[pprlink] start using pprzlink for airborne code

some stuff are compiling but not working (at least sim)
needs a lot of cleaning
needs a better way to init transport types

.gitmodules

@@ -19,3 +19,6 @@
 [submodule "sw/ext/mavlink"]
 	path = sw/ext/mavlink
 	url = https://github.com/paparazzi/mavlink.git
+[submodule "sw/ext/pprzlink"]
+	path = sw/ext/pprzlink
+	url = https://github.com/paparazzi/pprzlink.git

Makefile

@@ -58,6 +58,7 @@ endif
 #
 LIB=sw/lib
 STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
+MESSAGES_INSTALL =$(PAPARAZZI_HOME)/var
 CONF=$(PAPARAZZI_SRC)/conf
 AIRBORNE=sw/airborne
 SIMULATOR=sw/simulator
@@ -68,6 +69,7 @@ GENERATORS=$(PAPARAZZI_SRC)/sw/tools/generators
 JOYSTICK=sw/ground_segment/joystick
 EXT=sw/ext
 TOOLS=sw/tools
+PPRZLINK_DIR=sw/ext/pprzlink
 
 #
 # build some stuff in subdirs
@@ -103,8 +105,8 @@ INTERMCU_MSG_H=$(STATICINCLUDE)/intermcu_msg.h
 MAVLINK_DIR=$(STATICINCLUDE)/mavlink/
 MAVLINK_PROTOCOL_H=$(MAVLINK_DIR)protocol.h
 
-GEN_HEADERS = $(MESSAGES_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(ABI_MESSAGES_H) $(INTERMCU_MSG_H) $(MAVLINK_PROTOCOL_H)
-
+GEN_HEADERS = $(MESSAGES_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(ABI_MESSAGES_H) $(INTERMCU_MSG_H) $(MAVLINK_PROTOCOL_H)
+#$(DL_PROTOCOL_H) 
 
 all: ground_segment ext lpctools
 
@@ -184,16 +186,17 @@ $(PPRZCENTER): libpprz
 
 $(LOGALIZER): libpprz
 
+pprzlink:
+	@echo BUILD PPRZLINK
+	$(Q)$(MAKE) -C $(PPRZLINK_DIR) generators
 
 static_h: $(GEN_HEADERS)
 
-$(MESSAGES_H) : $(MESSAGES_XML) generators
+$(MESSAGES_H) : $(MESSAGES_XML) pprzlink
 	$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
+	$(Q)test -d $(STATICLIB) || mkdir -p $(STATICLIB)
 	@echo GENERATE $@
-	$(eval $@_TMP := $(shell $(MKTEMP)))
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_messages.out $< telemetry > $($@_TMP)
-	$(Q)mv $($@_TMP) $@
-	$(Q)chmod a+r $@
+	$(Q)MESSAGES_INSTALL=$(MESSAGES_INSTALL) $(MAKE) -C $(PPRZLINK_DIR) pymessages
 
 $(MESSAGES2_H) : $(MESSAGES_XML) generators
 	$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)

conf/firmwares/subsystems/fixedwing/autopilot.makefile

@@ -196,7 +196,7 @@ sim.CFLAGS 		+= -DSITL
 sim.srcs 		+= $(SRC_ARCH)/sim_ap.c
 
 sim.CFLAGS 		+= -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
-sim.srcs 		+= subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c subsystems/datalink/ivy_transport.c subsystems/datalink/telemetry.c $(SRC_FIRMWARE)/ap_downlink.c $(SRC_FIRMWARE)/fbw_downlink.c
+sim.srcs 		+= subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(PAPARAZZI_HOME)/var/lib/pprzlink/ivy_transport.c subsystems/datalink/telemetry.c $(SRC_FIRMWARE)/ap_downlink.c $(SRC_FIRMWARE)/fbw_downlink.c
 
 sim.srcs 		+= $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_adc_generic.c
 

conf/firmwares/subsystems/shared/telemetry_ivy.makefile

@@ -1,3 +1,3 @@
 $(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp
-$(TARGET).srcs += subsystems/datalink/ivy_transport.c
+$(TARGET).srcs += $(PAPARAZZI_HOME)/var/lib/pprzlink/ivy_transport.c
 $(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/telemetry.c

conf/firmwares/subsystems/shared/telemetry_xbee_api.makefile

@@ -14,4 +14,4 @@ $(TARGET).CFLAGS += -D$(XBEE_MODEM_PORT_UPPER)_BAUD=$(MODEM_BAUD) -DXBEE_BAUD=$(
 
 $(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(XBEE_MODEM_PORT_LOWER) -DXBEE_UART=$(XBEE_MODEM_PORT_LOWER)
 $(TARGET).CFLAGS += -DDOWNLINK_TRANSPORT=xbee_tp -DDATALINK=XBEE
-$(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/xbee.c subsystems/datalink/telemetry.c
+$(TARGET).srcs += subsystems/datalink/downlink.c $(PAPARAZZI_HOME)/var/lib/pprzlink/xbee_transport.c subsystems/datalink/telemetry.c

sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.h

@@ -32,7 +32,7 @@
 #define SPI_SLAVE_HS_ARCH_H
 
 #include "std.h"
-#include "mcu_periph/link_device.h"
+#include "pprzlink/pprzlink_device.h"
 
 struct spi_slave_hs {
   /** Generic device interface */

sw/airborne/boards/apogee/imu_apogee.c

@@ -35,7 +35,7 @@
 
 // Downlink
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 #ifndef IMU_APOGEE_CHAN_X

sw/airborne/boards/baro_board_ms5611_i2c.c

@@ -36,7 +36,7 @@
 #include "subsystems/abi.h"
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 #ifdef BARO_PERIODIC_FREQUENCY

sw/airborne/boards/baro_board_ms5611_spi.c

@@ -36,7 +36,7 @@
 #include "subsystems/abi.h"
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 #ifdef BARO_PERIODIC_FREQUENCY

sw/airborne/boards/hbmini/imu_hbmini.c

@@ -38,7 +38,7 @@
 
 // Downlink
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 

sw/airborne/boards/krooz/imu_krooz.c

@@ -38,7 +38,7 @@
 
 // Downlink
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 #if !defined KROOZ_LOWPASS_FILTER && !defined  KROOZ_SMPLRT_DIV

sw/airborne/boards/navgo/imu_navgo.c

@@ -38,7 +38,7 @@
 
 // Downlink
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 

sw/airborne/boards/umarim/imu_umarim.c

@@ -37,7 +37,7 @@
 
 // Downlink
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 

sw/airborne/firmwares/fixedwing/autopilot.h

@@ -165,7 +165,7 @@ static inline void autopilot_ClearSettings(float clear)
 }
 
 #if DOWNLINK
-#include "subsystems/datalink/transport.h"
+#include "pprzlink/pprzlink_transport.h"
 extern void send_autopilot_version(struct transport_tx *trans, struct link_device *dev);
 #endif
 

sw/airborne/firmwares/motor_bench/main_motor_bench.c

@@ -13,7 +13,7 @@
 
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 #include "generated/settings.h"

sw/airborne/firmwares/motor_bench/main_turntable.c

@@ -6,7 +6,7 @@
 #include "mcu_periph/uart.h"
 #include "mcu_arch.h"
 
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 #include "armVIC.h"

sw/airborne/firmwares/rotorcraft/autopilot.h

@@ -179,7 +179,7 @@ static inline void autopilot_ClearSettings(float clear)
 }
 
 #if DOWNLINK
-#include "subsystems/datalink/transport.h"
+#include "pprzlink/pprzlink_transport.h"
 extern void send_autopilot_version(struct transport_tx *trans, struct link_device *dev);
 #endif
 

sw/airborne/firmwares/rotorcraft/datalink.c

@@ -34,8 +34,8 @@
 
 #include "generated/settings.h"
 #include "subsystems/datalink/downlink.h"
-#include "messages.h"
-#include "dl_protocol.h"
+#include "pprzlink/messages.h"
+#include "pprzlink/dl_protocol.h"
 #include "mcu_periph/uart.h"
 
 #if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_DATALINK

sw/airborne/firmwares/rotorcraft/navigation.c

@@ -45,7 +45,7 @@
 #include "math/pprz_algebra_int.h"
 
 #include "subsystems/datalink/downlink.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "mcu_periph/uart.h"
 
 struct EnuCoor_i navigation_target;

sw/airborne/firmwares/tutorial/main_demo4.c

@@ -4,7 +4,7 @@
 #include "led.h"
 #include "mcu_periph/uart.h"
 
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 static inline void main_init(void);

sw/airborne/firmwares/tutorial/main_demo5.c

@@ -4,7 +4,7 @@
 #include "led.h"
 #include "mcu_periph/uart.h"
 
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 static inline void main_init(void);

sw/airborne/firmwares/tutorial/main_demo6.c

@@ -4,7 +4,7 @@
 #include "led.h"
 #include "mcu_periph/usb_serial.h"
 
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 static inline void main_init(void);

sw/airborne/firmwares/wind_tunnel/main.c

@@ -4,12 +4,12 @@
 #include "led.h"
 #include "mcu_periph/uart.h"
 
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 #include "subsystems/datalink/datalink.h"
 #include "generated/settings.h"
-#include "dl_protocol.h"
+#include "pprzlink/dl_protocol.h"
 
 #include "wt_servo.h"
 

sw/airborne/firmwares/wind_tunnel/main_mb.c

@@ -4,12 +4,12 @@
 #include "led.h"
 #include "mcu_periph/uart.h"
 
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 #include "subsystems/datalink/datalink.h"
 #include "generated/settings.h"
-#include "dl_protocol.h"
+#include "pprzlink/dl_protocol.h"
 
 #include "i2c.h"
 #include "mb_twi_controller_mkk.h"

sw/airborne/mcu_periph/link_device.h

@@ -1,58 +0,0 @@
-/*
- * Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
- *
- * 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 mcu_periph/link_device.h
- *  generic device header
- */
-
-#ifndef LINK_DEVICE_H
-#define LINK_DEVICE_H
-
-#include <inttypes.h>
-
-/** Function pointers definition
- *
- * they are used to cast the real functions with the correct type
- * to store in the device structure
- */
-typedef int (*check_free_space_t)(void *, uint8_t);
-typedef void (*put_byte_t)(void *, uint8_t);
-typedef void (*send_message_t)(void *);
-typedef int (*char_available_t)(void *);
-typedef uint8_t (*get_byte_t)(void *);
-
-/** Device structure
- */
-struct link_device {
-  check_free_space_t check_free_space;  ///< check if transmit buffer is not full
-  put_byte_t put_byte;                  ///< put one byte
-  send_message_t send_message;          ///< send completed buffer
-  char_available_t char_available;      ///< check if a new character is available
-  get_byte_t get_byte;                  ///< get a new char
-  void *periph;                         ///< pointer to parent implementation
-
-  uint16_t nb_msgs;                     ///< The number of messages send
-  uint8_t nb_ovrn;                      ///< The number of overruns
-  uint32_t nb_bytes;                    ///< The number of bytes send
-};
-
-#endif // LINK_DEVICE_H
-

sw/airborne/mcu_periph/uart.c

@@ -246,6 +246,7 @@ void uart_periph_init(struct uart_periph *p)
   p->device.send_message = (send_message_t)null_function;
   p->device.char_available = (char_available_t)uart_char_available;
   p->device.get_byte = (get_byte_t)uart_getch;
+  p->device.set_baudrate = (set_baudrate_t)uart_periph_set_baudrate;
 
 #if PERIODIC_TELEMETRY
   // the first to register do it for the others

sw/airborne/mcu_periph/uart.h

@@ -29,7 +29,7 @@
 #define MCU_PERIPH_UART_H
 
 #include "mcu_periph/uart_arch.h"
-#include "mcu_periph/link_device.h"
+#include "pprzlink/pprzlink_device.h"
 #include "std.h"
 
 #ifndef UART_RX_BUFFER_SIZE

sw/airborne/mcu_periph/udp.h

@@ -30,7 +30,7 @@
 
 #include "std.h"
 #include "mcu_periph/udp_arch.h"
-#include "mcu_periph/link_device.h"
+#include "pprzlink/pprzlink_device.h"
 
 #define UDP_RX_BUFFER_SIZE 256
 #define UDP_TX_BUFFER_SIZE 256

sw/airborne/mcu_periph/usb_serial.h

@@ -30,7 +30,7 @@
 
 #include <inttypes.h>
 #include "std.h"
-#include "mcu_periph/link_device.h"
+#include "pprzlink/pprzlink_device.h"
 
 struct usb_serial_periph {
   /** Generic device interface */

sw/airborne/modules/adcs/adc_generic.c

@@ -1,7 +1,7 @@
 #include "adc_generic.h"
 #include "mcu_periph/adc.h"
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 #include BOARD_CONFIG
 

sw/airborne/modules/adcs/max11040.c

@@ -27,7 +27,7 @@
 
 #include "led.h"
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 #include "max11040.h"
 #include "adcs/max11040_hw.h"

sw/airborne/modules/benchmark/flight_benchmark.c

@@ -8,7 +8,7 @@
 
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "state.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 #include "mcu_periph/uart.h"
 #include "generated/airframe.h"

sw/airborne/modules/calibration/send_imu_mag_current.c

@@ -27,7 +27,7 @@
 #include "subsystems/imu.h"
 #include "subsystems/electrical.h"
 
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "mcu_periph/uart.h"
 #include "subsystems/datalink/downlink.h"
 

sw/airborne/modules/config/config_mkk_v2.c

@@ -59,7 +59,7 @@ void config_mkk_v2_periodic_read_status(void)
 }
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 

sw/airborne/modules/core/sys_mon.c

@@ -60,7 +60,7 @@ void init_sysmon(void)
 }
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 void periodic_report_sysmon(void)

sw/airborne/modules/datalink/extra_pprz_dl.h

@@ -29,7 +29,7 @@
 #define EXTRA_PPRZ_DL_H
 
 #include "subsystems/datalink/datalink.h"
-#include "subsystems/datalink/pprz_transport.h"
+#include "pprzlink/pprz_transport.h"
 
 /* PPRZ transport structure */
 extern struct pprz_transport extra_pprz_tp;

sw/airborne/modules/datalink/mavlink_decoder.c

@@ -34,7 +34,7 @@ uint8_t mavlink_crc_extra[256] = {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0,
 
 #if MAVLINK_DECODER_DEBUG
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 void mavlink_send_debug(struct mavlink_transport *t)

sw/airborne/modules/datalink/mavlink_decoder.h

@@ -29,7 +29,7 @@
 #define MAVLINK_DECODER_H
 
 #include "std.h"
-#include "subsystems/datalink/transport.h"
+#include "pprzlink/pprzlink_transport.h"
 #include "mcu_periph/uart.h"
 
 /* MAVLINK Transport

sw/airborne/modules/datalink/xtend_rssi.c

@@ -33,7 +33,7 @@
 
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 //from Digi XTend manual

sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c

@@ -34,7 +34,7 @@
 #include "led.h"
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 // In I2C mode we can not inline this function:

sw/airborne/modules/digital_cam/dc.c

@@ -88,7 +88,7 @@ float dc_autoshoot_period;
 uint16_t dc_photo_nr = 0;
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 #include "state.h"
 #include "subsystems/gps.h"

sw/airborne/modules/digital_cam/hackhd.c

@@ -83,7 +83,7 @@ static inline uint16_t pin_of_gpio(uint32_t __attribute__((unused)) port, uint16
 #if HACKHD_SYNC_SEND
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 #include "state.h"
 #include "subsystems/gps.h"

sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c

@@ -31,7 +31,7 @@
 
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 #include "state.h"
 

sw/airborne/modules/energy/MPPT.c

@@ -54,7 +54,7 @@ struct i2c_transaction mppt_trans;
 
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 uint8_t MPPT_mode;

sw/airborne/modules/energy/sim_MPPT.c

@@ -22,7 +22,7 @@
 
 
 #include "modules/energy/MPPT.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 

sw/airborne/modules/enose/enose.c

@@ -47,7 +47,7 @@ void enose_set_heat(uint8_t no_sensor, uint8_t value)
 
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 void enose_periodic(void)

sw/airborne/modules/gps/gps_ubx_ucenter.h

@@ -29,7 +29,7 @@
 #define GPS_UBX_UCENTER_H
 
 #include "std.h"
-#include "mcu_periph/link_device.h"
+#include "pprzlink/pprzlink_device.h"
 
 /** U-Center Variables */
 #define GPS_UBX_UCENTER_CONFIG_STEPS    19

sw/airborne/modules/gumstix_interface/qr_code_spi_link.c

@@ -26,7 +26,7 @@
 #include "mcu_periph/spi.h"
 
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 
 //struct qr_code_spi_link_data qr_code_spi_link_data;

sw/airborne/modules/ins/ahrs_chimu_spi.c

@@ -20,7 +20,7 @@
 
 #if CHIMU_DOWNLINK_IMMEDIATE
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 #endif
 

sw/airborne/modules/ins/ahrs_chimu_uart.c

@@ -16,7 +16,7 @@
 
 #if CHIMU_DOWNLINK_IMMEDIATE
 #include "mcu_periph/uart.h"
-#include "messages.h"
+#include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 #endif