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[paparazzi-commits] [6299] ins.h from modules is different so it is rena
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From: |
Christophe De Wagter |
|
Subject: |
[paparazzi-commits] [6299] ins.h from modules is different so it is renamed |
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Date: |
Thu, 28 Oct 2010 12:31:15 +0000 |
Revision: 6299
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6299
Author: dewagter
Date: 2010-10-28 12:31:15 +0000 (Thu, 28 Oct 2010)
Log Message:
-----------
ins.h from modules is different so it is renamed
Modified Paths:
--------------
paparazzi3/trunk/conf/modules/ins_xsens.xml
paparazzi3/trunk/conf/modules/ins_xsens_MTiG_Uart0.xml
paparazzi3/trunk/conf/modules/ins_xsens_MTiG_fixedwing.xml
paparazzi3/trunk/conf/modules/ins_xsens_MTi_Uart0.xml
paparazzi3/trunk/sw/airborne/inter_mcu.h
paparazzi3/trunk/sw/airborne/modules/ins/ins_xsens.c
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/modules/ins/ins_module.h
Removed Paths:
-------------
paparazzi3/trunk/sw/airborne/modules/ins/ins.h
Modified: paparazzi3/trunk/conf/modules/ins_xsens.xml
===================================================================
--- paparazzi3/trunk/conf/modules/ins_xsens.xml 2010-10-28 12:21:53 UTC (rev
6298)
+++ paparazzi3/trunk/conf/modules/ins_xsens.xml 2010-10-28 12:31:15 UTC (rev
6299)
@@ -3,7 +3,7 @@
<module name="ins">
<!-- <depend conflict="ins" -->
<header>
- <file name="subsystems/ins.h"/>
+ <file name="ins_module.h"/>
</header>
<init fun="ins_init()"/>
<periodic fun="ins_periodic_task()" freq="60"/>
Modified: paparazzi3/trunk/conf/modules/ins_xsens_MTiG_Uart0.xml
===================================================================
--- paparazzi3/trunk/conf/modules/ins_xsens_MTiG_Uart0.xml 2010-10-28
12:21:53 UTC (rev 6298)
+++ paparazzi3/trunk/conf/modules/ins_xsens_MTiG_Uart0.xml 2010-10-28
12:31:15 UTC (rev 6299)
@@ -4,7 +4,7 @@
<!-- <depend conflict="ins" -->
<!-- <depend require="gps_xsens" -->
<header>
- <file name="subsystems/ins.h"/>
+ <file name="ins_module.h"/>
</header>
<init fun="ins_init()"/>
<periodic fun="ins_periodic_task()" freq="60"/>
Modified: paparazzi3/trunk/conf/modules/ins_xsens_MTiG_fixedwing.xml
===================================================================
--- paparazzi3/trunk/conf/modules/ins_xsens_MTiG_fixedwing.xml 2010-10-28
12:21:53 UTC (rev 6298)
+++ paparazzi3/trunk/conf/modules/ins_xsens_MTiG_fixedwing.xml 2010-10-28
12:31:15 UTC (rev 6299)
@@ -4,7 +4,7 @@
<!-- <depend conflict="ins" -->
<!-- <depend require="gps_xsens" -->
<header>
- <file name="subsystems/ins.h"/>
+ <file name="ins_module.h"/>
</header>
<init fun="ins_init()"/>
<periodic fun="ins_periodic_task()" freq="60"/>
Modified: paparazzi3/trunk/conf/modules/ins_xsens_MTi_Uart0.xml
===================================================================
--- paparazzi3/trunk/conf/modules/ins_xsens_MTi_Uart0.xml 2010-10-28
12:21:53 UTC (rev 6298)
+++ paparazzi3/trunk/conf/modules/ins_xsens_MTi_Uart0.xml 2010-10-28
12:31:15 UTC (rev 6299)
@@ -3,7 +3,7 @@
<module name="ins">
<!-- <depend conflict="ins" -->
<header>
- <file name="subsystems/ins.h"/>
+ <file name="ins_module.h"/>
</header>
<init fun="ins_init()"/>
<periodic fun="ins_periodic_task()" freq="60"/>
Modified: paparazzi3/trunk/sw/airborne/inter_mcu.h
===================================================================
--- paparazzi3/trunk/sw/airborne/inter_mcu.h 2010-10-28 12:21:53 UTC (rev
6298)
+++ paparazzi3/trunk/sw/airborne/inter_mcu.h 2010-10-28 12:31:15 UTC (rev
6299)
@@ -44,6 +44,11 @@
#include "subsystems/radio_control.h"
#include "main_fbw.h"
+#ifndef SINGLE_MCU
+#include "radio.h"
+#define RADIO_CONTROL_NB_CHANNEL RADIO_CTL_NB
+#endif
+
/** Data structure shared by fbw and ap processes */
struct fbw_state {
#if defined RADIO_CONTROL || RADIO_CONTROL_AUTO1
Deleted: paparazzi3/trunk/sw/airborne/modules/ins/ins.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/ins/ins.h 2010-10-28 12:21:53 UTC
(rev 6298)
+++ paparazzi3/trunk/sw/airborne/modules/ins/ins.h 2010-10-28 12:31:15 UTC
(rev 6299)
@@ -1,101 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2003 Pascal Brisset, Antoine Drouin
- *
- * 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 ins.h
- * \brief Device independent INS code
- *
-*/
-
-
-#ifndef INS_H
-#define INS_H
-
-#include "std.h"
-#include "led.h"
-
-#ifndef INS_FORMAT
-#define INS_FORMAT float
-#endif
-
-extern INS_FORMAT ins_x;
-extern INS_FORMAT ins_y;
-extern INS_FORMAT ins_z;
-
-extern INS_FORMAT ins_vx;
-extern INS_FORMAT ins_vy;
-extern INS_FORMAT ins_vz;
-
-extern INS_FORMAT ins_phi;
-extern INS_FORMAT ins_theta;
-extern INS_FORMAT ins_psi;
-
-extern INS_FORMAT ins_p;
-extern INS_FORMAT ins_q;
-extern INS_FORMAT ins_r;
-
-extern INS_FORMAT ins_ax;
-extern INS_FORMAT ins_ay;
-extern INS_FORMAT ins_az;
-
-extern INS_FORMAT ins_mx;
-extern INS_FORMAT ins_my;
-extern INS_FORMAT ins_mz;
-
-extern volatile uint8_t ins_msg_received;
-
-extern void ins_init( void );
-extern void ins_periodic_task( void );
-void handle_ins_msg( void);
-void parse_ins_msg( void );
-void parse_ins_buffer( uint8_t );
-
-#ifndef SITL
-#include "uart.h"
-
-#define __InsLink(dev, _x) dev##_x
-#define _InsLink(dev, _x) __InsLink(dev, _x)
-#define InsLink(_x) _InsLink(INS_LINK, _x)
-
-#define InsBuffer() InsLink(ChAvailable())
-#define ReadInsBuffer() { while (InsLink(ChAvailable())&&!ins_msg_received)
parse_ins_buffer(InsLink(Getch())); }
-#define InsUartSend1(c) InsLink(Transmit(c))
-#define InsUartInitParam(_a,_b,_c) InsLink(InitParam(_a,_b,_c))
-#define InsUartRunning InsLink(TxRunning)
-
-#endif /** !SITL */
-
-#define InsEventCheckAndHandle(handler) { \
- if (InsBuffer()) { \
- ReadInsBuffer(); \
- } \
- if (ins_msg_received) { \
- LED_TOGGLE(2); \
- parse_ins_msg(); \
- handler; \
- ins_msg_received = FALSE; \
- } \
- }
-
-
-#endif /* INS_H */
Copied: paparazzi3/trunk/sw/airborne/modules/ins/ins_module.h (from rev 6298,
paparazzi3/trunk/sw/airborne/modules/ins/ins.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/ins/ins_module.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/ins/ins_module.h 2010-10-28
12:31:15 UTC (rev 6299)
@@ -0,0 +1,101 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2003 Pascal Brisset, Antoine Drouin
+ *
+ * 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 ins.h
+ * \brief Device independent INS code
+ *
+*/
+
+
+#ifndef INS_H
+#define INS_H
+
+#include "std.h"
+#include "led.h"
+
+#ifndef INS_FORMAT
+#define INS_FORMAT float
+#endif
+
+extern INS_FORMAT ins_x;
+extern INS_FORMAT ins_y;
+extern INS_FORMAT ins_z;
+
+extern INS_FORMAT ins_vx;
+extern INS_FORMAT ins_vy;
+extern INS_FORMAT ins_vz;
+
+extern INS_FORMAT ins_phi;
+extern INS_FORMAT ins_theta;
+extern INS_FORMAT ins_psi;
+
+extern INS_FORMAT ins_p;
+extern INS_FORMAT ins_q;
+extern INS_FORMAT ins_r;
+
+extern INS_FORMAT ins_ax;
+extern INS_FORMAT ins_ay;
+extern INS_FORMAT ins_az;
+
+extern INS_FORMAT ins_mx;
+extern INS_FORMAT ins_my;
+extern INS_FORMAT ins_mz;
+
+extern volatile uint8_t ins_msg_received;
+
+extern void ins_init( void );
+extern void ins_periodic_task( void );
+void handle_ins_msg( void);
+void parse_ins_msg( void );
+void parse_ins_buffer( uint8_t );
+
+#ifndef SITL
+#include "uart.h"
+
+#define __InsLink(dev, _x) dev##_x
+#define _InsLink(dev, _x) __InsLink(dev, _x)
+#define InsLink(_x) _InsLink(INS_LINK, _x)
+
+#define InsBuffer() InsLink(ChAvailable())
+#define ReadInsBuffer() { while (InsLink(ChAvailable())&&!ins_msg_received)
parse_ins_buffer(InsLink(Getch())); }
+#define InsUartSend1(c) InsLink(Transmit(c))
+#define InsUartInitParam(_a,_b,_c) InsLink(InitParam(_a,_b,_c))
+#define InsUartRunning InsLink(TxRunning)
+
+#endif /** !SITL */
+
+#define InsEventCheckAndHandle(handler) { \
+ if (InsBuffer()) { \
+ ReadInsBuffer(); \
+ } \
+ if (ins_msg_received) { \
+ LED_TOGGLE(2); \
+ parse_ins_msg(); \
+ handler; \
+ ins_msg_received = FALSE; \
+ } \
+ }
+
+
+#endif /* INS_H */
Modified: paparazzi3/trunk/sw/airborne/modules/ins/ins_xsens.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/ins/ins_xsens.c 2010-10-28
12:21:53 UTC (rev 6298)
+++ paparazzi3/trunk/sw/airborne/modules/ins/ins_xsens.c 2010-10-28
12:31:15 UTC (rev 6299)
@@ -26,7 +26,7 @@
* \brief Parser for the Xsens protocol
*/
-#include "subsystems/ins.h"
+#include "ins_module.h"
#include <inttypes.h>
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