[telemetry] protect telemetry code with #if DOWNLINK

- also get rid of AP_DOWNLINK and FBW_DOWNLINK - still needs to make it work again (for the only remaining classix in the world...)
paparazzi · Jun 16, 2013 · 116faae · 116faae
1 parent 6ec20fd
commit 116faae
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Showing 38 changed files with 203 additions and 125 deletions.
diff --git a/conf/firmwares/setup.makefile b/conf/firmwares/setup.makefile
@@ -84,7 +84,7 @@ setup_actuators.CFLAGS += -DUSE_$(MODEM_PORT)
 setup_actuators.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 setup_actuators.srcs   += mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 
-setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_PORT) -DDOWNLINK_AP_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
+setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
 setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
 setup_actuators.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 ifneq ($(SYS_TIME_LED),none)

diff --git a/conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile
@@ -4,7 +4,7 @@
 ap.CFLAGS += -DUSE_$(MODEM_PORT)
 ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_PORT) -DDOWNLINK_AP_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c
diff --git a/conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile
@@ -4,7 +4,7 @@
 #serial USB (e.g. /dev/ttyACM0)
 
 ifeq ($(ARCH), lpc21)
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=UsbS -DDOWNLINK_AP_DEVICE=UsbS -DPPRZ_UART=UsbS
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DUSE_USB_SERIAL -DUSE_USB_HIGH_PCLK
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c

diff --git a/conf/firmwares/subsystems/fixedwing/telemetry_w5100.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_w5100.makefile
@@ -7,7 +7,7 @@ W5100_SUBNET ?= "255,255,255,0"
 W5100_MULTICAST_IP ?= "224,1,1,11"
 W5100_MULTICAST_PORT ?= "1234"
 
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=W5100 -DDOWNLINK_AP_DEVICE=W5100
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=W5100
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=W5100Transport -DDATALINK=W5100
 ap.CFLAGS += -DW5100_IP=$(W5100_IP) -DW5100_SUBNET=$(W5100_SUBNET) -DW5100_MULTICAST_IP=$(W5100_MULTICAST_IP) -DW5100_MULTICAST_PORT=$(W5100_MULTICAST_PORT)
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/w5100.c

diff --git a/conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile
@@ -5,7 +5,7 @@
 ap.CFLAGS += -DUSE_$(MODEM_PORT)
 ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -DXBEE_BAUD=$(MODEM_BAUD)
 
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_PORT) -DDOWNLINK_AP_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT)
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT)
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/xbee.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c
diff --git a/sw/airborne/boards/ardrone/navdata.c b/sw/airborne/boards/ardrone/navdata.c
@@ -36,11 +36,11 @@
 #include <math.h>
 #include "navdata.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 int nav_fd;
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_navdata(void) {
   DOWNLINK_SEND_ARDRONE_NAVDATA(DefaultChannel, DefaultDevice,
       &navdata->taille,
@@ -72,6 +72,7 @@ static void send_navdata(void) {
       &navdata->mz,
       &navdata->chksum);
 }
+#endif
 
 int navdata_init()
 {
@@ -122,7 +123,10 @@ int navdata_init()
 
   previousUltrasoundHeight = 0;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "ARDRONE_NAVDATA", send_navdata);
+#endif
+
   return 0;
 }
 

diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
@@ -36,12 +36,6 @@
 #include CTRL_TYPE_H
 #include "firmwares/fixedwing/autopilot.h"
 
-#ifndef DOWNLINK_DEVICE
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
-#endif
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 /* outer loop parameters */
 float h_ctl_course_setpoint; /* rad, CW/north */
 float h_ctl_course_pre_bank;
@@ -149,6 +143,9 @@ inline static void h_ctl_pitch_loop( void );
 #define H_CTL_PITCH_KFFD 0.
 #endif
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_calibration(void) {
   DOWNLINK_SEND_CALIBRATION(DefaultChannel, DefaultDevice,  &v_ctl_auto_throttle_sum_err, &v_ctl_auto_throttle_submode);
 }
@@ -162,7 +159,7 @@ static void send_ctl_a(void) {
   DOWNLINK_SEND_H_CTL_A(DefaultChannel, DefaultDevice,
       &h_ctl_roll_sum_err, &h_ctl_ref_roll_angle, &h_ctl_pitch_sum_err, &h_ctl_ref_pitch_angle)
 }
-
+#endif
 
 void h_ctl_init( void ) {
   h_ctl_course_setpoint = 0.;
@@ -211,9 +208,11 @@ void h_ctl_init( void ) {
   v_ctl_pitch_dash_trim = 0.;
 #endif
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "CALIBRATION", send_calibration);
   register_periodic_telemetry(DefaultPeriodic, "TUNE_ROLL", send_tune_roll);
   register_periodic_telemetry(DefaultPeriodic, "H_CTL_A", send_ctl_a);
+#endif
 }
 
 /**

diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
@@ -35,12 +35,6 @@
 #include CTRL_TYPE_H
 #include "firmwares/fixedwing/autopilot.h"
 
-#ifndef DOWNLINK_DEVICE
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
-#endif
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 /* outer loop parameters */
 float h_ctl_course_setpoint; /* rad, CW/north */
 float h_ctl_course_pre_bank;
@@ -118,9 +112,13 @@ float h_ctl_roll_rate_gain;
 static float nav_ratio;
 #endif
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_calibration(void) {
   DOWNLINK_SEND_CALIBRATION(DefaultChannel, DefaultDevice,  &v_ctl_auto_throttle_sum_err, &v_ctl_auto_throttle_submode);
 }
+#endif
 
 void h_ctl_init( void ) {
   h_ctl_course_setpoint = 0.;
@@ -178,7 +176,9 @@ void h_ctl_init( void ) {
 nav_ratio=0;
 #endif
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "CALIBRATION", send_calibration);
+#endif
 }
 
 /**

diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -35,10 +35,10 @@
 #include "subsystems/actuators.h"
 #include "subsystems/electrical.h"
 #include "subsystems/settings.h"
+#include "subsystems/datalink/telemetry.h"
 #include "firmwares/rotorcraft/navigation.h"
 #include "firmwares/rotorcraft/guidance.h"
 #include "firmwares/rotorcraft/stabilization.h"
-#include "firmwares/rotorcraft/telemetry.h"
 #include "led.h"
 
 uint8_t  autopilot_mode;

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -34,10 +34,6 @@
 
 #include "generated/airframe.h"
 
-#include "mcu_periph/uart.h"
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 /* error if some gains are negative */
 #if (GUIDANCE_H_PGAIN < 0) ||                   \
   (GUIDANCE_H_DGAIN < 0)   ||                   \
@@ -93,6 +89,9 @@ static void guidance_h_hover_enter(void);
 static void guidance_h_nav_enter(void);
 static inline void transition_run(void);
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_gh(void) {
   struct NedCoor_i* pos = stateGetPositionNed_i();
   DOWNLINK_SEND_GUIDANCE_H_INT(DefaultChannel, DefaultDevice,
@@ -127,6 +126,7 @@ static void send_href(void) {
       &guidance_h_pos_sp.y, &guidance_h_pos_ref.y,
       &guidance_h_speed_ref.y, &guidance_h_accel_ref.y);
 }
+#endif
 
 void guidance_h_init(void) {
 
@@ -144,9 +144,11 @@ void guidance_h_init(void) {
   transition_percentage = 0;
   transition_theta_offset = 0;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "GUIDANCE_H_INT", send_gh);
   register_periodic_telemetry(DefaultPeriodic, "HOVER_LOOP", send_hover_loop);
   register_periodic_telemetry(DefaultPeriodic, "GUIDANCE_H_REF", send_href);
+#endif
 }
 
 

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -39,9 +39,6 @@
 
 #include "generated/airframe.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 
 /* warn if some gains are still negative */
 #if (GUIDANCE_V_HOVER_KP < 0) ||                   \
@@ -96,6 +93,9 @@ int32_t guidance_v_z_sum_err;
 
 __attribute__ ((always_inline)) static inline void run_hover_loop(bool_t in_flight);
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_vert_loop(void) {
   DOWNLINK_SEND_VERT_LOOP(DefaultChannel, DefaultDevice,
       &guidance_v_z_sp, &guidance_v_zd_sp,
@@ -112,6 +112,7 @@ static void send_vert_loop(void) {
       &guidance_v_fb_cmd,
       &guidance_v_delta_t);
 }
+#endif
 
 void guidance_v_init(void) {
 
@@ -129,7 +130,9 @@ void guidance_v_init(void) {
 
   gv_adapt_init();
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "VERT_LOOP", send_vert_loop);
+#endif
 }
 
 

diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
@@ -33,8 +33,7 @@
 #include "mcu_periph/sys_time.h"
 #include "led.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "firmwares/rotorcraft/telemetry.h"
+#include "subsystems/datalink/telemetry.h"
 #include "subsystems/datalink/datalink.h"
 #include "subsystems/settings.h"
 #include "subsystems/datalink/xbee.h"

diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c
@@ -44,9 +44,6 @@
 
 #include "math/pprz_algebra_int.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 const uint8_t nb_waypoint = NB_WAYPOINT;
 struct EnuCoor_i waypoints[NB_WAYPOINT];
 
@@ -86,6 +83,9 @@ static inline void nav_set_altitude( void );
 #define ARRIVED_AT_WAYPOINT (3 << 8)
 #define CARROT_DIST (12 << 8)
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_nav_status(void) {
   DOWNLINK_SEND_ROTORCRAFT_NAV_STATUS(DefaultChannel, DefaultDevice,
       &block_time, &stage_time,
@@ -115,6 +115,7 @@ static void send_wp_moved(void) {
       &(waypoints[i].y),
       &(waypoints[i].z));
 }
+#endif
 
 void nav_init(void) {
   // convert to
@@ -148,8 +149,10 @@ void nav_init(void) {
   nav_leg_progress = 0;
   nav_leg_length = 1;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_NAV_STATUS", send_nav_status);
   register_periodic_telemetry(DefaultPeriodic, "WP_MOVED", send_wp_moved);
+#endif
 }
 
 static inline void nav_advance_carrot(void) {

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
@@ -35,6 +35,9 @@ struct FloatEulers stabilization_att_sum_err;
 float stabilization_att_fb_cmd[COMMANDS_NB];
 float stabilization_att_ff_cmd[COMMANDS_NB];
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_att(void) {
   struct FloatRates* body_rate = stateGetBodyRates_i();
   struct FloatEulers* att = stateGetNedToBodyEulers_i();
@@ -75,7 +78,7 @@ static void send_att_ref(void) {
       &stab_att_ref_accel.q,
       &stab_att_ref_accel.r);
 }
-
+#endif
 
 void stabilization_attitude_init(void) {
 
@@ -103,8 +106,10 @@ void stabilization_attitude_init(void) {
 
   FLOAT_EULERS_ZERO( stabilization_att_sum_err );
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
+#endif
 }
 
 

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
@@ -27,9 +27,6 @@
 
 #include "generated/airframe.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 struct Int32AttitudeGains  stabilization_gains;
 
 /* warn if some gains are still negative */
@@ -57,6 +54,9 @@ static inline void reset_psi_ref_from_body(void) {
   stab_att_ref_accel.r = 0;
 }
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_att(void) {
   struct Int32Rates* body_rate = stateGetBodyRates_i();
   struct Int32Eulers* att = stateGetNedToBodyEulers_i();
@@ -95,6 +95,7 @@ static void send_att_ref(void) {
       &stab_att_ref_accel.q,
       &stab_att_ref_accel.r);
 }
+#endif
 
 void stabilization_attitude_init(void) {
 
@@ -124,8 +125,10 @@ void stabilization_attitude_init(void) {
 
   INT_EULERS_ZERO( stabilization_att_sum_err );
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
+#endif
 }