diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml index 32e8f287d7..d31460909d 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml @@ -229,11 +229,11 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -264,7 +264,7 @@ ap.srcs += subsystems/navigation/snav.c # Config for SITL simulation # include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) -sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c +sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml index 553372fdd2..6b13ce095a 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml @@ -233,11 +233,11 @@ 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=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU @@ -288,7 +288,7 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO -sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c +sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN @@ -307,7 +307,7 @@ sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_re setup_actuators.ARCHDIR = $(ARCHI) setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1 -setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c +setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml index e661db9c7f..05f6d33121 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml @@ -203,7 +203,7 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c # AEROCOMM # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 @@ -211,7 +211,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # RADIOTRONIX ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU @@ -262,7 +262,7 @@ ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D BARO_MS5534A #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO -sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c +sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DUSE_BARO_MS5534A diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml index 9b2ab2cd6b..2db888b270 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml @@ -218,7 +218,7 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -254,7 +254,7 @@ ap.CFLAGS += -DUSE_MODULES #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO -sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c +sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml index bfb9f55cc2..dccb44c269 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml @@ -225,7 +225,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.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=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -254,7 +254,7 @@ ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO -sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c +sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN @@ -275,7 +275,7 @@ jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c setup_actuators.ARCHDIR = $(ARCHI) setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1 -setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c +setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c diff --git a/conf/airframes/ENAC/fixed-wing/soarzi.xml b/conf/airframes/ENAC/fixed-wing/soarzi.xml index 480d31de1c..f96c681753 100644 --- a/conf/airframes/ENAC/fixed-wing/soarzi.xml +++ b/conf/airframes/ENAC/fixed-wing/soarzi.xml @@ -191,10 +191,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#XBEE ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#XBEE ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml index 9795c36d5e..254d8266c4 100644 --- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml +++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml @@ -242,11 +242,11 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ########## Modems ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ########## ADC ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 @@ -299,7 +299,7 @@ ap.CFLAGS += -DUSE_MODULES sim.ARCHDIR = $(ARCHI) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO -sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl_n.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c +sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl_n.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DPITCH_TRIM -DALT_KALMAN diff --git a/conf/airframes/Poine/antenna.xml b/conf/airframes/Poine/antenna.xml index 40ee8725ba..8ac39889a6 100644 --- a/conf/airframes/Poine/antenna.xml +++ b/conf/airframes/Poine/antenna.xml @@ -29,7 +29,7 @@ ant.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 ant.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c ant.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -ant.srcs += downlink.c pprz_transport.c +ant.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c ant.CFLAGS += -DDOWNLINK_AP_DEVICE=Uart0 -DAP ant.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0 diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml index 20773ff497..9dd0921952 100644 --- a/conf/airframes/Poine/beth.xml +++ b/conf/airframes/Poine/beth.xml @@ -116,7 +116,7 @@ main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c main_stm32.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 main_stm32.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -main_stm32.srcs += downlink.c pprz_transport.c +main_stm32.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c main_stm32.CFLAGS += -DUSE_OVERO_LINK @@ -188,7 +188,7 @@ main_coders.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c main_coders.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 main_coders.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -main_coders.srcs += downlink.c pprz_transport.c +main_coders.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c #main_coders.CFLAGS += -DUSE_I2C2 #main_coders.srcs += $(SRC_ARCH)/i2c_hw.c @@ -229,7 +229,7 @@ main_overo.srcs += $(SRC_FMS)/fms_spi_link.c main_overo.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown main_overo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport -main_overo.srcs += $(SRC_FMS)/udp_transport2.c downlink.c +main_overo.srcs += $(SRC_FMS)/udp_transport2.c subsystems/datalink/downlink.c main_overo.srcs += $(SRC_FMS)/fms_network.c main_overo.LDFLAGS += -levent -lm @@ -252,7 +252,7 @@ overo_test_uart.srcs += $(SRC_FMS)/fms_periodic.c overo_test_uart.srcs += $(SRC_FMS)/fms_serial_port.c overo_test_uart.LDFLAGS += -lrt overo_test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport -overo_test_uart.srcs += $(SRC_FMS)/udp_transport2.c downlink.c +overo_test_uart.srcs += $(SRC_FMS)/udp_transport2.c subsystems/datalink/downlink.c overo_test_uart.srcs += $(SRC_FMS)/fms_network.c overo_test_uart.LDFLAGS += -levent -lm overo_test_uart.srcs += $(SRC_BETH)/overo_gcs_com.c @@ -261,7 +261,7 @@ overo_test_uart.srcs += $(SRC_BETH)/overo_gcs_com.c overo_test_uart.CFLAGS += -DUBX -DUSE_GPS -DUSE_UART0 -DUART0_BAUD=B38400 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG overo_test_uart.srcs += gps_ubx.c gps.c latlong.c $(SRC_BETH)/uart_hw.c overo_test_uart.CFLAGS +=-DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -overo_test_uart.srcs += pprz_transport.c $(SRC_BETH)/rcv_telemetry.c +overo_test_uart.srcs += subsystems/datalink/pprz_transport.c $(SRC_BETH)/rcv_telemetry.c # # Overo twisting @@ -278,7 +278,7 @@ overo_twist.srcs += $(SRC_FMS)/fms_spi_link.c overo_twist.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown overo_twist.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport -overo_twist.srcs += $(SRC_FMS)/udp_transport2.c downlink.c +overo_twist.srcs += $(SRC_FMS)/udp_transport2.c subsystems/datalink/downlink.c overo_twist.srcs += $(SRC_FMS)/fms_network.c overo_twist.LDFLAGS += -levent -lm @@ -304,7 +304,7 @@ overo_sfb.srcs += $(SRC_FMS)/fms_spi_link.c overo_sfb.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown overo_sfb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport -overo_sfb.srcs += $(SRC_FMS)/udp_transport2.c downlink.c +overo_sfb.srcs += $(SRC_FMS)/udp_transport2.c subsystems/datalink/downlink.c overo_sfb.srcs += $(SRC_FMS)/fms_network.c overo_sfb.LDFLAGS += -levent overo_sfb.LDFLAGS += -lm diff --git a/conf/airframes/Poine/bl_mc.xml b/conf/airframes/Poine/bl_mc.xml index 7e93514d9d..53b280f7ba 100644 --- a/conf/airframes/Poine/bl_mc.xml +++ b/conf/airframes/Poine/bl_mc.xml @@ -33,7 +33,7 @@ main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -main.srcs += downlink.c pprz_transport.c +main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c main.srcs += $(SRC_ARCH)/bl_mc_power.c diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml index 09d6a6f342..c1a9d46b52 100644 --- a/conf/airframes/Poine/easy_glider1.xml +++ b/conf/airframes/Poine/easy_glider1.xml @@ -173,7 +173,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # transparent ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/Poine/motor_bench.xml b/conf/airframes/Poine/motor_bench.xml index 741c80dd4a..6bb5865631 100644 --- a/conf/airframes/Poine/motor_bench.xml +++ b/conf/airframes/Poine/motor_bench.xml @@ -25,7 +25,7 @@ main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -main.srcs += downlink.c pprz_transport.c +main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0 diff --git a/conf/airframes/Poine/pt_ant.xml b/conf/airframes/Poine/pt_ant.xml index c73a262c56..c626c69d52 100644 --- a/conf/airframes/Poine/pt_ant.xml +++ b/conf/airframes/Poine/pt_ant.xml @@ -34,7 +34,7 @@ main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -main.srcs += downlink.c pprz_transport.c $(PT_ANT)/pt_ant_telemetry.c +main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c $(PT_ANT)/pt_ant_telemetry.c main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0 main.srcs += $(PT_ANT)/pt_ant_datalink.c diff --git a/conf/airframes/Poine/test_libeknav.xml b/conf/airframes/Poine/test_libeknav.xml index 0c54159b75..59ec1b8ac7 100644 --- a/conf/airframes/Poine/test_libeknav.xml +++ b/conf/airframes/Poine/test_libeknav.xml @@ -74,7 +74,7 @@ overo_test_telemetry2.CFLAGS += $(PAPARAZZI_INC) overo_test_telemetry2.srcs = fms/overo_test_telemetry2.c overo_test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport - overo_test_telemetry2.srcs += fms/udp_transport2.c downlink.c + overo_test_telemetry2.srcs += fms/udp_transport2.c subsystems/datalink/downlink.c overo_test_telemetry2.srcs += fms/fms_network.c overo_test_telemetry2.LDFLAGS += -levent diff --git a/conf/airframes/Poine/turntable.xml b/conf/airframes/Poine/turntable.xml index a0d389e319..83ab40b552 100644 --- a/conf/airframes/Poine/turntable.xml +++ b/conf/airframes/Poine/turntable.xml @@ -31,7 +31,7 @@ main.srcs += mcu_periph/uart.c main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -main.srcs += downlink.c pprz_transport.c +main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c main.CFLAGS += -DMB_TACHO main.srcs += $(MB)/mb_tacho.c diff --git a/conf/airframes/TU_Delft/Trip50A.xml b/conf/airframes/TU_Delft/Trip50A.xml index 42d00821de..c88cfe8833 100644 --- a/conf/airframes/TU_Delft/Trip50A.xml +++ b/conf/airframes/TU_Delft/Trip50A.xml @@ -235,15 +235,15 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c # Maxstream API protocol ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/demo.xml b/conf/airframes/demo.xml index d7fd2dc445..287d3a4570 100644 --- a/conf/airframes/demo.xml +++ b/conf/airframes/demo.xml @@ -66,7 +66,7 @@ demo4.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 demo4.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c demo4.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -demo4.srcs += downlink.c pprz_transport.c +demo4.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # # DATALINK : receives datalink messages. demonstrates the "settings" service @@ -89,7 +89,7 @@ demo5.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 demo5.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c demo5.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -demo5.srcs += downlink.c pprz_transport.c +demo5.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c demo5.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0 @@ -115,7 +115,7 @@ demo6.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c $(S demo6.srcs += $(SRC_ARCH)/usb_ser_hw.c demo6.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UsbS -demo6.srcs += downlink.c pprz_transport.c +demo6.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c //demo6.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0 @@ -138,7 +138,7 @@ test_spk.srcs += $(SRC_ARCH)/armVIC.c test_spk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL test_spk.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ -test_spk.srcs += downlink.c $(SRC_ARCH)/usb_ser_hw.c pprz_transport.c +test_spk.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/usb_ser_hw.c subsystems/datalink/pprz_transport.c test_spk.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c test_spk.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml index 4a83c5bed9..3eed255adf 100644 --- a/conf/airframes/demo_module.xml +++ b/conf/airframes/demo_module.xml @@ -181,7 +181,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ########## Modem 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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ########## ADC ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml index 806437d823..23e58bbbd9 100644 --- a/conf/airframes/mm/extra/press_t.xml +++ b/conf/airframes/mm/extra/press_t.xml @@ -234,11 +234,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/extra/rctx.xml b/conf/airframes/mm/extra/rctx.xml index ad468276c0..768e25e0ea 100644 --- a/conf/airframes/mm/extra/rctx.xml +++ b/conf/airframes/mm/extra/rctx.xml @@ -33,7 +33,7 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA 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)/mcu_periph/uart_arch.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c subsystems/datalink/xbee.c ap.CFLAGS += -DUSE_DOWNLINK_BROADCAST diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml index ffea95dd84..080c7c63d9 100644 --- a/conf/airframes/mm/fixed-wing/drops.xml +++ b/conf/airframes/mm/fixed-wing/drops.xml @@ -250,11 +250,11 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -289,7 +289,7 @@ sim.ARCH = sitl sim.TARGET = autopilot sim.TARGETDIR = autopilot sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO -sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c +sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c 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 diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml index b2384676b2..d32b93a15e 100644 --- a/conf/airframes/mm/fixed-wing/funjeteth1.xml +++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml @@ -211,11 +211,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml index d876f5451c..471966c944 100644 --- a/conf/airframes/mm/fixed-wing/funjeteth2.xml +++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml @@ -212,11 +212,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml index 91404a56a7..b6a95ad8e6 100644 --- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml +++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml @@ -214,11 +214,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml index 43550eff0d..b79e01f04b 100644 --- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml +++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml @@ -213,11 +213,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml index b2e8bbce45..d6b1bde7fb 100644 --- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml +++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml @@ -213,11 +213,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml index 16f4785398..f18a86fde1 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml @@ -191,11 +191,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml index c6fa31f313..79c0603258 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi3.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi3.xml @@ -202,10 +202,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#TRANSPARENT ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml index 5ee660d02e..ba090be931 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml @@ -191,11 +191,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml index f20fdd5a04..604bb75eb7 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml @@ -193,11 +193,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml index 6e8d4f1cc1..67535e0c47 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml @@ -193,11 +193,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml index 6df28bd400..64ffa5f6eb 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml @@ -193,11 +193,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml index 54d5fb9704..17e989c6b9 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml @@ -193,11 +193,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml index e6104ce2d9..3a556196c9 100644 --- a/conf/airframes/mm/fixed-wing/funjetmm2.xml +++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml @@ -219,11 +219,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml index 32463713cd..01d2659c8e 100644 --- a/conf/airframes/mm/fixed-wing/miniwing.xml +++ b/conf/airframes/mm/fixed-wing/miniwing.xml @@ -187,7 +187,7 @@ ap.CFLAGS += -DRADIO_CONTROL -DUSE_RC_TELEMETRY ap.srcs += radio_control.c ppm_telemetry.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml index ded7a84c59..7ceeef929b 100644 --- a/conf/airframes/mm/fixed-wing/slowfast.xml +++ b/conf/airframes/mm/fixed-wing/slowfast.xml @@ -229,11 +229,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml index 07ac816402..105d18ce74 100644 --- a/conf/airframes/mm/fixed-wing/slowfast2.xml +++ b/conf/airframes/mm/fixed-wing/slowfast2.xml @@ -244,11 +244,11 @@ 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml index a77f98266f..0398b5e2c3 100644 --- a/conf/airframes/mm/fixed-wing/twinstarmm.xml +++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml @@ -212,11 +212,11 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #XBEE #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -244,7 +244,7 @@ ap.srcs += subsystems/navigation/snav.c # include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.ARCHDIR = $(ARCHI) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO -sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c +sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c 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 diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml index a62b36d2f8..91de191f32 100644 --- a/conf/airframes/mm/hangar/black_one.xml +++ b/conf/airframes/mm/hangar/black_one.xml @@ -227,10 +227,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml index a562395676..1876dde299 100644 --- a/conf/airframes/mm/hangar/glass_one1.xml +++ b/conf/airframes/mm/hangar/glass_one1.xml @@ -217,10 +217,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml index cebad5fa99..26a4d0ec5e 100644 --- a/conf/airframes/mm/hangar/glass_one2.xml +++ b/conf/airframes/mm/hangar/glass_one2.xml @@ -191,10 +191,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml index bdbed71f17..557deac6d2 100644 --- a/conf/airframes/mm/hangar/glass_one3.xml +++ b/conf/airframes/mm/hangar/glass_one3.xml @@ -218,10 +218,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml index 902db74760..36b2830d88 100644 --- a/conf/airframes/mm/hangar/lila.xml +++ b/conf/airframes/mm/hangar/lila.xml @@ -215,11 +215,11 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA 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)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c @@ -248,7 +248,7 @@ ap.srcs += subsystems/navigation/snav.c # Config for SITL simulation sim.ARCHDIR = $(ARCHI) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO -sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c +sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c 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 diff --git a/conf/airframes/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml index a2643bf735..c2e80a5172 100644 --- a/conf/airframes/mm/hangar/mac06a.xml +++ b/conf/airframes/mm/hangar/mac06a.xml @@ -211,10 +211,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#XBEE ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#XBEE ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml index 2d4caa9b33..a73aafdfcb 100644 --- a/conf/airframes/mm/hangar/red_one.xml +++ b/conf/airframes/mm/hangar/red_one.xml @@ -238,10 +238,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/autoplato.xml b/conf/airframes/obsolete/autoplato.xml index e2f8a9e24a..f4cd31c167 100644 --- a/conf/airframes/obsolete/autoplato.xml +++ b/conf/airframes/obsolete/autoplato.xml @@ -22,11 +22,11 @@ test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c #test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 #test_usb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c #test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -#test_usb.srcs += downlink.c pprz_transport.c +#test_usb.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL test_usb.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ -test_usb.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c pprz_transport.c +test_usb.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c subsystems/datalink/pprz_transport.c # datalink.c test_usb.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c test_usb.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c diff --git a/conf/airframes/obsolete/dc_mc.xml b/conf/airframes/obsolete/dc_mc.xml index 76e6aff207..db35c9c065 100644 --- a/conf/airframes/obsolete/dc_mc.xml +++ b/conf/airframes/obsolete/dc_mc.xml @@ -27,7 +27,7 @@ main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -main.srcs += downlink.c pprz_transport.c +main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c main.srcs += $(SRC_ARCH)/dc_mc_link.c main.srcs += $(SRC_ARCH)/dc_mc_power.c diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml index 8a1e49fc06..a129d1f39d 100644 --- a/conf/airframes/obsolete/easystar2.xml +++ b/conf/airframes/obsolete/easystar2.xml @@ -193,7 +193,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # Telemetry configuration ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/example.xml b/conf/airframes/obsolete/example.xml index e225a43a4d..e92a3e3f4a 100644 --- a/conf/airframes/obsolete/example.xml +++ b/conf/airframes/obsolete/example.xml @@ -28,7 +28,7 @@ example_gps.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 example_gps.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c example_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -example_gps.srcs += downlink.c pprz_transport.c +example_gps.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c example_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 example_gps.CFLAGS += -DUSE_GPS -DUBX -DGPS_LINK=Uart0 -DDOWNLINK_GPS_DEVICE=Uart0 -DGPS_BAUD=38400 diff --git a/conf/airframes/obsolete/hitl_usb.xml b/conf/airframes/obsolete/hitl_usb.xml index 51d3ad1902..5a2c64da06 100644 --- a/conf/airframes/obsolete/hitl_usb.xml +++ b/conf/airframes/obsolete/hitl_usb.xml @@ -119,14 +119,14 @@ ap.srcs += commands.c # Through USB ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL ap.CFLAGS += -DDOWNLINK_FBW_DEVICE=UsbS -DDOWNLINK_AP_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ -ap.srcs += pprz_transport.c +ap.srcs += subsystems/datalink/pprz_transport.c #XBEE ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=XBeeTransport -DUSE_USB_SERIAL #XBEE ap.CFLAGS += -DDOWNLINK_FBW_DEVICE=UsbS -DDOWNLINK_AP_DEVICE=UsbS -DXBEE_UART=UsbS -DDATALINK=XBEE -#XBEE ap.srcs += xbee.c +#XBEE ap.srcs += subsystems/datalink/xbee.c -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c datalink.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c datalink.c ap.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c @@ -152,7 +152,7 @@ ap.CFLAGS += -DGPS_USE_LATLONG # simulating LEA 5H # Config for SITL simulation sim.ARCHDIR = $(ARCH) sim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -sim.srcs = latlong.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c +sim.srcs = latlong.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml index ccfe7647e1..211b238d28 100644 --- a/conf/airframes/obsolete/kalscott_easystar.xml +++ b/conf/airframes/obsolete/kalscott_easystar.xml @@ -173,7 +173,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # Telemetry configuration ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml index afa74d66b6..f72cb96d61 100644 --- a/conf/airframes/obsolete/malolo_sim.xml +++ b/conf/airframes/obsolete/malolo_sim.xml @@ -233,7 +233,7 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV sim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/ivy_transport.c -sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c +sim.srcs += latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c sim.srcs += $(SIMDIR)/sim_ac_jsbsim.c $(SIMDIR)/sim_ac_fw.c diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml index 14a24b04f1..5d20dc5d0f 100644 --- a/conf/airframes/obsolete/microjet5.xml +++ b/conf/airframes/obsolete/microjet5.xml @@ -187,7 +187,7 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml index 26b9c1676b..702715819d 100644 --- a/conf/airframes/obsolete/microjet5_tp_auto.xml +++ b/conf/airframes/obsolete/microjet5_tp_auto.xml @@ -192,10 +192,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c latlong.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c latlong.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml index cea6cdad40..eb339a907c 100644 --- a/conf/airframes/obsolete/microjet6.xml +++ b/conf/airframes/obsolete/microjet6.xml @@ -210,11 +210,11 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # API mode # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600 -# ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +# ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c # transparent ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml index 2253cbb0fb..b5b6cf71c3 100644 --- a/conf/airframes/obsolete/microjetI.xml +++ b/conf/airframes/obsolete/microjetI.xml @@ -197,11 +197,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B19200 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c # transparent # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -# ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +# ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml index 938925cac0..40d42dcdd2 100644 --- a/conf/airframes/obsolete/microjetII.xml +++ b/conf/airframes/obsolete/microjetII.xml @@ -197,11 +197,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B19200 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c # transparent #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml index b1b5e6d001..424a3bce9c 100644 --- a/conf/airframes/obsolete/microjetIII.xml +++ b/conf/airframes/obsolete/microjetIII.xml @@ -186,11 +186,11 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c # transparent #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/microjet_raw_makefile.xml b/conf/airframes/obsolete/microjet_raw_makefile.xml index 662874b7eb..cc7c722062 100644 --- a/conf/airframes/obsolete/microjet_raw_makefile.xml +++ b/conf/airframes/obsolete/microjet_raw_makefile.xml @@ -189,7 +189,7 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 - ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c + ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 diff --git a/conf/airframes/obsolete/minimag1.xml b/conf/airframes/obsolete/minimag1.xml index 2d889922ae..666e1bea24 100644 --- a/conf/airframes/obsolete/minimag1.xml +++ b/conf/airframes/obsolete/minimag1.xml @@ -188,7 +188,7 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml index d34b11b7ce..f48b353aea 100644 --- a/conf/airframes/obsolete/minimag_fs.xml +++ b/conf/airframes/obsolete/minimag_fs.xml @@ -195,7 +195,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml index 809fa61a1b..e9efa41b10 100644 --- a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml +++ b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml @@ -211,7 +211,7 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/uart_hw.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/nova.xml b/conf/airframes/obsolete/nova.xml index 256c6ae89e..ea7eac180d 100644 --- a/conf/airframes/obsolete/nova.xml +++ b/conf/airframes/obsolete/nova.xml @@ -14,7 +14,7 @@ timu.srcs = nova_test_imu.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/arm timu.CFLAGS += -DUSE_LED -DUSE_LED -DTIME_LED=1 timu.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600 -timu.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c pprz_transport.c +timu.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c subsystems/datalink/pprz_transport.c timu.srcs += $(SRC_ARCH)/ADS8344.c diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml index b6847a4d1e..e104bfbf0a 100644 --- a/conf/airframes/obsolete/slayer1.xml +++ b/conf/airframes/obsolete/slayer1.xml @@ -204,10 +204,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -DXBEE868 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c latlong.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c latlong.c subsystems/datalink/xbee.c #transp ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#transp ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#transp ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml index f8331333de..2cb82585a6 100644 --- a/conf/airframes/obsolete/slayer3.xml +++ b/conf/airframes/obsolete/slayer3.xml @@ -206,10 +206,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#TRANSPARENT ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml index c2883754e0..920295fb1b 100644 --- a/conf/airframes/obsolete/slayerJH.xml +++ b/conf/airframes/obsolete/slayerJH.xml @@ -188,11 +188,11 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #MAXSTREAM #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml index de8a3474ca..914538a39b 100644 --- a/conf/airframes/obsolete/slicer1.xml +++ b/conf/airframes/obsolete/slicer1.xml @@ -200,7 +200,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # Radiotronix ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml index 02efc5d53a..1a89a8a100 100644 --- a/conf/airframes/obsolete/slicer2.xml +++ b/conf/airframes/obsolete/slicer2.xml @@ -182,7 +182,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # Radiotronix ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml index e8b047f67e..7e839d4829 100644 --- a/conf/airframes/obsolete/spirit.xml +++ b/conf/airframes/obsolete/spirit.xml @@ -196,7 +196,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # transparent ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml index 29fa14d9c0..ca9971afa2 100644 --- a/conf/airframes/obsolete/spirit_proto.xml +++ b/conf/airframes/obsolete/spirit_proto.xml @@ -184,7 +184,7 @@ ap.srcs += poradio_control.c $(SRC_ARCH)/ppm_hw.c # transparent ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml index 4d099cbdb7..80cdfed726 100644 --- a/conf/airframes/obsolete/storm1.xml +++ b/conf/airframes/obsolete/storm1.xml @@ -238,17 +238,17 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -#DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DTELEMETRY_MODE_FBW=1 #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#TRANSPARENT ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/tiny2.xml b/conf/airframes/obsolete/tiny2.xml index 706bbd7cbe..494b269a55 100644 --- a/conf/airframes/obsolete/tiny2.xml +++ b/conf/airframes/obsolete/tiny2.xml @@ -211,10 +211,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600 -#XBEE ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +#XBEE ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c 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)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/tiny_hitl.xml b/conf/airframes/obsolete/tiny_hitl.xml index 39624cac81..e1278378b9 100644 --- a/conf/airframes/obsolete/tiny_hitl.xml +++ b/conf/airframes/obsolete/tiny_hitl.xml @@ -176,7 +176,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # transparent ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU ap.srcs += inter_mcu.c diff --git a/conf/airframes/obsolete/tl.xml b/conf/airframes/obsolete/tl.xml index 9412650b8c..6a77eca47f 100644 --- a/conf/airframes/obsolete/tl.xml +++ b/conf/airframes/obsolete/tl.xml @@ -101,7 +101,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # transparent ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c pprz_transport.c $(TL)/tl_telemetry.c datalink.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c subsystems/datalink/pprz_transport.c $(TL)/tl_telemetry.c datalink.c ap.CFLAGS += -DTL_AP_MODE_AUTO=TL_AP_MODE_NAV -DDT_VFILTER="(1./60.)" ap.srcs += $(TL)/tl_autopilot.c $(TL)/tl_control.c $(TL)/tl_estimator.c $(TL)/tl_vfilter.c @@ -135,7 +135,7 @@ tmm.srcs = $(TL)/tl_test_mm_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_AR tmm.CFLAGS += -DUSE_LED -DUSE_LED -DTIME_LED=1 tmm.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DUART0_BAUD=B57600 -tmm.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c pprz_transport.c +tmm.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c subsystems/datalink/pprz_transport.c tmm.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c @@ -150,7 +150,7 @@ timu.srcs = $(TL)/tl_test_imu_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ timu.CFLAGS += -DUSE_LED -DUSE_LED -DTIME_LED=1 timu.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DUART0_BAUD=B57600 -timu.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c pprz_transport.c +timu.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c subsystems/datalink/pprz_transport.c timu.srcs += $(TL)/tl_imu.c timu.CFLAGS += -DADC -DUSE_ADC_5 -DADC_CHANNEL_GR=ADC_5 -DUSE_ADC_6 -DADC_CHANNEL_RM=ADC_6 -DUSE_ADC_7 -DADC_CHANNEL_ACCEL=ADC_7 diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml index 1c1ac25849..0f70ebc62b 100644 --- a/conf/airframes/obsolete/twinjet1.xml +++ b/conf/airframes/obsolete/twinjet1.xml @@ -184,7 +184,7 @@ fbw.CFLAGS += -DRADIO_CONTROL fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600 -fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c +fbw.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c @@ -197,10 +197,10 @@ ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DUSE_LED - ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/navigation/traffic_info.c xbee.c +#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/navigation/traffic_info.c subsystems/datalink/xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c @@ -238,7 +238,7 @@ ap.CFLAGS += -DUSE_LIGHT test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600 -test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c +test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c # Config for SITL simulation include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile diff --git a/conf/airframes/obsolete/twinstar1.xml b/conf/airframes/obsolete/twinstar1.xml index ffc0e09080..52832ed439 100644 --- a/conf/airframes/obsolete/twinstar1.xml +++ b/conf/airframes/obsolete/twinstar1.xml @@ -182,7 +182,7 @@ ap.CFLAGS += -DHITL # Downlink on uart0 ap.CFLAGS += -DUSE_UART0 -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DUART0_BAUD=B38400 -ap.EXTRA_SRCS += pprz_transport.c downlink.c +ap.EXTRA_SRCS += subsystems/datalink/pprz_transport.c subsystems/datalink/downlink.c # Datalink (on uart0) used to emulate sensors (infrared and gps) ap.EXTRA_SRCS += subsystems/navigation/traffic_info.c datalink.c diff --git a/conf/airframes/obsolete/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml index 30aeb79607..8429b9bd93 100644 --- a/conf/airframes/obsolete/twinstar6.xml +++ b/conf/airframes/obsolete/twinstar6.xml @@ -192,7 +192,7 @@ fbw.CFLAGS += -DRADIO_CONTROL fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600 -fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c +fbw.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c @@ -205,7 +205,7 @@ ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DUSE_LED - ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/navigation/traffic_info.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/navigation/traffic_info.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c @@ -238,7 +238,7 @@ ap.srcs += dc.c test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600 -test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c +test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c # Config for SITL simulation include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile diff --git a/conf/airframes/obsolete/twisted.xml b/conf/airframes/obsolete/twisted.xml index 19ebf649b7..d5c3433c06 100644 --- a/conf/airframes/obsolete/twisted.xml +++ b/conf/airframes/obsolete/twisted.xml @@ -56,7 +56,7 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B19200 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml index 58cb0a82ce..5da82221f8 100644 --- a/conf/airframes/obsolete/tyto1.xml +++ b/conf/airframes/obsolete/tyto1.xml @@ -216,10 +216,10 @@ ap.CFLAGS += -DRADIO_CONTROL ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -# ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c +# ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU diff --git a/conf/airframes/obsolete/vor.xml b/conf/airframes/obsolete/vor.xml index 57f2edc770..2405679172 100644 --- a/conf/airframes/obsolete/vor.xml +++ b/conf/airframes/obsolete/vor.xml @@ -24,7 +24,7 @@ main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600 main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -main.srcs += downlink.c pprz_transport.c +main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c main.srcs += firmwares/vor/vor_int_demod_decim.c diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml index a2afa6df11..a634c1204a 100644 --- a/conf/airframes/obsolete/xxx1.xml +++ b/conf/airframes/obsolete/xxx1.xml @@ -222,10 +222,10 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c +#TRANSPARENT ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU @@ -279,7 +279,7 @@ sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_re setup_actuators.ARCHDIR = $(ARCHI) setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0 -setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c +setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c diff --git a/conf/airframes/test_i2c.xml b/conf/airframes/test_i2c.xml index b7546315d2..4da9eb0452 100644 --- a/conf/airframes/test_i2c.xml +++ b/conf/airframes/test_i2c.xml @@ -20,7 +20,7 @@ mb.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 mb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c mb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -mb.srcs += downlink.c pprz_transport.c +mb.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c mb.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0 diff --git a/conf/airframes/wind_tunnel.xml b/conf/airframes/wind_tunnel.xml index 9c4df1af93..fbbe16b179 100644 --- a/conf/airframes/wind_tunnel.xml +++ b/conf/airframes/wind_tunnel.xml @@ -25,7 +25,7 @@ ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -ap.srcs += downlink.c pprz_transport.c +ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0 #ap.srcs += $(BOOZ)/booz_datalink.c @@ -55,7 +55,7 @@ mb.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 mb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c mb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -mb.srcs += downlink.c pprz_transport.c +mb.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c mb.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0 diff --git a/conf/autopilot/obsolete/booz_test_progs.makefile b/conf/autopilot/obsolete/booz_test_progs.makefile index 0574420200..51296e5d1b 100644 --- a/conf/autopilot/obsolete/booz_test_progs.makefile +++ b/conf/autopilot/obsolete/booz_test_progs.makefile @@ -76,7 +76,7 @@ test_telemetry.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT) test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) -test_telemetry.srcs += downlink.c pprz_transport.c +test_telemetry.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_telemetry.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c @@ -100,7 +100,7 @@ test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED) test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) -test_baro.srcs += downlink.c pprz_transport.c +test_baro.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) test_baro.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_baro.srcs += $(SRC_BOARD)/baro_board.c @@ -148,7 +148,7 @@ test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) test_rc_ppm.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) -test_rc_ppm.srcs += downlink.c pprz_transport.c +test_rc_ppm.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_rc_ppm.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED) test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\" test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM @@ -195,7 +195,7 @@ test_actuators_mkk.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BA test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) -test_actuators_mkk.srcs += downlink.c pprz_transport.c +test_actuators_mkk.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_actuators_mkk.srcs += $(SRC_FIRMWARE)/commands.c test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c @@ -226,7 +226,7 @@ test_ami601.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) test_ami601.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_ami601.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) -test_ami601.srcs += downlink.c pprz_transport.c +test_ami601.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_ami601.CFLAGS += -DUSE_AMI601 test_ami601.srcs += peripherals/ami601.c diff --git a/conf/autopilot/obsolete/csc.makefile b/conf/autopilot/obsolete/csc.makefile index f30151ea99..a4dfe5892e 100644 --- a/conf/autopilot/obsolete/csc.makefile +++ b/conf/autopilot/obsolete/csc.makefile @@ -61,7 +61,7 @@ ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1 #ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 #ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \ -DDOWNLINK_DEVICE=Uart1 -#ap.srcs += downlink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c #ap.srcs += $(SRC_CSC)/csc_telemetry.c @@ -73,7 +73,7 @@ ap.srcs += $(SRC_CSC)/csc_can.c #ap.CFLAGS += -DAP_LINK_UART -DPPRZ_UART=Uart1 #ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 -#ap.srcs += pprz_transport.c +#ap.srcs += subsystems/datalink/pprz_transport.c ap.srcs += $(SRC_CSC)/csc_ap_link.c @@ -110,7 +110,7 @@ test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \ -DDOWNLINK_DEVICE=Uart1 -test_uart.srcs += downlink.c pprz_transport.c +test_uart.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # diff --git a/conf/autopilot/obsolete/csc_ap.makefile b/conf/autopilot/obsolete/csc_ap.makefile index d1d6b55322..45b5f1d33c 100644 --- a/conf/autopilot/obsolete/csc_ap.makefile +++ b/conf/autopilot/obsolete/csc_ap.makefile @@ -62,7 +62,7 @@ ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B230400 -DUART0_VIC_SLOT=5 ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \ -DDOWNLINK_DEVICE=Uart1 -ap.srcs += downlink.c pprz_transport.c $(SRC_CSC)/csc_telemetry.c +ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c $(SRC_CSC)/csc_telemetry.c ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1 ap.srcs += $(SRC_CSC)/csc_datalink.c @@ -113,5 +113,5 @@ test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \ -DDOWNLINK_DEVICE=Uart1 -test_uart.srcs += downlink.c pprz_transport.c +test_uart.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c diff --git a/conf/autopilot/obsolete/lisa_test_progs.makefile b/conf/autopilot/obsolete/lisa_test_progs.makefile index 233820d1e6..3d60708f10 100644 --- a/conf/autopilot/obsolete/lisa_test_progs.makefile +++ b/conf/autopilot/obsolete/lisa_test_progs.makefile @@ -47,7 +47,7 @@ overo_test_telemetry.ARCHDIR = omap overo_test_telemetry.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include overo_test_telemetry.srcs = $(SRC_FMS)/overo_test_telemetry.c overo_test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport -overo_test_telemetry.srcs += $(SRC_FMS)/udp_transport.c downlink.c +overo_test_telemetry.srcs += $(SRC_FMS)/udp_transport.c subsystems/datalink/downlink.c overo_test_telemetry.srcs += $(SRC_FMS)/fms_network.c overo_test_telemetry.LDFLAGS += -levent @@ -56,7 +56,7 @@ overo_test_telemetry2.ARCHDIR = omap overo_test_telemetry2.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include overo_test_telemetry2.srcs = $(SRC_FMS)/overo_test_telemetry2.c overo_test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport -overo_test_telemetry2.srcs += $(SRC_FMS)/udp_transport2.c downlink.c +overo_test_telemetry2.srcs += $(SRC_FMS)/udp_transport2.c subsystems/datalink/downlink.c overo_test_telemetry2.srcs += $(SRC_FMS)/fms_network.c overo_test_telemetry2.LDFLAGS += -levent @@ -67,7 +67,7 @@ overo_test_gps.srcs = $(SRC_FMS)/overo_test_gps.c overo_test_gps.CFLAGS += -DFMS_PERIODIC_FREQ=500 overo_test_gps.srcs += $(SRC_FMS)/fms_periodic.c overo_test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport -overo_test_gps.srcs += $(SRC_FMS)/udp_transport2.c downlink.c +overo_test_gps.srcs += $(SRC_FMS)/udp_transport2.c subsystems/datalink/downlink.c overo_test_gps.srcs += $(SRC_FMS)/fms_network.c overo_test_gps.LDFLAGS += -levent @@ -81,7 +81,7 @@ overo_test_periodic.srcs += $(SRC_FMS)/fms_periodic.c overo_test_periodic.srcs += $(SRC_FMS)/fms_serial_port.c overo_test_periodic.LDFLAGS += -lrt overo_test_periodic.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport -overo_test_periodic.srcs += $(SRC_FMS)/udp_transport.c downlink.c +overo_test_periodic.srcs += $(SRC_FMS)/udp_transport.c subsystems/datalink/downlink.c overo_test_periodic.srcs += $(SRC_FMS)/fms_network.c overo_test_periodic.LDFLAGS += -levent overo_test_periodic.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown @@ -103,7 +103,7 @@ overo_test_passthrough.srcs += $(SRC_FMS)/fms_periodic.c overo_test_passthrough.srcs += $(SRC_FMS)/fms_spi_link.c overo_test_passthrough.srcs += $(SRC_FMS)/fms_gs_com.c overo_test_passthrough.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport -overo_test_passthrough.srcs += $(SRC_FMS)/udp_transport2.c downlink.c +overo_test_passthrough.srcs += $(SRC_FMS)/udp_transport2.c subsystems/datalink/downlink.c overo_test_passthrough.srcs += $(SRC_FMS)/fms_network.c @@ -207,7 +207,7 @@ test_telemetry1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_telemetry1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_telemetry1.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -test_telemetry1.srcs += downlink.c pprz_transport.c +test_telemetry1.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # @@ -227,7 +227,7 @@ test_telemetry2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_telemetry2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_telemetry2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_telemetry2.srcs += downlink.c pprz_transport.c +test_telemetry2.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # @@ -247,7 +247,7 @@ test_telemetry3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_telemetry3.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600 test_telemetry3.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart3 -test_telemetry3.srcs += downlink.c pprz_transport.c +test_telemetry3.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # # test datalink @@ -266,7 +266,7 @@ test_datalink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_datalink.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_datalink.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_datalink.srcs += downlink.c pprz_transport.c +test_datalink.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_datalink.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 #test_datalink.srcs += $(SRC_FIRMWARE)/datalink.c @@ -317,7 +317,7 @@ test_float.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_float.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_float.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_float.srcs += downlink.c pprz_transport.c +test_float.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_float.srcs += lisa/plug_sys.c # @@ -354,7 +354,7 @@ test_rc_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_rc_24.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_rc_24.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_rc_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_rc_24.srcs += downlink.c pprz_transport.c +test_rc_24.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_rc_24.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=2 test_rc_24.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\" @@ -391,7 +391,7 @@ test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/ac #test_servos.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 #test_servos.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c #test_servos.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -#test_servos.srcs += downlink.c pprz_transport.c +#test_servos.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c @@ -419,7 +419,7 @@ test_imu_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_imu_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_imu_b2.srcs += downlink.c pprz_transport.c +test_imu_b2.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_imu_b2.srcs += math/pprz_trig_int.c @@ -453,7 +453,7 @@ test_imu_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_imu_crista.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_imu_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_imu_crista.srcs += downlink.c pprz_transport.c +test_imu_crista.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_imu_crista.srcs += math/pprz_trig_int.c @@ -485,7 +485,7 @@ test_imu_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_imu_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_imu_aspirin.srcs += downlink.c pprz_transport.c +test_imu_aspirin.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_imu_aspirin.srcs += math/pprz_trig_int.c @@ -561,7 +561,7 @@ test_mc_asctec_v1_simple.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_mc_asctec_v1_simple.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_mc_asctec_v1_simple.srcs += downlink.c pprz_transport.c +test_mc_asctec_v1_simple.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # @@ -605,7 +605,7 @@ test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_actuators_mkk.srcs += downlink.c pprz_transport.c +test_actuators_mkk.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_actuators_mkk.srcs += $(SRC_FIRMWARE)/commands.c test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c @@ -638,7 +638,7 @@ test_actuators_asctec.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_actuators_asctec.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_actuators_asctec.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_actuators_asctec.srcs += downlink.c pprz_transport.c +test_actuators_asctec.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_actuators_asctec.srcs += $(SRC_FIRMWARE)/commands.c test_actuators_asctec.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c @@ -689,7 +689,7 @@ test_baro.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_baro.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_baro.srcs += downlink.c pprz_transport.c +test_baro.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # @@ -711,7 +711,7 @@ test_baro2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_baro2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_baro2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_baro2.srcs += downlink.c pprz_transport.c +test_baro2.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_baro2.srcs += $(SRC_LISA)/lisa_baro.c test_baro2.CFLAGS += -DUSE_I2C2 @@ -737,7 +737,7 @@ test_baro3.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_baro3.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_baro3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_baro3.srcs += downlink.c pprz_transport.c +test_baro3.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_baro3.CFLAGS += -DUSE_I2C2 test_baro3.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c @@ -762,7 +762,7 @@ test_spi_slave.CFLAGS += -DUSE_SPI1_IRQ test_spi_slave.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_spi_slave.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_spi_slave.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -test_spi_slave.srcs += downlink.c pprz_transport.c +test_spi_slave.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # @@ -782,7 +782,7 @@ test_spi_slave2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_spi_slave2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_spi_slave2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -test_spi_slave2.srcs += downlink.c pprz_transport.c +test_spi_slave2.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c @@ -847,7 +847,7 @@ test_sc18is600.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_sc18is600.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_sc18is600.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_sc18is600.srcs += downlink.c pprz_transport.c +test_sc18is600.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_sc18is600.srcs += math/pprz_trig_int.c @@ -881,7 +881,7 @@ test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_max1168.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -test_max1168.srcs += downlink.c pprz_transport.c +test_max1168.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # # test ms2100 @@ -910,7 +910,7 @@ test_ms2100.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_ms2100.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_ms2100.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -test_ms2100.srcs += downlink.c pprz_transport.c +test_ms2100.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # # test adxl345 @@ -933,7 +933,7 @@ test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_adxl345.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_adxl345.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_adxl345.srcs += downlink.c pprz_transport.c +test_adxl345.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_adxl345.CFLAGS += -DUSE_EXTI2_IRQ # Acc Int on PD2 @@ -958,7 +958,7 @@ test_adxl345_dma.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_adxl345_dma.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_adxl345_dma.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_adxl345_dma.srcs += downlink.c pprz_transport.c +test_adxl345_dma.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_adxl345_dma.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2 test_adxl345_dma.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA @@ -987,7 +987,7 @@ test_itg3200.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_itg3200.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_itg3200.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_itg3200.srcs += downlink.c pprz_transport.c +test_itg3200.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_itg3200.CFLAGS += -DUSE_I2C2 test_itg3200.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c @@ -1013,7 +1013,7 @@ test_hmc5843.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_hmc5843.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_hmc5843.srcs += downlink.c pprz_transport.c +test_hmc5843.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_hmc5843.CFLAGS += -DUSE_I2C2 test_hmc5843.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c @@ -1045,7 +1045,7 @@ test_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_aspirin.srcs += downlink.c pprz_transport.c +test_aspirin.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_aspirin.CFLAGS += -DUSE_I2C2 test_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c @@ -1088,7 +1088,7 @@ ptw.CFLAGS += -DUSE_OVERO_LINK_TELEMETRY #ptw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 #ptw.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=OveroLinkTelemetry -ptw.srcs += downlink.c pprz_transport.c +ptw.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # IMU ptw.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\" @@ -1142,7 +1142,7 @@ test_csc_servo.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_csc_servo.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 test_csc_servo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_csc_servo.srcs += downlink.c pprz_transport.c +test_csc_servo.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # setting CAN prescaler to generate 3MHz time quanta, drift compensiation to 1 # time quanta, bit section 1 to 3 time quanta and bit section 2 to 4 time quanta @@ -1179,7 +1179,7 @@ test_gps.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_gps.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_gps.srcs += downlink.c pprz_transport.c +test_gps.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 test_gps.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=3 @@ -1210,7 +1210,7 @@ test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_skytraq.c # test_adc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c # # test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -# test_adc.srcs += downlink.c pprz_transport.c +# test_adc.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # # test_adc.srcs += $(SRC_ARCH)/adc_hw.c @@ -1235,7 +1235,7 @@ test_adc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_adc.srcs += downlink.c pprz_transport.c +test_adc.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4 -DUSE_ADC1_2_IRQ_HANDLER @@ -1263,7 +1263,7 @@ test_board.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_board.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 test_board.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -test_board.srcs += downlink.c pprz_transport.c +test_board.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c test_board.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_board.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600 @@ -1308,7 +1308,7 @@ hs_gyro_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 hs_gyro_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c hs_gyro_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -hs_gyro_aspirin.srcs += downlink.c pprz_transport.c +hs_gyro_aspirin.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c hs_gyro_aspirin.srcs += math/pprz_trig_int.c @@ -1346,7 +1346,7 @@ hs_gyro_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 hs_gyro_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c hs_gyro_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -hs_gyro_b2.srcs += downlink.c pprz_transport.c +hs_gyro_b2.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c hs_gyro_b2.srcs += math/pprz_trig_int.c @@ -1379,7 +1379,7 @@ hs_gyro_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 hs_gyro_crista.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c hs_gyro_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 -hs_gyro_crista.srcs += downlink.c pprz_transport.c +hs_gyro_crista.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c hs_gyro_crista.srcs += math/pprz_trig_int.c diff --git a/conf/autopilot/obsolete/mercury.makefile b/conf/autopilot/obsolete/mercury.makefile index 0bf68c81ef..72f55aa2d8 100644 --- a/conf/autopilot/obsolete/mercury.makefile +++ b/conf/autopilot/obsolete/mercury.makefile @@ -66,7 +66,7 @@ ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B230400 -DUART0_VIC_SLOT=5 ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \ -DDOWNLINK_DEVICE=Uart1 -ap.srcs += downlink.c pprz_transport.c $(SRC_CSC)/csc_telemetry.c +ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c $(SRC_CSC)/csc_telemetry.c ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1 ap.srcs += $(SRC_CSC)/csc_datalink.c @@ -139,4 +139,4 @@ test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \ -DDOWNLINK_DEVICE=Uart1 -test_uart.srcs += downlink.c pprz_transport.c +test_uart.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c diff --git a/conf/autopilot/obsolete/mercury_csc.makefile b/conf/autopilot/obsolete/mercury_csc.makefile index b8f5cd04e8..d5cc2e7159 100644 --- a/conf/autopilot/obsolete/mercury_csc.makefile +++ b/conf/autopilot/obsolete/mercury_csc.makefile @@ -67,7 +67,7 @@ ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c #ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 #ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \ # -DDOWNLINK_DEVICE=Uart0 -#ap.srcs += downlink.c pprz_transport.c +#ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DAP_LINK_CAN -DCAN_LED=2 @@ -109,7 +109,7 @@ test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6 test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \ -DDOWNLINK_DEVICE=Uart1 -test_uart.srcs += downlink.c pprz_transport.c +test_uart.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c # diff --git a/conf/autopilot/obsolete/sitl.makefile b/conf/autopilot/obsolete/sitl.makefile index b05421888e..aab1e2308e 100644 --- a/conf/autopilot/obsolete/sitl.makefile +++ b/conf/autopilot/obsolete/sitl.makefile @@ -2,7 +2,7 @@ sim.ARCHDIR = $(ARCH) sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO sim.srcs += latlong.c\ radio_control.c\ - downlink.c\ + subsystems/datalink/downlink.c\ commands.c\ gps.c\ inter_mcu.c\ diff --git a/conf/autopilot/obsolete/sitl_jsbsim.makefile b/conf/autopilot/obsolete/sitl_jsbsim.makefile index 4b46e00a19..ca9ba0b01e 100644 --- a/conf/autopilot/obsolete/sitl_jsbsim.makefile +++ b/conf/autopilot/obsolete/sitl_jsbsim.makefile @@ -26,7 +26,7 @@ endif jsbsim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -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 subsystems/sensors/infrared.c \ +jsbsim.srcs += latlong.c subsystems/datalink/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 $(SRC_FIRMWARE)/datalink.c diff --git a/conf/autopilot/obsolete/sitl_link_pprz.makefile b/conf/autopilot/obsolete/sitl_link_pprz.makefile index 313d5ee07f..59c200097e 100644 --- a/conf/autopilot/obsolete/sitl_link_pprz.makefile +++ b/conf/autopilot/obsolete/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 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 $(SRC_FIRMWARE)/datalink.c +sim.srcs = radio_control.c subsystems/datalink/downlink.c subsystems/datalink/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 $(SRC_FIRMWARE)/datalink.c diff --git a/conf/autopilot/obsolete/sitl_link_xbee.makefile b/conf/autopilot/obsolete/sitl_link_xbee.makefile index 6928643999..46a2c053ef 100644 --- a/conf/autopilot/obsolete/sitl_link_xbee.makefile +++ b/conf/autopilot/obsolete/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 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 +sim.srcs = radio_control.c subsystems/datalink/downlink.c subsystems/datalink/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/obsolete/testing.makefile b/conf/autopilot/obsolete/testing.makefile index f75a6c8ab0..8c53a15bed 100644 --- a/conf/autopilot/obsolete/testing.makefile +++ b/conf/autopilot/obsolete/testing.makefile @@ -4,7 +4,7 @@ setup_actuators.ARCHDIR = $(ARCH) setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0 -setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c +setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c # a test program to tunnel between both uart @@ -19,10 +19,10 @@ test_adcs.ARCHDIR = $(ARCH) test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_ADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7 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)/mcu_periph/uart_arch.c xbee.c +test_adcs.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c subsystems/datalink/xbee.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 +# subsystems/datalink/pprz_transport.c # a configuration program to access both uart through usb diff --git a/conf/autopilot/obsolete/tiny.makefile b/conf/autopilot/obsolete/tiny.makefile index 71df9d2cea..0fbd52906f 100644 --- a/conf/autopilot/obsolete/tiny.makefile +++ b/conf/autopilot/obsolete/tiny.makefile @@ -33,7 +33,7 @@ ADC_GYRO_NB_SAMPLES = 16 setup_actuators.ARCHDIR = $(ARCHI) setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0 -setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c +setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c # a test program to tunnel between both uart @@ -48,10 +48,10 @@ test_adcs.ARCHDIR = $(ARCHI) test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7 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)/mcu_periph/uart_arch.c xbee.c +test_adcs.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c subsystems/datalink/xbee.c test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_adcs.c -# pprz_transport.c +# subsystems/datalink/pprz_transport.c # a configuration program to access both uart through usb diff --git a/conf/autopilot/obsolete/twin_mcu.makefile b/conf/autopilot/obsolete/twin_mcu.makefile index 690f741285..f2aedd5292 100644 --- a/conf/autopilot/obsolete/twin_mcu.makefile +++ b/conf/autopilot/obsolete/twin_mcu.makefile @@ -1,6 +1,6 @@ ap.srcs += $(SRC_FIRMWARE)/main_ap.c sys_time.c $(SRC_FIRMWARE)/main.c inter_mcu.c link_mcu.c gps_ubx.c gps.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c cam.c spi.c rc_settings.c latlong.c subsystems/navigation/nav_survey_rectangle.c ap.CFLAGS += -DMCU_SPI_LINK -DUSE_GPS -DUBX -DUSE_INFRARED -DRADIO_CONTROL -DINTER_MCU -DSPI_MASTER -DUSE_SPI -DNAV -DRADIO_CONTROL_SETTINGS -fbw.srcs += sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main.c commands.c radio_control.c pprz_transport.c downlink.c inter_mcu.c spi.c link_mcu.c +fbw.srcs += sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main.c commands.c radio_control.c subsystems/datalink/pprz_transport.c subsystems/datalink/downlink.c inter_mcu.c spi.c link_mcu.c fbw.CFLAGS += -DRADIO_CONTROL -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DINTER_MCU -DMCU_SPI_LINK -DUART0_BAUD=B38400 -DSPI_SLAVE -DUSE_SPI diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile index 195a04a3fb..9ec4d56a11 100644 --- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile +++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile @@ -219,7 +219,7 @@ jsbsim.CFLAGS += -I$(SIMDIR) -I/usr/include -I$(JSBSIM_INC) -I$(OCAMLLIBDIR) ` jsbsim.LDFLAGS += `pkg-config glib-2.0 --libs` -lglibivy -lm -L/usr/lib -lJSBSim jsbsim.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -jsbsim.srcs += downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ahrs.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/jsbsim_transport.c +jsbsim.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ahrs.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/jsbsim_transport.c jsbsim.srcs += subsystems/settings.c jsbsim.srcs += $(SRC_ARCH)/subsystems/settings_arch.c diff --git a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile index 00b92d675e..58feb0cf6a 100644 --- a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile +++ b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile @@ -78,7 +78,7 @@ sim.srcs += $(SRC_ARCH)/subsystems/settings_arch.c sim.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport sim.srcs += $(SRC_FIRMWARE)/telemetry.c \ - downlink.c \ + subsystems/datalink/downlink.c \ $(SRC_ARCH)/ivy_transport.c sim.srcs += $(SRC_FIRMWARE)/commands.c