diff --git a/Makefile b/Makefile
index ce48b6d127..8492fe0f2c 100644
--- a/Makefile
+++ b/Makefile
@@ -57,6 +57,7 @@ MTK_PROTOCOL_H=$(STATICINCLUDE)/mtk_protocol.h
XSENS_PROTOCOL_H=$(STATICINCLUDE)/xsens_protocol.h
DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
DL_PROTOCOL2_H=$(STATICINCLUDE)/dl_protocol2.h
+ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
MESSAGES_XML = $(CONF)/messages.xml
UBX_XML = $(CONF)/ubx.xml
MTK_XML = $(CONF)/mtk.xml
@@ -109,7 +110,7 @@ misc:
multimon:
cd $(MULTIMON); $(MAKE)
-static_h: $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H)
+static_h: $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H) $(ABI_MESSAGES_H)
usb_lib:
@[ -d sw/airborne/arch/lpc21/lpcusb ] && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE)) || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
@@ -156,6 +157,11 @@ $(DL_PROTOCOL2_H) : $(MESSAGES_XML) tools
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< datalink > /tmp/dl2.h
$(Q)mv /tmp/dl2.h $@
+$(ABI_MESSAGES_H) : $(MESSAGES_XML) tools
+ @echo BUILD $@
+ $(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_abi.out $< airborne > /tmp/abi.h
+ $(Q)mv /tmp/abi.h $@
+
include Makefile.ac
sim : sim_static
diff --git a/conf/firmwares/setup.makefile b/conf/firmwares/setup.makefile
index ac28d42f49..cb68bd9572 100644
--- a/conf/firmwares/setup.makefile
+++ b/conf/firmwares/setup.makefile
@@ -123,3 +123,8 @@ setup_actuators.ARCHDIR = $(ARCH)
setup_actuators.CFLAGS += -I$(ARCH)
setup_actuators.srcs += $(SRC_ARCH)/led_hw.c
endif
+
+# a test program for ABI
+test_abi.CFLAGS += -DUSE_LED -DPERIPHERALS_AUTO_INIT
+test_abi.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_hw.c $(SRC_ARCH)/armVIC.c mcu.c $(SRC_ARCH)/mcu_arch.c
+test_abi.srcs += test/test_abi.c
diff --git a/conf/messages.xml b/conf/messages.xml
index a02ef10a2c..df5e5c7e74 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -2426,24 +2426,31 @@
+
+
+
+
+
+
+
-
-
+
+
-
-
+
+
-
-
+
+
-
-
+
+
@@ -2455,8 +2462,8 @@
-
-
+
+
diff --git a/sw/airborne/subsystems/abi.h b/sw/airborne/subsystems/abi.h
new file mode 100644
index 0000000000..1e950e4e9f
--- /dev/null
+++ b/sw/airborne/subsystems/abi.h
@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2011 ENAC - Gautier Hattenberger
+ *
+ * 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.
+ */
+
+#ifndef ABI_H
+#define ABI_H
+
+/* TODO Explain how to use ABI */
+
+#include "abi_messages.h"
+
+#endif /* ABI_H */
diff --git a/sw/airborne/subsystems/abi_common.h b/sw/airborne/subsystems/abi_common.h
new file mode 100644
index 0000000000..a1774e31b8
--- /dev/null
+++ b/sw/airborne/subsystems/abi_common.h
@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2011 ENAC - Gautier Hattenberger
+ *
+ * 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.
+ */
+
+/* Common tools for ABI middelware */
+
+#ifndef ABI_COMMON_H
+#define ABI_COMMON_H
+
+/* Include pprz math library */
+#include "math/pprz_algebra_int.h"
+#include "math/pprz_algebra_float.h"
+/* Include here headers with structure definition you may want to use with ABI
+ * Ex: '#include "subsystems/gps.h"' in order to use the GpsState structure
+ */
+
+
+/* Some magic to avoid to compile C code, only headers */
+#ifdef ABI_C
+#define EXTERN
+#else
+#define EXTERN extern
+#endif
+
+/* Generic callback definition */
+typedef void (*abi_callback)(void);
+
+/* Event structure to store callbacks in a linked list */
+struct abi_struct {
+ abi_callback cb;
+ struct abi_struct * next;
+};
+typedef struct abi_struct abi_event;
+
+/* Macros for linked list */
+#define ABI_FOREACH(head,el) for(el=head; el; el=el->next)
+#define ABI_PREPEND(head,add) { (add)->next = head; head = add; }
+
+#endif /* ABI_COMMON_H */
+
diff --git a/sw/airborne/test/test_abi.c b/sw/airborne/test/test_abi.c
new file mode 100644
index 0000000000..800ba3d7f0
--- /dev/null
+++ b/sw/airborne/test/test_abi.c
@@ -0,0 +1,92 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 Gautier Hattenberger
+ *
+ * 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.
+ */
+
+#define ABI_C
+
+#include "mcu.h"
+#include "sys_time.h"
+
+struct abi_boo {
+ int a;
+ int b;
+};
+
+#include "subsystems/abi.h"
+
+// ABI event and callback for TEST_ABI message
+abi_event ev;
+
+static void test_cb (const int8_t value, const struct abi_boo boo, const struct Int32Vect3 * vect) {
+ switch (value) {
+ case 0 :
+ LED_TOGGLE(1); break;
+ case 1 :
+ LED_TOGGLE(2); break;
+ case 2 :
+ LED_TOGGLE(3); break;
+ };
+}
+
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+
+int main(void) {
+ main_init();
+
+ while(1) {
+ if (sys_time_periodic())
+ main_periodic_task();
+ main_event_task();
+ }
+
+ return 0;
+}
+
+
+static inline void main_init( void ) {
+ mcu_init();
+ sys_time_init();
+
+ mcu_int_enable();
+
+ // Bind to ABI message
+ AbiBindMsgTEST_ABI(&ev, test_cb);
+}
+
+
+
+static inline void main_periodic_task( void ) {
+ static int8_t val = 0;
+ struct abi_boo b = { 1, 2 };
+ struct Int32Vect3 v = { 3, 4, 5 };
+ RunOnceEvery(60,{ AbiSendMsgTEST_ABI(val,b,&v); val=(val+1)%3; });
+}
+
+
+
+static inline void main_event_task( void ) {
+
+}
diff --git a/sw/tools/Makefile b/sw/tools/Makefile
index 83603a21a7..7c2161b65d 100644
--- a/sw/tools/Makefile
+++ b/sw/tools/Makefile
@@ -30,7 +30,7 @@ OCAMLNETCMA=$(shell ocamlfind query -r -a-format -predicates byte netstring)
OCAMLLEX=ocamllex
OCAMLYACC=ocamlyacc
-all: gen_common.cmo gen_aircraft.out gen_airframe.out gen_messages2.out gen_messages.out gen_ubx.out gen_mtk.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_xsens.out gen_modules.out find_free_msg_id.out gen_srtm.out mergelogs
+all: gen_common.cmo gen_aircraft.out gen_airframe.out gen_messages2.out gen_messages.out gen_ubx.out gen_mtk.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_xsens.out gen_modules.out gen_abi.out find_free_msg_id.out gen_srtm.out mergelogs
FP_CMO = fp_proc.cmo gen_flight_plan.cmo
ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)
diff --git a/sw/tools/gen_abi.ml b/sw/tools/gen_abi.ml
new file mode 100644
index 0000000000..a833bba3c0
--- /dev/null
+++ b/sw/tools/gen_abi.ml
@@ -0,0 +1,198 @@
+(*
+ * $Id$
+ *
+ * XML preprocessing of messages.xml for aiborne middleware ABI
+ *
+ * Copyright (C) 2011 ENAC, Gautier Hattenberger
+ *
+ * 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.
+ *
+ *)
+
+open Printf
+
+type _type = string
+type _name = string
+
+type field = _name * _type
+
+type fields = field list
+
+type message = {
+ name : string;
+ id : int;
+ fields : fields
+ }
+
+module Syntax = struct
+ (** Translates a "message" XML element into a value of the 'message' type *)
+ let struct_of_xml = fun xml ->
+ let name = ExtXml.attrib xml "name"
+ and id = ExtXml.int_attrib xml "id"
+ and fields =
+ List.map
+ (fun field ->
+ let _name = ExtXml.attrib field "name"
+ and _type = ExtXml.attrib field "type" in
+ (_name, _type))
+ (Xml.children xml) in
+ { id = id; name = name; fields = fields }
+
+ let check_single_ids = fun msgs ->
+ let tab = Array.create 256 false (* TODO remove limitation to 256 msg not needed here *)
+ and last_id = ref 0 in
+ List.iter (fun msg ->
+ if tab.(msg.id) then
+ failwith (sprintf "Duplicated message id: %d" msg.id);
+ if msg.id < !last_id then
+ fprintf stderr "Warning: unsorted id: %d\n%!" msg.id;
+ last_id := msg.id;
+ tab.(msg.id) <- true)
+ msgs
+
+ (** Translates one class of a XML message file into a list of messages *)
+ let read = fun filename class_ ->
+ let xml = Xml.parse_file filename in
+ try
+ let xml_class = ExtXml.child ~select:(fun x -> Xml.attrib x "name" = class_) xml "class" in
+ let msgs = List.map struct_of_xml (Xml.children xml_class) in
+ check_single_ids msgs;
+ msgs
+ with
+ Not_found -> failwith (sprintf "No class '%s' found" class_)
+end (* module Suntax *)
+
+
+(** Pretty printer *)
+module Gen_onboard = struct
+ (* Print message IDs and return the highest value *)
+ let print_message_id = fun h messages ->
+ let highest_id = ref 0 in
+ Printf.fprintf h "\n/* Messages IDs */\n";
+ List.iter (fun msg ->
+ if msg.id > !highest_id then highest_id := msg.id;
+ Printf.fprintf h "#define ABI_%s_ID %d\n" (String.capitalize msg.name) msg.id
+ ) messages;
+ !highest_id
+
+ (* Print structure array *)
+ let print_struct = fun h size ->
+ Printf.fprintf h "\n/* Array and linked list structure */\n";
+ Printf.fprintf h "#define ABI_MESSAGE_NB %d\n\n" (size+1);
+ Printf.fprintf h "EXTERN abi_event* abi_queues[ABI_MESSAGE_NB];\n"
+
+ (* Print arguments' function from fields *)
+ let print_args = fun h fields ->
+ let rec args = fun h l ->
+ match l with
+ [] -> Printf.fprintf h ")"
+ | [(n,t)] -> Printf.fprintf h "const %s %s)" t n
+ | (n,t)::l' -> Printf.fprintf h "const %s %s, " t n; args h l'
+ in
+ Printf.fprintf h "(";
+ args h fields
+
+ (* Print callbacks prototypes for all messages *)
+ let print_callbacks = fun h messages ->
+ Printf.fprintf h "\n/* Callbacks */\n";
+ List.iter (fun msg ->
+ Printf.fprintf h "typedef void (*abi_callback%s)" (String.capitalize msg.name);
+ print_args h msg.fields;
+ Printf.fprintf h ";\n";
+ ) messages
+
+ (* Print a bind function *)
+ let print_msg_bind = fun h msg ->
+ let name = String.capitalize msg.name in
+ Printf.fprintf h "\nstatic inline void AbiBindMsg%s(abi_event * ev, abi_callback%s cb) {\n" name name;
+ Printf.fprintf h " ev->cb = (abi_callback)cb;\n";
+ Printf.fprintf h " ABI_PREPEND(abi_queues[ABI_%s_ID],ev);\n" name;
+ Printf.fprintf h "}\n"
+
+ (* Print a send function *)
+ let print_msg_send = fun h msg ->
+ (* print arguments *)
+ let rec args = fun h l ->
+ match l with
+ [] -> Printf.fprintf h ");\n"
+ | [(n,_)] -> Printf.fprintf h "%s);\n" n
+ | (n,_)::l' -> Printf.fprintf h "%s, " n; args h l'
+ in
+ let name = String.capitalize msg.name in
+ Printf.fprintf h "\nstatic inline void AbiSendMsg%s" name;
+ print_args h msg.fields;
+ Printf.fprintf h " {\n";
+ Printf.fprintf h " abi_event* e;\n";
+ Printf.fprintf h " ABI_FOREACH(abi_queues[ABI_%s_ID],e) {\n" name;
+ Printf.fprintf h " abi_callback%s cb = (abi_callback%s)(e->cb);\n" name name;
+ Printf.fprintf h " cb(";
+ args h msg.fields;
+ Printf.fprintf h " };\n";
+ Printf.fprintf h "};\n"
+
+ (* Print bind and send functions for all messages *)
+ let print_bind_send = fun h messages ->
+ Printf.fprintf h "\n/* Bind and Send functions */\n";
+ List.iter (fun msg ->
+ print_msg_bind h msg;
+ print_msg_send h msg
+ ) messages
+
+end (* module Gen_onboard *)
+
+
+(********************* Main **************************************************)
+let () =
+ if Array.length Sys.argv <> 3 then begin
+ failwith (sprintf "Usage: %s <.xml file> " Sys.argv.(0))
+ end;
+
+ let filename = Sys.argv.(1)
+ and class_name = Sys.argv.(2) in
+
+ try
+ let h = stdout in
+
+ (** Read and store messages *)
+ let messages = Syntax.read filename class_name in
+
+ (** Print file header *)
+ Printf.fprintf h "/* Automatically generated from %s */\n" filename;
+ Printf.fprintf h "/* Please DO NOT EDIT */\n\n";
+ Printf.fprintf h "/* Onboard middleware library ABI\n";
+ Printf.fprintf h " * send and receive messages of class %s\n" class_name;
+ Printf.fprintf h " */\n\n";
+ Printf.fprintf h "#ifndef ABI_MESSAGES_H\n";
+ Printf.fprintf h "#define ABI_MESSAGES_H\n\n";
+ Printf.fprintf h "#include \"subsystems/abi_common.h\"\n";
+
+ (** Print Messages IDs *)
+ let highest_id = Gen_onboard.print_message_id h messages in
+
+ (** Print general structure definition *)
+ Gen_onboard.print_struct h highest_id;
+
+ (** Print Messages callbacks definition *)
+ Gen_onboard.print_callbacks h messages;
+
+ (** Print Bind and Send functions for all messages *)
+ Gen_onboard.print_bind_send h messages;
+
+ Printf.fprintf h "\n#endif // ABI_MESSAGES_H\n"
+ with
+ Xml.Error (msg, pos) -> failwith (sprintf "%s:%d : %s\n" filename (Xml.line pos) (Xml.error_msg msg))