From ad451c1eb92c13764072b65d04142c4467a048c4 Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Thu, 20 Sep 2012 00:30:39 +0200 Subject: [PATCH] [airborne] moved actuators_pwm_arch out of rotorcraft firmware --- .../rotorcraft/actuators_pwm_supervision.makefile | 7 ++----- .../firmwares/subsystems/shared/actuators_direct.makefile | 7 +------ sw/airborne/actuators.c | 6 ++---- .../sim/subsystems/actuators}/actuators_pwm_arch.c | 0 .../sim/subsystems/actuators}/actuators_pwm_arch.h | 0 sw/airborne/arch/stm32/servos_direct_hw.h | 2 +- .../stm32/subsystems/actuators}/actuators_pwm_arch.c | 2 +- .../stm32/subsystems/actuators}/actuators_pwm_arch.h | 2 +- sw/airborne/firmwares/fixedwing/actuators.h | 8 +++----- .../firmwares/rotorcraft/actuators/actuators_pwm.h | 4 +--- 10 files changed, 12 insertions(+), 26 deletions(-) rename sw/airborne/{firmwares/rotorcraft/actuators/arch/sim => arch/sim/subsystems/actuators}/actuators_pwm_arch.c (100%) rename sw/airborne/{firmwares/rotorcraft/actuators/arch/sim => arch/sim/subsystems/actuators}/actuators_pwm_arch.h (100%) rename sw/airborne/{firmwares/rotorcraft/actuators/arch/stm32 => arch/stm32/subsystems/actuators}/actuators_pwm_arch.c (99%) rename sw/airborne/{firmwares/rotorcraft/actuators/arch/stm32 => arch/stm32/subsystems/actuators}/actuators_pwm_arch.h (97%) diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile index 0a20b31688..04cae36bbd 100644 --- a/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile +++ b/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 diff --git a/conf/firmwares/subsystems/shared/actuators_direct.makefile b/conf/firmwares/subsystems/shared/actuators_direct.makefile index 07865d71d1..ca27dd9af1 100644 --- a/conf/firmwares/subsystems/shared/actuators_direct.makefile +++ b/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 diff --git a/sw/airborne/actuators.c b/sw/airborne/actuators.c index ec21c7845f..0d2a660b22 100644 --- a/sw/airborne/actuators.c +++ b/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]; diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_pwm_arch.c b/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.c similarity index 100% rename from sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_pwm_arch.c rename to sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.c diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_pwm_arch.h b/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.h similarity index 100% rename from sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_pwm_arch.h rename to sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.h diff --git a/sw/airborne/arch/stm32/servos_direct_hw.h b/sw/airborne/arch/stm32/servos_direct_hw.h index f9eca30fd5..c674c5f0bf 100644 --- a/sw/airborne/arch/stm32/servos_direct_hw.h +++ b/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]; diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c similarity index 99% rename from sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c rename to sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c index bfd3ee204f..bddb299a11 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c +++ b/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" diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h similarity index 97% rename from sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h rename to sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h index 2117fdded1..bc5adcf888 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h +++ b/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 diff --git a/sw/airborne/firmwares/fixedwing/actuators.h b/sw/airborne/firmwares/fixedwing/actuators.h index 50b8069d58..5f310f7a3c 100644 --- a/sw/airborne/firmwares/fixedwing/actuators.h +++ b/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 diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h index 6d17dc4561..3d80c344d2 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h +++ b/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];