[modules] start cleaning modules (#896)

2026-05-09 22:49:53 +08:00 · 2015-05-29 17:06:03 +02:00
parent 2b73d7f83d
commit c50e6f23ee
27 changed files with 117 additions and 160 deletions
@@ -8,7 +8,7 @@
 <airframe name="FireStorm">

  <modules>
-    <load name="poles.xml"/>
+    <load name="nav_poles.xml"/>
  </modules>

  <firmware name="fixedwing">
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">

-<module name="MPPT">
+<module name="MPPT" dir="energy">
  <doc>
    <description>
      Maximum Power Point Tracker
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">

-<module name="bat_checker">
+<module name="bat_checker" dir="energy">
  <doc>
    <description>Battery checker module</description>
    <define name="BAT_CHECKER_DELAY" value="delay" description="number of seconds the battery voltage has to below LOW_BAT_LEVEL before warning signal is activated"/>
@@ -1,34 +0,0 @@
-<!DOCTYPE module SYSTEM "module.dtd">
-
-<module name="deploy_sonar_buoy">
-  <doc>
-    <description>
-      Toggle two gpio pins (Lisa).
-      The application in this was written for drops two sonar buoys.
-    </description>
-  </doc>
-  <settings>
-    <dl_settings>
-      <dl_settings NAME="Sonar Buoys">
-        <dl_setting var="buoy_1" min="0" step="1" max="1" module="deploy_sonar_buoy/deploy_sonar_buoy" values="Secure|Deployed">
-          <strip_button name="Secure"  value="1"/>
-          <strip_button name="Deployed" value="0"/>
-        </dl_setting>
-        <dl_setting var="buoy_2" min="0" step="1" max="1" module="deploy_sonar_buoy/deploy_sonar_buoy" values="Secure|Deployed">
-          <strip_button name="Secure"  value="1"/>
-          <strip_button name="Deployed" value="0"/>
-        </dl_setting>
-      </dl_settings>
-    </dl_settings>
-  </settings>
-  <header>
-    <file name="deploy_sonar_buoy.h"/>
-  </header>
-  <init fun="deploy_sonar_buoy_init()"/>
-  <periodic fun="deploy_sonar_buoy_periodic()" freq="10."/>
-  <makefile>
-    <file name="deploy_sonar_buoy.c"/>
-  </makefile>
-</module>
-
-
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">

-<module name="gain_scheduling">
+<module name="gain_scheduling" dir="ctrl">
  <doc>
    <description>
      Gain set interpolation.
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">

-<module name="gps_i2c">
+<module name="gps_i2c" dir="gps">
  <doc>
    <description>
      U-blox GPS (I2C)
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">

-<module name="led_safety_status">
+<module name="led_safety_status" dir="light">
  <doc>
    <description>
      LED safety indicator.
@@ -1,15 +1,15 @@
 <!DOCTYPE module SYSTEM "module.dtd">

-<module name="poles">
+<module name="poles" dir="nav">
  <doc>
    <description>Navigate around two poles</description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="Poles">
-        <dl_setting MAX="40" MIN="1" STEP="1" VAR="nav_poles_count" module="modules/poles/nav_poles"/>
+        <dl_setting MAX="40" MIN="1" STEP="1" VAR="nav_poles_count" module="modules/nav/nav_poles"/>
        <dl_setting MAX="180" MIN="0" STEP="1" VAR="nav_poles_time"/>
-        <dl_setting MAX="1" MIN="-1" STEP="2" VAR="nav_poles_land" module="modules/poles/nav_poles" handler="SetLandDir"/>
+        <dl_setting MAX="1" MIN="-1" STEP="2" VAR="nav_poles_land" module="modules/nav/nav_poles" handler="SetLandDir"/>
      </dl_settings>
    </dl_settings>
  </settings>
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">

-<module name="max7456" dir="max7456">
+<module name="max7456" dir="display">
  <doc>
    <description>MAX7456 driver (SPI)</description>
  </doc>
@@ -19,11 +19,11 @@
 * Boston, MA 02111-1307, USA.
 */

-/** @file gain_scheduling.c
+/** @file modules/ctrl/gain_scheduling.c
 * Module that interpolates gainsets in flight based on a scheduling variable
 */

-#include "gain_scheduling.h"
+#include "modules/ctrl/gain_scheduling.h"

 //Include for scheduling on transition_status
 #include "firmwares/rotorcraft/guidance/guidance_h.h"
@@ -131,4 +131,4 @@ void gain_scheduling_periodic(void)
 void set_gainset(int gainset)
 {
  stabilization_gains = gainlibrary[gainset];
-}
+}
@@ -20,7 +20,7 @@
 */

 /**
- * @file gain_scheduling.h
+ * @file modules/ctrl/gain_scheduling.h
 *
 * Module that interpolates between gain sets, depending on the scheduling variable.
 */
@@ -1,68 +0,0 @@
-/*
- * Copyright (C) 2010 Eric Parsonage
- *
- * 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.
- */
-#include <stm32/gpio.h>
-#include <stm32/rcc.h>
-#include "deploy_sonar_buoy.h"
-#include "generated/airframe.h"
-
-/* simple module to toggle two gpio pins on Lisa.
- * The application in this was written for drops
- * two sonar buoys. TODO extend to a generalised
- * GPIO  module
- */
-
-bool_t buoy_1;
-bool_t buoy_2;
-
-/* initialises GPIO pins */
-void deploy_sonar_buoy_init(void)
-{
-  /* initialise peripheral clock for port C */
-  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
-  GPIO_InitTypeDef GPIO_InitStructure;
-  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
-  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
-  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-  GPIO_Init(GPIOC, &GPIO_InitStructure);
-  /* set port C pin 5 to be low */
-  GPIO_WriteBit(GPIOC, GPIO_Pin_5 , Bit_RESET);
-
-  /* initialise peripheral clock for port B */
-  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
-  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
-  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
-  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-  GPIO_Init(GPIOB, &GPIO_InitStructure);
-  /* set port B pin 0 to be low */
-  GPIO_WriteBit(GPIOB, GPIO_Pin_0 , Bit_RESET);
-
-  /* set the variables of interest to be FALSE */
-  buoy_1 = FALSE;
-  buoy_2 = FALSE;
-  deploy_sonar_buoy_periodic();
-}
-
-/* sets GPIO pins */
-void deploy_sonar_buoy_periodic(void)
-{
-  GPIO_WriteBit(GPIOC, GPIO_Pin_5 , buoy_1 ? Bit_SET : Bit_RESET);
-  GPIO_WriteBit(GPIOB, GPIO_Pin_0 , buoy_2 ? Bit_SET : Bit_RESET);
-}
@@ -20,7 +20,7 @@
 */

 /**
- * @file modules/max7456/max7456.c
+ * @file modules/display/max7456.c
 * Maxim MAX7456 single-channel monochrome on-screen display driver.
 *
 */
@@ -46,8 +46,8 @@
 #endif

 // Peripherials
-#include "max7456.h"
-#include "max7456_regs.h"
+#include "modules/display/max7456.h"
+#include "modules/display/max7456_regs.h"

 #define OSD_STRING_SIZE     31
 #define osd_sprintf         _osd_sprintf
@@ -20,6 +20,12 @@
 *
 */

+/**
+ * @file modules/display/max7456.h
+ * Maxim MAX7456 single-channel monochrome on-screen display driver.
+ *
+ */
+
 #ifndef MAX7456_H
 #define MAX7456_H

@@ -1,3 +1,32 @@
+/*
+ * Copyright (C) 2013 Chris
+ *
+ * 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.
+ *
+ */
+
+/**
+ * @file modules/display/max7456_regs.h
+ * Maxim MAX7456 single-channel monochrome on-screen display driver.
+ *
+ * Registers definition
+ */
+
 #ifndef MAX7456_REGS_H
 #define MAX7456_REGS_H

@@ -21,13 +21,13 @@
 */

 /**
- * @file modules/MPPT/MPPT.c
+ * @file modules/energy/MPPT.c
 * @brief Solar cells MPTT monitoring
 *
 */

 #include <stdbool.h>
-#include "MPPT.h"
+#include "modules/energy/MPPT.h"
 #include "firmwares/fixedwing/main_fbw.h"
 #include "mcu_periph/i2c.h"

@@ -21,7 +21,7 @@
 */

 /**
- * @file modules/MPPT/MPPT.h
+ * @file modules/energy/MPPT.h
 * @brief Solar cells MPTT monitoring
 *
 */
@@ -20,14 +20,14 @@
 */

 /**
- * @file modules/bat_checker/bat_checker.c
+ * @file modules/energy/bat_checker.c
 *
 * Activate a buzzer/LED periodically or periodically to warn of low/critical battery level.
 * At LOW_BAT_LEVEL the buzzer will be activated periodically.
 * At CRITIC_BAT_LEVEL the buzzer will be activated permanently.
 */

-#include "bat_checker.h"
+#include "modules/energy/bat_checker.h"
 #include "generated/airframe.h"
 #include "generated/modules.h"
 #include "subsystems/electrical.h"
@@ -20,7 +20,7 @@
 */

 /**
- * @file modules/bat_checker/bat_checker.c
+ * @file modules/energy/bat_checker.c
 *
 * Activate a buzzer/LED periodically or periodically to warn of low/critical battery level.
 * At LOW_BAT_LEVEL the buzzer will be activated periodically.
@@ -21,7 +21,7 @@
 */


-#include "MPPT.h"
+#include "modules/energy/MPPT.h"
 #include "messages.h"
 #include "subsystems/datalink/downlink.h"

@@ -20,7 +20,7 @@
 *
 */

-#include "gps_i2c.h"
+#include "modules/gps/gps_i2c.h"
 #include "mcu_periph/i2c.h"
 #include "subsystems/gps.h"

@@ -19,6 +19,13 @@
 * Boston, MA 02111-1307, USA.
 */

+/**
+ * @file modules/light/led_safety_status.c
+ *
+ * Simple module to blink LEDs when battery voltage drops below a certain
+ * level, radio control is lost or when takeoff safety conditions are not met.
+ */
+
 #include "led.h"
 #include "generated/airframe.h"
 #include "subsystems/electrical.h"
@@ -27,7 +34,7 @@
 #include "subsystems/ahrs/ahrs_aligner.h"
 #include "autopilot_rc_helpers.h"

-#include "led_safety_status.h"
+#include "modules/light/led_safety_status.h"

 #ifndef SAFETY_WARNING_LED
 #error You must define SAFETY_WARNING_LED to use this module!
@@ -1,4 +1,3 @@
-
 /*
 * Copyright (C) 2012 Pranay Sinha <psinha@transition-robotics.com>
 *
@@ -21,7 +20,7 @@
 */

 /**
- * @file led_safety_status.h
+ * @file modules/light/led_safety_status.h
 *
 * Simple module to blink LEDs when battery voltage drops below a certain
 * level, radio control is lost or when takeoff safety conditions are not met.
@@ -1,4 +1,29 @@
-#include "modules/poles/nav_poles.h"
+/*
+ * Copyright (C) 2009-2015 ENAC
+ *
+ * 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, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file modules/nav/nav_poles.c
+ *
+ */
+
+#include "modules/nav/nav_poles.h"
 #include "subsystems/navigation/common_nav.h"

 uint8_t nav_poles_count = 0;
@@ -29,3 +54,4 @@ bool nav_poles_init(uint8_t wp1, uint8_t wp2,

  return false;
 }
+
@@ -1,6 +1,5 @@
-
 /*
- * Copyright (C) 2010 Eric Parsonage
+ * Copyright (C) 2009-2015 ENAC
 *
 * This file is part of paparazzi.
 *
@@ -15,20 +14,30 @@
 * 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.
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
 */

+/**
+ * @file modules/nav/nav_poles.h
+ *
+ */

-#ifndef DEPLOY_SONAR_BUOY_H
-#define DEPLOY_SONAR_BUOY_H
+#ifndef NAV_POLES_H
+#define NAV_POLES_H

+#include <stdbool.h>
 #include "std.h"

-extern bool_t buoy_1;
-extern bool_t buoy_2;
-extern void deploy_sonar_buoy_init(void);
-extern void deploy_sonar_buoy_periodic(void);
+extern uint8_t nav_poles_count;
+extern float nav_poles_time;
+extern int8_t nav_poles_land;
+
+bool nav_poles_init(uint8_t wp1, uint8_t wp2,
+                    uint8_t wp1c, uint8_t wp2c,
+                    float radius);
+
+#define nav_poles_SetLandDir(_d) { if (_d < 0) _d = -1; else _d = 1; }
+
+#endif

-#endif  /* DEPLOY_SONAR_BUOY_H */
@@ -1,17 +0,0 @@
-#ifndef NAV_POLS_H
-#define NAV_POLS_H
-
-#include <stdbool.h>
-#include "std.h"
-
-extern uint8_t nav_poles_count;
-extern float nav_poles_time;
-extern int8_t nav_poles_land;
-
-bool nav_poles_init(uint8_t wp1, uint8_t wp2,
-                    uint8_t wp1c, uint8_t wp2c,
-                    float radius);
-
-#define nav_poles_SetLandDir(_d) { if (_d < 0) _d = -1; else _d = 1; }
-
-#endif