diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml index c444366049..c7ae144ea7 100644 --- a/conf/airframes/Poine/beth.xml +++ b/conf/airframes/Poine/beth.xml @@ -142,9 +142,9 @@ main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c \ main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c -main_stm32.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c +main_stm32.srcs += $(SRC_BOOZ)/actuators/actuators_asctec.c #\ -# $(SRC_BOOZ_ARCH)/actuators/booz_actuators_asctec_arch.c +# $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 # -DBOOZ_START_DELAY=3 -DUSE_TIM2_IRQ main_stm32.CFLAGS += -DUSE_I2C1 diff --git a/conf/autopilot/booz_test_progs.makefile b/conf/autopilot/booz_test_progs.makefile index 709e513edb..b3d2ba5db3 100644 --- a/conf/autopilot/booz_test_progs.makefile +++ b/conf/autopilot/booz_test_progs.makefile @@ -198,9 +198,9 @@ test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOW test_actuators_mkk.srcs += downlink.c pprz_transport.c test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c -test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c +test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0 -test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c +test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEV=i2c0 test_actuators_mkk.CFLAGS += -DUSE_I2C0 test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile index 455cd522c9..3bc9acaf4b 100644 --- a/conf/autopilot/lisa_l_test_progs.makefile +++ b/conf/autopilot/lisa_l_test_progs.makefile @@ -454,9 +454,9 @@ test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOW test_actuators_mkk.srcs += downlink.c pprz_transport.c test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c -test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c +test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c +test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c test_actuators_mkk.CFLAGS += -DUSE_I2C1 test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c @@ -485,6 +485,6 @@ test_actuators_asctecv1.srcs += downlink.c pprz_transport.c test_actuators_asctecv1.srcs += $(SRC_BOOZ)/booz2_commands.c test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 -test_actuators_asctecv1.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c +test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c test_actuators_asctecv1.CFLAGS += -DUSE_I2C1 test_actuators_asctecv1.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c diff --git a/conf/autopilot/lisa_passthrough.makefile b/conf/autopilot/lisa_passthrough.makefile index 4b4d8b9a8a..28c5c69d9a 100644 --- a/conf/autopilot/lisa_passthrough.makefile +++ b/conf/autopilot/lisa_passthrough.makefile @@ -34,19 +34,19 @@ stm_passthrough.CFLAGS += -DSYS_TIME_LED=1 stm_passthrough.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c # Telemetry -stm_passthrough.CFLAGS += -DDOWNLINK -stm_passthrough.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +stm_passthrough.CFLAGS += -DDOWNLINK +stm_passthrough.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 stm_passthrough.srcs += downlink.c pprz_transport.c stm_passthrough.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 stm_passthrough.srcs += $(SRC_ARCH)/uart_hw.c # Link Overo stm_passthrough.CFLAGS += -DUSE_OVERO_LINK -stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp +stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown stm_passthrough.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ stm_passthrough.srcs += $(SRC_LISA)/lisa_overo_link.c \ - $(SRC_LISA_ARCH)/lisa_overo_link_arch.c + $(SRC_LISA_ARCH)/lisa_overo_link_arch.c # IMU # @@ -67,9 +67,9 @@ stm_passthrough.srcs += $(SRC_BOOZ)/booz2_commands.c # Actuators -#stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c +#stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/supervision.c #stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL -#stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c +#stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c #stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c # #stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 @@ -80,8 +80,8 @@ ifndef SERVOS_REFRESH_FREQ SERVOS_REFRESH_FREQ=50 endif stm_passthrough.CFLAGS += -DSERVO_HZ=$(SERVOS_REFRESH_FREQ) -stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c -stm_passthrough.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c +stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c +stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c # Baro stm_passthrough.srcs += $(SRC_BOARD)/baro_board.c @@ -89,27 +89,27 @@ stm_passthrough.CFLAGS += -DUSE_I2C2 stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c # Vanes -stm_passthrough.CFLAGS += -I $(SRC_CSC) +stm_passthrough.CFLAGS += -I $(SRC_CSC) stm_passthrough.CFLAGS += -DUSE_CAN1 \ - -DUSE_CAN1 \ - -DUSE_USB_LP_CAN1_RX0_IRQ \ - -DCAN_PRESCALER=12 \ - -DCAN_SJW_TQ=CAN_SJW_1tq \ - -DCAN_BS1_TQ=CAN_BS1_3tq \ - -DCAN_BS2_TQ=CAN_BS2_4tq \ - -DCAN_ERR_RESUME=DISABLE + -DUSE_CAN1 \ + -DUSE_USB_LP_CAN1_RX0_IRQ \ + -DCAN_PRESCALER=12 \ + -DCAN_SJW_TQ=CAN_SJW_1tq \ + -DCAN_BS1_TQ=CAN_BS1_3tq \ + -DCAN_BS2_TQ=CAN_BS2_4tq \ + -DCAN_ERR_RESUME=DISABLE stm_passthrough.srcs += can.c $(SRC_ARCH)/can_hw.c -stm_passthrough.srcs += $(SRC_CSC)/csc_protocol.c +stm_passthrough.srcs += $(SRC_CSC)/csc_protocol.c # ADC stm_passthrough.srcs += $(SRC_ARCH)/adc_hw.c stm_passthrough.CFLAGS += -DUSE_AD1 \ - -DUSE_AD1_1 \ - -DUSE_AD1_2 \ - -DUSE_AD1_3 \ - -DUSE_AD1_4 \ - -DUSE_ADC1_2_IRQ_HANDLER + -DUSE_AD1_1 \ + -DUSE_AD1_2 \ + -DUSE_AD1_3 \ + -DUSE_AD1_4 \ + -DUSE_ADC1_2_IRQ_HANDLER # Battery monitor @@ -140,9 +140,9 @@ overo_test_passthrough.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport overo_test_passthrough.srcs += $(SRC_FMS)/udp_transport2.c downlink.c overo_test_passthrough.srcs += $(SRC_FMS)/fms_network.c -# +# # use the passthrough to calibrate throttle range for castle creations motor pwm motor controller -# +# overo_blmc_calibrate.ARCHDIR = omap overo_blmc_calibrate.LDFLAGS += -levent -lm overo_blmc_calibrate.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/autopilot/lisa_test_progs.makefile index 831ef8c851..700bfde743 100644 --- a/conf/autopilot/lisa_test_progs.makefile +++ b/conf/autopilot/lisa_test_progs.makefile @@ -18,7 +18,7 @@ # 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. +# Boston, MA 02111-1307, USA. # # @@ -134,8 +134,8 @@ FLASH_MODE = JTAG test_led.ARCHDIR = $(ARCH) test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -test_led.srcs += $(SRC_LISA)/test_led.c \ - $(SRC_ARCH)/led_hw.c \ +test_led.srcs += $(SRC_LISA)/test_led.c \ + $(SRC_ARCH)/led_hw.c \ $(SRC_ARCH)/stm32_exceptions.c \ $(SRC_ARCH)/stm32_vector_table.c test_led.CFLAGS += -DUSE_LED @@ -203,7 +203,7 @@ test_telemetry1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' 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)/uart_hw.c -test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 +test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_telemetry1.srcs += downlink.c pprz_transport.c @@ -223,7 +223,7 @@ test_telemetry2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' 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)/uart_hw.c -test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_telemetry2.srcs += downlink.c pprz_transport.c @@ -243,7 +243,7 @@ test_telemetry3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' 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)/uart_hw.c -test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart3 +test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart3 test_telemetry3.srcs += downlink.c pprz_transport.c # @@ -262,7 +262,7 @@ test_datalink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' 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)/uart_hw.c -test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_datalink.srcs += downlink.c pprz_transport.c test_datalink.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 #test_datalink.srcs += $(SRC_BOOZ)/booz2_datalink.c @@ -274,7 +274,7 @@ tunnel.ARCHDIR = $(ARCH) tunnel.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) tunnel.srcs += $(SRC_LISA)/test/lisa_tunnel.c \ - $(SRC_ARCH)/stm32_exceptions.c \ + $(SRC_ARCH)/stm32_exceptions.c \ $(SRC_ARCH)/stm32_vector_table.c tunnel.CFLAGS += -DUSE_LED tunnel.srcs += $(SRC_ARCH)/led_hw.c @@ -313,7 +313,7 @@ test_float.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' 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)/uart_hw.c -test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_float.srcs += downlink.c pprz_transport.c test_float.srcs += lisa/plug_sys.c @@ -336,7 +336,7 @@ SRC_BOOZ_TEST = $(SRC_BOOZ)/test test_rc_24.ARCHDIR = $(ARCH) test_rc_24.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT -test_rc_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +test_rc_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_rc_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \ $(SRC_ARCH)/stm32_exceptions.c \ $(SRC_ARCH)/stm32_vector_table.c @@ -350,7 +350,7 @@ 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)/uart_hw.c -test_rc_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_rc_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_rc_24.srcs += downlink.c pprz_transport.c test_rc_24.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=2 @@ -373,7 +373,7 @@ test_servos.ARCHDIR = $(ARCH) test_servos.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_servos.LDFLAGS += -lm -test_servos.srcs += $(SRC_LISA)/test_servos.c \ +test_servos.srcs += $(SRC_LISA)/test_servos.c \ $(SRC_ARCH)/stm32_exceptions.c \ $(SRC_ARCH)/stm32_vector_table.c test_servos.CFLAGS += -DUSE_LED @@ -382,12 +382,12 @@ test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -test_servos.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c +test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c #test_servos.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 #test_servos.srcs += $(SRC_ARCH)/uart_hw.c -#test_servos.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 +#test_servos.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 #test_servos.srcs += downlink.c pprz_transport.c @@ -415,7 +415,7 @@ test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_imu_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c -test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_imu_b2.srcs += downlink.c pprz_transport.c test_imu_b2.srcs += math/pprz_trig_int.c @@ -557,7 +557,7 @@ test_mc_asctec_v1_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c test_mc_asctec_v1_simple.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/uart_hw.c -test_mc_asctec_v1_simple.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_mc_asctec_v1_simple.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_mc_asctec_v1_simple.srcs += downlink.c pprz_transport.c @@ -601,16 +601,16 @@ test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c -test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_actuators_mkk.srcs += downlink.c pprz_transport.c test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c -#test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c \ -# $(SRC_BOOZ_ARCH)/actuators/booz_actuators_mkk_arch.c +#test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c \ +# $(SRC_BOOZ_ARCH)/actuators/actuators_mkk_arch.c #test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ test_actuators_mkk.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL -DACTUATORS_ASCTEC_DEVICE=i2c1 -test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c -test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c +test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c +test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c test_actuators_mkk.CFLAGS += -DUSE_I2C1 test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c @@ -635,13 +635,13 @@ test_actuators_asctec.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_actuators_asctec.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_actuators_asctec.srcs += $(SRC_ARCH)/uart_hw.c -test_actuators_asctec.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_actuators_asctec.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_actuators_asctec.srcs += downlink.c pprz_transport.c test_actuators_asctec.srcs += $(SRC_BOOZ)/booz2_commands.c -test_actuators_asctec.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c +test_actuators_asctec.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c #\ -# $(SRC_BOOZ_ARCH)/actuators/booz_actuators_asctec_arch.c +# $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c test_actuators_asctec.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 # -DBOOZ_START_DELAY=3 # -DUSE_TIM2_IRQ @@ -688,7 +688,7 @@ test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_baro.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_baro.srcs += $(SRC_ARCH)/uart_hw.c -test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_baro.srcs += downlink.c pprz_transport.c @@ -710,7 +710,7 @@ test_baro2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_baro2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_baro2.srcs += $(SRC_ARCH)/uart_hw.c -test_baro2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_baro2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_baro2.srcs += downlink.c pprz_transport.c test_baro2.srcs += $(SRC_LISA)/lisa_baro.c @@ -736,7 +736,7 @@ test_baro3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_baro3.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_baro3.srcs += $(SRC_ARCH)/uart_hw.c -test_baro3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_baro3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_baro3.srcs += downlink.c pprz_transport.c test_baro3.CFLAGS += -DUSE_I2C2 @@ -761,7 +761,7 @@ test_spi_slave.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_spi_slave.CFLAGS += -DUSE_SPI1_IRQ test_spi_slave.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_spi_slave.srcs += $(SRC_ARCH)/uart_hw.c -test_spi_slave.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 +test_spi_slave.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_spi_slave.srcs += downlink.c pprz_transport.c @@ -781,7 +781,7 @@ test_spi_slave2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' 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)/uart_hw.c -test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 +test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_spi_slave2.srcs += downlink.c pprz_transport.c @@ -793,8 +793,8 @@ stm_test_spi_link.ARCHDIR = $(ARCH) stm_test_spi_link.CFLAGS += -Ilisa -Ilisa/arch/$(ARCH) -I$(ARCH) -DPERIPHERALS_AUTO_INIT stm_test_spi_link.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) stm_test_spi_link.srcs += lisa/stm_test_spi_link.c \ - $(SRC_ARCH)/stm32_exceptions.c \ - $(SRC_ARCH)/stm32_vector_table.c + $(SRC_ARCH)/stm32_exceptions.c \ + $(SRC_ARCH)/stm32_vector_table.c stm_test_spi_link.CFLAGS += -DUSE_LED stm_test_spi_link.srcs += $(SRC_ARCH)/led_hw.c @@ -880,7 +880,7 @@ test_max1168.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \ test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_max1168.srcs += $(SRC_ARCH)/uart_hw.c -test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 +test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_max1168.srcs += downlink.c pprz_transport.c # @@ -909,7 +909,7 @@ test_ms2001.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \ test_ms2001.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_ms2001.srcs += $(SRC_ARCH)/uart_hw.c -test_ms2001.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 +test_ms2001.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_ms2001.srcs += downlink.c pprz_transport.c # @@ -1012,7 +1012,7 @@ test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_hmc5843.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_hmc5843.srcs += $(SRC_ARCH)/uart_hw.c -test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_hmc5843.srcs += downlink.c pprz_transport.c test_hmc5843.CFLAGS += -DUSE_I2C2 @@ -1087,7 +1087,7 @@ ptw.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c ptw.CFLAGS += -DUSE_OVERO_LINK_TELEMETRY #ptw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 #ptw.srcs += $(SRC_ARCH)/uart_hw.c -ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=OveroLinkTelemetry +ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=OveroLinkTelemetry ptw.srcs += downlink.c pprz_transport.c # IMU @@ -1114,9 +1114,9 @@ ptw.CFLAGS += -DRADIO_CONTROL_LINK=Uart3 ptw.srcs += $(SRC_ARCH)/uart_hw.c # Actuators -ptw.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c -ptw.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c -ptw.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_mkk_arch.c +ptw.srcs += $(SRC_FIRMWARE)/actuators/supervision.c +ptw.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c +#ptw.srcs += $(SRC_BOOZ_ARCH)/actuators/actuators_mkk_arch.c ptw.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c ptw.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ ptw.CFLAGS += -DUSE_I2C1 @@ -1128,9 +1128,9 @@ test_csc_servo.ARCHDIR = $(ARCH) test_csc_servo.CFLAGS = -I $(SRC_CSC) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT test_csc_servo.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_csc_servo.srcs = $(SRC_CSC)/csc_protocol.c \ - $(SRC_LISA)/test_csc_servo.c \ - $(SRC_ARCH)/stm32_exceptions.c \ - $(SRC_ARCH)/stm32_vector_table.c + $(SRC_LISA)/test_csc_servo.c \ + $(SRC_ARCH)/stm32_exceptions.c \ + $(SRC_ARCH)/stm32_vector_table.c test_csc_servo.CFLAGS += -DUSE_LED test_csc_servo.srcs += $(SRC_ARCH)/led_hw.c test_csc_servo.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 @@ -1141,20 +1141,20 @@ test_csc_servo.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_csc_servo.srcs += $(SRC_ARCH)/uart_hw.c test_csc_servo.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 -test_csc_servo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_csc_servo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_csc_servo.srcs += downlink.c 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 # resulting in a 375kHz CAN bitrate expected by the CSC. test_csc_servo.CFLAGS += \ - -DUSE_CAN1 \ - -DUSE_USB_LP_CAN1_RX0_IRQ \ - -DCAN_PRESCALER=12 \ - -DCAN_SJW_TQ=CAN_SJW_1tq \ - -DCAN_BS1_TQ=CAN_BS1_3tq \ - -DCAN_BS2_TQ=CAN_BS2_4tq \ - -DCAN_ERR_RESUME=DISABLE + -DUSE_CAN1 \ + -DUSE_USB_LP_CAN1_RX0_IRQ \ + -DCAN_PRESCALER=12 \ + -DCAN_SJW_TQ=CAN_SJW_1tq \ + -DCAN_BS1_TQ=CAN_BS1_3tq \ + -DCAN_BS2_TQ=CAN_BS2_4tq \ + -DCAN_ERR_RESUME=DISABLE test_csc_servo.srcs += can.c $(SRC_ARCH)/can_hw.c @@ -1167,8 +1167,8 @@ test_gps.ARCHDIR = $(ARCH) test_gps.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c \ - $(SRC_ARCH)/stm32_exceptions.c \ - $(SRC_ARCH)/stm32_vector_table.c + $(SRC_ARCH)/stm32_exceptions.c \ + $(SRC_ARCH)/stm32_vector_table.c test_gps.CFLAGS += -DUSE_LED test_gps.srcs += $(SRC_ARCH)/led_hw.c test_gps.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 @@ -1178,7 +1178,7 @@ test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_gps.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_gps.srcs += $(SRC_ARCH)/uart_hw.c -test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_gps.srcs += downlink.c pprz_transport.c test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 @@ -1198,21 +1198,21 @@ test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_skytraq.c # test_adc.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT # test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) # test_adc.srcs += $(SRC_LISA)/test/lisa_test_adc.c \ -# $(SRC_ARCH)/stm32_exceptions.c \ -# $(SRC_ARCH)/stm32_vector_table.c +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c # test_adc.CFLAGS += -DUSE_LED # test_adc.srcs += $(SRC_ARCH)/led_hw.c # test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 # test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 # test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -# +# # test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 # test_adc.srcs += $(SRC_ARCH)/uart_hw.c -# -# test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +# +# test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 # test_adc.srcs += downlink.c pprz_transport.c -# -# test_adc.srcs += $(SRC_ARCH)/adc_hw.c +# +# test_adc.srcs += $(SRC_ARCH)/adc_hw.c # # test adc @@ -1221,9 +1221,9 @@ test_adc.ARCHDIR = $(ARCH) test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_adc.srcs = $(SRC_ARCH)/adc_hw.c \ - $(SRC_LISA)/test_adc.c \ - $(SRC_ARCH)/stm32_exceptions.c \ - $(SRC_ARCH)/stm32_vector_table.c + $(SRC_LISA)/test_adc.c \ + $(SRC_ARCH)/stm32_exceptions.c \ + $(SRC_ARCH)/stm32_vector_table.c test_adc.CFLAGS += -DUSE_LED test_adc.srcs += $(SRC_ARCH)/led_hw.c test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 @@ -1234,7 +1234,7 @@ test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_adc.srcs += $(SRC_ARCH)/uart_hw.c test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 -test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_adc.srcs += downlink.c pprz_transport.c test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4 @@ -1262,7 +1262,7 @@ test_board.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_board.srcs += $(SRC_ARCH)/uart_hw.c test_board.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 -test_board.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +test_board.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_board.srcs += downlink.c pprz_transport.c test_board.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 @@ -1274,7 +1274,7 @@ test_board.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c test_board.CFLAGS += -DUSE_I2C1 -test_board.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c +test_board.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c @@ -1390,5 +1390,3 @@ hs_gyro_crista.srcs += $(SRC_BOOZ)/booz_imu.c \ hs_gyro_crista.CFLAGS += -DUSE_DMA1_C4_IRQ hs_gyro_crista.CFLAGS += -DMEASURED_SENSOR=gyro_unscaled.p -DMEASURED_SENSOR_NB=0 - - diff --git a/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile b/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile index bedefbdf33..9cba0ddef0 100644 --- a/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile +++ b/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile @@ -8,6 +8,6 @@ ap.srcs += $(SRC_ARCH)/servos_direct_hw.c $(SRC_FIXEDWING)/actuators.c # Carefull: paths might get broken with this silly rotorcraft/fixedwing mixup of directories ifeq ($(ARCH), stm32) -ap.srcs += $(SRC_FIXEDWING)/booz/arch/stm32/actuators/booz_actuators_pwm_arch.c +ap.srcs += $(SRC_FIXEDWING)/booz/arch/stm32/actuators/actuators_pwm_arch.c ap.CFLAGS += -I$(SRC_FIXEDWING)/booz/arch/stm32/ endif diff --git a/conf/settings/settings_booz2_asctec.xml b/conf/settings/settings_booz2_asctec.xml index 12241fb818..00eba79897 100644 --- a/conf/settings/settings_booz2_asctec.xml +++ b/conf/settings/settings_booz2_asctec.xml @@ -2,13 +2,13 @@ - - - - - - - + + + + + + + diff --git a/sw/airborne/arch/stm32/servos_direct_hw.c b/sw/airborne/arch/stm32/servos_direct_hw.c index f0e2ff8c6e..91ef70b268 100644 --- a/sw/airborne/arch/stm32/servos_direct_hw.c +++ b/sw/airborne/arch/stm32/servos_direct_hw.c @@ -2,10 +2,10 @@ #include "actuators.h" #include "servos_direct_hw.h" -int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB]; +int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; void actuators_init ( void ) { - booz_actuators_pwm_arch_init(); + actuators_pwm_arch_init(); } diff --git a/sw/airborne/arch/stm32/servos_direct_hw.h b/sw/airborne/arch/stm32/servos_direct_hw.h index 6a6cd04b49..04dc53afae 100644 --- a/sw/airborne/arch/stm32/servos_direct_hw.h +++ b/sw/airborne/arch/stm32/servos_direct_hw.h @@ -4,15 +4,15 @@ #include "std.h" -#define BOOZ_ACTUATORS_PWM_NB 6 -extern int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB]; +#define ACTUATORS_PWM_NB 6 +extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; -#include "actuators/booz_actuators_pwm_arch.h" +#include "actuators/actuators_pwm_arch.h" #define SERVOS_TICS_OF_USEC(_v) (_v) -#define Actuator(_x) booz_actuators_pwm_values[_x] +#define Actuator(_x) actuators_pwm_values[_x] #define ChopServo(x,a,b) Chop(x, a, b) -#define ActuatorsCommit booz_actuators_pwm_commit +#define ActuatorsCommit actuators_pwm_commit #endif /* SERVOS_DIRECT_HW_H */ diff --git a/sw/airborne/beth/main_stm32.c b/sw/airborne/beth/main_stm32.c index 247544cc7c..05985a6535 100644 --- a/sw/airborne/beth/main_stm32.c +++ b/sw/airborne/beth/main_stm32.c @@ -29,7 +29,7 @@ #include "sys_time.h" #include "downlink.h" #include "booz/booz2_commands.h" -#include "booz/booz_actuators.h" +#include "booz/actuators.h" //#include "booz/booz_radio_control.h" #include "imu.h" #include "lisa/lisa_overo_link.h" diff --git a/sw/airborne/booz/arch/sim/actuators/booz_actuators_mkk_arch.c b/sw/airborne/booz/arch/sim/actuators/booz_actuators_mkk_arch.c deleted file mode 100644 index db6337a018..0000000000 --- a/sw/airborne/booz/arch/sim/actuators/booz_actuators_mkk_arch.c +++ /dev/null @@ -1,3 +0,0 @@ -#include "actuators/booz_actuators_mkk.h" - -void booz_actuators_mkk_arch_init(void) {} diff --git a/sw/airborne/booz/arch/sim/actuators_buss_twi_blmc_hw.h b/sw/airborne/booz/arch/sim/actuators_buss_twi_blmc_hw.h index 47c0a8f10e..b09290a0ba 100644 --- a/sw/airborne/booz/arch/sim/actuators_buss_twi_blmc_hw.h +++ b/sw/airborne/booz/arch/sim/actuators_buss_twi_blmc_hw.h @@ -25,7 +25,7 @@ #define ACTUATORS_BUSS_TWI_BLMC_HW_H #include "airframe.h" -#include "actuators/booz_supervision.h" +#include "actuators/supervision.h" #define BUSS_TWI_BLMC_NB 4 extern uint8_t buss_twi_blmc_motor_power[BUSS_TWI_BLMC_NB]; diff --git a/sw/airborne/actuators.h b/sw/airborne/firmwares/fixedwing/actuators.h similarity index 100% rename from sw/airborne/actuators.h rename to sw/airborne/firmwares/fixedwing/actuators.h diff --git a/sw/airborne/booz/booz_actuators.h b/sw/airborne/firmwares/rotorcraft/actuators.h similarity index 71% rename from sw/airborne/booz/booz_actuators.h rename to sw/airborne/firmwares/rotorcraft/actuators.h index f61c4c62f9..23d7988fa4 100644 --- a/sw/airborne/booz/booz_actuators.h +++ b/sw/airborne/firmwares/rotorcraft/actuators.h @@ -1,5 +1,5 @@ -#ifndef BOOZ_ACTUATORS_H -#define BOZZ_ACTUATORS_H +#ifndef ACTUATORS_H +#define ACTUATORS_H //#include ACTUATORS //#include "booz2_servos_direct_hw.h" @@ -10,4 +10,4 @@ extern void actuators_init(void); extern void actuators_set(bool_t motors_on); -#endif /* BOOZ_ACTUATORS_H */ +#endif /* ACTUATORS_H */ diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c index afd64fe0fc..db9b9a4e07 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c @@ -1,8 +1,8 @@ -#include "booz/booz_actuators.h" -#include "booz/actuators/booz_actuators_asctec.h" +#include "actuators.h" +#include "actuators/actuators_asctec.h" #ifdef ACTUATORS_ASCTEC_V2_PROTOCOL -#include "booz/actuators/booz_supervision.h" +#include "actuators/supervision.h" #endif #include "booz/booz2_commands.h" @@ -10,7 +10,7 @@ #include "sys_time.h" -struct ActuatorsAsctec actuators_asctec; +struct ActuatorsAsctec actuators_asctec; uint32_t actuators_delay_time; bool_t actuators_delay_done; @@ -124,11 +124,11 @@ void actuators_set(bool_t motors_on) { actuators_asctec.i2c_trans.buf[1] = supervision.commands[SERVO_BACK]; actuators_asctec.i2c_trans.buf[2] = supervision.commands[SERVO_LEFT]; actuators_asctec.i2c_trans.buf[3] = supervision.commands[SERVO_RIGHT]; - actuators_asctec.i2c_trans.buf[4] = 0xAA + actuators_asctec.i2c_trans.buf[0] + actuators_asctec.i2c_trans.buf[1] + + actuators_asctec.i2c_trans.buf[4] = 0xAA + actuators_asctec.i2c_trans.buf[0] + actuators_asctec.i2c_trans.buf[1] + actuators_asctec.i2c_trans.buf[2] + actuators_asctec.i2c_trans.buf[3]; #endif i2c_submit(&ACTUATORS_ASCTEC_DEVICE, &actuators_asctec.i2c_trans); - + } #endif /* ACTUATORS_ASCTEC_V2_PROTOCOL */ diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h index 337f0060d3..01198b281a 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h @@ -21,8 +21,8 @@ * Boston, MA 02111-1307, USA. */ -#ifndef BOOZ_ACTUATORS_ASCTEC_H -#define BOOZ_ACTUATORS_ASCTEC_H +#ifndef ACTUATORS_ASCTEC_H +#define ACTUATORS_ASCTEC_H #include "i2c.h" @@ -55,17 +55,17 @@ struct ActuatorsAsctec { extern struct ActuatorsAsctec actuators_asctec; -#define booz_actuators_asctec_SetCommand(_v) { \ +#define actuators_asctec_SetCommand(_v) { \ actuators_asctec.cmd = _v; \ } -#define booz_actuators_asctec_SetNewAddr(_v) { \ +#define actuators_asctec_SetNewAddr(_v) { \ actuators_asctec.new_addr = _v; \ } -#define booz_actuators_asctec_SetCurAddr(_v) { \ +#define actuators_asctec_SetCurAddr(_v) { \ actuators_asctec.cur_addr = _v; \ } -#endif /* BOOZ_ACTUATORS_ASCTEC_H */ +#endif /* ACTUATORS_ASCTEC_H */ diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c index c58e7cf29e..deb4ac8d0a 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c @@ -21,28 +21,28 @@ * Boston, MA 02111-1307, USA. */ -#include "booz/booz_actuators.h" -#include "booz/actuators/booz_actuators_heli.h" +#include "actuators.h" +#include "actuators/actuators_heli.h" #include "booz/booz2_commands.h" /* let's start butchery now and use the actuators_pwm arch functions */ -#include "booz/actuators/booz_actuators_pwm.h" +#include "actuators/actuators_pwm.h" /* get SetActuatorsFromCommands() macro */ #include "airframe.h" /* define the glue between control and SetActuatorsFromCommands */ -#define actuators booz_actuators_pwm_values +#define actuators actuators_pwm_values #define SERVOS_TICS_OF_USEC(_v) (_v) #define ESC_STOPPED SERVOS_TICS_OF_USEC(1000) -#define ESC_HOVER SERVOS_TICS_OF_USEC(1750) -#define Actuator(_x) booz_actuators_pwm_values[_x] +#define ESC_HOVER SERVOS_TICS_OF_USEC(1750) +#define Actuator(_x) actuators_pwm_values[_x] #define ChopServo(x,a,b) Chop(x, a, b) -#define ActuatorsCommit booz_actuators_pwm_commit +#define ActuatorsCommit actuators_pwm_commit -int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB]; +int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; -void actuators_init(void) { booz_actuators_pwm_arch_init(); } +void actuators_init(void) { actuators_pwm_arch_init(); } void actuators_set(bool_t motors_on) { diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.h index 25786bbbf5..bfd276d62e 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.h +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.h @@ -1,6 +1,6 @@ /* * $Id: actuators_heli$ - * + * * Copyright (C) 2010 The Paparazzi Team * * This file is part of paparazzi. @@ -22,9 +22,8 @@ * */ -#ifndef BOOZ_ACTUATORS_HELI_H -#define BOOZ_ACTUATORS_HELI_H +#ifndef ACTUATORS_HELI_H +#define ACTUATORS_HELI_H -#endif /* BOOZ_ACTUATORS_HELI_H */ - +#endif /* ACTUATORS_HELI_H */ diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c index 2eb1eac92a..4296e72996 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c @@ -21,8 +21,8 @@ * Boston, MA 02111-1307, USA. */ -#include "booz/booz_actuators.h" -#include "booz/actuators/booz_actuators_mkk.h" +#include "actuators.h" +#include "actuators/actuators_mkk.h" #include "booz/booz2_commands.h" #include "i2c.h" @@ -46,7 +46,7 @@ void actuators_init(void) { actuators_mkk.trans[i].stop_after_transmit = TRUE; actuators_mkk.trans[i].status = I2CTransSuccess; } - + #if defined BOOZ_START_DELAY && ! defined SITL actuators_delay_done = FALSE; SysTimeTimerStart(actuators_delay_time); @@ -54,7 +54,7 @@ void actuators_init(void) { actuators_delay_done = TRUE; actuators_delay_time = 0; #endif - + } diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h index eb0373b2af..b9299ea556 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h @@ -1,6 +1,6 @@ /* - * $Id: actuators_buss_twi_blmc_hw.h 3847 2009-08-02 21:47:31Z poine $ - * + * $Id: actuators_mkk.h 3847 2009-08-02 21:47:31Z poine $ + * * Copyright (C) 2008-2009 Antoine Drouin * * This file is part of paparazzi. @@ -18,11 +18,11 @@ * 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. + * Boston, MA 02111-1307, USA. */ -#ifndef BOOZ_ACTUATORS_MKK_H -#define BOOZ_ACTUATORS_MKK_H +#ifndef ACTUATORS_MKK_H +#define ACTUATORS_MKK_H #include "std.h" #include "i2c.h" @@ -34,11 +34,11 @@ struct ActuatorsMkk { struct i2c_transaction trans[ACTUATORS_MKK_NB]; }; -extern struct ActuatorsMkk actuators_mkk; +extern struct ActuatorsMkk actuators_mkk; -#include "actuators/booz_supervision.h" +#include "actuators/supervision.h" -#endif /* BOOZ_ACTUATORS_MKK_H */ +#endif /* ACTUATORS_MKK_H */ diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c index 01445df40f..75422cf32d 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c @@ -1,7 +1,7 @@ -#include "actuators/booz_actuators_pwm.h" +#include "actuators/actuators_pwm.h" -int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB]; +int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; -void booz_actuators_init(void) { - booz_actuators_pwm_arch_init(); +void actuators_init(void) { + actuators_pwm_arch_init(); } diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h index 477d3b7862..1966611425 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h @@ -1,6 +1,6 @@ /* * $Id$ - * + * * Copyright (C) 2010 The Paparazzi Team * * This file is part of Paparazzi. @@ -18,19 +18,19 @@ * 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. + * Boston, MA 02111-1307, USA. */ -#ifndef BOOZ_ACTUATORS_PWM_H -#define BOOZ_ACTUATORS_PWM_H +#ifndef ACTUATORS_PWM_H +#define ACTUATORS_PWM_H #include "std.h" -#define BOOZ_ACTUATORS_PWM_NB 6 -extern int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB]; +#define ACTUATORS_PWM_NB 6 +extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; -extern void booz_actuators_init(void); +extern void actuators_init(void); -#include "actuators/booz_actuators_pwm_arch.h" +#include "actuators_pwm_arch.h" -#endif /* BOOZ_ACTUATORS_PWM_H */ +#endif /* ACTUATORS_PWM_H */ diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.c b/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.c new file mode 100644 index 0000000000..2ed9a99455 --- /dev/null +++ b/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.c @@ -0,0 +1,3 @@ +#include "actuators/actuators_mkk.h" + +void actuators_mkk_arch_init(void) {} diff --git a/sw/airborne/booz/arch/sim/actuators/booz_actuators_mkk_arch.h b/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.h similarity index 81% rename from sw/airborne/booz/arch/sim/actuators/booz_actuators_mkk_arch.h rename to sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.h index 84a5909a4d..399c3c6c78 100644 --- a/sw/airborne/booz/arch/sim/actuators/booz_actuators_mkk_arch.h +++ b/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.h @@ -1,6 +1,6 @@ /* * $Id$ - * + * * Copyright (C) 2009 Antoine Drouin * * This file is part of paparazzi. @@ -18,12 +18,12 @@ * 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. + * Boston, MA 02111-1307, USA. */ -#ifndef BOOZ_ACTUATORS_MKK_ARCH_H -#define BOOZ_ACTUATORS_MKK_ARCH_H +#ifndef ACTUATORS_MKK_ARCH_H +#define ACTUATORS_MKK_ARCH_H -#define BoozActuatorsMkkArchSend() {} +#define ActuatorsMkkArchSend() {} -#endif /* BOOZ_ACTUATORS_MKK_ARCH_H */ +#endif /* ACTUATORS_MKK_ARCH_H */ diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c b/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c index 5655d96349..74abff3740 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c +++ b/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c @@ -22,7 +22,7 @@ * */ -#include "booz/actuators/booz_actuators_pwm.h" +#include "booz/actuators/actuators_pwm.h" #include #include @@ -36,7 +36,7 @@ #define SERVO_HZ 40 #endif -void booz_actuators_pwm_arch_init(void) { +void actuators_pwm_arch_init(void) { /* TIM3 and TIM4 clock enable */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); @@ -114,11 +114,11 @@ void booz_actuators_pwm_arch_init(void) { } /* set pulse widths from actuator values, assumed to be in us */ -void booz_actuators_pwm_commit(void) { - TIM_SetCompare1(TIM3, booz_actuators_pwm_values[0]); - TIM_SetCompare2(TIM3, booz_actuators_pwm_values[1]); - TIM_SetCompare3(TIM3, booz_actuators_pwm_values[2]); - TIM_SetCompare4(TIM3, booz_actuators_pwm_values[3]); - TIM_SetCompare3(TIM4, booz_actuators_pwm_values[4]); - TIM_SetCompare4(TIM4, booz_actuators_pwm_values[5]); +void actuators_pwm_commit(void) { + TIM_SetCompare1(TIM3, actuators_pwm_values[0]); + TIM_SetCompare2(TIM3, actuators_pwm_values[1]); + TIM_SetCompare3(TIM3, actuators_pwm_values[2]); + TIM_SetCompare4(TIM3, actuators_pwm_values[3]); + TIM_SetCompare3(TIM4, actuators_pwm_values[4]); + TIM_SetCompare4(TIM4, actuators_pwm_values[5]); } diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h b/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h index ea09c6cdb1..20115ec32e 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h +++ b/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h @@ -26,10 +26,10 @@ * STM32 PWM servos handling */ -#ifndef BOOZ_ACTUATORS_PWM_ARCH_H -#define BOOZ_ACTUATORS_PWM_ARCH_H +#ifndef ACTUATORS_PWM_ARCH_H +#define ACTUATORS_PWM_ARCH_H -extern void booz_actuators_pwm_arch_init(void); -extern void booz_actuators_pwm_commit(void); +extern void actuators_pwm_arch_init(void); +extern void actuators_pwm_commit(void); -#endif /* BOOZ_ACTUATORS_PWM_ARCH_H */ +#endif /* ACTUATORS_PWM_ARCH_H */ diff --git a/sw/airborne/firmwares/rotorcraft/actuators/supervision.c b/sw/airborne/firmwares/rotorcraft/actuators/supervision.c index 06699eba98..1118487e9b 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/supervision.c +++ b/sw/airborne/firmwares/rotorcraft/actuators/supervision.c @@ -22,7 +22,7 @@ * */ -#include "actuators/booz_supervision.h" +#include "actuators/supervision.h" //#include #ifndef INT32_MIN diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c index ed28927fbf..6f85108c9d 100644 --- a/sw/airborne/firmwares/rotorcraft/main.c +++ b/sw/airborne/firmwares/rotorcraft/main.c @@ -35,7 +35,7 @@ #include "datalink.h" #include "booz2_commands.h" -#include "booz_actuators.h" +#include "actuators.h" #include "booz_radio_control.h" #include "imu.h" diff --git a/sw/airborne/lisa/lisa_stm_passthrough_main.c b/sw/airborne/lisa/lisa_stm_passthrough_main.c index 81bd46c0d1..75eb42ad44 100644 --- a/sw/airborne/lisa/lisa_stm_passthrough_main.c +++ b/sw/airborne/lisa/lisa_stm_passthrough_main.c @@ -26,8 +26,8 @@ #include "sys_time.h" #include "downlink.h" #include "booz/booz2_commands.h" -#include "booz/booz_actuators.h" -#include "booz/actuators/booz_actuators_pwm.h" +#include "actuators.h" +#include "actuators/actuators_pwm.h" #include "imu.h" #include "booz/booz_radio_control.h" #include "lisa/lisa_overo_link.h" @@ -71,8 +71,8 @@ static struct adc_buf adc3_buf; extern uint8_t adc_new_data_trigger; -#define ActuatorsCommit() booz_actuators_pwm_commit(); -#define actuators booz_actuators_pwm_values +#define ActuatorsCommit() actuators_pwm_commit(); +#define actuators actuators_pwm_values int main(void) { @@ -94,7 +94,7 @@ static inline void main_init(void) { imu_init(); baro_init(); radio_control_init(); - booz_actuators_init(); + actuators_init(); overo_link_init(); cscp_init(); adc_init(); @@ -212,12 +212,12 @@ static inline void on_overo_link_msg_received(void) { /* pwm acuators down */ if (radio_control.values[RADIO_CONTROL_MODE] <= 150) { for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) { - booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i]; + actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i]; } if (radio_control.values[RADIO_CONTROL_KILL] > 150) { actuators[SERVO_THROTTLE] = SERVO_THROTTLE_MIN; } - booz_actuators_pwm_commit(); + actuators_pwm_commit(); } } diff --git a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c index 513d2a1019..96e3976335 100644 --- a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c +++ b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c @@ -25,10 +25,10 @@ #include "init_hw.h" #include "sys_time.h" #include "booz2_commands.h" -#include "booz_actuators.h" +#include "actuators.h" #include "downlink.h" -#include "actuators/booz_actuators_asctec.h" +#include "actuators/actuators_asctec.h" static inline void main_init( void ); static inline void main_periodic_task( void ); diff --git a/sw/airborne/lisa/test/test_board.c b/sw/airborne/lisa/test/test_board.c index b1edaf6801..dca59b6f99 100644 --- a/sw/airborne/lisa/test/test_board.c +++ b/sw/airborne/lisa/test/test_board.c @@ -1,6 +1,6 @@ /* * $Id$ - * + * * Copyright (C) 2008-2009 Antoine Drouin * * This file is part of paparazzi. @@ -18,7 +18,7 @@ * 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. + * Boston, MA 02111-1307, USA. */ #include @@ -39,7 +39,7 @@ #include "settings.h" #include "lisa/lisa_baro.h" -#include "booz/actuators/booz_actuators_pwm.h" +#include "actuators/actuators_pwm.h" static inline void main_init( void ); static inline void main_periodic_task( void ); @@ -101,10 +101,10 @@ static inline void main_init( void ) { hw_init(); sys_time_init(); led_init(); - + baro_init(); - booz_actuators_init(); - + actuators_init(); + // cur_test = TestTypeNone; cur_test = TestTypeBldc; @@ -124,7 +124,7 @@ static inline void main_event_task( void ) { DatalinkEvent(); tests[cur_test]._event(); - + } void start_test(void) { @@ -153,26 +153,26 @@ static void test_none_event(void) {} static inline void test_baro_on_baro_diff(void); static inline void test_baro_on_baro_abs(void); static void test_baro_start(void) {all_led_green();} -static void test_baro_periodic(void) { +static void test_baro_periodic(void) { RunOnceEvery(2, {baro_periodic();}); RunOnceEvery(100,{ - DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, - &i2c2_errors.ack_fail_cnt, - &i2c2_errors.miss_start_stop_cnt, - &i2c2_errors.arb_lost_cnt, - &i2c2_errors.over_under_cnt, - &i2c2_errors.pec_recep_cnt, - &i2c2_errors.timeout_tlow_cnt, - &i2c2_errors.smbus_alert_cnt, - &i2c2_errors.unexpected_event_cnt, - &i2c2_errors.last_unexpected_event); + DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, + &i2c2_errors.ack_fail_cnt, + &i2c2_errors.miss_start_stop_cnt, + &i2c2_errors.arb_lost_cnt, + &i2c2_errors.over_under_cnt, + &i2c2_errors.pec_recep_cnt, + &i2c2_errors.timeout_tlow_cnt, + &i2c2_errors.smbus_alert_cnt, + &i2c2_errors.unexpected_event_cnt, + &i2c2_errors.last_unexpected_event); }); } static void test_baro_event(void) {BaroEvent(test_baro_on_baro_abs, test_baro_on_baro_diff);} static inline void test_baro_on_baro_abs(void) { RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);}); } -static inline void test_baro_on_baro_diff(void) { +static inline void test_baro_on_baro_diff(void) { RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);}); } @@ -190,16 +190,16 @@ static void test_bldc_periodic(void) { i2c1_transmit(0x58, 1, NULL); RunOnceEvery(100,{ - DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, - &i2c1_errors.ack_fail_cnt, - &i2c1_errors.miss_start_stop_cnt, - &i2c1_errors.arb_lost_cnt, - &i2c1_errors.over_under_cnt, - &i2c1_errors.pec_recep_cnt, - &i2c1_errors.timeout_tlow_cnt, - &i2c1_errors.smbus_alert_cnt, - &i2c1_errors.unexpected_event_cnt, - &i2c1_errors.last_unexpected_event); + DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, + &i2c1_errors.ack_fail_cnt, + &i2c1_errors.miss_start_stop_cnt, + &i2c1_errors.arb_lost_cnt, + &i2c1_errors.over_under_cnt, + &i2c1_errors.pec_recep_cnt, + &i2c1_errors.timeout_tlow_cnt, + &i2c1_errors.smbus_alert_cnt, + &i2c1_errors.unexpected_event_cnt, + &i2c1_errors.last_unexpected_event); }); } @@ -217,8 +217,8 @@ static void test_srvo_periodic(void) { foo += 0.0025; int32_t bar = 1500 + 500. * sin(foo); for (uint8_t i=0; i<6; i++) - booz_actuators_pwm_values[i] = bar; - booz_actuators_pwm_commit(); + actuators_pwm_values[i] = bar; + actuators_pwm_commit(); } static void test_srvo_event(void) {} @@ -243,7 +243,7 @@ static void test_uart_start(void) { } static void test_uart_periodic(void) { - + if (idx_tx * * This file is part of paparazzi. @@ -18,7 +18,7 @@ * 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. + * Boston, MA 02111-1307, USA. */ @@ -28,7 +28,7 @@ #include "i2c.h" #include "booz/booz2_commands.h" -#include "booz/booz_actuators.h" +#include "actuators.h" static inline void main_init( void ); static inline void main_periodic_task( void ); @@ -55,7 +55,7 @@ static inline void main_init( void ) { static inline void main_periodic_task( void ) { - + booz2_commands[COMMAND_ROLL]=0; booz2_commands[COMMAND_PITCH]=0; booz2_commands[COMMAND_YAW]=0; diff --git a/sw/simulator/nps/nps_autopilot_booz.c b/sw/simulator/nps/nps_autopilot_booz.c index ab77e941cd..4f469c69c2 100644 --- a/sw/simulator/nps/nps_autopilot_booz.c +++ b/sw/simulator/nps/nps_autopilot_booz.c @@ -7,7 +7,7 @@ #include "imu.h" #include "firmwares/rotorcraft/baro.h" -#include "actuators/booz_supervision.h" +#include "actuators/supervision.h" struct NpsAutopilot autopilot;