[uavcan] Fix NPS simulator (#2699)

conf/airframes/tudelft/neddrone4.xml

@@ -65,7 +65,7 @@
       <define name="RADIO_FMODE"       value="0"/> <!-- Throttle curve select -->
       <define name="RADIO_FBW_MODE"    value="0"/> <!-- Switch between AP and FBW control -->
       <define name="RADIO_FLAPS"       value="0"/> <!-- Flaps control -->
-      <define name="RADIO_KILL_SWITCH" value="6"/>
+      <define name="RADIO_KILL_SWITCH" value="0"/>
       <define name="RADIO_BACK_THOLD"  value="0"/>
     </target>
 

conf/modules/actuators_uavcan.xml

@@ -13,7 +13,7 @@
   <header>
     <file name="actuators_uavcan.h" dir="subsystems/actuators"/>
   </header>
-  <makefile target="ap|nps">
+  <makefile target="ap">
     <file name="actuators_uavcan.c" dir="subsystems/actuators"/>
   </makefile>
 </module>

sw/airborne/arch/sim/modules/uavcan/uavcan.c

@@ -1,41 +0,0 @@
-/*
- * Copyright (C) 2020 Freek van Tienen <freek.v.tienen@gmail.com>
- *
- * 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 arch/chibios/subsystems/actuators/actuators_uavcan_arch.c
- * Interface from actuators to ChibiOS CAN driver using UAVCan
- * 
- */
-
-#include "uavcan.h"
-
-/** uavcan interfaces */
-#if UAVCAN_USE_CAN1
-struct uavcan_iface_t uavcan1;
-#endif
-#if UAVCAN_USE_CAN2
-struct uavcan_iface_t uavcan2;
-#endif
-
-/** uavcan external functions */
-void uavcan_init(void) {}
-void uavcan_bind(uint16_t data_type_id, uint64_t data_type_signature, uavcan_event *ev, uavcan_callback cb) {}
-void uavcan_broadcast(struct uavcan_iface_t *iface, uint64_t data_type_signature, uint16_t data_type_id, uint8_t priority,
-                      const void* payload, uint16_t payload_len) {}

sw/airborne/arch/sim/modules/uavcan/uavcan.h

@@ -19,39 +19,12 @@
  * Boston, MA 02111-1307, USA.
  */
 /**
- * @file arch/sim/modules/uavcan/uavcan.h
+ * @file arch/chibios/modules/uavcan/uavcan.h
- * Stub interface for simulation
+ * Stub needed for compiling modules requiring uavcan
  */
 #ifndef MODULES_UAVCAN_ARCH_H
 #define MODULES_UAVCAN_ARCH_H
 
-#include <std.h>
-#include <string.h>
-
-/** uavcan interface structure */
 struct uavcan_iface_t {};
 
-/** Generic uavcan callback definition */
-struct CanardRxTransfer_t {};
-typedef struct CanardRxTransfer_t CanardRxTransfer;
-typedef void (*uavcan_callback)(struct uavcan_iface_t *iface, CanardRxTransfer* transfer);
-
-/** Main uavcan event structure for registering/calling callbacks */ 
-struct uavcan_event_t {};
-typedef struct uavcan_event_t uavcan_event;
-
-/** uavcan interfaces */
-#if UAVCAN_USE_CAN1
-extern struct uavcan_iface_t uavcan1;
-#endif
-#if UAVCAN_USE_CAN2
-extern struct uavcan_iface_t uavcan2;
-#endif
-
-/** uavcan external functions */
-void uavcan_init(void);
-void uavcan_bind(uint16_t data_type_id, uint64_t data_type_signature, uavcan_event *ev, uavcan_callback cb);
-void uavcan_broadcast(struct uavcan_iface_t *iface, uint64_t data_type_signature, uint16_t data_type_id, uint8_t priority,
-                      const void* payload, uint16_t payload_len);
-
 #endif /* MODULES_UAVCAN_ARCH_H */

sw/airborne/subsystems/actuators/actuators_uavcan1.h

@@ -27,8 +27,14 @@
 /** Stub file needed per uavcan interface because of generator */
 extern int16_t actuators_uavcan1_values[SERVOS_UAVCAN1_NB];
 
+#if USE_NPS
+#define ActuatorsUavcan1Init() {}
+#define ActuatorUavcan1Set(_i, _v) {}
+#define ActuatorsUavcan1Commit()  {}
+#else
 #define ActuatorsUavcan1Init() actuators_uavcan_init(&uavcan1)
 #define ActuatorUavcan1Set(_i, _v) { actuators_uavcan1_values[_i] = _v; }
 #define ActuatorsUavcan1Commit()  actuators_uavcan_commit(&uavcan1, actuators_uavcan1_values, SERVOS_UAVCAN1_NB)
+#endif
 
 #endif /* ACTUATORS_UAVCAN1_H */

sw/airborne/subsystems/actuators/actuators_uavcan2.h

@@ -27,8 +27,14 @@
 /** Stub file needed per interface because of generator */
 extern int16_t actuators_uavcan2_values[SERVOS_UAVCAN2_NB];
 
+#if USE_NPS
+#define ActuatorsUavcan2Init() {}
+#define ActuatorUavcan2Set(_i, _v) {}
+#define ActuatorsUavcan2Commit()  {}
+#else
 #define ActuatorsUavcan2Init() actuators_uavcan_init(&uavcan2)
 #define ActuatorUavcan2Set(_i, _v) { actuators_uavcan2_values[_i] = _v; }
 #define ActuatorsUavcan2Commit()  actuators_uavcan_commit(&uavcan2, actuators_uavcan2_values, SERVOS_UAVCAN2_NB)
+#endif
 
 #endif /* ACTUATORS_UAVCAN2_H */