[datalink] add a datalink init function (#2950)

* [datalink] add a datalink init function

and get rid of the DATALINK_C trick

* [datalink] weak parsing function

* [sim] remove MODULES_C define from sim_ap

this is not necessary and is a source of multiple definition errors

conf/firmwares/setup.makefile

@@ -101,7 +101,7 @@ setup_actuators.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 SETUP_ACTUATORS_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
 setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(SETUP_ACTUATORS_MODEM_PORT_LOWER) -DPPRZ_UART=$(SETUP_ACTUATORS_MODEM_PORT_LOWER)
 setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
-setup_actuators.srcs += modules/datalink/downlink.c pprzlink/src/pprz_transport.c modules/datalink/pprz_dl.c
+setup_actuators.srcs += modules/datalink/downlink.c modules/datalink/datalink.c pprzlink/src/pprz_transport.c modules/datalink/pprz_dl.c
 
 setup_actuators.srcs   += modules/actuators/actuators.c
 setup_actuators.srcs   += $(SRC_FIRMWARE)/setup_actuators.c

conf/firmwares/test_chibios.makefile

@@ -67,7 +67,7 @@ COMMON_TEST_SRCS += $(SRC_ARCH)/mcu_periph/gpio_arch.c
 
 # pprz downlink/datalink
 COMMON_TELEMETRY_CFLAGS = -DDOWNLINK -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
-COMMON_TELEMETRY_SRCS   = modules/datalink/downlink.c modules/datalink/pprz_transport.c modules/datalink/pprz_dl.c
+COMMON_TELEMETRY_SRCS   = modules/datalink/downlink.c modules/datalink/datalink.c modules/datalink/pprz_transport.c modules/datalink/pprz_dl.c
 
 COMMON_TELEMETRY_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
 COMMON_TELEMETRY_CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)

conf/firmwares/test_progs.makefile

@@ -68,7 +68,7 @@ endif
 
 # pprz downlink/datalink
 COMMON_TELEMETRY_CFLAGS = -DDOWNLINK -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
-COMMON_TELEMETRY_SRCS   = modules/datalink/downlink.c pprzlink/src/pprz_transport.c modules/datalink/pprz_dl.c
+COMMON_TELEMETRY_SRCS   = modules/datalink/downlink.c modules/datalink/datalink.c pprzlink/src/pprz_transport.c modules/datalink/pprz_dl.c
 
 # check if we are using UDP
 ifneq (,$(findstring UDP, $(MODEM_DEV)))

conf/modules/datalink_common.xml

@@ -11,6 +11,7 @@
     <file name="datalink.h"/>
     <file name="downlink.h"/>
   </header>
+  <init fun="datalink_init()"/>
   <init fun="downlink_init()"/>
   <periodic fun="telemetry_reporting_task()"/>
   <periodic fun="datalink_periodic()" freq="1"/>

sw/airborne/arch/sim/sim_ap.c

@@ -1,8 +1,6 @@
 /* Definitions and declarations required to compile autopilot code on a
    i386 architecture. Bindings for OCaml. */
 
-#define MODULES_C
-
 #include <stdio.h>
 #include <assert.h>
 #include <sys/time.h>
@@ -37,8 +35,6 @@ bool rc_event_1, rc_event_2;
 uint8_t gps_nb_ovrn, link_fbw_fbw_nb_err, link_fbw_nb_err;
 float alt_roll_pgain;
 float roll_rate_pgain;
-uint16_t datalink_time = 0;
-uint16_t datalink_nb_msgs = 0;
 
 #ifndef SIM_UPDATE_DL
 #define SIM_UPDATE_DL TRUE

sw/airborne/firmwares/demo/demo_ahrs_actuators.c

@@ -124,7 +124,7 @@ static inline void main_periodic_task(void)
     modules_periodic_task();
   }
   RunOnceEvery(10, { LED_PERIODIC();});
-  RunOnceEvery(PERIODIC_FREQUENCY, { datalink_time++; });
+  RunOnceEvery(PERIODIC_FREQUENCY, { datalink_periodic(); });
   periodic_telemetry_send_Main(DefaultPeriodic, &(DefaultChannel).trans_tx, &(DefaultDevice).device);
 
   modules_periodic_task();

sw/airborne/firmwares/setup/setup_actuators.c

@@ -22,7 +22,6 @@
  *
  */
 
-#define DATALINK_C
 #define MODULES_C
 
 /* PERIODIC_C_MAIN is defined before generated/periodic_telemetry.h
@@ -71,7 +70,7 @@ int main(void)
 static inline void main_init(void)
 {
   mcu_init();
-
+  datalink_init();
   downlink_init();
   pprz_dl_init();
 

sw/airborne/modules/datalink/datalink.c

@@ -25,7 +25,6 @@
  *
  */
 
-#define DATALINK_C
 #define MODULES_DATALINK_C
 
 #include "datalink.h"
@@ -36,22 +35,22 @@
 
 #include "pprzlink/messages.h"
 
-#if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_DATALINK
+bool dl_msg_available;
-#include "modules/radio_control/radio_control.h"
+uint16_t datalink_time;
-#endif
+uint16_t datalink_nb_msgs;
-
+uint8_t dl_buffer[MSG_SIZE]  __attribute__((aligned));
-#if USE_GPS
-#include "modules/gps/gps.h"
-#endif
-
-#ifdef RADIO_CONTROL_DATALINK_LED
-#include "led.h"
-#endif
 
 #if USE_NPS
 bool datalink_enabled = true;
 #endif
 
+void datalink_init(void)
+{
+  dl_msg_available = false;
+  datalink_time = 0;
+  datalink_nb_msgs = 0;
+}
+
 void datalink_periodic(void)
 {
   datalink_time++; // called at 1Hz
@@ -69,7 +68,7 @@ void datalink_parse_PING(struct link_device *dev, struct transport_tx *trans, ui
   pprzlink_msg_send_PONG(&msg);
 }
 
-void dl_parse_msg(struct link_device *dev, struct transport_tx *trans, uint8_t *buf)
+void WEAK dl_parse_msg(struct link_device *dev, struct transport_tx *trans, uint8_t *buf)
 {
   uint8_t msg_id = pprzlink_get_msg_id(buf);
   uint8_t class_id = pprzlink_get_msg_class_id(buf);

sw/airborne/modules/datalink/datalink.h

@@ -27,12 +27,6 @@
 #ifndef DATALINK_H
 #define DATALINK_H
 
-#ifdef DATALINK_C
-#define EXTERN
-#else
-#define EXTERN extern
-#endif
-
 #include "std.h"
 #include "pprzlink/dl_protocol.h"
 
@@ -44,22 +38,22 @@
 #define BLUEGIGA 5
 
 /** Flag provided to control calls to ::dl_parse_msg. NOT used in this module*/
-EXTERN bool dl_msg_available;
+extern bool dl_msg_available;
 
 /** time in seconds since last datalink message was received */
-EXTERN uint16_t datalink_time;
+extern uint16_t datalink_time;
 
 /** number of datalink/uplink messages received */
-EXTERN uint16_t datalink_nb_msgs;
+extern uint16_t datalink_nb_msgs;
 
 #define MSG_SIZE 256
-EXTERN uint8_t dl_buffer[MSG_SIZE]  __attribute__((aligned));
+extern uint8_t dl_buffer[MSG_SIZE]  __attribute__((aligned));
 
 /** Should be called when chars are available in dl_buffer */
-EXTERN void dl_parse_msg(struct link_device *dev, struct transport_tx *trans, uint8_t *buf);
+extern void dl_parse_msg(struct link_device *dev, struct transport_tx *trans, uint8_t *buf);
 
 #if USE_NPS
-EXTERN bool datalink_enabled;
+extern bool datalink_enabled;
 #endif
 
 /** Convenience macro to fill dl_buffer */
@@ -72,6 +66,9 @@ EXTERN bool datalink_enabled;
   dl_msg_available = true; \
 }
 
+/** init function */
+extern void datalink_init(void);
+
 /** periodic function, should be called at 1Hz */
 extern void datalink_periodic(void);
 

sw/airborne/modules/datalink/downlink.c

@@ -71,10 +71,6 @@ void downlink_init(void)
   (DefaultDevice).device.nb_bytes = 0;
   (DefaultDevice).device.nb_msgs = 0;
 
-#if defined DATALINK
-  datalink_nb_msgs = 0;
-#endif
-
 #if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_DATALINK_REPORT, send_downlink);
 #endif

sw/airborne/test/mcu_periph/test_adc.c

@@ -20,8 +20,6 @@
  *
  */
 
-#define DATALINK_C
-
 #include BOARD_CONFIG
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
@@ -43,6 +41,7 @@ static inline void main_init(void)
 {
   mcu_init();
   sys_time_register_timer((1. / 100), NULL);
+  datalink_init();
   downlink_init();
   adc_init();
   pprz_dl_init();

sw/airborne/test/modules/test_ahrs.c

@@ -21,8 +21,6 @@
 
 #include <inttypes.h>
 
-#define DATALINK_C
-
 /* PERIODIC_C_MAIN is defined before generated/periodic_telemetry.h
  * in order to implement telemetry_mode_Main_*
  */
@@ -79,6 +77,7 @@ static inline void main_init(void)
   modules_init();
   ahrs_init();
   pprz_dl_init();
+  datalink_init();
   downlink_init();
 
 }

sw/airborne/test/modules/test_imu.c

@@ -21,7 +21,6 @@
 
 #include <inttypes.h>
 
-#define DATALINK_C
 #define ABI_C
 #define MODULES_C
 
@@ -83,8 +82,7 @@ static inline void main_init(void)
   sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
 
   modules_init();
-
+  datalink_init();
-
   downlink_init();
   pprz_dl_init();
 

sw/airborne/test/modules/test_radio_control.c

@@ -23,7 +23,6 @@
 
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
-#define DATALINK_C
 #include "modules/datalink/downlink.h"
 #include "modules/datalink/pprz_dl.h"
 #include "modules/radio_control/radio_control.h"
@@ -50,6 +49,7 @@ static inline void main_init(void)
   mcu_init();
   sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
   radio_control_init();
+  datalink_init();
   downlink_init();
   pprz_dl_init();
 }

sw/airborne/test/modules/test_settings.c

@@ -25,8 +25,6 @@
  * Test persistent settings, use together with conf/settings/test_settings.xml
  */
 
-#define DATALINK_C
-
 #include BOARD_CONFIG
 
 #include "std.h"
@@ -72,7 +70,7 @@ static inline void main_init(void)
   settings_init();
   pprz_dl_init();
 
-
+  datalink_init();
 #if DOWNLINK
   downlink_init();
 #endif

sw/airborne/test/peripherals/test_ami601.c

@@ -25,7 +25,6 @@
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
 #include "led.h"
-#define DATALINK_C
 #include "modules/datalink/downlink.h"
 
 #include "mcu_periph/i2c.h"
@@ -59,6 +58,7 @@ static inline void main_init(void)
 
   LED_ON(4);
   ami601_init();
+  datalink_init();
   downlink_init();
 }
 

sw/airborne/test/peripherals/test_lis302dl_spi.c

@@ -28,7 +28,6 @@
 #include BOARD_CONFIG
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
-#define DATALINK_C
 #include "modules/datalink/downlink.h"
 #include "led.h"
 

sw/airborne/test/peripherals/test_ms2100.c

@@ -23,7 +23,6 @@
 #include BOARD_CONFIG
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
-#define DATALINK_C
 #include "modules/datalink/downlink.h"
 #include "modules/datalink/pprz_dl.h"
 #include "peripherals/ms2100.h"
@@ -54,6 +53,7 @@ static inline void main_init(void)
   sys_time_register_timer((1. / 50), NULL);
 
   ms2100_init(&ms2100, &(MS2100_SPI_DEV), MS2100_SLAVE_IDX);
+  datalink_init();
   downlink_init();
   pprz_dl_init();
 }

sw/airborne/test/test_actuators_pwm.c

@@ -25,8 +25,6 @@
  */
 
 
-#define DATALINK_C
-
 /* PERIODIC_C_MAIN is defined before generated/periodic_telemetry.h
  * in order to implement telemetry_mode_Main_*
  */
@@ -72,6 +70,7 @@ static inline void main_init(void)
 {
   mcu_init();
   sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
+  datalink_init();
   downlink_init();
   pprz_dl_init();
   ActuatorsPwmInit();

sw/airborne/test/test_baro_board.c

@@ -31,7 +31,6 @@
 #include "mcu_periph/sys_time.h"
 #include "led.h"
 
-#define DATALINK_C
 #include "modules/datalink/downlink.h"
 #include "modules/datalink/pprz_dl.h"
 
@@ -110,6 +109,7 @@ static inline void main_init(void)
 {
   mcu_init();
   sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
+  datalink_init();
   downlink_init();
   pprz_dl_init();
   test_baro_board_imu_init();

sw/airborne/test/test_can.c

@@ -27,7 +27,6 @@
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
 #include "led.h"
-#define DATALINK_C
 #include "modules/datalink/downlink.h"
 #include "modules/datalink/pprz_dl.h"
 #include "mcu_periph/can.h"
@@ -70,6 +69,7 @@ static inline void main_init(void)
 {
   mcu_init();
   sys_time_register_timer((0.5 / PERIODIC_FREQUENCY), NULL);
+  datalink_init();
   downlink_init();
   pprz_dl_init();
   ppz_can_init((can_rx_callback_t)main_on_can_msg);

sw/airborne/test/test_datalink.c

@@ -24,8 +24,6 @@
  *
  * Periodically sends ALIVE (10Hz) and ping/pong (every 5s) telemetry messages.
  */
-#define DATALINK_C
-
 #include BOARD_CONFIG
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
@@ -55,6 +53,7 @@ static inline void main_init(void)
 {
   mcu_init();
   sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
+  datalink_init();
   downlink_init();
   pprz_dl_init();
 }

sw/airborne/test/test_manual.c

@@ -24,9 +24,6 @@
  * Test the manual control via RC including command_laws.
  */
 
-
-#define DATALINK_C
-
 #include "generated/airframe.h"
 #include "generated/settings.h"
 
@@ -76,6 +73,7 @@ int main(void)
 static inline void main_init(void)
 {
   mcu_init();
+  datalink_init();
   downlink_init();
   pprz_dl_init();
 

sw/airborne/test/test_math_trig_compressed.c

@@ -76,8 +76,6 @@
 
 */
 
-#define DATALINK_C
-
 #include BOARD_CONFIG
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
@@ -204,7 +202,7 @@ static inline void main_init(void)
 {
   mcu_init();
   sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
-
+  datalink_init();
   downlink_init();
 }
 

sw/airborne/test/test_module.c

@@ -27,7 +27,6 @@
 
 #include BOARD_CONFIG
 
-#define DATALINK_C
 #define MODULES_C
 #define ABI_C
 
@@ -71,6 +70,7 @@ static inline void main_init(void)
 {
   mcu_init();
   sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
+  datalink_init();
   downlink_init();
 
   modules_init();

sw/airborne/test/test_telemetry.c

@@ -25,8 +25,6 @@
  * Periodically sends ALIVE telemetry messages.
  */
 
-#define DATALINK_C
-
 #include BOARD_CONFIG
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
@@ -55,7 +53,7 @@ static inline void main_init(void)
 {
   mcu_init();
   sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
-
+  datalink_init();
   downlink_init();
   pprz_dl_init();
 }