finished modifying for two stage module, wrapper with init func for pwm_input hw access and xtend_rssi module that uses measured pwm input values

conf/airframes/microjet_example.xml

@@ -195,7 +195,7 @@
 
   <modules>
     <load name="infrared_adc.xml"/>
-    <load name="pwm_input_mod.xml"/>
+    <load name="pwm_meas.xml"/>
     <load name="xtend_rssi.xml">
       <configure name="XTEND_RSSI_PWM_INPUT_CHANNEL" value="1"/>
     </load>

conf/modules/pwm_meas.xml

@@ -0,0 +1,19 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+<!-- Currently only available on LPC21xx arch
+    pwm input measurement mcu periph access and init wrapper for other modules
+      For LPC21xx on the TWOG:
+      1 - INPUT CAPTURE CAP0.3 on P0.29 (TWOG ADC5, 5V->3.3V voltage divider)
+      2 - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider)
+-->
+<module name="pwm_meas" dir="core">
+  <header>
+    <file name="pwm_meas.h"/>
+  </header>
+  <init fun="pwm_meas_init()"/>
+  <makefile target="ap">
+    <file name="pwm_meas.c"/>
+    <file name="pwm_input.c" dir="mcu_periph"/>
+    <file_arch name="pwm_input_arch.c" dir="mcu_periph"/>
+    <define name="USE_PWM_INPUT"/> <!-- needed to enable the pwm_input interrupts in sys_time_hw.c -->
+  </makefile>
+</module>

conf/modules/xtend_rssi.xml

@@ -7,18 +7,14 @@
       2 - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider)
 -->
 <module name="xtend_rssi" dir="datalink">
-  <depend require="pwm_input_mod.xml"/>
+  <depend require="pwm_meas.xml"/>
   <header>
     <file name="xtend_rssi.h"/>
   </header>
-  <!-- <init fun="xtend_rssi_init()"/> -->
   <periodic fun="xtend_rssi_periodic()" freq="0.5"/>
   <makefile target="ap">
     <file name="xtend_rssi.c"/>
-    <!-- <file name="pwm_input.c" dir="mcu_periph"/> -->
-    <!-- <file_arch name="pwm_input_arch.c" dir="mcu_periph"/> -->
     <define name="XTEND_RSSI_PWM_INPUT_CHANNEL" value="$(XTEND_RSSI_PWM_INPUT_CHANNEL)"/> <!-- configure the pwm input to be used in airframe file -->
-    <!-- <define name="USE_PWM_INPUT"/> --> <!-- needed to enable the pwm_input interrupts in sys_time_hw.c -->
     <define name="USE_PWM_INPUT$(XTEND_RSSI_PWM_INPUT_CHANNEL)" value="PWM_PULSE_TYPE_ACTIVE_HIGH"/> <!-- rssi signal is active high -->
   </makefile>
 </module>

sw/airborne/modules/core/pwm_meas.c

@@ -0,0 +1,38 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/** \file pwm_meas.c
+ *
+ *   Wrapper to access pwm_input mcu peripheral from other modules
+ */
+
+
+#include "modules/core/pwm_meas.h"
+#include "mcu_periph/pwm_input.h"
+#include "sys_time.h"
+
+void pwm_meas_init( void )
+{
+  pwm_input_init();
+}

sw/airborne/modules/core/pwm_meas.h

@@ -0,0 +1,35 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/** \file pwm_meas.h
+ *
+ *   Wrapper to access pwm_input mcu peripheral from other modules
+ */
+
+#ifndef PWM_MEAS_H
+#define PWM_MEAS_H
+
+void pwm_meas_init( void );
+
+#endif

sw/airborne/modules/datalink/xtend_rssi.c

@@ -46,11 +46,6 @@
 
 #define XTEND_RSSI_PWM_ARRAY_INDEX (XTEND_RSSI_PWM_INPUT_CHANNEL - 1)
 
-void xtend_rssi_init( void )
-{
-  //pwm_input_init();
-}
-
 void xtend_rssi_periodic( void ) {
 
 /* get the last duty if valid then reset valid flag (this says if we got another pulse since the last one)

sw/airborne/modules/datalink/xtend_rssi.h

@@ -32,7 +32,6 @@
 #ifndef XTEND_RSSI_H
 #define XTEND_RSSI_H
 
-void xtend_rssi_init( void );
 void xtend_rssi_periodic( void );
 
 #endif