne/agl_vfilter.h @@ -1,7 +1,7 @@ #ifndef AGL_VFILTER_H #define AGL_VFILTER_H -#include "adc.h" +#include "mcu_periph/adc.h" #define STATE_SIZE 3 diff --git a/sw/airborne/arch/avr/adc_hw.c b/sw/airborne/arch/avr/mcu_periph/adc_arch.c similarity index 99% rename from sw/airborne/arch/avr/adc_hw.c rename to sw/airborne/arch/avr/mcu_periph/adc_arch.c index ae37327e7f..6799d7317f 100644 --- a/sw/airborne/arch/avr/adc_hw.c +++ b/sw/airborne/arch/avr/mcu_periph/adc_arch.c @@ -31,7 +31,7 @@ #endif #include #include -#include "adc.h" +#include "mcu_periph/adc.h" #include "std.h" diff --git a/sw/airborne/arch/avr/adc_hw.h b/sw/airborne/arch/avr/mcu_periph/adc_arch.h similarity index 100% rename from sw/airborne/arch/avr/adc_hw.h rename to sw/airborne/arch/avr/mcu_periph/adc_arch.h diff --git a/sw/airborne/arch/avr/i2c_ap.c b/sw/airborne/arch/avr/mcu_periph/i2c_arch.c similarity index 100% rename from sw/airborne/arch/avr/i2c_ap.c rename to sw/airborne/arch/avr/mcu_periph/i2c_arch.c diff --git a/sw/airborne/arch/avr/i2c_ap.h b/sw/airborne/arch/avr/mcu_periph/i2c_arch.h similarity index 100% rename from sw/airborne/arch/avr/i2c_ap.h rename to sw/airborne/arch/avr/mcu_periph/i2c_arch.h diff --git a/sw/airborne/arch/avr/spi_hw.c b/sw/airborne/arch/avr/mcu_periph/spi_arch.c similarity index 99% rename from sw/airborne/arch/avr/spi_hw.c rename to sw/airborne/arch/avr/mcu_periph/spi_arch.c index eb30bcc7af..558b06a7e2 100644 --- a/sw/airborne/arch/avr/spi_hw.c +++ b/sw/airborne/arch/avr/mcu_periph/spi_arch.c @@ -27,7 +27,7 @@ */ #include CONFIG -#include "spi.h" +#include "mcu_periph/spi.h" #include #include diff --git a/sw/airborne/arch/avr/spi_hw.h b/sw/airborne/arch/avr/mcu_periph/spi_arch.h similarity index 100% rename from sw/airborne/arch/avr/spi_hw.h rename to sw/airborne/arch/avr/mcu_periph/spi_arch.h diff --git a/sw/airborne/arch/avr/uart_hw.c b/sw/airborne/arch/avr/mcu_periph/uart_arch.c similarity index 99% rename from sw/airborne/arch/avr/uart_hw.c rename to sw/airborne/arch/avr/mcu_periph/uart_arch.c index b1c8aac337..29ec68e656 100644 --- a/sw/airborne/arch/avr/uart_hw.c +++ b/sw/airborne/arch/avr/mcu_periph/uart_arch.c @@ -26,7 +26,7 @@ * \brief avr uart low level functions * */ -#include "uart.h" +#include "mcu_periph/uart.h" #include "sys_time.h" #define B2400 2400UL diff --git a/sw/airborne/arch/avr/uart_hw.h b/sw/airborne/arch/avr/mcu_periph/uart_arch.h similarity index 100% rename from sw/airborne/arch/avr/uart_hw.h rename to sw/airborne/arch/avr/mcu_periph/uart_arch.h diff --git a/sw/airborne/arch/lpc21/ADS8344.c b/sw/airborne/arch/lpc21/ADS8344.c index dd72abcac8..49ce4dd027 100644 --- a/sw/airborne/arch/lpc21/ADS8344.c +++ b/sw/airborne/arch/lpc21/ADS8344.c @@ -27,7 +27,7 @@ #include "armVIC.h" #include BOARD_CONFIG #include "led.h" -#include "spi_hw.h" +#include "mcu_periph/spi.h" #define ADS8344_SS_IODIR IO0DIR #define ADS8344_SS_IOSET IO0SET diff --git a/sw/airborne/arch/lpc21/init_hw.h b/sw/airborne/arch/lpc21/mcu_arch.c similarity index 51% rename from sw/airborne/arch/lpc21/init_hw.h rename to sw/airborne/arch/lpc21/mcu_arch.c index 470f38e6e5..a99d484ba4 100644 --- a/sw/airborne/arch/lpc21/init_hw.h +++ b/sw/airborne/arch/lpc21/mcu_arch.c @@ -1,64 +1,40 @@ /* - * Paparazzi $Id$ + * Paparazzi lpc21 arch dependant microcontroller initialisation function * - * Copyright (C) 2005 Pascal Brisset, Antoine Drouin + * Copyright (C) 2010 The Paparazzi team * - * 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. * */ -/* - *\brief ARM7 low level hardware initialisation - * PLL, MAM, VIC - * - */ +#include "mcu.h" -#ifndef INIT_HW_H -#define INIT_HW_H #include #include BOARD_CONFIG #include "LPC21xx.h" -#ifdef PERIPHERALS_AUTO_INIT -#if defined LED || defined USE_LED -#include "led.h" -#endif -#if defined USE_UART0 || defined USE_UART1 -#include "uart.h" -#endif -#ifdef USE_USB_SERIAL -#include "usb_serial.h" -#endif -#if defined USE_I2C0 || defined USE_I2C1 -#include "i2c.h" -#endif -#endif /* PERIPHERALS_AUTO_INIT */ - - /* declare functions and values from crt0.S & the linker control file */ extern void reset(void); -/* extern void exit(void); */ -extern void abort(void); +void mcu_arch_init(void) { -static inline void hw_init(void) { /* set PLL multiplier & divisor. */ /* values computed from config.h */ PLLCFG = PLLCFG_MSEL | PLLCFG_PSEL; @@ -82,25 +58,13 @@ static inline void hw_init(void) { MAMTIM = MAMTIM_CYCLES; MAMCR = MAMCR_FULL; - /* setup & enable the MAM */ - MAMTIM = MAMTIM_CYCLES; - MAMCR = MAMCR_FULL; - /* set the peripheral bus speed */ /* value computed from config.h */ VPBDIV = VPBDIV_VALUE; - /* set the interrupt controller defaults */ - //#if defined(RAM_RUN) - /* map interrupt vectors space into SRAM */ - // MEMMAP = MEMMAP_SRAM; - //#elif defined(ROM_RUN) - /* map interrupt vectors space into FLASH */ + /* set the interrupt controller to flash */ MEMMAP = MEMMAP_FLASH; - //#else - //#error RUN_MODE not defined! - //#endif - + /* clear all interrupts */ VICIntEnClear = 0xFFFFFFFF; /* clear all FIQ selections */ @@ -108,29 +72,4 @@ static inline void hw_init(void) { /* point unvectored IRQs to reset() */ VICDefVectAddr = (uint32_t)reset; - -#ifdef PERIPHERALS_AUTO_INIT -#if defined LED || defined USE_LED - led_init(); -#endif -#ifdef USE_UART0 - uart0_init(); -#endif -#ifdef USE_UART1 - uart1_init(); -#endif -#ifdef USE_USB_SERIAL - VCOM_init(); -#endif -#ifdef USE_I2C0 - i2c0_init(); -#endif -#ifdef USE_I2C1 - i2c1_init(); -#endif -#endif /* PERIPHERALS_AUTO_INIT */ - - } - -#endif /* INIT_HW_H */ diff --git a/sw/airborne/arch/lpc21/mcu_arch.h b/sw/airborne/arch/lpc21/mcu_arch.h new file mode 100644 index 0000000000..a677d396c2 --- /dev/null +++ b/sw/airborne/arch/lpc21/mcu_arch.h @@ -0,0 +1,35 @@ +/* + * Paparazzi lpc21 arch dependant microcontroller initialisation functions + * + * Copyright (C) 2010 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. + * + */ + +#ifndef LPC21_MCU_ARCH_H +#define LPC21_MCU_ARCH_H + +extern void mcu_arch_init(void); + +#include "armVIC.h" + +#define mcu_int_enable() enableIRQ() +#define mcu_int_disable() disableIRQ() + +#endif /* LPC21_MCU_ARCH_H */ diff --git a/sw/airborne/arch/lpc21/adc_hw.c b/sw/airborne/arch/lpc21/mcu_periph/adc_arch.c similarity index 99% rename from sw/airborne/arch/lpc21/adc_hw.c rename to sw/airborne/arch/lpc21/mcu_periph/adc_arch.c index 6fe1f8654d..3c1c298373 100644 --- a/sw/airborne/arch/lpc21/adc_hw.c +++ b/sw/airborne/arch/lpc21/mcu_periph/adc_arch.c @@ -22,7 +22,7 @@ * */ -#include "adc.h" +#include "mcu_periph/adc.h" #include "LPC21xx.h" #include "armVIC.h" diff --git a/sw/airborne/arch/lpc21/adc_hw.h b/sw/airborne/arch/lpc21/mcu_periph/adc_arch.h similarity index 100% rename from sw/airborne/arch/lpc21/adc_hw.h rename to sw/airborne/arch/lpc21/mcu_periph/adc_arch.h diff --git a/sw/airborne/arch/lpc21/i2c_hw.c b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c similarity index 99% rename from sw/airborne/arch/lpc21/i2c_hw.c rename to sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c index d91352db4b..7d8541121d 100644 --- a/sw/airborne/arch/lpc21/i2c_hw.c +++ b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c @@ -22,7 +22,7 @@ * */ -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "std.h" #include "interrupt_hw.h" diff --git a/sw/airborne/arch/lpc21/i2c_hw.h b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.h similarity index 100% rename from sw/airborne/arch/lpc21/i2c_hw.h rename to sw/airborne/arch/lpc21/mcu_periph/i2c_arch.h diff --git a/sw/airborne/arch/lpc21/spi_hw.c b/sw/airborne/arch/lpc21/mcu_periph/spi_arch.c similarity index 99% rename from sw/airborne/arch/lpc21/spi_hw.c rename to sw/airborne/arch/lpc21/mcu_periph/spi_arch.c index 5c29360fe6..614704b944 100644 --- a/sw/airborne/arch/lpc21/spi_hw.c +++ b/sw/airborne/arch/lpc21/mcu_periph/spi_arch.c @@ -25,7 +25,7 @@ * for now only SPI1 ( aka SSP ) */ -#include "spi.h" +#include "mcu_periph/spi.h" #include "std.h" #include "LPC21xx.h" diff --git a/sw/airborne/arch/lpc21/spi_hw.h b/sw/airborne/arch/lpc21/mcu_periph/spi_arch.h similarity index 100% rename from sw/airborne/arch/lpc21/spi_hw.h rename to sw/airborne/arch/lpc21/mcu_periph/spi_arch.h diff --git a/sw/airborne/arch/lpc21/uart_hw.c b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c similarity index 99% rename from sw/airborne/arch/lpc21/uart_hw.c rename to sw/airborne/arch/lpc21/mcu_periph/uart_arch.c index 722dbf411e..55d8df8c52 100644 --- a/sw/airborne/arch/lpc21/uart_hw.c +++ b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c @@ -1,7 +1,7 @@ /* * $Id$ * - * Copyright (C) 2008 Pascal Brisset, Antoine Drouin + * Copyright (C) 2008-2010 The Paparazzi Team * * This file is part of paparazzi. * @@ -26,7 +26,7 @@ * Brief LPC21 uart code */ -#include "uart.h" +#include "mcu_periph/uart.h" #include "armVIC.h" #ifdef USE_UART0 diff --git a/sw/airborne/arch/lpc21/uart_hw.h b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h similarity index 97% rename from sw/airborne/arch/lpc21/uart_hw.h rename to sw/airborne/arch/lpc21/mcu_periph/uart_arch.h index 06ac5ff7f0..fbc1c6c991 100644 --- a/sw/airborne/arch/lpc21/uart_hw.h +++ b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h @@ -22,8 +22,8 @@ * */ -#ifndef UART_HW_H -#define UART_HW_H +#ifndef LPC21_UART_ARCH_H +#define LPC21_UART_ARCH_H #include "types.h" #include "LPC21xx.h" @@ -93,4 +93,4 @@ extern void uart0_init_param( uint16_t baud, uint8_t mode, uint8_t fmode); extern uint8_t uart0_tx_running; extern uint8_t uart1_tx_running; -#endif /* UART_HW_H */ +#endif /* LPC21_UART_ARCH_H */ diff --git a/sw/airborne/arch/lpc21/modules/display/lcd_dogm_hw.h b/sw/airborne/arch/lpc21/modules/display/lcd_dogm_hw.h index 3897cf2a0d..14f6640e49 100644 --- a/sw/airborne/arch/lpc21/modules/display/lcd_dogm_hw.h +++ b/sw/airborne/arch/lpc21/modules/display/lcd_dogm_hw.h @@ -3,7 +3,7 @@ #include #include "std.h" -#include "spi_hw.h" +#include "mcu_periph/spi.h" #include "led.h" diff --git a/sw/airborne/arch/lpc21/modules/sensors/mag_micromag_fw_hw.h b/sw/airborne/arch/lpc21/modules/sensors/mag_micromag_fw_hw.h index 9f9b38e6ae..2ea2218424 100644 --- a/sw/airborne/arch/lpc21/modules/sensors/mag_micromag_fw_hw.h +++ b/sw/airborne/arch/lpc21/modules/sensors/mag_micromag_fw_hw.h @@ -5,9 +5,9 @@ #include "std.h" #include "LPC21xx.h" -#include "interrupt_hw.h" +#include "mcu.h" -#include "spi_hw.h" +#include "mcu_periph/spi.h" #include BOARD_CONFIG #include "generated/airframe.h" diff --git a/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h b/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h index 955d692fc5..616354e976 100644 --- a/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h +++ b/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h @@ -26,7 +26,7 @@ #define RADIO_CONTROL_SPEKTRUM_ARCH_H #include "std.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include RADIO_CONTROL_SPEKTRUM_MODEL_H @@ -73,27 +73,27 @@ extern const int16_t rc_spk_throw[RADIO_CONTROL_NB_CHANNEL]; rc_spk_parser_idx++; \ if (rc_spk_parser_idx >= 2*RADIO_CONTROL_NB_CHANNEL) { \ rc_spk_parser_status = RC_SPK_STA_UNINIT; \ - radio_control.frame_cpt++; \ - radio_control.time_since_last_frame = 0; \ - radio_control.status = RC_OK; \ - uint8_t i; \ - for (i=0;i> 10;*/ \ - const int16_t val = (tmp&0x03FF) - 512; \ - radio_control.values[i] = val; \ - radio_control.values[i] *= rc_spk_throw[i]; \ - if (i==RADIO_CONTROL_THROTTLE) { \ - radio_control.values[i] += MAX_PPRZ; \ - radio_control.values[i] /= 2; \ - } \ - } \ - _received_frame_handler(); \ + radio_control.frame_cpt++; \ + radio_control.time_since_last_frame = 0; \ + radio_control.status = RC_OK; \ + uint8_t i; \ + for (i=0;i> 10;*/ \ + const int16_t val = (tmp&0x03FF) - 512; \ + radio_control.values[i] = val; \ + radio_control.values[i] *= rc_spk_throw[i]; \ + if (i==RADIO_CONTROL_THROTTLE) { \ + radio_control.values[i] += MAX_PPRZ; \ + radio_control.values[i] /= 2; \ + } \ + } \ + _received_frame_handler(); \ } \ break; \ - default: \ - rc_spk_parser_status = RC_SPK_STA_UNINIT; \ + default: \ + rc_spk_parser_status = RC_SPK_STA_UNINIT; \ } \ } \ } diff --git a/sw/airborne/arch/lpc21/usb_tunnel.c b/sw/airborne/arch/lpc21/usb_tunnel.c index 869caeabd3..d5140ddc0f 100644 --- a/sw/airborne/arch/lpc21/usb_tunnel.c +++ b/sw/airborne/arch/lpc21/usb_tunnel.c @@ -31,12 +31,10 @@ */ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "interrupt_hw.h" -#include "uart_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "usb_serial.h" /* minimum LED blink on time 10Hz = 100ms */ @@ -46,21 +44,11 @@ int main( void ) { unsigned char inc; unsigned int rx_time=0, tx_time=0; - hw_init(); + mcu_init(); sys_time_init(); led_init(); VCOM_allow_linecoding(1); -#ifdef USE_UART0 - Uart0Init(); -#else -#ifdef USE_UART1 - Uart1Init(); -#else -#error no serial port defined -#endif -#endif - #ifdef USE_USB_SERIAL VCOM_init(); #endif diff --git a/sw/airborne/arch/sim/gps_hw.c b/sw/airborne/arch/sim/gps_hw.c index 75dfc0ac47..4511247803 100644 --- a/sw/airborne/arch/sim/gps_hw.c +++ b/sw/airborne/arch/sim/gps_hw.c @@ -1,7 +1,5 @@ #include "gps.h" -#include "6dof.h" - /* in gps_ubx.c */ volatile uint8_t gps_msg_received; bool_t gps_pos_available; diff --git a/sw/airborne/arch/sim/init_hw.h b/sw/airborne/arch/sim/init_hw.h deleted file mode 100644 index 32a393b484..0000000000 --- a/sw/airborne/arch/sim/init_hw.h +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef INIT_HW_H -#define INIT_HW_H - -static inline void hw_init(void) {} - -#endif /* INIT_HW_H */ diff --git a/sw/airborne/arch/sim/interrupt_hw.h b/sw/airborne/arch/sim/interrupt_hw.h deleted file mode 100644 index 12561a990c..0000000000 --- a/sw/airborne/arch/sim/interrupt_hw.h +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef INTERRUPT_HW_H -#define INTERRUPT_HW_H - -#define int_enable() {} - -#endif /* INTERRUPT_HW_H */ diff --git a/sw/airborne/arch/sim/jsbsim_hw.h b/sw/airborne/arch/sim/jsbsim_hw.h index 96cd553b47..88ed9404a7 100644 --- a/sw/airborne/arch/sim/jsbsim_hw.h +++ b/sw/airborne/arch/sim/jsbsim_hw.h @@ -40,7 +40,7 @@ #include "subsystems/nav.h" #include "firmwares/fixedwing/stabilization/stabilization_attitude.h" #include "firmwares/fixedwing/guidance/guidance_v.h" -#include "infrared.h" +#include "subsystems/sensors/infrared.h" #include "commands.h" #include "firmwares/fixedwing/main_ap.h" #include "ap_downlink.h" diff --git a/sw/airborne/arch/sim/mcu_arch.c b/sw/airborne/arch/sim/mcu_arch.c new file mode 100644 index 0000000000..1820c41208 --- /dev/null +++ b/sw/airborne/arch/sim/mcu_arch.c @@ -0,0 +1,3 @@ + + +void mcu_arch_init(void) {} diff --git a/sw/airborne/arch/avr/init_hw.h b/sw/airborne/arch/sim/mcu_arch.h similarity index 68% rename from sw/airborne/arch/avr/init_hw.h rename to sw/airborne/arch/sim/mcu_arch.h index f517fdbc7d..9500d80520 100644 --- a/sw/airborne/arch/avr/init_hw.h +++ b/sw/airborne/arch/sim/mcu_arch.h @@ -1,7 +1,7 @@ /* - * Paparazzi $Id$ + * $Id$ * - * Copyright (C) 2005 Pascal Brisset, Antoine Drouin + * Copyright (C) 2010 The Paparazzi Team * * This file is part of paparazzi. * @@ -22,23 +22,12 @@ * */ -/* - *\brief AVR low level hardware initialisation - * - */ +#ifndef SIM_MCU_ARCH_H +#define SIM_MCU_ARCH_H -#ifndef INIT_HW_H -#define INIT_HW_H +extern void mcu_arch_init(void); -#include +#define mcu_int_enable() {} -static inline void hw_init(void) { - /** Pause */ - uint8_t foo1 = 25; - while (foo1--) { - uint16_t foo2 = 1; - while (foo2++); - } -} +#endif /* SIM_MCU_ARCH_H */ -#endif /* INIT_HW_H */ diff --git a/sw/airborne/arch/sim/adc_hw.c b/sw/airborne/arch/sim/mcu_periph/adc_arch.c similarity index 88% rename from sw/airborne/arch/sim/adc_hw.c rename to sw/airborne/arch/sim/mcu_periph/adc_arch.c index 05d7287f27..0a21926066 100644 --- a/sw/airborne/arch/sim/adc_hw.c +++ b/sw/airborne/arch/sim/mcu_periph/adc_arch.c @@ -1,4 +1,4 @@ -#include "adc.h" +#include "mcu_periph/adc.h" void adc_buf_channel(uint8_t adc_channel __attribute__ ((unused)), struct adc_buf* s __attribute__ ((unused)), diff --git a/sw/airborne/arch/sim/adc_hw.h b/sw/airborne/arch/sim/mcu_periph/adc_arch.h similarity index 100% rename from sw/airborne/arch/sim/adc_hw.h rename to sw/airborne/arch/sim/mcu_periph/adc_arch.h diff --git a/sw/airborne/arch/sim/i2c_hw.c b/sw/airborne/arch/sim/mcu_periph/i2c_arch.c similarity index 85% rename from sw/airborne/arch/sim/i2c_hw.c rename to sw/airborne/arch/sim/mcu_periph/i2c_arch.c index 37d9c6df38..cd16065446 100644 --- a/sw/airborne/arch/sim/i2c_hw.c +++ b/sw/airborne/arch/sim/mcu_periph/i2c_arch.c @@ -1,4 +1,4 @@ -#include "i2c.h" +#include "mcu_periph/i2c.h" void i2c_hw_init ( void ) {} diff --git a/sw/airborne/arch/sim/i2c_hw.h b/sw/airborne/arch/sim/mcu_periph/i2c_arch.h similarity index 61% rename from sw/airborne/arch/sim/i2c_hw.h rename to sw/airborne/arch/sim/mcu_periph/i2c_arch.h index 24b31c0b8f..3f5e6921c1 100644 --- a/sw/airborne/arch/sim/i2c_hw.h +++ b/sw/airborne/arch/sim/mcu_periph/i2c_arch.h @@ -1,5 +1,5 @@ -#ifndef I2C_HW_H -#define I2C_HW_H +#ifndef SIM_MCU_PERIPH_I2C_ARCH_H +#define SIM_MCU_PERIPH_I2C_ARCH_H #define I2cSendStart() {} @@ -10,4 +10,4 @@ #define I2c0SendStart() {} #define I2c1SendStart() {} -#endif /* I2C_HW_H */ +#endif /* SIM_MCU_PERIPH_I2C_ARCH_H */ diff --git a/sw/airborne/arch/sim/mcu_periph/spi_arch.c b/sw/airborne/arch/sim/mcu_periph/spi_arch.c new file mode 100644 index 0000000000..43ec2e48d4 --- /dev/null +++ b/sw/airborne/arch/sim/mcu_periph/spi_arch.c @@ -0,0 +1,3 @@ +#include "mcu_periph/spi.h" + +void spi_init( void ) {} diff --git a/sw/airborne/arch/sim/spi_hw.h b/sw/airborne/arch/sim/mcu_periph/spi_arch.h similarity index 100% rename from sw/airborne/arch/sim/spi_hw.h rename to sw/airborne/arch/sim/mcu_periph/spi_arch.h diff --git a/sw/airborne/arch/sim/uart_hw.h b/sw/airborne/arch/sim/mcu_periph/uart_arch.h similarity index 100% rename from sw/airborne/arch/sim/uart_hw.h rename to sw/airborne/arch/sim/mcu_periph/uart_arch.h diff --git a/sw/airborne/arch/sim/micromag_hw.c b/sw/airborne/arch/sim/micromag_hw.c index bb867b7156..3dd9c24c01 100644 --- a/sw/airborne/arch/sim/micromag_hw.c +++ b/sw/airborne/arch/sim/micromag_hw.c @@ -28,16 +28,15 @@ #include "micromag.h" -#include "6dof.h" void micromag_hw_init( void ) {} void micromag_read( void ) {} void micromag_hw_feed_value(VEC* mag) { - micromag_values[0] = mag->ve[AXIS_X]; - micromag_values[1] = mag->ve[AXIS_Y]; - micromag_values[2] = mag->ve[AXIS_Z]; + micromag_values[0] = mag->ve[0]; + micromag_values[1] = mag->ve[1]; + micromag_values[2] = mag->ve[2]; micromag_status = MM_DATA_AVAILABLE; } diff --git a/sw/airborne/arch/sim/sim_ap.c b/sw/airborne/arch/sim/sim_ap.c index d1beea54bf..1990c33a84 100644 --- a/sw/airborne/arch/sim/sim_ap.c +++ b/sw/airborne/arch/sim/sim_ap.c @@ -18,7 +18,7 @@ #include "subsystems/nav.h" #include "firmwares/fixedwing/stabilization/stabilization_attitude.h" #include "firmwares/fixedwing/guidance/guidance_v.h" -#include "infrared.h" +#include "subsystems/sensors/infrared.h" #include "commands.h" #include "firmwares/fixedwing/main_ap.h" #include "ap_downlink.h" diff --git a/sw/airborne/arch/sim/sim_ir.c b/sw/airborne/arch/sim/sim_ir.c index ffc1cac2e5..59dd9edb88 100644 --- a/sw/airborne/arch/sim/sim_ir.c +++ b/sw/airborne/arch/sim/sim_ir.c @@ -6,7 +6,7 @@ #include -#include "infrared.h" +#include "subsystems/sensors/infrared.h" #include "generated/airframe.h" #include diff --git a/sw/airborne/arch/sim/sim_jsbsim.c b/sw/airborne/arch/sim/sim_jsbsim.c index 963f750d0c..f81a5bcb41 100644 --- a/sw/airborne/arch/sim/sim_jsbsim.c +++ b/sw/airborne/arch/sim/sim_jsbsim.c @@ -18,7 +18,7 @@ #include "subsystems/nav.h" #include "firmwares/fixedwing/stabilization/stabilization_attitude.h" #include "ffirmwares/fixedwing/guidance/guidance_v.h" -#include "infrared.h" +#include "subsystems/sensors/infrared.h" #include "commands.h" #include "firmwares/fixedwing/main_ap.h" #include "ap_downlink.h" diff --git a/sw/airborne/arch/sim/spi_hw.c b/sw/airborne/arch/sim/spi_hw.c deleted file mode 100644 index cd0b3ece6e..0000000000 --- a/sw/airborne/arch/sim/spi_hw.c +++ /dev/null @@ -1,3 +0,0 @@ -#include "spi.h" - -void spi_init( void ) {} diff --git a/sw/airborne/arch/stm32/init_hw.h b/sw/airborne/arch/stm32/mcu_arch.c similarity index 54% rename from sw/airborne/arch/stm32/init_hw.h rename to sw/airborne/arch/stm32/mcu_arch.c index 5f601a4673..eb6760b1c6 100644 --- a/sw/airborne/arch/stm32/init_hw.h +++ b/sw/airborne/arch/stm32/mcu_arch.c @@ -1,34 +1,29 @@ /* - * Paparazzi $Id$ + * Paparazzi stm32 arch dependant microcontroller initialisation function * - * Copyright (C) 2009-2010 The Paparazzi Team + * Copyright (C) 2010 The Paparazzi team * - * 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. - */ - -/* - *\brief STM low level hardware initialisation - * PLL, MAM, VIC * */ -#ifndef INIT_HW_H -#define INIT_HW_H +#include "mcu.h" + #include #include @@ -38,43 +33,7 @@ #include BOARD_CONFIG -/* should probably not be here - * a couple of macros to use the rev instruction - */ -#define MyByteSwap16(in, out) { \ - asm volatile ( \ - "rev16 %0, %1\n\t" \ - : "=r" (out) \ - : "r"(in) \ - ); \ - } - - -#ifdef PERIPHERALS_AUTO_INIT -#ifdef USE_LED -#include "led.h" -#endif -#if defined RADIO_CONTROL -#if defined RADIO_CONTROL_LINK || defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT -#include "subsystems/radio_control.h" -#endif -#endif -#if defined USE_UART1 || defined USE_UART2 || defined USE_UART3 -#include "uart.h" -#endif -#if defined USE_I2C1 || defined USE_I2C2 -#include "i2c.h" -#endif -#endif /* PERIPHERALS_AUTO_INIT */ - - -/* declare functions and values from crt0.S & the linker control file */ -extern void reset(void); -/* extern void exit(void); */ -extern void abort(void); - - -static inline void hw_init(void) { +void mcu_arch_init(void) { #ifdef HSE_TYPE_EXT_CLK /* Setup the microcontroller system. @@ -119,33 +78,5 @@ static inline void hw_init(void) { /* Set the Vector Table base location at 0x08000000 */ NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0); - -#ifdef PERIPHERALS_AUTO_INIT -#ifdef USE_LED - led_init(); -#endif - /* for now this means using spektrum */ -#if defined RADIO_CONTROL & defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT & defined RADIO_CONTROL_BIND_IMPL_FUNC - RADIO_CONTROL_BIND_IMPL_FUNC(); -#endif -#ifdef USE_UART1 - uart1_init(); -#endif -#ifdef USE_UART2 - uart2_init(); -#endif -#ifdef USE_UART3 - uart3_init(); -#endif -#ifdef USE_I2C1 - i2c1_init(); -#endif -#ifdef USE_I2C2 - i2c2_init(); -#endif -#endif /* PERIPHERALS_AUTO_INIT */ - - } -#endif /* INIT_HW_H */ diff --git a/sw/airborne/arch/stm32/mcu_arch.h b/sw/airborne/arch/stm32/mcu_arch.h new file mode 100644 index 0000000000..b8110a16cc --- /dev/null +++ b/sw/airborne/arch/stm32/mcu_arch.h @@ -0,0 +1,45 @@ +/* + * Paparazzi stm32 arch dependant microcontroller initialisation function + * + * Copyright (C) 2010 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. + * + */ + +#ifndef STM32_MCU_ARCH_H +#define STM32_MCU_ARCH_H + +extern void mcu_arch_init(void); + + +/* should probably not be here + * a couple of macros to use the rev instruction + */ +#define MyByteSwap16(in, out) { \ + asm volatile ( \ + "rev16 %0, %1\n\t" \ + : "=r" (out) \ + : "r"(in) \ + ); \ + } + +#define mcu_int_enable() {} +#define mcu_int_disable() {} + +#endif /* STM32_MCU_ARCH_H */ diff --git a/sw/airborne/arch/stm32/adc_hw.c b/sw/airborne/arch/stm32/mcu_periph/adc_arch.c similarity index 97% rename from sw/airborne/arch/stm32/adc_hw.c rename to sw/airborne/arch/stm32/mcu_periph/adc_arch.c index bbea45a95c..8ff6734e31 100644 --- a/sw/airborne/arch/stm32/adc_hw.c +++ b/sw/airborne/arch/stm32/mcu_periph/adc_arch.c @@ -83,8 +83,7 @@ */ -#include "adc.h" -#include "adc_hw.h" +#include "mcu_periph/adc.h" #include #include #include @@ -125,16 +124,16 @@ static inline void adc_init_irq( void ); // {{{ /* - GPIO mapping for ADC1 pins (PA.B, PB.1, PC.3, PC.5). + GPIO mapping for ADC1 pins (PB.1, PB.0, PC.5, PC.3). Can be changed by predefining ADC1_GPIO_INIT. */ #ifdef USE_AD1 #ifndef ADC1_GPIO_INIT #define ADC1_GPIO_INIT(gpio) { \ - (gpio).GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1; \ + (gpio).GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_0; \ (gpio).GPIO_Mode = GPIO_Mode_AIN; \ GPIO_Init(GPIOB, (&gpio)); \ - (gpio).GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_5; \ + (gpio).GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_3; \ GPIO_Init(GPIOC, (&gpio)); \ } #endif // ADC1_GPIO_INIT @@ -387,7 +386,9 @@ void adc_init( void ) { // using defines. adc_channel_map[0] = ADC_Channel_8; adc_channel_map[1] = ADC_Channel_9; - adc_channel_map[2] = ADC_Channel_13; + // adc_channel_map[2] = ADC_Channel_13; + // FIXME for now we get battery voltage this way + adc_channel_map[2] = ADC_Channel_0; adc_channel_map[3] = ADC_Channel_15; adc_init_rcc(); diff --git a/sw/airborne/arch/stm32/adc_hw.h b/sw/airborne/arch/stm32/mcu_periph/adc_arch.h similarity index 100% rename from sw/airborne/arch/stm32/adc_hw.h rename to sw/airborne/arch/stm32/mcu_periph/adc_arch.h diff --git a/sw/airborne/arch/stm32/can_hw.c b/sw/airborne/arch/stm32/mcu_periph/can_arch.c similarity index 99% rename from sw/airborne/arch/stm32/can_hw.c rename to sw/airborne/arch/stm32/mcu_periph/can_arch.c index 5d0991e3ea..2af91534c1 100644 --- a/sw/airborne/arch/stm32/can_hw.c +++ b/sw/airborne/arch/stm32/mcu_periph/can_arch.c @@ -25,7 +25,7 @@ #include #include -#include "can_hw.h" +#include "mcu_periph/can.h" #include #include diff --git a/sw/airborne/arch/stm32/can_hw.h b/sw/airborne/arch/stm32/mcu_periph/can_arch.h similarity index 89% rename from sw/airborne/arch/stm32/can_hw.h rename to sw/airborne/arch/stm32/mcu_periph/can_arch.h index e6f6228a71..b2fa04798a 100644 --- a/sw/airborne/arch/stm32/can_hw.h +++ b/sw/airborne/arch/stm32/mcu_periph/can_arch.h @@ -22,11 +22,11 @@ * */ -#ifndef CAN_HW_H -#define CAN_HW_H +#ifndef MCU_PERIPH_STM32_CAN_ARCH_H +#define MCU_PERIPH_STM32_CAN_ARCH_H void can_hw_init(void); void usb_lp_can1_rx0_irq_handler(void); int can_hw_transmit(uint32_t id, const uint8_t *buf, uint8_t len); -#endif /* CAN_HW_H */ +#endif /* MCU_PERIPH_STM32_CAN_ARCH_H */ diff --git a/sw/airborne/arch/stm32/i2c_hw.c b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c similarity index 99% rename from sw/airborne/arch/stm32/i2c_hw.c rename to sw/airborne/arch/stm32/mcu_periph/i2c_arch.c index fb9325d7a4..2099326c6c 100644 --- a/sw/airborne/arch/stm32/i2c_hw.c +++ b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c @@ -1,4 +1,4 @@ -#include "i2c.h" +#include "mcu_periph/i2c.h" #include #include diff --git a/sw/airborne/arch/stm32/i2c_hw.h b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.h similarity index 97% rename from sw/airborne/arch/stm32/i2c_hw.h rename to sw/airborne/arch/stm32/mcu_periph/i2c_arch.h index 2d41241471..0274829fc1 100644 --- a/sw/airborne/arch/stm32/i2c_hw.h +++ b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.h @@ -28,7 +28,7 @@ #ifndef I2C_HW_H #define I2C_HW_H -#include "i2c.h" +#include "mcu_periph/i2c.h" #include diff --git a/sw/airborne/arch/stm32/uart_hw.c b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c similarity index 99% rename from sw/airborne/arch/stm32/uart_hw.c rename to sw/airborne/arch/stm32/mcu_periph/uart_arch.c index f1c1fd4743..3edce0c1d1 100644 --- a/sw/airborne/arch/stm32/uart_hw.c +++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c @@ -21,7 +21,7 @@ * Boston, MA 02111-1307, USA. */ -#include "uart.h" +#include "mcu_periph/uart.h" #include #include @@ -282,9 +282,6 @@ volatile uint16_t uart3_tx_insert_idx, uart3_tx_extract_idx; volatile bool_t uart3_tx_running; uint8_t uart3_tx_buffer[UART3_TX_BUFFER_SIZE]; -#include "led.h" - - void uart3_init( void ) { /* init RCC */ diff --git a/sw/airborne/arch/stm32/uart_hw.h b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h similarity index 97% rename from sw/airborne/arch/stm32/uart_hw.h rename to sw/airborne/arch/stm32/mcu_periph/uart_arch.h index 8679622711..e281700dba 100644 --- a/sw/airborne/arch/stm32/uart_hw.h +++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h @@ -1,7 +1,7 @@ /* * $Id$ * - * Copyright (C) 2009 Antoine Drouin + * Copyright (C) 2009-2010 The Paparazzi Team * * This file is part of paparazzi. * @@ -26,8 +26,8 @@ * */ -#ifndef UART_HW_H -#define UART_HW_H +#ifndef STM32_UART_ARCH_H +#define STM32_UART_ARCH_H #include "std.h" @@ -183,4 +183,4 @@ extern uint8_t uart3_tx_buffer[UART3_TX_BUFFER_SIZE]; void uart_init( void ); -#endif /* UART_HW_H */ +#endif /* STM32_UART_ARCH_H */ diff --git a/sw/airborne/arch/stm32/peripherals/hmc8543_arch.c b/sw/airborne/arch/stm32/peripherals/hmc8543_arch.c index e85724e199..f50c285037 100644 --- a/sw/airborne/arch/stm32/peripherals/hmc8543_arch.c +++ b/sw/airborne/arch/stm32/peripherals/hmc8543_arch.c @@ -27,7 +27,7 @@ #include #include #include -#include "i2c.h" +#include "mcu_periph/i2c.h" void exti9_5_irq_handler(void); diff --git a/sw/airborne/arch/stm32/stm32_vector_table.c b/sw/airborne/arch/stm32/stm32_vector_table.c index 40b187d87f..a2cd4e7348 100644 --- a/sw/airborne/arch/stm32/stm32_vector_table.c +++ b/sw/airborne/arch/stm32/stm32_vector_table.c @@ -1,7 +1,7 @@ /* * $Id$ * - * Copyright (C) 2010 Antoine Drouin + * Copyright (C) 2010 The Paparazzi Team * * This file is part of Paparazzi. * @@ -35,28 +35,28 @@ #endif #if defined USE_UART1 || OVERRIDE_UART1_IRQ_HANDLER -#include "uart.h" +#include "mcu_periph/uart.h" #define USART1_IRQ_HANDLER usart1_irq_handler #else #define USART1_IRQ_HANDLER null_handler #endif #if defined USE_UART2 || OVERRIDE_UART2_IRQ_HANDLER -#include "uart.h" +#include "mcu_periph/uart.h" #define USART2_IRQ_HANDLER usart2_irq_handler #else #define USART2_IRQ_HANDLER null_handler #endif #if defined USE_UART3 || OVERRIDE_UART3_IRQ_HANDLER -#include "uart.h" +#include "mcu_periph/uart.h" #define USART3_IRQ_HANDLER usart3_irq_handler #else #define USART3_IRQ_HANDLER null_handler #endif #if defined USE_UART5 || OVERRIDE_UART5_IRQ_HANDLER -#include "uart.h" +#include "mcu_periph/uart.h" #define USART5_IRQ_HANDLER usart5_irq_handler #else #define USART5_IRQ_HANDLER null_handler @@ -64,7 +64,7 @@ #ifdef USE_I2C1 -#include "i2c_hw.h" +#include "mcu_periph/i2c_arch.h" #define I2C1_EV_IRQ_HANDLER i2c1_ev_irq_handler #define I2C1_ER_IRQ_HANDLER i2c1_er_irq_handler #else @@ -73,7 +73,7 @@ #endif #ifdef USE_I2C2 -#include "i2c_hw.h" +#include "mcu_periph/i2c_arch.h" #define I2C2_EV_IRQ_HANDLER i2c2_ev_irq_handler #define I2C2_ER_IRQ_HANDLER i2c2_er_irq_handler #else diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c b/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c index 6cd584f842..ca50b9c639 100644 --- a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c +++ b/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c @@ -7,7 +7,7 @@ #include #include -#include "i2c.h" +#include "mcu_periph/i2c.h" /* gyro int handler */ void exti15_10_irq_handler(void); diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c b/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c index 316122ebe4..91b609b63d 100644 --- a/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c +++ b/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c @@ -27,10 +27,9 @@ #include #include #include -#include "uart.h" #include "subsystems/radio_control.h" #include "subsystems/radio_control/spektrum_arch.h" -#include "firmwares/rotorcraft/autopilot.h" +#include "mcu_periph/uart.h" #define SPEKTRUM_CHANNELS_PER_FRAME 7 diff --git a/sw/airborne/boards/booz/baro_board.c b/sw/airborne/boards/booz/baro_board.c index cc92db4224..aa43c684a5 100644 --- a/sw/airborne/boards/booz/baro_board.c +++ b/sw/airborne/boards/booz/baro_board.c @@ -21,7 +21,7 @@ */ -#include "firmwares/rotorcraft/baro.h" +#include "subsystems/sensors/baro.h" #include "generated/airframe.h" #include "led.h" diff --git a/sw/airborne/boards/booz/baro_board.h b/sw/airborne/boards/booz/baro_board.h index 135bebbdac..f1fae16a48 100644 --- a/sw/airborne/boards/booz/baro_board.h +++ b/sw/airborne/boards/booz/baro_board.h @@ -3,7 +3,7 @@ #include "std.h" -#include "firmwares/rotorcraft/baro.h" +#include "subsystems/sensors/baro.h" #include "booz/booz2_analog.h" /* we don't need that on this board */ diff --git a/sw/airborne/boards/booz/test_baro.c b/sw/airborne/boards/booz/test_baro.c index 05b81ae065..f00cbe54e9 100644 --- a/sw/airborne/boards/booz/test_baro.c +++ b/sw/airborne/boards/booz/test_baro.c @@ -29,12 +29,11 @@ #include BOARD_CONFIG -#include "init_hw.h" -#include "interrupt_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" -#include "firmwares/rotorcraft/baro.h" +#include "subsystems/sensors/baro.h" static inline void main_init( void ); static inline void main_periodic_task( void ); @@ -57,11 +56,11 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); booz2_analog_init(); baro_init(); - int_enable(); + mcu_int_enable(); } diff --git a/sw/airborne/boards/booz_1.0.h b/sw/airborne/boards/booz_1.0.h index 51e461a3c9..7634648333 100644 --- a/sw/airborne/boards/booz_1.0.h +++ b/sw/airborne/boards/booz_1.0.h @@ -93,6 +93,8 @@ #define PWM1_PINSEL_BIT 14 +#define BOARD_HAS_BARO + /* * Modem */ diff --git a/sw/airborne/boards/lisa_l/baro_board.c b/sw/airborne/boards/lisa_l/baro_board.c index 0f30dbd2e9..3bf8cc2a20 100644 --- a/sw/airborne/boards/lisa_l/baro_board.c +++ b/sw/airborne/boards/lisa_l/baro_board.c @@ -1,5 +1,5 @@ -#include "firmwares/rotorcraft/baro.h" +#include "subsystems/sensors/baro.h" struct Baro baro; struct BaroBoard baro_board; diff --git a/sw/airborne/boards/lisa_l/baro_board.h b/sw/airborne/boards/lisa_l/baro_board.h index 017d41a99b..f6c59fd3c7 100644 --- a/sw/airborne/boards/lisa_l/baro_board.h +++ b/sw/airborne/boards/lisa_l/baro_board.h @@ -8,7 +8,7 @@ #define BOARDS_LISA_L_BARO_H #include "std.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" enum LisaBaroStatus { LBS_UNINITIALIZED, diff --git a/sw/airborne/boards/lisa_l/test_baro.c b/sw/airborne/boards/lisa_l/test_baro.c index dcd8122dd6..20e9dbef66 100644 --- a/sw/airborne/boards/lisa_l/test_baro.c +++ b/sw/airborne/boards/lisa_l/test_baro.c @@ -34,7 +34,7 @@ #include "downlink.h" -#include "firmwares/rotorcraft/baro.h" +#include "subsystems/sensors/baro.h" //#include "my_debug_servo.h" static inline void main_init( void ); diff --git a/sw/airborne/boards/lisa_l_1.0.h b/sw/airborne/boards/lisa_l_1.0.h index 417fd309f0..8724588595 100644 --- a/sw/airborne/boards/lisa_l_1.0.h +++ b/sw/airborne/boards/lisa_l_1.0.h @@ -20,8 +20,9 @@ #define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOD -#define ADC_CHANNEL_VSUPPLY 4 -#define DefaultVoltageOfAdc(adc) (0.01787109375*adc) +#define ADC_CHANNEL_VSUPPLY 2 +#define DefaultVoltageOfAdc(adc) (0.0059*adc) +#define BOARD_HAS_BARO #endif /* CONFIG_LISA_V1_0_H */ diff --git a/sw/airborne/boards/pc/baro_board.c b/sw/airborne/boards/pc/baro_board.c index dd87d54ffa..52f3cb19fe 100644 --- a/sw/airborne/boards/pc/baro_board.c +++ b/sw/airborne/boards/pc/baro_board.c @@ -1,6 +1,6 @@ -#include "firmwares/rotorcraft/baro.h" +#include "subsystems/sensors/baro.h" struct Baro baro; diff --git a/sw/airborne/booz/arch/lpc21/booz2_analog_hw.c b/sw/airborne/booz/arch/lpc21/booz2_analog_hw.c index 8c1f2a68c7..a991d3e3ed 100644 --- a/sw/airborne/booz/arch/lpc21/booz2_analog_hw.c +++ b/sw/airborne/booz/arch/lpc21/booz2_analog_hw.c @@ -24,7 +24,7 @@ #include "booz2_analog.h" /* analog_arch includes baro ??? naaaa we don't want double references */ -#include "firmwares/rotorcraft/baro.h" +#include "subsystems/sensors/baro.h" #include "firmwares/rotorcraft/battery.h" #ifndef USE_EXTRA_ADC diff --git a/sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c b/sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c index 93912efe1d..5a86889e63 100644 --- a/sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c +++ b/sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c @@ -21,8 +21,8 @@ * Boston, MA 02111-1307, USA. */ -#include "uart.h" -#include "i2c.h" +#include "mcu_periph/uart.h" +//#include "mcu_periph/i2c.h" void uart0_init( void ) {} void uart1_init( void ) {} diff --git a/sw/airborne/booz/booz2_datalink.c b/sw/airborne/booz/booz2_datalink.c index 2fae20a594..adb77a1825 100644 --- a/sw/airborne/booz/booz2_datalink.c +++ b/sw/airborne/booz/booz2_datalink.c @@ -32,7 +32,7 @@ #include "downlink.h" #include "messages.h" #include "dl_protocol.h" -#include "uart.h" +#include "mcu_periph/uart.h" #ifdef BOOZ_FMS_TYPE #include "booz_fms.h" diff --git a/sw/airborne/booz/booz_gps.h b/sw/airborne/booz/booz_gps.h index addeb62043..7d30611baf 100644 --- a/sw/airborne/booz/booz_gps.h +++ b/sw/airborne/booz/booz_gps.h @@ -26,7 +26,7 @@ #include "std.h" #include "math/pprz_geodetic_int.h" -#include "uart.h" +#include "mcu_periph/uart.h" struct Booz_gps_state { struct EcefCoor_i ecef_pos; /* pos ECEF in cm */ diff --git a/sw/airborne/booz/test/booz2_test_mc.c b/sw/airborne/booz/test/booz2_test_mc.c index 51cd5ebcdc..ba755f46ce 100644 --- a/sw/airborne/booz/test/booz2_test_mc.c +++ b/sw/airborne/booz/test/booz2_test_mc.c @@ -23,17 +23,16 @@ #include -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" #include "commands.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "firmwares/rotorcraft/actuators.h" static inline void main_init( void ); @@ -53,7 +52,7 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); uart1_init_tx(); @@ -61,7 +60,7 @@ static inline void main_init( void ) { i2c_init(); actuators_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/csc/csc_adc.c b/sw/airborne/csc/csc_adc.c index be8f0197cf..d81fa19d8a 100644 --- a/sw/airborne/csc/csc_adc.c +++ b/sw/airborne/csc/csc_adc.c @@ -1,12 +1,12 @@ #include "csc_adc.h" #include "csc_ap_link.h" #include -#include "uart.h" +#include "mcu_periph/uart.h" #include "print.h" #include "LPC21xx.h" #include "led.h" -#include "adc.h" +#include "mcu_periph/adc.h" #include ACTUATORS #include "csc_servos.h" #include "sys_time.h" diff --git a/sw/airborne/csc/csc_main.c b/sw/airborne/csc/csc_main.c index 1bae760ee7..90474cd2fc 100644 --- a/sw/airborne/csc/csc_main.c +++ b/sw/airborne/csc/csc_main.c @@ -28,11 +28,11 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" #include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "csc_telemetry.h" #include "generated/periodic.h" #include "downlink.h" @@ -66,7 +66,7 @@ struct NedCoor_i booz_ins_gps_speed_cm_s_ned; static void csc_main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); @@ -100,7 +100,7 @@ static void csc_main_init( void ) { #ifdef USE_CSC_THROTTLE csc_throttle_init(); #endif - int_enable(); + mcu_int_enable(); } diff --git a/sw/airborne/csc/csc_protocol.c b/sw/airborne/csc/csc_protocol.c index 2ff5b7ee21..f3167c7c20 100644 --- a/sw/airborne/csc/csc_protocol.c +++ b/sw/airborne/csc/csc_protocol.c @@ -26,7 +26,7 @@ #include #include "csc_protocol.h" -#include "can.h" +#include "mcu_periph/can.h" #include "csc_msg_def.h" // #include "init_hw.h" diff --git a/sw/airborne/csc/csc_throttle.c b/sw/airborne/csc/csc_throttle.c index 20cbfcb3cf..008a269fe4 100644 --- a/sw/airborne/csc/csc_throttle.c +++ b/sw/airborne/csc/csc_throttle.c @@ -31,7 +31,7 @@ //#include "downlink.h" //#include "messages.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "csc_ap_link.h" //#include "print.h" //#include "com_stats.h" diff --git a/sw/airborne/datalink.c b/sw/airborne/datalink.c index ef990bfc77..907b45b0a7 100644 --- a/sw/airborne/datalink.c +++ b/sw/airborne/datalink.c @@ -39,6 +39,10 @@ #include "subsystems/navigation/traffic_info.h" #endif // TRAFFIC_INFO +#if defined NAV || defined WIND_INFO +#include "estimator.h" +#endif + #ifdef USE_JOYSTICK #include "joystick.h" #endif @@ -60,7 +64,7 @@ #ifndef DOWNLINK_DEVICE #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE #endif -#include "uart.h" +#include "mcu_periph/uart.h" #include "downlink.h" #include "ap_downlink.h" diff --git a/sw/airborne/estimator.c b/sw/airborne/estimator.c index 05f335a97f..85b369f2ca 100644 --- a/sw/airborne/estimator.c +++ b/sw/airborne/estimator.c @@ -30,7 +30,7 @@ #include #include "estimator.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "ap_downlink.h" #include "gps.h" #include "subsystems/nav.h" @@ -233,3 +233,26 @@ void estimator_update_state_gps( void ) { DOWNLINK_SEND_ATTITUDE(ExtraPprzTransport,&estimator_phi,&estimator_psi,&estimator_theta); #endif } + +#include "subsystems/sensors/infrared.h" +void estimator_update_state_infrared( void ) { + estimator_phi = atan2(ir_roll, ir_top) - ir_roll_neutral; + + estimator_theta = atan2(ir_pitch, ir_top) - ir_pitch_neutral; + + if (estimator_theta < -M_PI_2) + estimator_theta += M_PI; + else if (estimator_theta > M_PI_2) + estimator_theta -= M_PI; + + if (estimator_phi >= 0) + estimator_phi *= ir_correction_right; + else + estimator_phi *= ir_correction_left; + + if (estimator_theta >= 0) + estimator_theta *= ir_correction_up; + else + estimator_theta *= ir_correction_down; + +} diff --git a/sw/airborne/estimator.h b/sw/airborne/estimator.h index c221d6a463..a26e5cdc89 100644 --- a/sw/airborne/estimator.h +++ b/sw/airborne/estimator.h @@ -127,4 +127,6 @@ extern void alt_kalman( float ); #define EstimatorSetRate(p, q) { estimator_p = p; estimator_q = q; } +extern void estimator_update_state_infrared( void ); + #endif /* ESTIMATOR_H */ diff --git a/sw/airborne/fbw_downlink.h b/sw/airborne/fbw_downlink.h index d4280f8e4d..aeca720421 100644 --- a/sw/airborne/fbw_downlink.h +++ b/sw/airborne/fbw_downlink.h @@ -42,7 +42,7 @@ #include "commands.h" #include "actuators.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "firmwares/fixedwing/main_fbw.h" #include "subsystems/radio_control.h" #include "inter_mcu.h" diff --git a/sw/airborne/firmwares/beth/bench_sensors.h b/sw/airborne/firmwares/beth/bench_sensors.h index de655ad046..9d3df4a776 100644 --- a/sw/airborne/firmwares/beth/bench_sensors.h +++ b/sw/airborne/firmwares/beth/bench_sensors.h @@ -8,9 +8,7 @@ #endif #ifdef USE_CAN1 -#include "can.h" -#include "can_hw.h" -#include +#include "mcu_periph/can.h" extern uint16_t can_err_flags; #endif diff --git a/sw/airborne/firmwares/beth/bench_sensors_can.c b/sw/airborne/firmwares/beth/bench_sensors_can.c index 597f798151..ada5ccfca7 100644 --- a/sw/airborne/firmwares/beth/bench_sensors_can.c +++ b/sw/airborne/firmwares/beth/bench_sensors_can.c @@ -1,5 +1,5 @@ #include "bench_sensors.h" -#include "can.h" +#include "mcu_periph/can.h" #include "led.h" //uint16_t halfw1,halfw2,halfw3,halfw4; diff --git a/sw/airborne/firmwares/beth/main_coders.c b/sw/airborne/firmwares/beth/main_coders.c index 2e927c02ab..31e873270d 100644 --- a/sw/airborne/firmwares/beth/main_coders.c +++ b/sw/airborne/firmwares/beth/main_coders.c @@ -1,6 +1,6 @@ #include BOARD_CONFIG #include "init_hw.h" -#include "can.h" +#include "mcu_periph/can.h" #include "sys_time.h" #include "downlink.h" diff --git a/sw/airborne/firmwares/beth/main_stm32.c b/sw/airborne/firmwares/beth/main_stm32.c index e34bf8518e..bec7f05419 100644 --- a/sw/airborne/firmwares/beth/main_stm32.c +++ b/sw/airborne/firmwares/beth/main_stm32.c @@ -24,8 +24,8 @@ #include BOARD_CONFIG #include "std.h" -#include "init_hw.h" -#include "can.h" +#include "mcu.h" +#include "mcu_periph/can.h" #include "sys_time.h" #include "downlink.h" #include "booz/booz2_commands.h" @@ -61,7 +61,7 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); actuators_init(); //radio_control_init(); diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c index b0954cc92d..acc198898d 100644 --- a/sw/airborne/firmwares/fixedwing/main_ap.c +++ b/sw/airborne/firmwares/fixedwing/main_ap.c @@ -34,14 +34,13 @@ #include #include "firmwares/fixedwing/main_ap.h" +#include "mcu.h" -#include "interrupt_hw.h" -#include "init_hw.h" -#include "adc.h" +#include "mcu_periph/adc.h" #include "firmwares/fixedwing/stabilization/stabilization_attitude.h" #include "firmwares/fixedwing/guidance/guidance_v.h" #include "gps.h" -#include "infrared.h" +#include "subsystems/sensors/infrared.h" #include "gyro.h" #include "ap_downlink.h" #include "subsystems/nav.h" @@ -60,16 +59,9 @@ #include "rc_settings.h" #endif -#ifdef LED -#include "led.h" -#endif - -#if defined USE_I2C0 || USE_I2C1 -#include "i2c.h" -#endif #ifdef USE_SPI -#include "spi.h" +#include "mcu_periph/spi.h" #endif #ifdef TRAFFIC_INFO @@ -480,12 +472,9 @@ void periodic_task_ap( void ) { void init_ap( void ) { #ifndef SINGLE_MCU /** init done in main_fbw in single MCU */ - hw_init(); + mcu_init(); sys_time_init(); -#ifdef LED - led_init(); -#endif #ifdef ADC adc_init(); @@ -502,35 +491,11 @@ void init_ap( void ) { #ifdef USE_GPS gps_init(); #endif -#ifdef USE_UART0 - Uart0Init(); -#endif -#ifdef USE_UART1 - Uart1Init(); -#endif -#ifdef USE_UART2 - Uart2Init(); -#endif -#ifdef USE_UART3 - Uart3Init(); -#endif -#ifdef USE_USB_SERIAL - VCOM_init(); -#endif #ifdef USE_GPIO GpioInit(); #endif -#ifdef USE_I2C0 - i2c0_init(); -#endif -#ifdef USE_I2C1 - i2c1_init(); -#endif -#ifdef USE_I2C2 - i2c2_init(); -#endif /************* Links initialization ***************/ #if defined USE_SPI @@ -555,7 +520,7 @@ void init_ap( void ) { modules_init(); /** - start interrupt task */ - int_enable(); + mcu_int_enable(); /** wait 0.5s (historical :-) */ sys_time_usleep(500000); diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c index ed29dab3e6..f4bba8c24f 100644 --- a/sw/airborne/firmwares/fixedwing/main_fbw.c +++ b/sw/airborne/firmwares/fixedwing/main_fbw.c @@ -1,22 +1,22 @@ /* * Paparazzi $Id$ * - * Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin + * Copyright (C) 2003-2010 The Paparazzi Team * - * 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. * @@ -31,15 +31,14 @@ * ( for parameters like the supply ) */ -#include "firmwares/fixedwing/main_fbw.h" #include "generated/airframe.h" -#include "init_hw.h" -#include "interrupt_hw.h" +#include "firmwares/fixedwing/main_fbw.h" +#include "mcu.h" + #include "led.h" -#include "uart.h" -#include "spi.h" -#include "adc.h" +#include "mcu_periph/spi.h" +#include "mcu_periph/adc.h" #ifdef USE_USB_SERIAL #include "usb_serial.h" @@ -84,33 +83,17 @@ uint8_t fbw_mode; /********** INIT *************************************************************/ void init_fbw( void ) { - hw_init(); + mcu_init(); sys_time_init(); -#ifdef LED - led_init(); -#endif -#ifdef USE_UART0 - uart0_init(); -#endif -#ifdef USE_UART1 - uart1_init(); -#endif -#ifdef USE_UART2 - uart2_init(); -#endif -#ifdef USE_UART3 - uart3_init(); -#endif - // FIXME: remove STM32 flag #ifdef ADC adc_init(); -#ifndef STM32 +#ifdef ADC_CHANNEL_VSUPPLY adc_buf_channel(ADC_CHANNEL_VSUPPLY, &vsupply_adc_buf, DEFAULT_AV_NB_SAMPLE); -# ifdef ADC_CHANNEL_CURRENT +#endif +#ifdef ADC_CHANNEL_CURRENT adc_buf_channel(ADC_CHANNEL_CURRENT, ¤t_adc_buf, DEFAULT_AV_NB_SAMPLE); -# endif -#endif /* ! STM32 */ +#endif #endif /* ADC */ #ifdef ACTUATORS @@ -229,10 +212,12 @@ void periodic_task_fbw( void ) { if (!_10Hz) { #ifdef ADC +#ifdef ADC_CHANNEL_VSUPPLY fbw_vsupply_decivolt = VoltageOfAdc((10*(vsupply_adc_buf.sum/vsupply_adc_buf.av_nb_sample))); -# ifdef ADC_CHANNEL_CURRENT +#endif +#ifdef ADC_CHANNEL_CURRENT fbw_current_milliamp = MilliAmpereOfAdc((current_adc_buf.sum/current_adc_buf.av_nb_sample)); -# endif +#endif #endif #if ((! defined ADC_CHANNEL_CURRENT) && defined MILLIAMP_AT_FULL_THROTTLE) diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.h b/sw/airborne/firmwares/fixedwing/main_fbw.h index d21aa0e451..efc5b7d505 100644 --- a/sw/airborne/firmwares/fixedwing/main_fbw.h +++ b/sw/airborne/firmwares/fixedwing/main_fbw.h @@ -31,7 +31,7 @@ #define FBW_H #include "std.h" -#include "adc.h" +#include "mcu_periph/adc.h" /** Fly by wire modes */ #define FBW_MODE_MANUAL 0 diff --git a/sw/airborne/firmwares/logger/main_logger.c b/sw/airborne/firmwares/logger/main_logger.c index 8f5adf2df1..69a104dde1 100644 --- a/sw/airborne/firmwares/logger/main_logger.c +++ b/sw/airborne/firmwares/logger/main_logger.c @@ -78,12 +78,10 @@ */ #include "std.h" -#include "init_hw.h" +#include "mcu.h" +#include "mcu_periph/uart.h" #include "sys_time.h" #include "led.h" -#include "interrupt_hw.h" -#include "uart_hw.h" -#include "uart.h" #include "usb_msc_hw.h" @@ -513,17 +511,10 @@ int main(void) } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); -#ifdef USE_UART0 - Uart0Init(); -#endif -#ifdef USE_UART1 - Uart1Init(); -#endif - #ifdef USE_MAX11040 max11040_init_ssp(); max11040_init(); diff --git a/sw/airborne/firmwares/motor_bench/main_motor_bench.c b/sw/airborne/firmwares/motor_bench/main_motor_bench.c index 152fc6f1d3..8c45c24e10 100644 --- a/sw/airborne/firmwares/motor_bench/main_motor_bench.c +++ b/sw/airborne/firmwares/motor_bench/main_motor_bench.c @@ -1,9 +1,8 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "interrupt_hw.h" #include "mb_tacho.h" #include "mb_servo.h" #include "i2c.h" @@ -13,7 +12,7 @@ #include "mb_scale.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" @@ -42,7 +41,7 @@ int main( void ) { static inline void main_init( void ) { - hw_init(); + mcu_init(); led_init(); sys_time_init(); mb_tacho_init(); @@ -62,7 +61,7 @@ static inline void main_init( void ) { uart0_init(); mb_mode_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/firmwares/motor_bench/mb_current.c b/sw/airborne/firmwares/motor_bench/mb_current.c index 5e3046cde4..2089e9f814 100644 --- a/sw/airborne/firmwares/motor_bench/mb_current.c +++ b/sw/airborne/firmwares/motor_bench/mb_current.c @@ -1,6 +1,6 @@ #include "mb_current.h" -#include "adc.h" +#include "mcu_periph/adc.h" static struct adc_buf mb_current_buf; diff --git a/sw/airborne/firmwares/motor_bench/mb_modes.c b/sw/airborne/firmwares/motor_bench/mb_modes.c index 920f07c763..650736de0e 100644 --- a/sw/airborne/firmwares/motor_bench/mb_modes.c +++ b/sw/airborne/firmwares/motor_bench/mb_modes.c @@ -2,7 +2,7 @@ //#include "mb_static.h" -#include "adc.h" +#include "mcu_periph/adc.h" #include "sys_time.h" diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c index be043b9669..ae69747ecc 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c @@ -1,12 +1,12 @@ #include "firmwares/rotorcraft/actuators.h" -#include "actuators_asctec.h" +#include "firmwares/rotorcraft/actuators/actuators_asctec.h" #ifdef ACTUATORS_ASCTEC_V2_PROTOCOL #include "firmwares/rotorcraft/actuators/supervision.h" #endif #include "booz/booz2_commands.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "sys_time.h" diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h index a82e4ef968..9b9dc58916 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h @@ -24,7 +24,7 @@ #ifndef ACTUATORS_ASCTEC_H #define ACTUATORS_ASCTEC_H -#include "i2c.h" +#include "mcu_periph/i2c.h" enum actuators_astec_cmd { NONE, TEST, diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c index e86651621e..90bb98f8f9 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c @@ -22,10 +22,10 @@ */ #include "firmwares/rotorcraft/actuators.h" -#include "actuators_mkk.h" +#include "firmwares/rotorcraft/actuators/actuators_mkk.h" #include "booz/booz2_commands.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "sys_time.h" diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h index 8b6d821098..77b36eb980 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h @@ -25,7 +25,7 @@ #define ACTUATORS_MKK_H #include "std.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "generated/airframe.h" diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c index 5f6cd5485d..4d72a022e3 100644 --- a/sw/airborne/firmwares/rotorcraft/main.c +++ b/sw/airborne/firmwares/rotorcraft/main.c @@ -25,10 +25,9 @@ #define MODULES_C #include -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "interrupt_hw.h" #include "downlink.h" #include "firmwares/rotorcraft/telemetry.h" @@ -42,7 +41,7 @@ #include "booz_gps.h" #include "booz/booz2_analog.h" -#include "firmwares/rotorcraft/baro.h" +#include "subsystems/sensors/baro.h" #include "firmwares/rotorcraft/battery.h" @@ -95,7 +94,7 @@ STATIC_INLINE void main_init( void ) { } #endif - hw_init(); + mcu_init(); sys_time_init(); @@ -130,7 +129,7 @@ STATIC_INLINE void main_init( void ) { modules_init(); - int_enable(); + mcu_int_enable(); } diff --git a/sw/airborne/firmwares/rotorcraft/main.h b/sw/airborne/firmwares/rotorcraft/main.h index 7bf6d26716..9e9a651b53 100644 --- a/sw/airborne/firmwares/rotorcraft/main.h +++ b/sw/airborne/firmwares/rotorcraft/main.h @@ -1,7 +1,7 @@ /* * $Id$ * - * Copyright (C) 2008-2009 Antoine Drouin + * Copyright (C) 2008-2010 The Paparazzi Team * * This file is part of paparazzi. * diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c index b742b5da7a..463927fe1e 100644 --- a/sw/airborne/firmwares/rotorcraft/navigation.c +++ b/sw/airborne/firmwares/rotorcraft/navigation.c @@ -306,7 +306,7 @@ void nav_periodic_task() { #include "downlink.h" #include "messages.h" -#include "uart.h" +#include "mcu_periph/uart.h" void nav_move_waypoint(uint8_t wp_id, struct EnuCoor_i * new_pos) { if (wp_id < nb_waypoint) { INT32_VECT3_COPY(waypoints[wp_id],(*new_pos)); diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h index fddcc79b98..1cf5801b80 100644 --- a/sw/airborne/firmwares/rotorcraft/telemetry.h +++ b/sw/airborne/firmwares/rotorcraft/telemetry.h @@ -26,7 +26,7 @@ #include "std.h" #include "messages.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "downlink.h" @@ -50,8 +50,8 @@ #include "booz_gps.h" #include "subsystems/ins.h" #include "subsystems/ahrs.h" - -#include "i2c_hw.h" +//FIXME: wtf ??!! +#include "mcu_periph/i2c_arch.h" extern uint8_t telemetry_mode_Main_DefaultChannel; diff --git a/sw/airborne/firmwares/setup/setup_actuators.c b/sw/airborne/firmwares/setup/setup_actuators.c index 9c8afa4f32..7404d02b18 100644 --- a/sw/airborne/firmwares/setup/setup_actuators.c +++ b/sw/airborne/firmwares/setup/setup_actuators.c @@ -1,6 +1,5 @@ #include "std.h" -#include "init_hw.h" -#include "interrupt_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" #include "firmwares/fixedwing/actuators.h" @@ -8,7 +7,7 @@ #include "generated/airframe.h" #define DATALINK_C #include "datalink.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "pprz_transport.h" #include "firmwares/fixedwing/main_fbw.h" #include "downlink.h" @@ -48,7 +47,7 @@ void dl_parse_msg( void ) { #define PprzUartInit() Link(Init()) void init_fbw( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); @@ -63,7 +62,7 @@ void init_fbw( void ) { // SetServo(SERVO_GAZ, SERVO_GAZ_MIN); - int_enable(); + mcu_int_enable(); } void periodic_task_fbw(void) { diff --git a/sw/airborne/firmwares/tutorial/main_demo3.c b/sw/airborne/firmwares/tutorial/main_demo3.c index e1b2689e34..29ae419e12 100644 --- a/sw/airborne/firmwares/tutorial/main_demo3.c +++ b/sw/airborne/firmwares/tutorial/main_demo3.c @@ -1,10 +1,9 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "print.h" static inline void main_init( void ); diff --git a/sw/airborne/firmwares/tutorial/main_demo4.c b/sw/airborne/firmwares/tutorial/main_demo4.c index 1eb1e97e85..83352b5faf 100644 --- a/sw/airborne/firmwares/tutorial/main_demo4.c +++ b/sw/airborne/firmwares/tutorial/main_demo4.c @@ -1,9 +1,8 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" @@ -21,11 +20,11 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); uart0_init_tx(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/firmwares/tutorial/main_demo5.c b/sw/airborne/firmwares/tutorial/main_demo5.c index 138fe63b0d..5cb2b2c430 100644 --- a/sw/airborne/firmwares/tutorial/main_demo5.c +++ b/sw/airborne/firmwares/tutorial/main_demo5.c @@ -1,9 +1,8 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" @@ -25,11 +24,11 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); uart0_init_tx(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/gps.h b/sw/airborne/gps.h index 06ffadced9..b6c28317b8 100644 --- a/sw/airborne/gps.h +++ b/sw/airborne/gps.h @@ -106,7 +106,7 @@ struct svinfo { extern struct svinfo gps_svinfos[GPS_NB_CHANNELS]; #ifndef SITL -#include "uart.h" +#include "mcu_periph/uart.h" #define __GpsLink(dev, _x) dev##_x #define _GpsLink(dev, _x) __GpsLink(dev, _x) @@ -128,7 +128,7 @@ extern struct svinfo gps_svinfos[GPS_NB_CHANNELS]; #define GpsToggleLed() {} #endif -#if defined(GPS) || defined(USE_GPS_XSENS) || defined(SITL) +#if defined(USE_GPS) || defined(USE_GPS_XSENS) || defined(SITL) # define GpsTimeoutError (cpu_time_sec - last_gps_msg_t > FAILSAFE_DELAY_WITHOUT_GPS) #else # define GpsTimeoutError 1 diff --git a/sw/airborne/gps_nmea.c b/sw/airborne/gps_nmea.c index a110425dcf..6d843b92b6 100644 --- a/sw/airborne/gps_nmea.c +++ b/sw/airborne/gps_nmea.c @@ -43,9 +43,8 @@ #include "generated/flight_plan.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "gps.h" -//include "gps_ubx.h" #include "subsystems/nav.h" #include "latlong.h" @@ -98,8 +97,6 @@ void ubxsend_cfg_rst(uint16_t bbr , uint8_t reset_mode) { #ifdef GPS_CONFIGURE /* GPS dynamic configuration */ -#include "uart.h" - void gps_configure_uart ( void ) { //UbxSend_CFG_PRT(0x01, 0x0, 0x0, 0x000008D0, GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0); //while (GpsUartRunning) ; /* FIXME */ diff --git a/sw/airborne/gps_ubx.c b/sw/airborne/gps_ubx.c index 15777dece9..581a3cb4ce 100644 --- a/sw/airborne/gps_ubx.c +++ b/sw/airborne/gps_ubx.c @@ -35,10 +35,10 @@ #include //for baudrate #include "fms_serial_port.h" -#endif +#endif /* FMS_PERIODIC_FREQ */ #include "generated/flight_plan.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "gps.h" #include "gps_ubx.h" #include "subsystems/nav.h" @@ -152,7 +152,6 @@ void gps_init( void ) { #ifdef GPS_CONFIGURE /* GPS dynamic configuration */ -#include "uart.h" #ifndef GPS_PORT_ID #define GPS_PORT_ID GPS_PORT_UART1 diff --git a/sw/airborne/gps_xsens.c b/sw/airborne/gps_xsens.c index 3aae822ad6..077d2353af 100644 --- a/sw/airborne/gps_xsens.c +++ b/sw/airborne/gps_xsens.c @@ -33,7 +33,7 @@ #include "sys_time.h" #include "generated/airframe.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/gyro.c b/sw/airborne/gyro.c index 4982ef69cc..b8f6bfa77c 100644 --- a/sw/airborne/gyro.c +++ b/sw/airborne/gyro.c @@ -30,7 +30,7 @@ #include BOARD_CONFIG #include "gyro.h" #include "std.h" -#include "adc.h" +#include "mcu_periph/adc.h" #include "generated/airframe.h" #include "estimator.h" diff --git a/sw/airborne/joystick.h b/sw/airborne/joystick.h index bd8b2c0289..acbe1c14ad 100644 --- a/sw/airborne/joystick.h +++ b/sw/airborne/joystick.h @@ -3,6 +3,7 @@ #include "std.h" #include "firmwares/fixedwing/stabilization/stabilization_attitude.h" +#include "autopilot.h" extern uint8_t joystick_block; diff --git a/sw/airborne/link_mcu.c b/sw/airborne/link_mcu.c index 1bb27affce..f7cbcc9322 100644 --- a/sw/airborne/link_mcu.c +++ b/sw/airborne/link_mcu.c @@ -23,7 +23,7 @@ */ #include "link_mcu.h" -#include "spi.h" +#include "mcu_periph/spi.h" struct link_mcu_msg link_mcu_from_ap_msg; struct link_mcu_msg link_mcu_from_fbw_msg; diff --git a/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c b/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c index a8fc59c643..5a115a0c74 100644 --- a/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c +++ b/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c @@ -27,7 +27,7 @@ #include "lisa/lisa_overo_link.h" #include "lisa/lisa_spistream.h" #include "generated/airframe.h" -#include "uart.h" +#include "mcu_periph/uart.h" static inline void main_init(void); static inline void main_periodic(void); diff --git a/sw/airborne/lisa/lisa_stm_passthrough_main.c b/sw/airborne/lisa/lisa_stm_passthrough_main.c index bc468456df..2a79c50762 100644 --- a/sw/airborne/lisa/lisa_stm_passthrough_main.c +++ b/sw/airborne/lisa/lisa_stm_passthrough_main.c @@ -22,7 +22,7 @@ * */ -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "downlink.h" #include "booz/booz2_commands.h" @@ -45,9 +45,9 @@ #include "csc_msg_def.h" #include "csc_protocol.h" -#include "firmwares/rotorcraft/baro.h" +#include "subsystems/sensors/baro.h" -#include "adc.h" +#include "mcu_periph/adc.h" static inline void main_init(void); static inline void main_periodic(void); @@ -103,7 +103,7 @@ int main(void) { static inline void main_init(void) { - hw_init(); + mcu_init(); sys_time_init(); imu_init(); baro_init(); diff --git a/sw/airborne/lisa/test/hs_gyro.c b/sw/airborne/lisa/test/hs_gyro.c index c95e033358..e82e1dd4be 100644 --- a/sw/airborne/lisa/test/hs_gyro.c +++ b/sw/airborne/lisa/test/hs_gyro.c @@ -24,16 +24,15 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" #include "subsystems/imu.h" -#include "interrupt_hw.h" #ifndef MEASURED_SENSOR #define MEASURED_SENSOR gyro_unscaled.p @@ -60,11 +59,11 @@ int main( void ) { static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); imu_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/lisa/test/lisa_tunnel.c b/sw/airborne/lisa/test/lisa_tunnel.c index e35a86630d..1a7bec287a 100644 --- a/sw/airborne/lisa/test/lisa_tunnel.c +++ b/sw/airborne/lisa/test/lisa_tunnel.c @@ -24,10 +24,10 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" +#include "mcu_periph/uart.h" #include "sys_time.h" #include "led.h" -#include "uart.h" static inline void main_init( void ); static inline void main_periodic_task( void ); diff --git a/sw/airborne/lisa/test/test_board.c b/sw/airborne/lisa/test/test_board.c index efb4088ff1..292fb22bca 100644 --- a/sw/airborne/lisa/test/test_board.c +++ b/sw/airborne/lisa/test/test_board.c @@ -29,11 +29,11 @@ #include "test_board.h" #include "std.h" -#include "init_hw.h" +#include "mcu.h" +#include "mcu_periph/uart.h" #include "sys_time.h" #include "downlink.h" #include "led.h" -#include "uart.h" #include "datalink.h" #include "generated/settings.h" diff --git a/sw/airborne/lisa/test_adc.c b/sw/airborne/lisa/test_adc.c index 3f8e00e99a..7132bc90e3 100644 --- a/sw/airborne/lisa/test_adc.c +++ b/sw/airborne/lisa/test_adc.c @@ -26,11 +26,10 @@ #include #include BOARD_CONFIG -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "adc.h" -#include "adc_hw.h" +#include "mcu_periph/adc.h" #include "downlink.h" int main_periodic(void); @@ -46,7 +45,7 @@ static struct adc_buf adc3_buf; extern uint8_t adc_new_data_trigger; static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); adc_init(); adc_buf_channel(0, &adc0_buf, 8); diff --git a/sw/airborne/lisa/test_servos.c b/sw/airborne/lisa/test_servos.c index d095c00319..4bf9235b67 100644 --- a/sw/airborne/lisa/test_servos.c +++ b/sw/airborne/lisa/test_servos.c @@ -50,6 +50,8 @@ static inline void main_periodic( void ) { static float foo = 0.; foo += 0.0025; int32_t bar = 1500 + 500. * sin(foo); + // int32_t bar = 1450; + // int32_t bar = 1950; actuators_pwm_values[0] = bar; actuators_pwm_values[1] = bar; actuators_pwm_values[2] = bar; diff --git a/sw/airborne/mcu.c b/sw/airborne/mcu.c new file mode 100644 index 0000000000..6929d50d9e --- /dev/null +++ b/sw/airborne/mcu.c @@ -0,0 +1,88 @@ +/* + * Paparazzi microcontroller initialisation function + * + * Copyright (C) 2010 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 "mcu.h" + +#ifdef PERIPHERALS_AUTO_INIT +#ifdef USE_LED +#include "led.h" +#endif +#if defined RADIO_CONTROL +#if defined RADIO_CONTROL_LINK || defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT +#include "subsystems/radio_control.h" +#endif +#endif +#if defined USE_UART0 || defined USE_UART1 || defined USE_UART2 || defined USE_UART3 || defined USE_UART4 || defined USE_UART5 +#include "mcu_periph/uart.h" +#endif +#if defined USE_I2C1 || defined USE_I2C2 +#include "mcu_periph/i2c.h" +#endif +#endif /* PERIPHERALS_AUTO_INIT */ + +void mcu_init(void) { + + mcu_arch_init(); + +#ifdef PERIPHERALS_AUTO_INIT +#ifdef USE_LED + led_init(); +#endif + /* for now this means using spektrum */ +#if defined RADIO_CONTROL & defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT & defined RADIO_CONTROL_BIND_IMPL_FUNC + RADIO_CONTROL_BIND_IMPL_FUNC(); +#endif +#ifdef USE_UART0 + uart0_init(); +#endif +#ifdef USE_UART1 + uart1_init(); +#endif +#ifdef USE_UART2 + uart2_init(); +#endif +#ifdef USE_UART3 + uart3_init(); +#endif +#ifdef USE_UART4 + uart4_init(); +#endif +#ifdef USE_UART5 + uart5_init(); +#endif +#ifdef USE_I2C0 + i2c0_init(); +#endif +#ifdef USE_I2C1 + i2c1_init(); +#endif +#ifdef USE_I2C2 + i2c2_init(); +#endif +#ifdef USE_USB_SERIAL + VCOM_init(); +#endif +#endif /* PERIPHERALS_AUTO_INIT */ + +} diff --git a/sw/airborne/mcu.h b/sw/airborne/mcu.h new file mode 100644 index 0000000000..0372433374 --- /dev/null +++ b/sw/airborne/mcu.h @@ -0,0 +1,45 @@ +/* + * Paparazzi microcontroller functions + * + * Copyright (C) 2010 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. + * + */ + +/** \file mcu.h + * \brief arch independant mcu ( Micro Controller Unit ) utilities + */ + +#ifndef MCU_H +#define MCU_H + + +#include + +/* + * Microcontroller initialisation + * This function is responisble for setting up the microcontroller + * after Reset. + */ +extern void mcu_init(void); + + +#endif /* MCU_H */ + + diff --git a/sw/airborne/adc.h b/sw/airborne/mcu_periph/adc.h similarity index 96% rename from sw/airborne/adc.h rename to sw/airborne/mcu_periph/adc.h index 803b9c5100..bb2f9362c2 100644 --- a/sw/airborne/adc.h +++ b/sw/airborne/mcu_periph/adc.h @@ -35,7 +35,7 @@ #define _ADC_H_ #include -#include "adc_hw.h" +#include "mcu_periph/adc_arch.h" /* Allow driver implementation to define * number of available ADCs implicitly @@ -58,7 +58,7 @@ See @ref adc_buf_channel. */ struct adc_buf { - uint16_t sum; /* Sum of samples in buffer (avg = sum / av_nb_sample) */ + uint32_t sum; /* Sum of samples in buffer (avg = sum / av_nb_sample) */ uint16_t values[MAX_AV_NB_SAMPLE]; /* Buffer for sample values from ADC */ uint8_t head; /* Position index of write head in buffer */ uint8_t av_nb_sample; /* Number of samples to use in buffer (used for avg) */ diff --git a/sw/airborne/can.c b/sw/airborne/mcu_periph/can.c similarity index 95% rename from sw/airborne/can.c rename to sw/airborne/mcu_periph/can.c index a40c2e54f9..2087eceb77 100644 --- a/sw/airborne/can.c +++ b/sw/airborne/mcu_periph/can.c @@ -24,8 +24,8 @@ #include -#include "can.h" -#include "can_hw.h" +#include "mcu_periph/can.h" +#include "mcu_periph/can_arch.h" can_rx_callback_t can_rx_callback; diff --git a/sw/airborne/can.h b/sw/airborne/mcu_periph/can.h similarity index 100% rename from sw/airborne/can.h rename to sw/airborne/mcu_periph/can.h diff --git a/sw/airborne/i2c.c b/sw/airborne/mcu_periph/i2c.c similarity index 94% rename from sw/airborne/i2c.c rename to sw/airborne/mcu_periph/i2c.c index 9036dc8004..0249105d36 100644 --- a/sw/airborne/i2c.c +++ b/sw/airborne/mcu_periph/i2c.c @@ -1,4 +1,4 @@ -#include "i2c.h" +#include "mcu_periph/i2c.h" #ifdef USE_I2C0 diff --git a/sw/airborne/i2c.h b/sw/airborne/mcu_periph/i2c.h similarity index 97% rename from sw/airborne/i2c.h rename to sw/airborne/mcu_periph/i2c.h index 52150b097e..6c6b400682 100644 --- a/sw/airborne/i2c.h +++ b/sw/airborne/mcu_periph/i2c.h @@ -1,9 +1,9 @@ -#ifndef I2C_H -#define I2C_H +#ifndef MCU_PERIPH_I2C_H +#define MCU_PERIPH_I2C_H #include "std.h" -#include "i2c_hw.h" +#include "mcu_periph/i2c_arch.h" enum I2CTransactionType { I2CTransTx, diff --git a/sw/airborne/spi.c b/sw/airborne/mcu_periph/spi.c similarity index 97% rename from sw/airborne/spi.c rename to sw/airborne/mcu_periph/spi.c index 5ca6193333..2451ed7e79 100644 --- a/sw/airborne/spi.c +++ b/sw/airborne/mcu_periph/spi.c @@ -23,7 +23,7 @@ */ #include "std.h" -#include "spi.h" +#include "mcu_periph/spi.h" uint8_t* spi_buffer_input; uint8_t* spi_buffer_output; diff --git a/sw/airborne/spi.h b/sw/airborne/mcu_periph/spi.h similarity index 96% rename from sw/airborne/spi.h rename to sw/airborne/mcu_periph/spi.h index dd6b0fe8f9..9cdd614a4b 100644 --- a/sw/airborne/spi.h +++ b/sw/airborne/mcu_periph/spi.h @@ -22,7 +22,7 @@ * */ -/** \file spi.h +/** \file mcu_periph/spi.h * \brief arch independant SPI (Serial Peripheral Interface) API */ @@ -32,7 +32,7 @@ #ifdef USE_SPI #include "std.h" -#include "spi_hw.h" +#include "mcu_periph/spi_arch.h" extern uint8_t* spi_buffer_input; extern uint8_t* spi_buffer_output; diff --git a/sw/airborne/uart.h b/sw/airborne/mcu_periph/uart.h similarity index 94% rename from sw/airborne/uart.h rename to sw/airborne/mcu_periph/uart.h index 03e043ae5f..32bc3588d2 100644 --- a/sw/airborne/uart.h +++ b/sw/airborne/mcu_periph/uart.h @@ -1,7 +1,7 @@ /* * Paparazzi $Id$ * - * Copyright (C) 2006 Pascal Brisset, Antoine Drouin + * Copyright (C) 2010 The Paparazzi Team * * This file is part of paparazzi. * @@ -22,15 +22,15 @@ * */ -/** \file uart.h +/** \file mcu_periph/uart.h * \brief arch independant UART (Universal Asynchronous Receiver/Transmitter) API * */ -#ifndef UART_H -#define UART_H +#ifndef MCU_PERIPH_UART_H +#define MCU_PERIPH_UART_H -#include "uart_hw.h" +#include "mcu_periph/uart_arch.h" #include "std.h" @@ -121,4 +121,4 @@ extern bool_t uart3_check_free_space( uint8_t len); #endif /* USE_UART3 */ -#endif /* UART_H */ +#endif /* MCU_PERIPH_UART_H */ diff --git a/sw/airborne/modules/MPPT/MPPT.c b/sw/airborne/modules/MPPT/MPPT.c index 389f997e9f..2df9df684f 100644 --- a/sw/airborne/modules/MPPT/MPPT.c +++ b/sw/airborne/modules/MPPT/MPPT.c @@ -26,7 +26,7 @@ #include #include "MPPT.h" #include "firmwares/fixedwing/main_fbw.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #define MPPT_SLAVE_ADDR 0x40 @@ -53,7 +53,7 @@ struct i2c_transaction mppt_trans; #ifndef DOWNLINK_DEVICE #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE #endif -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/adcs/adc_generic.c b/sw/airborne/modules/adcs/adc_generic.c index d7e8f26f52..95e747a556 100644 --- a/sw/airborne/modules/adcs/adc_generic.c +++ b/sw/airborne/modules/adcs/adc_generic.c @@ -1,6 +1,6 @@ #include "adc_generic.h" -#include "adc.h" -#include "uart.h" +#include "mcu_periph/adc.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" #include BOARD_CONFIG diff --git a/sw/airborne/modules/adcs/max11040.c b/sw/airborne/modules/adcs/max11040.c index 6ef76fd7e2..0cafe4993e 100644 --- a/sw/airborne/modules/adcs/max11040.c +++ b/sw/airborne/modules/adcs/max11040.c @@ -28,7 +28,7 @@ */ #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" #include "max11040.h" diff --git a/sw/airborne/modules/cam_control/cam_track.h b/sw/airborne/modules/cam_control/cam_track.h index 873e0324bf..0cfc6e6644 100644 --- a/sw/airborne/modules/cam_control/cam_track.h +++ b/sw/airborne/modules/cam_control/cam_track.h @@ -45,7 +45,7 @@ extern volatile uint8_t cam_msg_received; extern void parse_cam_msg( void ); extern void parse_cam_buffer( uint8_t ); -#include "uart.h" +#include "mcu_periph/uart.h" #define __CamLink(dev, _x) dev##_x #define _CamLink(dev, _x) __CamLink(dev, _x) diff --git a/sw/airborne/modules/core/extra_pprz_dl.c b/sw/airborne/modules/core/extra_pprz_dl.c index 231287f7d3..3e36b305e1 100644 --- a/sw/airborne/modules/core/extra_pprz_dl.c +++ b/sw/airborne/modules/core/extra_pprz_dl.c @@ -25,7 +25,7 @@ #include #include "extra_pprz_dl.h" -#include "uart.h" +#include "mcu_periph/uart.h" volatile bool_t extra_pprz_msg_received = FALSE; uint8_t extra_pprz_ovrn, extra_pprz_error; diff --git a/sw/airborne/modules/core/sys_mon.c b/sw/airborne/modules/core/sys_mon.c index 6999c6f6a1..35517029d9 100644 --- a/sw/airborne/modules/core/sys_mon.c +++ b/sw/airborne/modules/core/sys_mon.c @@ -57,7 +57,7 @@ void init_sysmon(void) { sum_n_event = 0; } -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #ifndef DOWNLINK_DEVICE #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE diff --git a/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c b/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c index 645cbe1294..c1c2e3a184 100644 --- a/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c +++ b/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c @@ -30,13 +30,13 @@ #include "atmega_i2c_cam_ctrl.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "led.h" #ifndef DOWNLINK_DEVICE #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE #endif -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" #include "estimator.h" diff --git a/sw/airborne/modules/digital_cam/dc.c b/sw/airborne/modules/digital_cam/dc.c index 29543af74a..99543a6f56 100644 --- a/sw/airborne/modules/digital_cam/dc.c +++ b/sw/airborne/modules/digital_cam/dc.c @@ -38,7 +38,7 @@ uint16_t dc_photo_nr = 0; #ifndef DOWNLINK_DEVICE #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE #endif -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" #include "estimator.h" diff --git a/sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c b/sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c index c682e4ae37..12c3eeb5e4 100644 --- a/sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c +++ b/sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c @@ -33,7 +33,7 @@ #ifndef DOWNLINK_DEVICE #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE #endif -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" #include "estimator.h" diff --git a/sw/airborne/modules/display/lcd_dogm.h b/sw/airborne/modules/display/lcd_dogm.h index 8dfa74d1fb..17f68f753d 100644 --- a/sw/airborne/modules/display/lcd_dogm.h +++ b/sw/airborne/modules/display/lcd_dogm.h @@ -3,7 +3,7 @@ #include #include "std.h" -#include "spi_hw.h" +#include "mcu_periph/spi.h" #include "led.h" /* EA DOGM163, 3 line LCD at 3.3V */ diff --git a/sw/airborne/modules/enose/enose.c b/sw/airborne/modules/enose/enose.c index c3e816bb92..7d8b333b28 100644 --- a/sw/airborne/modules/enose/enose.c +++ b/sw/airborne/modules/enose/enose.c @@ -1,9 +1,9 @@ #include -#include "enose/enose.h" +#include "modules/enose/enose.h" -#include "i2c.h" -#include "adc.h" +#include "mcu_periph/i2c.h" +#include "mcu_periph/adc.h" #include BOARD_CONFIG @@ -47,7 +47,7 @@ void enose_set_heat(uint8_t no_sensor, uint8_t value) { #ifndef DOWNLINK_DEVICE #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE #endif -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/gps_i2c/gps_i2c.c b/sw/airborne/modules/gps_i2c/gps_i2c.c index 9d4548c26c..6717e3cea0 100644 --- a/sw/airborne/modules/gps_i2c/gps_i2c.c +++ b/sw/airborne/modules/gps_i2c/gps_i2c.c @@ -20,8 +20,8 @@ * */ -#include "gps_i2c.h" -#include "i2c.h" +#include "modules/gps_i2c.h" +#include "mcu_periph/i2c.h" #include "gps.h" uint8_t gps_i2c_rx_buf[GPS_I2C_BUF_SIZE]; diff --git a/sw/airborne/modules/gsm/gsm.c b/sw/airborne/modules/gsm/gsm.c index 44acfd941a..58814c97bd 100644 --- a/sw/airborne/modules/gsm/gsm.c +++ b/sw/airborne/modules/gsm/gsm.c @@ -58,7 +58,7 @@ Receiving: #include #include "gsm.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "std.h" #ifdef USE_USB_SERIAL #include "usb_serial.h" @@ -66,7 +66,7 @@ Receiving: #ifndef DOWNLINK_DEVICE #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE #endif -#include "uart.h" +#include "mcu_periph/uart.h" #include "downlink.h" #include "ap_downlink.h" #include "gps.h" diff --git a/sw/airborne/modules/ins/fw_ins_vn100.c b/sw/airborne/modules/ins/fw_ins_vn100.c index 06002880c2..1b08545606 100644 --- a/sw/airborne/modules/ins/fw_ins_vn100.c +++ b/sw/airborne/modules/ins/fw_ins_vn100.c @@ -26,8 +26,8 @@ * \brief driver for the VectorNav VN100 (Fixed-Wing part) */ -#include "ins_vn100.h" -#include "spi.h" +#include "modules/ins/ins_vn100.h" +#include "mcu_periph/spi.h" void ins_init( void ) { @@ -92,7 +92,7 @@ void ins_periodic_task( void ) { } -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/ins/ins_arduimu.c b/sw/airborne/modules/ins/ins_arduimu.c index 68db855b0d..c4e14dd7cd 100644 --- a/sw/airborne/modules/ins/ins_arduimu.c +++ b/sw/airborne/modules/ins/ins_arduimu.c @@ -6,9 +6,9 @@ Autoren@ZHAW: schmiemi #include -#include "ins_arduimu.h" +#include "modules/ins/ins_arduimu.h" #include "firmwares/fixedwing/main_fbw.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" // test #include "estimator.h" @@ -30,7 +30,7 @@ int32_t GPS_Data[14]; #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE #endif -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h index 0f2575d241..7c707d011e 100644 --- a/sw/airborne/modules/ins/ins_module.h +++ b/sw/airborne/modules/ins/ins_module.h @@ -71,7 +71,7 @@ void parse_ins_msg( void ); void parse_ins_buffer( uint8_t ); #ifndef SITL -#include "uart.h" +#include "mcu_periph/uart.h" #define __InsLink(dev, _x) dev##_x #define _InsLink(dev, _x) __InsLink(dev, _x) diff --git a/sw/airborne/modules/ins/ins_vn100.c b/sw/airborne/modules/ins/ins_vn100.c index ba36debbdd..d0670ca565 100644 --- a/sw/airborne/modules/ins/ins_vn100.c +++ b/sw/airborne/modules/ins/ins_vn100.c @@ -176,7 +176,7 @@ void parse_ins_msg( void ) { } -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/max3100/max3100_hw.c b/sw/airborne/modules/max3100/max3100_hw.c index 00158e6f1a..af85b690cb 100644 --- a/sw/airborne/modules/max3100/max3100_hw.c +++ b/sw/airborne/modules/max3100/max3100_hw.c @@ -27,7 +27,7 @@ #include "max3100_hw.h" #include "ap_downlink.h" -#include "uart.h" +#include "mcu_periph/uart.h" uint8_t volatile max3100_status; diff --git a/sw/airborne/modules/max3100/max3100_hw.h b/sw/airborne/modules/max3100/max3100_hw.h index fb3f831334..0847bedf04 100644 --- a/sw/airborne/modules/max3100/max3100_hw.h +++ b/sw/airborne/modules/max3100/max3100_hw.h @@ -3,7 +3,7 @@ #include #include "std.h" -#include "spi_hw.h" +#include "mcu_periph/spi_hw.h" #include "led.h" /* Pin configuration for max3100 IRQ */ diff --git a/sw/airborne/modules/meteo/dust_gp2y.c b/sw/airborne/modules/meteo/dust_gp2y.c index ad1be858c2..25d5041a54 100644 --- a/sw/airborne/modules/meteo/dust_gp2y.c +++ b/sw/airborne/modules/meteo/dust_gp2y.c @@ -30,10 +30,10 @@ */ -#include "dust_gp2y.h" -#include "i2c.h" +#include "modules/meteo/dust_gp2y.h" +#include "mcu_periph/i2c.h" #include "sys_time.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/meteo/humid_dpicco.c b/sw/airborne/modules/meteo/humid_dpicco.c index 99bbb9f97b..6b45e31a7e 100644 --- a/sw/airborne/modules/meteo/humid_dpicco.c +++ b/sw/airborne/modules/meteo/humid_dpicco.c @@ -5,11 +5,11 @@ */ -#include "humid_dpicco.h" +#include "modules/meteo/humid_dpicco.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/meteo/humid_hih.c b/sw/airborne/modules/meteo/humid_hih.c index d07eb9fba4..b155ccbeb4 100644 --- a/sw/airborne/modules/meteo/humid_hih.c +++ b/sw/airborne/modules/meteo/humid_hih.c @@ -29,10 +29,10 @@ */ #include -#include "humid_hih.h" -#include "temp_tmp102.h" -#include "adc.h" -#include "uart.h" +#include "modules/meteo/humid_hih.h" +#include "modules/meteo/temp_tmp102.h" +#include "mcu_periph/adc.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/meteo/humid_sht.c b/sw/airborne/modules/meteo/humid_sht.c index 6dd38cd44d..6b9128a40e 100644 --- a/sw/airborne/modules/meteo/humid_sht.c +++ b/sw/airborne/modules/meteo/humid_sht.c @@ -8,7 +8,7 @@ #include "std.h" #include "LPC21xx.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" #include "humid_sht.h" diff --git a/sw/airborne/modules/meteo/humid_sht_i2c.c b/sw/airborne/modules/meteo/humid_sht_i2c.c index a1554d64bd..8fdccf61e4 100644 --- a/sw/airborne/modules/meteo/humid_sht_i2c.c +++ b/sw/airborne/modules/meteo/humid_sht_i2c.c @@ -28,10 +28,10 @@ */ -#include "humid_sht_i2c.h" +#include "modules/meteo/humid_sht_i2c.h" -#include "i2c.h" -#include "uart.h" +#include "mcu_periph/i2c.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/meteo/ir_mlx.c b/sw/airborne/modules/meteo/ir_mlx.c index c1f02a9e3b..105e636f22 100644 --- a/sw/airborne/modules/meteo/ir_mlx.c +++ b/sw/airborne/modules/meteo/ir_mlx.c @@ -29,12 +29,12 @@ */ -#include "ir_mlx.h" +#include "modules/meteo/ir_mlx.h" #include "sys_time.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/meteo/light_temt.c b/sw/airborne/modules/meteo/light_temt.c index 0a8d9fd7af..2272844a61 100644 --- a/sw/airborne/modules/meteo/light_temt.c +++ b/sw/airborne/modules/meteo/light_temt.c @@ -29,9 +29,9 @@ */ -#include "light_temt.h" -#include "adc.h" -#include "uart.h" +#include "modules/meteo/light_temt.h" +#include "mcu_periph/adc.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/meteo/temp_lm75.c b/sw/airborne/modules/meteo/temp_lm75.c index 0690536f4c..eb73662c1f 100644 --- a/sw/airborne/modules/meteo/temp_lm75.c +++ b/sw/airborne/modules/meteo/temp_lm75.c @@ -29,11 +29,11 @@ */ -#include "temp_lm75.h" +#include "modules/meteo/temp_lm75.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/meteo/temp_temod.c b/sw/airborne/modules/meteo/temp_temod.c index 6d34906f38..3e2ff4fbe3 100644 --- a/sw/airborne/modules/meteo/temp_temod.c +++ b/sw/airborne/modules/meteo/temp_temod.c @@ -28,10 +28,10 @@ */ -#include "temp_temod.h" -#include "i2c.h" +#include "modules/meteo/temp_temod.h" +#include "mcu_periph/i2c.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/meteo/temp_tmp102.c b/sw/airborne/modules/meteo/temp_tmp102.c index b0acba7ec7..4b366b6776 100644 --- a/sw/airborne/modules/meteo/temp_tmp102.c +++ b/sw/airborne/modules/meteo/temp_tmp102.c @@ -29,11 +29,11 @@ */ -#include "temp_tmp102.h" +#include "modules/meteo/temp_tmp102.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/meteo/wind_gfi.c b/sw/airborne/modules/meteo/wind_gfi.c index 32c8f6b415..27d81ddb1a 100644 --- a/sw/airborne/modules/meteo/wind_gfi.c +++ b/sw/airborne/modules/meteo/wind_gfi.c @@ -29,11 +29,11 @@ */ -#include "wind_gfi.h" +#include "modules/meteo/wind_gfi.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/meteo/windturbine.c b/sw/airborne/modules/meteo/windturbine.c index c482cb9cda..5e356d5536 100644 --- a/sw/airborne/modules/meteo/windturbine.c +++ b/sw/airborne/modules/meteo/windturbine.c @@ -38,7 +38,7 @@ #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE #endif -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/sensors/airspeed_adc.c b/sw/airborne/modules/sensors/airspeed_adc.c index d554246d24..776a15ae91 100644 --- a/sw/airborne/modules/sensors/airspeed_adc.c +++ b/sw/airborne/modules/sensors/airspeed_adc.c @@ -20,8 +20,8 @@ * */ -#include "sensors/airspeed_adc.h" -#include "adc.h" +#include "modules/sensors/airspeed_adc.h" +#include "mcu_periph/adc.h" #include BOARD_CONFIG #include "generated/airframe.h" #include "estimator.h" diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c index e00164cb96..b338e1a055 100644 --- a/sw/airborne/modules/sensors/airspeed_ets.c +++ b/sw/airborne/modules/sensors/airspeed_ets.c @@ -36,8 +36,8 @@ */ #include "sensors/airspeed_ets.h" #include "estimator.h" -#include "i2c.h" -#include "uart.h" +#include "mcu_periph/i2c.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" #include diff --git a/sw/airborne/modules/sensors/airspeed_ets.h b/sw/airborne/modules/sensors/airspeed_ets.h index 6ce9db430c..1b27ddd181 100644 --- a/sw/airborne/modules/sensors/airspeed_ets.h +++ b/sw/airborne/modules/sensors/airspeed_ets.h @@ -39,7 +39,7 @@ #define AIRSPEED_ETS_H #include "std.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" extern uint16_t airspeed_ets_raw; extern uint16_t airspeed_ets_offset; diff --git a/sw/airborne/modules/sensors/alt_srf08.c b/sw/airborne/modules/sensors/alt_srf08.c index fca3474dda..c23e9925cf 100644 --- a/sw/airborne/modules/sensors/alt_srf08.c +++ b/sw/airborne/modules/sensors/alt_srf08.c @@ -27,9 +27,9 @@ * */ -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "alt_srf08.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" #include "led.h" diff --git a/sw/airborne/modules/sensors/baro_MS5534A.c b/sw/airborne/modules/sensors/baro_MS5534A.c index 706ce3800a..d922cff51b 100644 --- a/sw/airborne/modules/sensors/baro_MS5534A.c +++ b/sw/airborne/modules/sensors/baro_MS5534A.c @@ -28,9 +28,9 @@ * uses: MOSI, MISO, SCK and 32kHz @ P0.7 with 5V for the -A type */ -#include "baro_MS5534A.h" -#include "spi.h" -#include "uart.h" +#include "modules/sensors/baro_MS5534A.h" +#include "mcu_periph/spi.h" +#include "mcu_periph/uart.h" #ifndef BARO_NO_DOWNLINK #include "ap_downlink.h" #endif diff --git a/sw/airborne/modules/sensors/baro_bmp.c b/sw/airborne/modules/sensors/baro_bmp.c index 34860b1ca0..261991dcac 100644 --- a/sw/airborne/modules/sensors/baro_bmp.c +++ b/sw/airborne/modules/sensors/baro_bmp.c @@ -32,9 +32,9 @@ #include "baro_bmp.h" #include "sys_time.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c index d1164a0d19..462956a181 100644 --- a/sw/airborne/modules/sensors/baro_ets.c +++ b/sw/airborne/modules/sensors/baro_ets.c @@ -36,7 +36,7 @@ */ #include "sensors/baro_ets.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "estimator.h" #include diff --git a/sw/airborne/modules/sensors/baro_ets.h b/sw/airborne/modules/sensors/baro_ets.h index 337c4c041c..bfdc568b6d 100644 --- a/sw/airborne/modules/sensors/baro_ets.h +++ b/sw/airborne/modules/sensors/baro_ets.h @@ -39,7 +39,7 @@ #define BARO_ETS_H #include "std.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #define BARO_ETS_DT 0.05 diff --git a/sw/airborne/modules/sensors/baro_scp.c b/sw/airborne/modules/sensors/baro_scp.c index 80808ee28e..edcaa34ae1 100644 --- a/sw/airborne/modules/sensors/baro_scp.c +++ b/sw/airborne/modules/sensors/baro_scp.c @@ -1,16 +1,15 @@ #include "std.h" -#include "init_hw.h" #include "sys_time.h" #include "led.h" -#include "interrupt_hw.h" +#include "mcu.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" -#include "spi_hw.h" +#include "mcu_periph/spi.h" -#include "baro_scp.h" +#include "modules/sensors/baro_scp.h" #ifndef SENSOR_SYNC_SEND #warning set SENSOR_SYNC_SEND to use baro_scp diff --git a/sw/airborne/modules/sensors/baro_scp_i2c.c b/sw/airborne/modules/sensors/baro_scp_i2c.c index f45f89abd0..3fbcccf556 100644 --- a/sw/airborne/modules/sensors/baro_scp_i2c.c +++ b/sw/airborne/modules/sensors/baro_scp_i2c.c @@ -8,9 +8,9 @@ #include "baro_scp_i2c.h" #include "sys_time.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/sensors/infrared_i2c.h b/sw/airborne/modules/sensors/infrared_i2c.h index 2b91acfb22..0b3422667c 100644 --- a/sw/airborne/modules/sensors/infrared_i2c.h +++ b/sw/airborne/modules/sensors/infrared_i2c.h @@ -29,8 +29,8 @@ #include "std.h" #include "generated/airframe.h" -#include "infrared.h" -#include "i2c.h" +#include "subsystems/sensors/infrared.h" +#include "mcu_periph/i2c.h" extern int16_t ir_i2c_ir1; extern int16_t ir_i2c_ir2; diff --git a/sw/airborne/modules/sensors/mag_micromag_fw.c b/sw/airborne/modules/sensors/mag_micromag_fw.c index a1544a698a..663845e00a 100644 --- a/sw/airborne/modules/sensors/mag_micromag_fw.c +++ b/sw/airborne/modules/sensors/mag_micromag_fw.c @@ -1,7 +1,7 @@ #include "mag_micromag_fw.h" #include "sensors/mag_micromag_fw_hw.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.h b/sw/airborne/modules/sensors/pressure_board_navarro.h index 91bb7a909a..2bd4edba89 100644 --- a/sw/airborne/modules/sensors/pressure_board_navarro.h +++ b/sw/airborne/modules/sensors/pressure_board_navarro.h @@ -36,7 +36,7 @@ #define PRESSURE_BOARD_NAVARRO_H #include "std.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" extern uint16_t altitude_adc; extern uint16_t airspeed_adc; diff --git a/sw/airborne/modules/sensors/trigger_ext.c b/sw/airborne/modules/sensors/trigger_ext.c index 74205b8e76..635ff50df6 100644 --- a/sw/airborne/modules/sensors/trigger_ext.c +++ b/sw/airborne/modules/sensors/trigger_ext.c @@ -34,7 +34,7 @@ #include "modules/sensors/trig_ext_hw.h" #include "gps.h" #include "sys_time.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/vehicle_interface/vi_overo_link.c b/sw/airborne/modules/vehicle_interface/vi_overo_link.c index 7a38cb0b15..da14c6bcdb 100644 --- a/sw/airborne/modules/vehicle_interface/vi_overo_link.c +++ b/sw/airborne/modules/vehicle_interface/vi_overo_link.c @@ -26,7 +26,7 @@ #include "lisa/lisa_overo_link.h" #include "subsystems/imu.h" #include -#include "firmwares/rotorcraft/baro.h" +#include "subsystems/sensors/baro.h" #include diff --git a/sw/airborne/3dmg.c b/sw/airborne/obsolete/3dmg.c similarity index 100% rename from sw/airborne/3dmg.c rename to sw/airborne/obsolete/3dmg.c diff --git a/sw/airborne/3dmg.h b/sw/airborne/obsolete/3dmg.h similarity index 100% rename from sw/airborne/3dmg.h rename to sw/airborne/obsolete/3dmg.h diff --git a/sw/airborne/peripherals/ami601.h b/sw/airborne/peripherals/ami601.h index 0036413962..38be9a347a 100644 --- a/sw/airborne/peripherals/ami601.h +++ b/sw/airborne/peripherals/ami601.h @@ -2,7 +2,7 @@ #define AMI601_H #include "std.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" extern void ami601_init( void ); diff --git a/sw/airborne/peripherals/hmc5843.h b/sw/airborne/peripherals/hmc5843.h index a3d75c297d..ed31ebeed3 100644 --- a/sw/airborne/peripherals/hmc5843.h +++ b/sw/airborne/peripherals/hmc5843.h @@ -25,7 +25,7 @@ #define HMC5843_H #include "std.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "peripherals/hmc5843_arch.h" diff --git a/sw/airborne/pprz_debug.h b/sw/airborne/pprz_debug.h index 966a004c19..79d764b26f 100644 --- a/sw/airborne/pprz_debug.h +++ b/sw/airborne/pprz_debug.h @@ -31,7 +31,7 @@ #ifdef PPRZ_DEBUG #include "std.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/pprz_transport.c b/sw/airborne/pprz_transport.c index 7985e6decd..90b4a93e06 100644 --- a/sw/airborne/pprz_transport.c +++ b/sw/airborne/pprz_transport.c @@ -24,7 +24,7 @@ #include #include "pprz_transport.h" -#include "uart.h" +#include "mcu_periph/uart.h" uint8_t ck_a, ck_b; volatile bool_t pprz_msg_received = FALSE; diff --git a/sw/airborne/print.h b/sw/airborne/print.h index 6b1dbc95d9..949e14c258 100644 --- a/sw/airborne/print.h +++ b/sw/airborne/print.h @@ -25,7 +25,7 @@ #ifndef PRINT_H #define PRINT_H -#include "uart.h" +#include "mcu_periph/uart.h" #include "usb_serial.h" #define _PrintString(out_fun, s) { \ diff --git a/sw/airborne/rc_settings.c b/sw/airborne/rc_settings.c index 35eb8b1a2a..91cdc614e7 100644 --- a/sw/airborne/rc_settings.c +++ b/sw/airborne/rc_settings.c @@ -28,8 +28,8 @@ #include "rc_settings.h" #include "generated/radio.h" #include "autopilot.h" -#include "infrared.h" #include "subsystems/nav.h" +#include "subsystems/sensors/infrared.h" #include "estimator.h" #include "inter_mcu.h" #include "firmwares/fixedwing/stabilization/stabilization_attitude.h" diff --git a/sw/airborne/sd_card/main.c b/sw/airborne/sd_card/main.c index 5be480f5f7..a77f922b58 100644 --- a/sw/airborne/sd_card/main.c +++ b/sw/airborne/sd_card/main.c @@ -1,9 +1,8 @@ #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "interrupt_hw.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" @@ -12,7 +11,7 @@ #include "generated/settings.h" #include "dl_protocol.h" -#include "spi.h" +#include "mcu_periph/spi.h" #include "sd_card.h" static inline void main_init( void ); diff --git a/sw/airborne/subsystems/imu/imu_aspirin.c b/sw/airborne/subsystems/imu/imu_aspirin.c index f57aef4dfc..887bd724c8 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin.c +++ b/sw/airborne/subsystems/imu/imu_aspirin.c @@ -1,6 +1,6 @@ #include "subsystems/imu.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" struct ImuAspirin imu_aspirin; diff --git a/sw/airborne/subsystems/imu/imu_aspirin.h b/sw/airborne/subsystems/imu/imu_aspirin.h index ea13d0a6d8..740fad584c 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin.h +++ b/sw/airborne/subsystems/imu/imu_aspirin.h @@ -27,7 +27,7 @@ #include "generated/airframe.h" #include "subsystems/imu.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "peripherals/itg3200.h" #include "peripherals/hmc5843.h" #include "peripherals/adxl345.h" diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c index 779fec6f0c..eec5f17ea1 100644 --- a/sw/airborne/subsystems/ins.c +++ b/sw/airborne/subsystems/ins.c @@ -25,7 +25,7 @@ #include "subsystems/ins.h" #include "subsystems/imu.h" -#include "firmwares/rotorcraft/baro.h" +#include "subsystems/sensors/baro.h" #include "booz_gps.h" #include "generated/airframe.h" diff --git a/sw/airborne/subsystems/radio_control/joby.h b/sw/airborne/subsystems/radio_control/joby.h index b7640e7991..2b57661e9c 100644 --- a/sw/airborne/subsystems/radio_control/joby.h +++ b/sw/airborne/subsystems/radio_control/joby.h @@ -26,7 +26,7 @@ #define RADIO_CONTROL_JOBY_H #include "std.h" -#include "uart.h" +#include "mcu_periph/uart.h" #define RC_JOBY_MAGIC_START 13999 diff --git a/sw/airborne/subsystems/radio_control/spektrum_dx7se.h b/sw/airborne/subsystems/radio_control/spektrum_dx7se.h index f0016291e7..05cbd55c56 100644 --- a/sw/airborne/subsystems/radio_control/spektrum_dx7se.h +++ b/sw/airborne/subsystems/radio_control/spektrum_dx7se.h @@ -24,7 +24,8 @@ #ifndef RADIO_CONTROL_SPEKTRUM_DX7SE_H #define RADIO_CONTROL_SPEKTRUM_DX7SE_H -#define RADIO_NB_CHANNEL 7 +#define RADIO_CONTROL_NB_CHANNEL 7 + #define RADIO_ROLL 0 #define RADIO_THROTTLE 1 #define RADIO_PITCH 2 diff --git a/sw/airborne/firmwares/rotorcraft/baro.h b/sw/airborne/subsystems/sensors/baro.h similarity index 73% rename from sw/airborne/firmwares/rotorcraft/baro.h rename to sw/airborne/subsystems/sensors/baro.h index 2523823087..8c5669060f 100644 --- a/sw/airborne/firmwares/rotorcraft/baro.h +++ b/sw/airborne/subsystems/sensors/baro.h @@ -23,12 +23,12 @@ /* * - * Brief: common baro for a rotorcraft firmware + * Brief: common barometric sensor implementation * */ -#ifndef ROTORCRAFT_BARO_H -#define ROTORCRAFT_BARO_H +#ifndef SUBSYSTEMS_SENSORS_BARO_H +#define SUBSYSTEMS_SENSORS_BARO_H #include @@ -37,6 +37,7 @@ enum BaroStatus { BS_RUNNING }; +/* pressure in which units ? */ struct Baro { int32_t absolute; int32_t differential; @@ -45,20 +46,12 @@ struct Baro { extern struct Baro baro; -#if 0 #include BOARD_CONFIG -#define BOARD_MODEL_BOOZ 0 -#define BOARD_MODEL_LISA_L 1 -#if defined BOARD_MODEL && BOARD_MODEL==BOARD_MODEL_BOOZ -#include "boards/booz/baro_board.h" -#elsif defined BOARD_MODEL && BOARD_MODEL==BOARD_MODEL_LISA_L -#include "boards/lisa_l/baro_board.h" -#endif -#else /* 0 */ +#if defined BOARD_HAS_BARO #include "baro_board.h" -#endif /* 0 */ +#endif extern void baro_init(void); extern void baro_periodic(void); -#endif /* ROTORCRAFT_BARO_H */ +#endif /* SUBSYSTEMS_SENSORS_BARO_H */ diff --git a/sw/airborne/infrared.c b/sw/airborne/subsystems/sensors/infrared.c similarity index 83% rename from sw/airborne/infrared.c rename to sw/airborne/subsystems/sensors/infrared.c index 543de22d11..8fca1d04df 100644 --- a/sw/airborne/infrared.c +++ b/sw/airborne/subsystems/sensors/infrared.c @@ -1,7 +1,7 @@ /* - * Paparazzi mcu0 $Id$ + * $Id$ * - * Copyright (C) 2003 Pascal Brisset, Antoine Drouin + * Copyright (C) 2003-2010 The Paparazzi Team * * This file is part of paparazzi. * @@ -30,11 +30,8 @@ #include -#include "infrared.h" -#include "adc.h" -#include "gps.h" -#include "firmwares/fixedwing/autopilot.h" -#include "estimator.h" +#include "subsystems/sensors/infrared.h" +#include "mcu_periph/adc.h" #include "ap_downlink.h" #include "sys_time.h" #include "generated/airframe.h" @@ -197,35 +194,15 @@ void ir_init(void) { */ void ir_update(void) { #if ! (defined SITL || defined HITL) - ir_ir1 = (IR_IR1_SIGN)*(buf_ir1.sum/buf_ir1.av_nb_sample - IR_ADC_IR1_NEUTRAL); - ir_ir2 = (IR_IR2_SIGN)*(buf_ir2.sum/buf_ir2.av_nb_sample - IR_ADC_IR2_NEUTRAL); + ir_ir1 = (IR_IR1_SIGN)*((int32_t)(buf_ir1.sum/buf_ir1.av_nb_sample) - IR_ADC_IR1_NEUTRAL); + ir_ir2 = (IR_IR2_SIGN)*((int32_t)(buf_ir2.sum/buf_ir2.av_nb_sample) - IR_ADC_IR2_NEUTRAL); ir_roll = ir_lateral_correction * IR_RollOfIrs(ir_ir1, ir_ir2); ir_pitch = ir_longitudinal_correction * IR_PitchOfIrs(ir_ir1, ir_ir2); #ifdef ADC_CHANNEL_IR_TOP - ir_top = ir_vertical_correction * IR_TopOfIr(buf_ir_top.sum/buf_ir_top.av_nb_sample - IR_ADC_TOP_NEUTRAL); + const int16_t ir3 = (int32_t)(buf_ir_top.sum/buf_ir_top.av_nb_sample) - IR_ADC_TOP_NEUTRAL; + ir_top = ir_vertical_correction * IR_TopOfIr(ir3); #endif // IR_TOP #endif /* !SITL && !HITL */ /** #else ir_roll set by simulator in sim_ir.c */ } -void estimator_update_state_infrared( void ) { - estimator_phi = atan2(ir_roll, ir_top) - ir_roll_neutral; - - estimator_theta = atan2(ir_pitch, ir_top) - ir_pitch_neutral; - - if (estimator_theta < -M_PI_2) - estimator_theta += M_PI; - else if (estimator_theta > M_PI_2) - estimator_theta -= M_PI; - - if (estimator_phi >= 0) - estimator_phi *= ir_correction_right; - else - estimator_phi *= ir_correction_left; - - if (estimator_theta >= 0) - estimator_theta *= ir_correction_up; - else - estimator_theta *= ir_correction_down; - -} diff --git a/sw/airborne/infrared.h b/sw/airborne/subsystems/sensors/infrared.h similarity index 92% rename from sw/airborne/infrared.h rename to sw/airborne/subsystems/sensors/infrared.h index 298a70b0cf..1c555b27d0 100644 --- a/sw/airborne/infrared.h +++ b/sw/airborne/subsystems/sensors/infrared.h @@ -22,8 +22,8 @@ * */ -#ifndef INFRARED_H -#define INFRARED_H +#ifndef SUBSYSTEMS_SENSORS_INFRARED_H +#define SUBSYSTEMS_SENSORS_INFRARED_H #include "std.h" #include "generated/airframe.h" @@ -44,11 +44,10 @@ extern float ir_correction_down; void ir_init(void); void ir_update(void); -void estimator_update_state_infrared( void ); extern float ir_lateral_correction; extern float ir_longitudinal_correction; extern float ir_vertical_correction; -#endif /* INFRARED_H */ +#endif /* SUBSYSTEMS_SENSORS_INFRARED_H */ diff --git a/sw/airborne/test/peripherals/test_ami601.c b/sw/airborne/test/peripherals/test_ami601.c index ad7798b42d..557e3c529d 100644 --- a/sw/airborne/test/peripherals/test_ami601.c +++ b/sw/airborne/test/peripherals/test_ami601.c @@ -24,18 +24,17 @@ #include #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "peripherals/ami601.h" #include "math/pprz_algebra_int.h" -#include "interrupt_hw.h" #include "std.h" static inline void main_init( void ); @@ -55,13 +54,13 @@ int main( void ) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); LED_ON(4); ami601_init(); - int_enable(); + mcu_int_enable(); } static inline void main_periodic_task( void ) { diff --git a/sw/airborne/test/test_actuators.c b/sw/airborne/test/test_actuators.c index f3579af913..ce99e5c72f 100644 --- a/sw/airborne/test/test_actuators.c +++ b/sw/airborne/test/test_actuators.c @@ -22,11 +22,11 @@ */ -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" #include "booz/booz2_commands.h" #include "firmwares/rotorcraft/actuators.h" @@ -47,7 +47,7 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); actuators_init(); } diff --git a/sw/airborne/test/test_adcs.c b/sw/airborne/test/test_adcs.c index e302b89bc0..0bfd29a3b3 100644 --- a/sw/airborne/test/test_adcs.c +++ b/sw/airborne/test/test_adcs.c @@ -3,14 +3,13 @@ */ -#include "interrupt_hw.h" #include "std.h" -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" -#include "adc.h" +#include "mcu_periph/adc.h" #include "messages.h" #include "led.h" -#include "uart.h" +#include "mcu_periph/uart.h" #include "downlink.h" @@ -20,7 +19,7 @@ static struct adc_buf buf_adc[NB_ADC]; int main (int argc, char** argv) { - hw_init(); + mcu_init(); sys_time_init(); led_init(); adc_init(); @@ -49,7 +48,7 @@ int main (int argc, char** argv) { Uart1Init(); #endif - int_enable(); + mcu_int_enable(); while(1) { if (sys_time_periodic()) { diff --git a/sw/airborne/test/test_esc_asctecv1_simple.c b/sw/airborne/test/test_esc_asctecv1_simple.c index 8acc668a5e..33e9957a1c 100644 --- a/sw/airborne/test/test_esc_asctecv1_simple.c +++ b/sw/airborne/test/test_esc_asctecv1_simple.c @@ -22,11 +22,11 @@ */ -#include "init_hw.h" +#include "mcu.h" #include "sys_time.h" #include "led.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" static inline void main_init( void ); static inline void main_periodic_task( void ); @@ -47,7 +47,7 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); } diff --git a/sw/airborne/test/test_esc_mkk_simple.c b/sw/airborne/test/test_esc_mkk_simple.c index 7ab0424bd1..bc0f778bca 100644 --- a/sw/airborne/test/test_esc_mkk_simple.c +++ b/sw/airborne/test/test_esc_mkk_simple.c @@ -22,11 +22,11 @@ */ -#include "init_hw.h" +#include "mcuw.h" #include "sys_time.h" #include "led.h" -#include "i2c.h" +#include "mcu_periph/i2c.h" static inline void main_init( void ); static inline void main_periodic_task( void ); @@ -47,7 +47,7 @@ int main(void) { } static inline void main_init( void ) { - hw_init(); + mcu_init(); sys_time_init(); } diff --git a/sw/lib/ocaml/ivy/Makefile b/sw/lib/ocaml/ivy/Makefile index e738db897c..34bb76568d 100644 --- a/sw/lib/ocaml/ivy/Makefile +++ b/sw/lib/ocaml/ivy/Makefile @@ -117,7 +117,7 @@ tkivy-ocaml.cmxa : $(TKIVYCMX) civy.o ctkivy.o $(OCAMLOPT) -o $@ unix.cmxa -I . ivy-ocaml.cmxa $< -cclib -livy clean: - \rm -fr *.cm* *.o *.a .depend *~ *.out *.opt .depend *.so *-stamp debian/changelog debian/ivy-ocaml debian/files debian/ivy-ocaml.debhelper.log debian/ivy-ocaml.substvars debian/*~ + \rm -fr *.cm* *.o *.a .depend *~ *.out *.opt .depend *.so *-stamp debian/ivy-ocaml debian/files debian/ivy-ocaml.debhelper.log debian/ivy-ocaml.substvars debian/*~ .depend: $(OCAMLDEP) $(INCLUDES) *.mli *.ml > .depend diff --git a/sw/lib/ocaml/ivy/civy.c b/sw/lib/ocaml/ivy/civy.c index aa0b881ca6..15561182d4 100644 --- a/sw/lib/ocaml/ivy/civy.c +++ b/sw/lib/ocaml/ivy/civy.c @@ -76,7 +76,7 @@ value ivy_name_of_client(value c) } value ivy_host_of_client(value c) { - return copy_string(IvyGetApplicationHost((IvyClientPtr)Long_val(c))); + return copy_string(IvyGetApplicationHost((IvyClientPtr)Long_val(c))); } void cb_delete_channel(void *delete_read) diff --git a/sw/lib/ocaml/ivy/civyloop.c b/sw/lib/ocaml/ivy/civyloop.c index d774e9923c..4ff0a9311f 100644 --- a/sw/lib/ocaml/ivy/civyloop.c +++ b/sw/lib/ocaml/ivy/civyloop.c @@ -25,7 +25,7 @@ value ivy_mainLoop(value unit) void timer_cb(TimerId id, void *data, unsigned long delta) { value closure = *(value*)data; - callback(closure, Val_long(id)); + callback(closure, Val_long(id)); } value ivy_timerRepeatafter(value nb_ticks,value delay, value closure_name) diff --git a/sw/lib/ocaml/ivy/debian/changelog.3.11.2 b/sw/lib/ocaml/ivy/debian/changelog.3.11.2 index acd087fd0d..eb649f9b77 100644 --- a/sw/lib/ocaml/ivy/debian/changelog.3.11.2 +++ b/sw/lib/ocaml/ivy/debian/changelog.3.11.2 @@ -1,3 +1,9 @@ +ivy-ocaml (1.1-11) unstable; urgency=low + + * Support of ivy-c_3.11.6, OSX and Linux 64bit + + -- Gautier Hattenberger Wed, 1 Dec 2010 10:43:29 +0100 + ivy-ocaml (1.1-10) unstable; urgency=low * Updated for ocaml 3.11.2 diff --git a/sw/lib/ocaml/ivy/debian/control b/sw/lib/ocaml/ivy/debian/control index d7684c3037..7707a3836d 100644 --- a/sw/lib/ocaml/ivy/debian/control +++ b/sw/lib/ocaml/ivy/debian/control @@ -1,7 +1,7 @@ Source: ivy-ocaml Section: net Priority: optional -Maintainer: Pascal Brisset (Hecto) +Maintainer: Gautier Hattenberger Build-Depends: debhelper (>= 4.0.0), ocaml-nox, ivy-c-dev (>=3.8), libglib2.0-dev, libpcre3-dev, ivy-c(>=3.8) Standards-Version: 3.6.1