[modules] move electrical subsystem to module

conf/modules/electrical.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="electrical" dir="fbw" task="core">
+<module name="electrical" dir="energy" task="core">
   <doc>
     <description>
       General electrical interface
@@ -11,22 +11,22 @@
     <provides>electrical</provides>
   </dep>
   <header>
-    <file name="electrical.h" dir="subsystems"/>
+    <file name="electrical.h"/>
   </header>
   <init fun="electrical_init()"/>
   <periodic fun="electrical_periodic()" freq="10"/>
   <makefile target="fbw|sim|nps|hitl" firmware="fixedwing">
-    <file name="electrical.c" dir="subsystems"/>
+    <file name="electrical.c"/>
     <test firmware="fixedwing"/>
   </makefile>
   <makefile target="ap" firmware="fixedwing" cond="ifeq (,$(findstring $(SEPARATE_FBW),0 FALSE))">
-    <file name="electrical.c" dir="subsystems"/>
+    <file name="electrical.c"/>
   </makefile>
   <makefile firmware="rotorcraft">
-    <file name="electrical.c" dir="subsystems"/>
+    <file name="electrical.c"/>
   </makefile>
   <makefile firmware="rover">
-    <file name="electrical.c" dir="subsystems"/>
+    <file name="electrical.c"/>
   </makefile>
 </module>
 

sw/airborne/autopilot.c

@@ -39,7 +39,7 @@
 #include "subsystems/radio_control.h"
 #include "subsystems/commands.h"
 #include "subsystems/actuators.h"
-//#include "subsystems/electrical.h"
+//#include "modules/energy/electrical.h"
 #include "subsystems/datalink/telemetry.h"
 
 #include "subsystems/settings.h"

sw/airborne/boards/bebop/actuators.c

@@ -26,7 +26,7 @@
  */
 
 #include "subsystems/actuators.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "actuators.h"
 #include "led_hw.h"
 #include "autopilot.h"

sw/airborne/boards/disco/actuators.c

@@ -31,7 +31,7 @@
  */
 
 #include "subsystems/actuators.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "actuators.h"
 #include "autopilot.h"
 #include "subsystems/abi.h"

sw/airborne/boards/swing/board.c

@@ -34,7 +34,7 @@
 #include <unistd.h>
 #include <pthread.h>
 #include <linux/input.h>
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 
 /**
  * Battery reading thread

sw/airborne/firmwares/fixedwing/autopilot_firmware.h

@@ -30,7 +30,7 @@
 
 #include "std.h"
 #include "autopilot.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 
 // FIXME, move to control
 #define LATERAL_MODE_MANUAL    0

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -38,7 +38,7 @@
 #include "mcu_periph/sys_time.h"
 #include "subsystems/commands.h"
 #include "subsystems/actuators.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "subsystems/radio_control.h"
 #include "autopilot.h"
 #include "paparazzi.h"

sw/airborne/firmwares/rotorcraft/autopilot_firmware.c

@@ -32,7 +32,7 @@
 
 #include <stdint.h>
 //#include "mcu_periph/sys_time.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "subsystems/datalink/telemetry.h"
 #include "subsystems/radio_control.h"
 

sw/airborne/firmwares/rotorcraft/autopilot_static.c

@@ -33,7 +33,7 @@
 #include "subsystems/radio_control.h"
 #include "subsystems/commands.h"
 #include "subsystems/actuators.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "subsystems/settings.h"
 #include "firmwares/rotorcraft/navigation.h"
 #include "firmwares/rotorcraft/guidance.h"

sw/airborne/firmwares/rotorcraft/main_fbw.c

@@ -37,7 +37,7 @@
 #include "subsystems/actuators/motor_mixing.h"
 #endif
 
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "subsystems/radio_control.h"
 #include "subsystems/intermcu/intermcu_fbw.h"
 #include "firmwares/rotorcraft/main_fbw.h"

sw/airborne/firmwares/rover/autopilot_firmware.c

@@ -30,7 +30,7 @@
 #include "generated/modules.h"
 
 #include <stdint.h>
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "subsystems/datalink/telemetry.h"
 #include "subsystems/radio_control.h"
 

sw/airborne/inter_mcu.h

@@ -43,7 +43,7 @@
 #include "pprz_mutex.h"
 #include "generated/airframe.h"
 #include "subsystems/radio_control.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "firmwares/fixedwing/main_fbw.h"
 
 /** FIXME dummy definition for compat with rotorcraft **/

sw/airborne/modules/adcs/battery_monitor.h

@@ -73,7 +73,7 @@
 #include "std.h"
 #include "mcu_periph/i2c.h"
 #include "mcu_periph/sys_time.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 
 // revision information
 #if BATTERY_MONITOR_REV4

sw/airborne/modules/calibration/send_imu_mag_current.c

@@ -25,7 +25,7 @@
  */
 
 #include "subsystems/imu.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 
 #include "pprzlink/messages.h"
 #include "mcu_periph/uart.h"

sw/airborne/modules/com/generic_com.c

@@ -29,7 +29,7 @@
 
 #include "state.h"
 #include "subsystems/gps.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "generated/airframe.h"
 #include "inter_mcu.h"
 #include "autopilot.h"

sw/airborne/modules/ctrl/ctrl_windtunnel.c

@@ -28,7 +28,7 @@
 #include "state.h"
 #include "subsystems/radio_control.h"
 #include "firmwares/rotorcraft/stabilization.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 
 #ifndef WINDTUNNEL_TO_BODY_PHI
 #define WINDTUNNEL_TO_BODY_PHI 0

sw/airborne/modules/ctrl/optical_flow_hover.c

@@ -26,7 +26,7 @@
 #include "subsystems/abi.h"
 #include "firmwares/rotorcraft/stabilization.h"
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include <stdio.h>
 
 #include "subsystems/datalink/telemetry.h"

sw/airborne/modules/datalink/bitcraze/syslink_dl.c

@@ -26,7 +26,7 @@
  */
 
 #include "modules/datalink/bitcraze/syslink_dl.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "mcu_periph/uart.h"
 #include <string.h>
 #include "led.h"

sw/airborne/modules/datalink/mavlink.c

@@ -46,7 +46,7 @@
 #include "generated/settings.h"
 
 #include "mcu_periph/sys_time.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "state.h"
 #include "pprz_version.h"
 #include "autopilot.h"
@@ -768,7 +768,7 @@ static void mavlink_send_rc_channels(struct transport_tx *trans, struct link_dev
   MAVLinkSendMessage();
 }
 
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 static void mavlink_send_battery_status(struct transport_tx *trans, struct link_device *dev)
 {
   static uint16_t voltages[10];

sw/airborne/modules/display/max7456.c

@@ -37,7 +37,7 @@
 #include "generated/flight_plan.h"
 #include "generated/airframe.h"
 #include "autopilot.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "state.h"
 
 // for GetPosAlt, include correct header until we have unified API

sw/airborne/modules/energy/bat_checker.c

@@ -30,7 +30,7 @@
 #include "modules/energy/bat_checker.h"
 #include "generated/airframe.h"
 #include "generated/modules.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "mcu_periph/gpio.h"
 #include "led.h"
 

sw/airborne/modules/energy/electrical.c

@@ -20,12 +20,12 @@
  */
 
 /**
- * @file subsystems/electrical.c
+ * @file modules/energy/electrical.c
  *
  * Implemnetation for electrical status: supply voltage, current, battery status, etc.
  */
 
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 
 #include "mcu_periph/adc.h"
 #include "subsystems/commands.h"

sw/airborne/modules/energy/electrical.h

@@ -20,13 +20,13 @@
  */
 
 /**
- * @file subsystems/electrical.h
+ * @file modules/energy/electrical.h
  *
  * Interface for electrical status: supply voltage, current, battery status, etc.
  */
 
-#ifndef SUBSYSTEMS_ELECTRICAL_H
-#define SUBSYSTEMS_ELECTRICAL_H
+#ifndef ELECTRICAL_H
+#define ELECTRICAL_H
 
 #include "std.h"
 #include "generated/airframe.h"
@@ -55,4 +55,4 @@ extern struct Electrical electrical;
 extern void electrical_init(void);
 extern void electrical_periodic(void);
 
-#endif /* SUBSYSTEMS_ELECTRICAL_H */
+#endif /* ELECTRICAL_H */

sw/airborne/modules/gsm/gsm.c

@@ -61,7 +61,7 @@ Receiving:
 #include "subsystems/datalink/downlink.h"
 #include "subsystems/gps.h"
 #include "autopilot.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 //#include "subsystems/navigation/common_nav.h"  //why is should this be needed?
 #include "generated/settings.h"
 #include "led.h"

sw/airborne/modules/hott/hott_eam.h

@@ -27,7 +27,7 @@
 #ifndef HOTT_EAM_H
 #define HOTT_EAM_H
 
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "subsystems/imu.h"
 #include "autopilot.h"
 #include "state.h"

sw/airborne/modules/light/led_safety_status.c

@@ -28,7 +28,7 @@
 
 #include "led.h"
 #include "generated/airframe.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "subsystems/radio_control.h"
 #include "autopilot.h"
 #include "autopilot_rc_helpers.h"

sw/airborne/modules/obstacle_avoidance/guidance_OA.c

@@ -33,7 +33,7 @@
 #include "autopilot.h"
 #include "subsystems/datalink/downlink.h"
 #include "subsystems/datalink/telemetry.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "std.h"
 //#include "modules/read_matrix_serial/read_matrix_serial.h"
 

sw/airborne/modules/sensors/bat_voltage_ardrone2.c

@@ -39,7 +39,7 @@
 #include <math.h>
 #include "mcu_periph/i2c_smbus.h"
 
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 
 void electrical_ardrone2_setup(void);
 

sw/airborne/modules/sensors/ezcurrent.c

@@ -37,7 +37,7 @@
 
 #include "sensors/ezcurrent.h"
 #include "mcu_periph/i2c.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 
 #define EZCURRENT_ADDR 0xEF
 

sw/airborne/modules/sensors/rpm_sensor.c

@@ -25,7 +25,7 @@
 
 #include "modules/sensors/rpm_sensor.h"
 #include "mcu_periph/pwm_input.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "subsystems/abi.h"
 #include "filters/low_pass_filter.h"
 

sw/airborne/subsystems/actuators/actuators_uavcan.c

@@ -25,7 +25,7 @@
  */
 
 #include "actuators_uavcan.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "math/pprz_random.h"
 
 /* By default enable the usage of the current sensing in the ESC telemetry */

sw/airborne/subsystems/imu.c

@@ -228,7 +228,7 @@ void WEAK imu_scale_accel(struct Imu *_imu)
 }
 
 #if !defined SITL && defined IMU_MAG_X_CURRENT_COEF && defined IMU_MAG_Y_CURRENT_COEF && defined IMU_MAG_Z_CURRENT_COEF
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 void WEAK imu_scale_mag(struct Imu *_imu)
 {
   struct Int32Vect3 mag_correction;

sw/airborne/subsystems/intermcu/intermcu_ap.c

@@ -29,7 +29,7 @@
 #include "subsystems/radio_control.h"
 #include "mcu_periph/uart.h"
 
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "autopilot.h"
 
 #if COMMANDS_NB > 8

sw/airborne/subsystems/intermcu/intermcu_ap.h

@@ -29,7 +29,7 @@
 
 #include "subsystems/intermcu.h"
 #include "generated/airframe.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 
 void intermcu_set_actuators(pprz_t *command_values, uint8_t ap_mode);
 void RadioControlEvent(void (*frame_handler)(void));

sw/airborne/subsystems/intermcu/intermcu_fbw.c

@@ -29,7 +29,7 @@
 #include "intermcu_fbw.h"
 #include "pprzlink/intermcu_msg.h"
 #include "subsystems/radio_control.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 #include "mcu_periph/uart.h"
 #include "modules/telemetry/telemetry_intermcu.h"
 

sw/airborne/subsystems/radio_control/cc2500_frsky/cc2500_compat.c

@@ -28,7 +28,7 @@
 #include "mcu_periph/adc.h"
 #include "mcu_periph/gpio.h"
 #include "mcu_periph/sys_time.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 
 #include <stdbool.h>
 #include <assert.h>

sw/simulator/nps/nps_electrical.c

@@ -26,7 +26,7 @@
 
 #include "nps_electrical.h"
 #include "generated/airframe.h"
-#include "subsystems/electrical.h"
+#include "modules/energy/electrical.h"
 
 struct NpsElectrical nps_electrical;