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[pprlink] start using pprzlink for airborne code

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some stuff are compiling but not working (at least sim)
needs a lot of cleaning
needs a better way to init transport types
This commit is contained in:
Gautier Hattenberger
2015-12-26 23:48:17 +01:00
parent 2d20d6b12b
commit cfbbf0d435
154 changed files with 217 additions and 1680 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitmodules
+3
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@@ -19,3 +19,6 @@
[submodule "sw/ext/mavlink"] [submodule "sw/ext/mavlink"]
path = sw/ext/mavlink path = sw/ext/mavlink
url = https://github.com/paparazzi/mavlink.git url = https://github.com/paparazzi/mavlink.git
[submodule "sw/ext/pprzlink"]
path = sw/ext/pprzlink
url = https://github.com/paparazzi/pprzlink.git
Makefile
+10 -7
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@@ -58,6 +58,7 @@ endif
# #
LIB=sw/lib LIB=sw/lib
STATICINCLUDE =$(PAPARAZZI_HOME)/var/include STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
MESSAGES_INSTALL =$(PAPARAZZI_HOME)/var
CONF=$(PAPARAZZI_SRC)/conf CONF=$(PAPARAZZI_SRC)/conf
AIRBORNE=sw/airborne AIRBORNE=sw/airborne
SIMULATOR=sw/simulator SIMULATOR=sw/simulator
@@ -68,6 +69,7 @@ GENERATORS=$(PAPARAZZI_SRC)/sw/tools/generators
JOYSTICK=sw/ground_segment/joystick JOYSTICK=sw/ground_segment/joystick
EXT=sw/ext EXT=sw/ext
TOOLS=sw/tools TOOLS=sw/tools
PPRZLINK_DIR=sw/ext/pprzlink
# #
# build some stuff in subdirs # build some stuff in subdirs
@@ -103,8 +105,8 @@ INTERMCU_MSG_H=$(STATICINCLUDE)/intermcu_msg.h
MAVLINK_DIR=$(STATICINCLUDE)/mavlink/ MAVLINK_DIR=$(STATICINCLUDE)/mavlink/
MAVLINK_PROTOCOL_H=$(MAVLINK_DIR)protocol.h 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 all: ground_segment ext lpctools
@@ -184,16 +186,17 @@ $(PPRZCENTER): libpprz
$(LOGALIZER): libpprz $(LOGALIZER): libpprz
pprzlink:
@echo BUILD PPRZLINK
$(Q)$(MAKE) -C $(PPRZLINK_DIR) generators
static_h: $(GEN_HEADERS) static_h: $(GEN_HEADERS)
$(MESSAGES_H) : $(MESSAGES_XML) generators $(MESSAGES_H) : $(MESSAGES_XML) pprzlink
$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE) $(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
$(Q)test -d $(STATICLIB) || mkdir -p $(STATICLIB)
@echo GENERATE $@ @echo GENERATE $@
$(eval $@_TMP := $(shell $(MKTEMP))) $(Q)MESSAGES_INSTALL=$(MESSAGES_INSTALL) $(MAKE) -C $(PPRZLINK_DIR) pymessages
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_messages.out $< telemetry > $($@_TMP)
$(Q)mv $($@_TMP) $@
$(Q)chmod a+r $@
$(MESSAGES2_H) : $(MESSAGES_XML) generators $(MESSAGES2_H) : $(MESSAGES_XML) generators
$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE) $(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
conf/firmwares/subsystems/fixedwing/autopilot.makefile
+1 -1
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@@ -196,7 +196,7 @@ sim.CFLAGS += -DSITL
sim.srcs += $(SRC_ARCH)/sim_ap.c sim.srcs += $(SRC_ARCH)/sim_ap.c
sim.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp 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 sim.srcs += $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_adc_generic.c
conf/firmwares/subsystems/shared/telemetry_ivy.makefile
+1 -1
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@@ -1,3 +1,3 @@
$(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_TRANSPORT=ivy_tp -DDOWNLINK_DEVICE=ivy_tp $(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 $(TARGET).srcs += subsystems/datalink/downlink.c subsystems/datalink/telemetry.c
conf/firmwares/subsystems/shared/telemetry_xbee_api.makefile
+1 -1
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@@ -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) $(TARGET).CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=$(XBEE_MODEM_PORT_LOWER) -DXBEE_UART=$(XBEE_MODEM_PORT_LOWER)
$(TARGET).CFLAGS += -DDOWNLINK_TRANSPORT=xbee_tp -DDATALINK=XBEE $(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
+1 -1
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@@ -32,7 +32,7 @@
#define SPI_SLAVE_HS_ARCH_H #define SPI_SLAVE_HS_ARCH_H
#include "std.h" #include "std.h"
#include "mcu_periph/link_device.h" #include "pprzlink/pprzlink_device.h"
struct spi_slave_hs { struct spi_slave_hs {
/** Generic device interface */ /** Generic device interface */
sw/airborne/boards/apogee/imu_apogee.c
+1 -1
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@@ -35,7 +35,7 @@
// Downlink // Downlink
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#ifndef IMU_APOGEE_CHAN_X #ifndef IMU_APOGEE_CHAN_X
sw/airborne/boards/baro_board_ms5611_i2c.c
+1 -1
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@@ -36,7 +36,7 @@
#include "subsystems/abi.h" #include "subsystems/abi.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#ifdef BARO_PERIODIC_FREQUENCY #ifdef BARO_PERIODIC_FREQUENCY
sw/airborne/boards/baro_board_ms5611_spi.c
+1 -1
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@@ -36,7 +36,7 @@
#include "subsystems/abi.h" #include "subsystems/abi.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#ifdef BARO_PERIODIC_FREQUENCY #ifdef BARO_PERIODIC_FREQUENCY
sw/airborne/boards/hbmini/imu_hbmini.c
+1 -1
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@@ -38,7 +38,7 @@
// Downlink // Downlink
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
sw/airborne/boards/krooz/imu_krooz.c
+1 -1
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@@ -38,7 +38,7 @@
// Downlink // Downlink
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#if !defined KROOZ_LOWPASS_FILTER && !defined KROOZ_SMPLRT_DIV #if !defined KROOZ_LOWPASS_FILTER && !defined KROOZ_SMPLRT_DIV
sw/airborne/boards/navgo/imu_navgo.c
+1 -1
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@@ -38,7 +38,7 @@
// Downlink // Downlink
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
sw/airborne/boards/umarim/imu_umarim.c
+1 -1
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@@ -37,7 +37,7 @@
// Downlink // Downlink
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
sw/airborne/firmwares/fixedwing/autopilot.h
+1 -1
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@@ -165,7 +165,7 @@ static inline void autopilot_ClearSettings(float clear)
} }
#if DOWNLINK #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); extern void send_autopilot_version(struct transport_tx *trans, struct link_device *dev);
#endif #endif
sw/airborne/firmwares/motor_bench/main_motor_bench.c
+1 -1
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@@ -13,7 +13,7 @@
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "generated/settings.h" #include "generated/settings.h"
sw/airborne/firmwares/motor_bench/main_turntable.c
+1 -1
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@@ -6,7 +6,7 @@
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "mcu_arch.h" #include "mcu_arch.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "armVIC.h" #include "armVIC.h"
sw/airborne/firmwares/rotorcraft/autopilot.h
+1 -1
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@@ -179,7 +179,7 @@ static inline void autopilot_ClearSettings(float clear)
} }
#if DOWNLINK #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); extern void send_autopilot_version(struct transport_tx *trans, struct link_device *dev);
#endif #endif
sw/airborne/firmwares/rotorcraft/datalink.c
+2 -2
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@@ -34,8 +34,8 @@
#include "generated/settings.h" #include "generated/settings.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "dl_protocol.h" #include "pprzlink/dl_protocol.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_DATALINK #if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_DATALINK
sw/airborne/firmwares/rotorcraft/navigation.c
+1 -1
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@@ -45,7 +45,7 @@
#include "math/pprz_algebra_int.h" #include "math/pprz_algebra_int.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
struct EnuCoor_i navigation_target; struct EnuCoor_i navigation_target;
sw/airborne/firmwares/tutorial/main_demo4.c
+1 -1
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@@ -4,7 +4,7 @@
#include "led.h" #include "led.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
static inline void main_init(void); static inline void main_init(void);
sw/airborne/firmwares/tutorial/main_demo5.c
+1 -1
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@@ -4,7 +4,7 @@
#include "led.h" #include "led.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
static inline void main_init(void); static inline void main_init(void);
sw/airborne/firmwares/tutorial/main_demo6.c
+1 -1
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@@ -4,7 +4,7 @@
#include "led.h" #include "led.h"
#include "mcu_periph/usb_serial.h" #include "mcu_periph/usb_serial.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
static inline void main_init(void); static inline void main_init(void);
sw/airborne/firmwares/wind_tunnel/main.c
+2 -2
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@@ -4,12 +4,12 @@
#include "led.h" #include "led.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "subsystems/datalink/datalink.h" #include "subsystems/datalink/datalink.h"
#include "generated/settings.h" #include "generated/settings.h"
#include "dl_protocol.h" #include "pprzlink/dl_protocol.h"
#include "wt_servo.h" #include "wt_servo.h"
sw/airborne/firmwares/wind_tunnel/main_mb.c
+2 -2
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@@ -4,12 +4,12 @@
#include "led.h" #include "led.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "subsystems/datalink/datalink.h" #include "subsystems/datalink/datalink.h"
#include "generated/settings.h" #include "generated/settings.h"
#include "dl_protocol.h" #include "pprzlink/dl_protocol.h"
#include "i2c.h" #include "i2c.h"
#include "mb_twi_controller_mkk.h" #include "mb_twi_controller_mkk.h"
sw/airborne/mcu_periph/link_device.h
-58
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@@ -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
+1
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@@ -246,6 +246,7 @@ void uart_periph_init(struct uart_periph *p)
p->device.send_message = (send_message_t)null_function; p->device.send_message = (send_message_t)null_function;
p->device.char_available = (char_available_t)uart_char_available; p->device.char_available = (char_available_t)uart_char_available;
p->device.get_byte = (get_byte_t)uart_getch; p->device.get_byte = (get_byte_t)uart_getch;
p->device.set_baudrate = (set_baudrate_t)uart_periph_set_baudrate;
#if PERIODIC_TELEMETRY #if PERIODIC_TELEMETRY
// the first to register do it for the others // the first to register do it for the others
sw/airborne/mcu_periph/uart.h
+1 -1
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@@ -29,7 +29,7 @@
#define MCU_PERIPH_UART_H #define MCU_PERIPH_UART_H
#include "mcu_periph/uart_arch.h" #include "mcu_periph/uart_arch.h"
#include "mcu_periph/link_device.h" #include "pprzlink/pprzlink_device.h"
#include "std.h" #include "std.h"
#ifndef UART_RX_BUFFER_SIZE #ifndef UART_RX_BUFFER_SIZE
sw/airborne/mcu_periph/udp.h
+1 -1
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@@ -30,7 +30,7 @@
#include "std.h" #include "std.h"
#include "mcu_periph/udp_arch.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_RX_BUFFER_SIZE 256
#define UDP_TX_BUFFER_SIZE 256 #define UDP_TX_BUFFER_SIZE 256
sw/airborne/mcu_periph/usb_serial.h
+1 -1
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@@ -30,7 +30,7 @@
#include <inttypes.h> #include <inttypes.h>
#include "std.h" #include "std.h"
#include "mcu_periph/link_device.h" #include "pprzlink/pprzlink_device.h"
struct usb_serial_periph { struct usb_serial_periph {
/** Generic device interface */ /** Generic device interface */
sw/airborne/modules/adcs/adc_generic.c
+1 -1
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@@ -1,7 +1,7 @@
#include "adc_generic.h" #include "adc_generic.h"
#include "mcu_periph/adc.h" #include "mcu_periph/adc.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include BOARD_CONFIG #include BOARD_CONFIG
sw/airborne/modules/adcs/max11040.c
+1 -1
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@@ -27,7 +27,7 @@
#include "led.h" #include "led.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "max11040.h" #include "max11040.h"
#include "adcs/max11040_hw.h" #include "adcs/max11040_hw.h"
sw/airborne/modules/benchmark/flight_benchmark.c
+1 -1
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@@ -8,7 +8,7 @@
#include "firmwares/fixedwing/guidance/guidance_v.h" #include "firmwares/fixedwing/guidance/guidance_v.h"
#include "state.h" #include "state.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "generated/airframe.h" #include "generated/airframe.h"
sw/airborne/modules/calibration/send_imu_mag_current.c
+1 -1
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@@ -27,7 +27,7 @@
#include "subsystems/imu.h" #include "subsystems/imu.h"
#include "subsystems/electrical.h" #include "subsystems/electrical.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
sw/airborne/modules/config/config_mkk_v2.c
+1 -1
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@@ -59,7 +59,7 @@ void config_mkk_v2_periodic_read_status(void)
} }
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
sw/airborne/modules/core/sys_mon.c
+1 -1
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@@ -60,7 +60,7 @@ void init_sysmon(void)
} }
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
void periodic_report_sysmon(void) void periodic_report_sysmon(void)
sw/airborne/modules/datalink/extra_pprz_dl.h
+1 -1
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@@ -29,7 +29,7 @@
#define EXTRA_PPRZ_DL_H #define EXTRA_PPRZ_DL_H
#include "subsystems/datalink/datalink.h" #include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/pprz_transport.h" #include "pprzlink/pprz_transport.h"
/* PPRZ transport structure */ /* PPRZ transport structure */
extern struct pprz_transport extra_pprz_tp; extern struct pprz_transport extra_pprz_tp;
sw/airborne/modules/datalink/mavlink_decoder.c
+1 -1
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@@ -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 #if MAVLINK_DECODER_DEBUG
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
void mavlink_send_debug(struct mavlink_transport *t) void mavlink_send_debug(struct mavlink_transport *t)
sw/airborne/modules/datalink/mavlink_decoder.h
+1 -1
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@@ -29,7 +29,7 @@
#define MAVLINK_DECODER_H #define MAVLINK_DECODER_H
#include "std.h" #include "std.h"
#include "subsystems/datalink/transport.h" #include "pprzlink/pprzlink_transport.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
/* MAVLINK Transport /* MAVLINK Transport
sw/airborne/modules/datalink/xtend_rssi.c
+1 -1
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@@ -33,7 +33,7 @@
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
//from Digi XTend manual //from Digi XTend manual
sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c
+1 -1
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@@ -34,7 +34,7 @@
#include "led.h" #include "led.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
// In I2C mode we can not inline this function: // In I2C mode we can not inline this function:
sw/airborne/modules/digital_cam/dc.c
+1 -1
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@@ -88,7 +88,7 @@ float dc_autoshoot_period;
uint16_t dc_photo_nr = 0; uint16_t dc_photo_nr = 0;
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "state.h" #include "state.h"
#include "subsystems/gps.h" #include "subsystems/gps.h"
sw/airborne/modules/digital_cam/hackhd.c
+1 -1
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@@ -83,7 +83,7 @@ static inline uint16_t pin_of_gpio(uint32_t __attribute__((unused)) port, uint16
#if HACKHD_SYNC_SEND #if HACKHD_SYNC_SEND
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "state.h" #include "state.h"
#include "subsystems/gps.h" #include "subsystems/gps.h"
sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c
+1 -1
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@@ -31,7 +31,7 @@
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "state.h" #include "state.h"
sw/airborne/modules/energy/MPPT.c
+1 -1
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@@ -54,7 +54,7 @@ struct i2c_transaction mppt_trans;
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
uint8_t MPPT_mode; uint8_t MPPT_mode;
sw/airborne/modules/energy/sim_MPPT.c
+1 -1
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@@ -22,7 +22,7 @@
#include "modules/energy/MPPT.h" #include "modules/energy/MPPT.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
sw/airborne/modules/enose/enose.c
+1 -1
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@@ -47,7 +47,7 @@ void enose_set_heat(uint8_t no_sensor, uint8_t value)
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
void enose_periodic(void) void enose_periodic(void)
sw/airborne/modules/gps/gps_ubx_ucenter.h
+1 -1
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@@ -29,7 +29,7 @@
#define GPS_UBX_UCENTER_H #define GPS_UBX_UCENTER_H
#include "std.h" #include "std.h"
#include "mcu_periph/link_device.h" #include "pprzlink/pprzlink_device.h"
/** U-Center Variables */ /** U-Center Variables */
#define GPS_UBX_UCENTER_CONFIG_STEPS 19 #define GPS_UBX_UCENTER_CONFIG_STEPS 19
sw/airborne/modules/gumstix_interface/qr_code_spi_link.c
+1 -1
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@@ -26,7 +26,7 @@
#include "mcu_periph/spi.h" #include "mcu_periph/spi.h"
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
//struct qr_code_spi_link_data qr_code_spi_link_data; //struct qr_code_spi_link_data qr_code_spi_link_data;
sw/airborne/modules/ins/ahrs_chimu_spi.c
+1 -1
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@@ -20,7 +20,7 @@
#if CHIMU_DOWNLINK_IMMEDIATE #if CHIMU_DOWNLINK_IMMEDIATE
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#endif #endif
sw/airborne/modules/ins/ahrs_chimu_uart.c
+1 -1
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@@ -16,7 +16,7 @@
#if CHIMU_DOWNLINK_IMMEDIATE #if CHIMU_DOWNLINK_IMMEDIATE
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "messages.h" #include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#endif #endif

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