Splitting hardware dependent code

Doxyfile

@@ -450,7 +450,7 @@ WARN_LOGFILE           =
 # directories like "/usr/src/myproject". Separate the files or directories 
 # with spaces.
 
-INPUT                  = sw/airborne/autopilot sw/airborne/fly_by_wire var/include var/Twin1
+INPUT                  = sw/airborne/autopilot sw/airborne/fly_by_wire var/include var/Twin1 sw/airborne/avr sw/airborne
 
 # If the value of the INPUT tag contains directories, you can use the 
 # FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 

conf/Makefile.avr

@@ -117,6 +117,9 @@ $(OBJDIR)/%.s: %.c
 $(OBJDIR)/%.o: %.c
 	$(CC) $(CFLAGS) -c -o $@ $<
 
+$(OBJDIR)/%.o: $(PAPARAZZI_SRC)/sw/airborne/avr/%.c
+	$(CC) $(CFLAGS) -c -o $@ $<
+
 $(OBJDIR)/%.hex: $(OBJDIR)/%.elf
 	 $(OBJCOPY) -O ihex -R .eeprom $< $@
 

sw/airborne/autopilot/Makefile

@@ -43,7 +43,7 @@ endif
 
 EXT_FUSE  = ff
 LOCK_FUSE = ff
-INCLUDES = -I $(FBW) -I ../../include -I $(VARINCLUDE) -I $(ACINCLUDE)
+INCLUDES = -I .. -I ../../include -I $(VARINCLUDE) -I $(ACINCLUDE)
 
 GPS = gps_ubx.c
 GPS_FLAGS=-DUBX

sw/airborne/autopilot/adc.c

@@ -88,7 +88,7 @@ adc_init( void )
 /**
  * Called when the voltage conversion is finished
  * 
- *  8.913kHz on mega128@16MHz 1kHz/channel ??
+ *  8.913kHz on mega128 16MHz 1kHz/channel ??
 */
 
 

sw/airborne/avr/adc_fbw.c

@@ -0,0 +1,121 @@
+/*
+ * Paparazzi fly by wire adc functions
+ *  
+ * Copied from autopilot (autopilot.sf.net) thanx alot Trammell
+ *
+ * Copyright (C) 2002 Trammell Hudson <hudson@rotomotion.com>
+ * Copyright (C) 2003 Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+//// ADC3 MVSUP
+//// ADC6 MVSERVO
+
+
+#include <avr/signal.h>
+#include <avr/interrupt.h>
+#include <avr/io.h>
+#include "adc_fbw.h"
+#include "std.h"
+
+
+#define VOLTAGE_TIME	0x07
+#define ANALOG_PORT	PORTC
+#define ANALOG_PORT_DIR	DDRC
+
+
+#ifdef IMU_ANALOG
+#define ANALOG_VREF _BV(REFS0)
+#else
+#define ANALOG_VREF _BV(REFS0) | _BV(REFS1)
+#endif
+
+
+
+uint16_t		adc_samples[ NB_ADC ];
+
+static struct adc_buf* buffers[NB_ADC];
+
+void adc_buf_channel(uint8_t adc_channel, struct adc_buf* s) {
+  buffers[adc_channel] = s;
+}
+
+void 
+adc_init( void )
+{
+  uint8_t i;
+  /* Ensure that our port is for input with no pull-ups */
+  ANALOG_PORT 	= 0x00;
+  ANALOG_PORT_DIR	= 0x00;
+
+  /* Select our external voltage ref */
+  ADMUX		= ANALOG_VREF;
+
+  /* Select out clock, turn on the ADC interrupt and start conversion */
+  ADCSRA = 0
+    | VOLTAGE_TIME
+    | _BV(ADEN )
+    | _BV(ADIE )
+    | _BV(ADSC );
+
+  /* Init to 0 (usefull ?) */
+  for(i = 0; i < NB_ADC; i++)
+    buffers[i] = (struct adc_buf*)0;
+}
+
+/**
+ * Called when the voltage conversion is finished
+ * 
+ *  8.913kHz on mega128@16MHz 1kHz/channel ??
+*/
+
+
+SIGNAL( SIG_ADC )
+{
+  uint8_t adc_input	= ADMUX & 0x7;
+  struct adc_buf* buf = buffers[adc_input];
+  uint16_t adc_value = ADCW;
+  /* Store result */
+  adc_samples[ adc_input ] = adc_value;
+
+  if (buf) {
+    uint8_t new_head = buf->head + 1;
+    if (new_head >= AV_NB_SAMPLE) new_head = 0;
+    buf->sum -= buf->values[new_head];
+    buf->values[new_head] = adc_value;
+    buf->sum += adc_value;
+    buf->head = new_head;   
+  }
+
+  /* Find the next input */
+  adc_input++;
+  if (adc_input == 4)
+    adc_input = 6; // ADC 4 and 5 for i2c
+  if( adc_input >= 8 ) {
+    adc_input = 0;
+#ifdef CTL_BRD_V1_2
+    adc_input = 1; // WARNING ADC0 is for rservo driver reset on v1.2.0
+#endif /* CTL_BRD_V1_2 */
+  }
+  /* Select it */
+  ADMUX = adc_input | ANALOG_VREF;
+  /* Restart the conversion */
+  sbi( ADCSR, ADSC );
+}

sw/airborne/avr/int.h

@@ -0,0 +1,3 @@
+#include <avr/interrupt.h>
+
+#define int_enable() sei()

sw/airborne/avr/servo.c

@@ -31,8 +31,6 @@
 
 #include "airframe.h"
 
-#include "uart.h"
-
 
 /*
  * Paparazzi boards have one 4017 servo driver.
@@ -197,17 +195,18 @@ void servo_set_one(uint8_t servo, uint16_t value_us) {
   servo_widths[servo] = ChopServo(CLOCK*value_us);
 }
 
-void 
-servo_transmit(void) {
-  uint8_t servo;
-  uart_transmit((uint8_t)0); uart_transmit((uint8_t)0);
 
-  for(servo = 0; servo < _4017_NB_CHANNELS; servo++) {
-    uart_transmit((uint8_t)(servo_widths[servo] >> 8));
-    uart_transmit((uint8_t)(servo_widths[servo] & 0xff));
-  }
-  uart_transmit((uint8_t)'\n');
-}
+/*  void  */
+/*  servo_transmit(void) { */
+/*    uint8_t servo; */
+/*    uart_transmit((uint8_t)0); uart_transmit((uint8_t)0); */
+
+/*    for(servo = 0; servo < _4017_NB_CHANNELS; servo++) { */
+/*      uart_transmit((uint8_t)(servo_widths[servo] >> 8)); */
+/*      uart_transmit((uint8_t)(servo_widths[servo] & 0xff)); */
+/*    } */
+/*    uart_transmit((uint8_t)'\n'); */
+/*  } */
 
 
 /*

sw/airborne/avr/spi.c

@@ -76,7 +76,6 @@ void spi_reset(void) {
   mega128_receive_valid = FALSE;
 }
 
-#include "uart.h"
 
 /** c.f. autopilot/link_fbw.c */
 SIGNAL(SIG_SPI) {

sw/airborne/avr/spi_fbw_hw.h

@@ -0,0 +1,7 @@
+
+
+#define SPI_PORT   PORTB
+#define SPI_PIN    PINB
+#define SPI_SS_PIN 2
+
+#define SpiIsSelected() (bit_is_clear(SPI_PIN, SPI_SS_PIN))

sw/airborne/avr/uart_fbw.c

@@ -28,7 +28,7 @@
 
 
 #include "std.h"
-#include "uart.h"
+#include "uart_fbw.h"
 
 #define TX_BUF_SIZE      256
 static uint8_t           tx_head; /* next free in buf */

sw/airborne/avr/uart_fbw_hw.h

@@ -0,0 +1,6 @@
+
+#define ReceiveUart(cb) \
+  SIGNAL( SIG_UART_RECV ) { \
+    uint8_t c = UDR; \
+    cb(c); \
+}

sw/airborne/fly_by_wire/3dmg.c

@@ -33,7 +33,7 @@
 #include <avr/io.h>
 #include <avr/signal.h>
 #include "3dmg.h"
-#include "uart.h"
+#include "uart_fbw.h"
 
 volatile bool_t _3dmg_data_ready;
 int16_t   _3dmg_roll, _3dmg_pitch, _3dmg_yaw;

sw/airborne/fly_by_wire/Makefile

@@ -34,7 +34,7 @@ EXT_FUSE  = ff
 LOCK_FUSE = ff
 VARINCLUDE = $(PAPARAZZI_HOME)/var/include
 ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
-INCLUDES = -I ../../include -I $(VARINCLUDE) -I $(ACINCLUDE)
+INCLUDES = -I ../../include -I .. -I ../avr -I $(VARINCLUDE) -I $(ACINCLUDE) -I $(PAPARAZZI_SRC)/sw/airborne/fly_by_wire
 
 ifeq ($(CTL_BRD_VERSION),V1_2_1)
 CTL_BRD_FLAGS=-DCTL_BRD_V1_2_1
@@ -49,8 +49,8 @@ $(TARGET).srcs	=							\
 	ppm.c								\
 	servo.c								\
 	spi.c								\
-	uart.c                                                          \
-	adc_fbw.c                                                       \
+	uart_fbw.c                                                          \
+	adc_fbw.c                               \
 
 
 include $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/Makefile.ac

sw/airborne/fly_by_wire/main.c

@@ -25,23 +25,19 @@
 
 
 #include <inttypes.h>
-#include <avr/io.h>
-#include <avr/signal.h>
-#include <avr/interrupt.h>
-
-
-
+#include "int.h"
 
 #include "timer.h"
 #include "servo.h"
 #include "ppm.h"
+#include "spi_fbw_hw.h"
 #include "spi.h"
 #include "link_autopilot.h"
 #include "radio.h"
 #include "led.h"
 
 
-#include "uart.h"
+#include "uart_fbw.h"
 
 #ifdef IMU_3DMG 
 #include "3dmg.h"
@@ -173,7 +169,7 @@ int main( void )
   ppm_init();
 
   spi_init();
-  sei();
+  int_enable();
 
 #if IMU_RESET_ON_BOOT
 #warning IMU_RESET_ON_BOOT
@@ -255,7 +251,7 @@ int main( void )
       if (_20Hz >= 3) {
 	_20Hz = 0;
 #ifndef IMU_3DMG
-	servo_transmit();
+/*  	servo_transmit(); */
 #endif
       }
       if (time_since_last_mega128 < STALLED_TIME)

sw/airborne/servo.h

@@ -50,7 +50,6 @@
 #define SERVO_H
 
 #include <inttypes.h>
-#include "timer.h"
 #include "link_autopilot.h"
 
 extern void servo_init( void );

sw/airborne/spi.h

@@ -28,13 +28,6 @@
 
 #include "link_autopilot.h"
 
-
-#define SPI_PORT   PORTB
-#define SPI_PIN    PINB
-#define SPI_SS_PIN 2
-
-#define SpiIsSelected() (bit_is_clear(SPI_PIN, SPI_SS_PIN))
-
 extern struct inter_mcu_msg from_mega128;
 extern struct inter_mcu_msg to_mega128;
 extern volatile bool_t mega128_receive_valid;

sw/airborne/uart_fbw.h

@@ -27,6 +27,8 @@
 
 #include <inttypes.h>
 
+#include "uart_fbw_hw.h"
+
 void uart_init_tx( void );
 void uart_init_rx( void );
 void uart_transmit( unsigned char data );
@@ -36,10 +38,4 @@ void uart_print_hex16 ( uint16_t c );
 void uart_print_string(const uint8_t* s);
 void uart_print_float( const float * f);
 
-#define ReceiveUart(cb) \
-  SIGNAL( SIG_UART_RECV ) { \
-    uint8_t c = UDR; \
-    cb(c); \
-}
-
 #endif

sw/simulator/Makefile

@@ -41,6 +41,7 @@ OCAMLOPT=ocamlopt -p
 INCLUDES= -I +lablgtk2 -I ../lib/ocaml
 OCAMLCC = gcc -O2 -I /usr/include/glib-2.0 -I /usr/lib/glib-2.0/include -DUBX -DCTL_BRD_V1_2 -DMOBILE_CAM -I $(OBJDIR) -I $(ACDIR) 
 
+AIRBORNE = ../airborne
 FBW = ../airborne/fly_by_wire
 AP = ../airborne/autopilot
 VARINCLUDE=$(PAPARAZZI_HOME)/var/include
@@ -84,13 +85,13 @@ gaia : gaia.ml
 	@chmod a+x $@
 
 $(OBJDIR)/%.o : %.c
-	$(OCAMLCC) -c -o $@ -I $(SIMDIR) -I $(FBW) -I $(AP) -I ../include -I $(VARINCLUDE) $<
+	$(OCAMLCC) -c -o $@ -I $(SIMDIR) -I $(AIRBORNE) -I $(AP) -I ../include -I $(VARINCLUDE) $<
 
 $(OBJDIR)/%.o : $(AP)/%.c
-	$(OCAMLCC) -c -o $@ -I $(SIMDIR) -I $(FBW) -I $(AP) -I ../include -I $(VARINCLUDE) $<
+	$(OCAMLCC) -c -o $@ -I $(SIMDIR) -I $(AIRBORNE) -I $(AP) -I ../include -I $(VARINCLUDE) $<
 
 $(OBJDIR)/main.o : $(OBJDIR)/main.c
-	$(OCAMLCC) -c -o $@ -I $(SIMDIR) -I $(FBW) -I $(AP) -I ../include -I $(VARINCLUDE) $<
+	$(OCAMLCC) -c -o $@ -I $(SIMDIR) -I $(AIRBORNE) -I $(AP) -I ../include -I $(VARINCLUDE) $<
 
 $(OBJDIR)/sim_gps.o $(OBJDIR)/nav.o $(OBJDIR)/main.o $(OBJDIR)/sim_ir.o $(OBJDIR)/sim_ap.o $(OBJDIR)/pid.o $(OBJDIR)/estimator.o $(OBJDIR)/cam.o : $(ACINCLUDE)/flight_plan.h  $(ACINCLUDE)/airframe.h