[airborne] moved actuators_pwm_arch out of rotorcraft firmware

conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile

@@ -1,12 +1,9 @@
 
-# add actuatos arch to include directories
-$(TARGET).CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH)
-
 ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
 ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm_supervision.c
-ap.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
+ap.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c
 
 # Simulator
 nps.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
 nps.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm_supervision.c
-nps.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
+nps.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c

conf/firmwares/subsystems/shared/actuators_direct.makefile

@@ -3,11 +3,6 @@
 $(TARGET).CFLAGS += -DACTUATORS=\"servos_direct_hw.h\" -DSERVOS_DIRECT
 $(TARGET).srcs += $(SRC_ARCH)/servos_direct_hw.c actuators.c
 
-
-# TODO TODO UGLY HACK: We re-use the booz actuators: Should become universal actuator code!!
-# Carefull: paths might get broken with this silly rotorcraft/fixedwing mixup of directories
-
 ifeq ($(ARCH), stm32)
-$(TARGET).srcs    += firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
-$(TARGET).CFLAGS  += -Ifirmwares/rotorcraft/actuators/arch/stm32
+$(TARGET).srcs    += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c
 endif

sw/airborne/actuators.c

@@ -17,15 +17,13 @@
  * 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 actuators.c
- *  \brief Hardware independent actuators code
+/** @file actuators.c
+ *  Hardware independent actuators code.
  *
  */
 
 #include "firmwares/fixedwing/actuators.h"
-//#include "actuators.h"
 
 uint16_t actuators[SERVOS_NB];

sw/airborne/arch/stm32/servos_direct_hw.h

@@ -4,7 +4,7 @@
 
 #include "std.h"
 
-#include "actuators_pwm_arch.h"
+#include "subsystems/actuators/actuators_pwm_arch.h"
 
 extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
 

sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c

@@ -20,7 +20,7 @@
  */
 
 /** @file arch/stm32/actuators_pwm_arch.c
- *  STM32 PWM servos handling
+ *  STM32 PWM servos handling.
  */
 
 #include "firmwares/rotorcraft/actuators/actuators_pwm.h"

sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h

@@ -20,7 +20,7 @@
  */
 
 /** @file arch/stm32/actuators_pwm_arch.h
- *  STM32 PWM servos handling
+ *  STM32 PWM servos handling.
  */
 
 #ifndef ACTUATORS_PWM_ARCH_H

sw/airborne/firmwares/fixedwing/actuators.h

@@ -1,5 +1,4 @@
-/*  $Id$
- *
+/*
  * (c) 2003-2005 Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
@@ -18,11 +17,10 @@
  * 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 actuators.h
- *  \brief Hardware independent API for actuators (servos, motor controllers)
+/** @file actuators.h
+ *  Hardware independent API for actuators (servos, motor controllers).
  *
  */
 #ifndef ACTUATORS_H

sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h

@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2010 The Paparazzi Team
  *
  * This file is part of Paparazzi.
@@ -28,7 +26,7 @@
 #include "firmwares/rotorcraft/actuators.h"
 
 #include BOARD_CONFIG
-#include "actuators_pwm_arch.h"
+#include "subsystems/actuators/actuators_pwm_arch.h"
 
 extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB];