[modules] baro_board as module

conf/airframes/ENAC/fixed-wing/apogee.xml

@@ -33,6 +33,7 @@
       <subsystem name="radio_control" type="sbus"/>
     </target>
 
+    <define name="USE_BARO_BOARD" value="FALSE"/>
 
     <!-- Communication -->
     <subsystem name="telemetry" type="xbee_api"/>

conf/airframes/examples/microjet_lisa_m.xml

@@ -47,6 +47,7 @@
   <modules>
     <load name="sys_mon.xml"/>
     <load name="baro_sim.xml"/>
+    <load name="baro_board.xml"/>
 
     <!-- extra navigation routines -->
     <load name="nav_bungee_takeoff.xml"/>

conf/airframes/examples/quadrotor_lisa_mx.xml

@@ -63,6 +63,7 @@
     </load>
     <load name="gps_ubx_ucenter.xml"/>
     <load name="geo_mag.xml"/>
+    <load name="baro_board.xml"/>
   </modules>
 
   <servos driver="Pwm">

conf/firmwares/rotorcraft.makefile

@@ -141,8 +141,6 @@ ap.srcs += subsystems/actuators.c
 #
 ap.srcs += subsystems/air_data.c
 
-include $(CFG_SHARED)/baro_board.makefile
-
 #
 # Analog Backend
 #

conf/firmwares/subsystems/fixedwing/autopilot.makefile

@@ -161,9 +161,6 @@ ap_srcs 		+= $(SRC_ARCH)/subsystems/settings_arch.c
 # AIR DATA
 ap_srcs += subsystems/air_data.c
 
-# BARO
-include $(CFG_SHARED)/baro_board.makefile
-
 
 ######################################################################
 ##

conf/modules/baro_board.xml

@@ -0,0 +1,22 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="baro_board" dir="sensors">
+  <doc>
+    <description>
+      Baro board default.
+      Drivers for baros already on an autopilot board.
+    </description>
+    <configure name="USE_BARO_BOARD" value="TRUE" description="Set to FALSE to disable onboard baro"/>
+  </doc>
+  <header>
+    <file name="baro_board_module.h"/>
+  </header>
+  <init fun="baro_init()"/>
+  <periodic fun="baro_periodic()" freq="40"/>
+  <event fun="baro_event()"/>
+  <makefile target="ap">
+    <raw>
+include $(CFG_SHARED)/baro_board.makefile
+    </raw>
+  </makefile>
+</module>

sw/airborne/boards/apogee/baro_board.c

@@ -27,7 +27,7 @@
  */
 
 #include "std.h"
-#include "subsystems/sensors/baro.h"
+#include "modules/sensors/baro_board_module.h"
 #include "peripherals/mpl3115.h"
 
 // to get MPU status

sw/airborne/boards/ardrone/baro_board.c

@@ -26,7 +26,7 @@
  * Based on BMP180 implementation by C. de Wagter.
  */
 
-#include "subsystems/sensors/baro.h"
+#include "modules/sensors/baro_board_module.h"
 #include "subsystems/abi.h"
 #include "baro_board.h"
 #include "navdata.h"

sw/airborne/boards/baro_board_ms5611_i2c.c

@@ -27,7 +27,7 @@
  *
  */
 
-#include "subsystems/sensors/baro.h"
+#include "modules/sensors/baro_board_module.h"
 #include "peripherals/ms5611_i2c.h"
 
 #include "mcu_periph/sys_time.h"

sw/airborne/boards/baro_board_ms5611_spi.c

@@ -27,7 +27,7 @@
  *
  */
 
-#include "subsystems/sensors/baro.h"
+#include "modules/sensors/baro_board_module.h"
 #include "peripherals/ms5611_spi.h"
 
 #include "mcu_periph/sys_time.h"

sw/airborne/boards/booz/baro_board.c

@@ -25,7 +25,7 @@
  */
 
 
-#include "subsystems/sensors/baro.h"
+#include "modules/sensors/baro_board_module.h"
 
 #include "generated/airframe.h"
 #include "subsystems/abi.h"

sw/airborne/boards/booz/baro_board.h

@@ -30,7 +30,7 @@
 
 #include "std.h"
 
-#include "subsystems/sensors/baro.h"
+#include "modules/sensors/baro_board_module.h"
 #include "mcu_periph/adc.h"
 #include "mcu_periph/dac.h"
 

sw/airborne/boards/lisa_l/baro_board.c

@@ -21,7 +21,7 @@
  */
 
 #include "std.h"
-#include "subsystems/sensors/baro.h"
+#include "modules/sensors/baro_board_module.h"
 #include "mcu_periph/i2c.h"
 #include "subsystems/abi.h"
 #include "led.h"

sw/airborne/boards/lisa_m/baro_board.c

@@ -25,7 +25,7 @@
 
 #include "std.h"
 
-#include "subsystems/sensors/baro.h"
+#include "modules/sensors/baro_board_module.h"
 #include "peripherals/bmp085.h"
 #include "peripherals/bmp085_regs.h"
 #include <libopencm3/stm32/gpio.h>

sw/airborne/boards/navgo/baro_board.c

@@ -27,7 +27,7 @@
 
 #include "std.h"
 #include "baro_board.h"
-#include "subsystems/sensors/baro.h"
+#include "modules/sensors/baro_board_module.h"
 #include "peripherals/mcp355x.h"
 #include "subsystems/abi.h"
 #include "led.h"

sw/airborne/boards/navstik/baro_board.c

@@ -25,7 +25,7 @@
 
 #include "std.h"
 
-#include "subsystems/sensors/baro.h"
+#include "modules/sensors/baro_board_module.h"
 #include "peripherals/bmp085.h"
 #include "peripherals/bmp085_regs.h"
 #include <libopencm3/stm32/gpio.h>

sw/airborne/boards/umarim/baro_board.c

@@ -27,7 +27,7 @@
 
 #include "std.h"
 #include "baro_board.h"
-#include "subsystems/sensors/baro.h"
+#include "modules/sensors/baro_board_module.h"
 #include "peripherals/ads1114.h"
 #include "subsystems/abi.h"
 #include "led.h"

sw/airborne/firmwares/fixedwing/main_ap.c

@@ -54,13 +54,8 @@
 #include "subsystems/ahrs/ahrs_aligner.h"
 #endif
 #include "subsystems/air_data.h"
-#if USE_BARO_BOARD
-#include "subsystems/sensors/baro.h"
-PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BOARD)
-#endif
 #include "subsystems/ins.h"
 
-
 // autopilot & control
 #include "state.h"
 #include "firmwares/fixedwing/autopilot.h"
@@ -106,6 +101,14 @@ PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BO
 #define COMMAND_YAW_TRIM 0
 #endif
 
+#if USE_BARO_BOARD
+#if BARO_BOARD_MODULE_LOADED
+PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BOARD)
+#else
+#warning "USE_BARO_BOARD is TRUE, but baro_board.xml module not loaded!"
+#endif // BARO_BOARD_MODULE_LOADED
+#endif // USE_BARO_BOARD
+
 /* if PRINT_CONFIG is defined, print some config options */
 PRINT_CONFIG_VAR(PERIODIC_FREQUENCY)
 PRINT_CONFIG_VAR(NAVIGATION_FREQUENCY)
@@ -121,13 +124,6 @@ PRINT_CONFIG_VAR(TELEMETRY_FREQUENCY)
  */
 PRINT_CONFIG_VAR(MODULES_FREQUENCY)
 
-#if USE_BARO_BOARD
-#ifndef BARO_PERIODIC_FREQUENCY
-#define BARO_PERIODIC_FREQUENCY 50
-#endif
-PRINT_CONFIG_VAR(BARO_PERIODIC_FREQUENCY)
-#endif
-
 #if USE_AHRS && USE_IMU
 
 #ifndef AHRS_PROPAGATE_FREQUENCY
@@ -178,9 +174,6 @@ tid_t sensors_tid;     ///< id for sensors_task() timer
 tid_t attitude_tid;    ///< id for attitude_loop() timer
 tid_t navigation_tid;  ///< id for navigation_task() timer
 tid_t monitor_tid;     ///< id for monitor_task() timer
-#if USE_BARO_BOARD
-tid_t baro_tid;          ///< id for baro_periodic() timer
-#endif
 
 void init_ap( void ) {
 #ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
@@ -213,9 +206,6 @@ void init_ap( void ) {
 #endif
 
   air_data_init();
-#if USE_BARO_BOARD
-  baro_init();
-#endif
 
   ins_init();
 
@@ -244,9 +234,6 @@ void init_ap( void ) {
   modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
   telemetry_tid = sys_time_register_timer(1./TELEMETRY_FREQUENCY, NULL);
   monitor_tid = sys_time_register_timer(1.0, NULL);
-#if USE_BARO_BOARD
-  baro_tid = sys_time_register_timer(1./BARO_PERIODIC_FREQUENCY, NULL);
-#endif
 
   /** - start interrupt task */
   mcu_int_enable();
@@ -285,11 +272,6 @@ void handle_periodic_tasks_ap(void) {
   if (sys_time_check_and_ack_timer(sensors_tid))
     sensors_task();
 
-#if USE_BARO_BOARD
-  if (sys_time_check_and_ack_timer(baro_tid))
-    baro_periodic();
-#endif
-
   if (sys_time_check_and_ack_timer(navigation_tid))
     navigation_task();
 
@@ -682,10 +664,6 @@ void event_task_ap( void ) {
   GpsEvent(on_gps_solution);
 #endif /* USE_GPS */
 
-#if USE_BARO_BOARD
-  BaroEvent();
-#endif
-
   DatalinkEvent();
 
 

sw/airborne/firmwares/rotorcraft/main.c

@@ -54,11 +54,6 @@
 #include "subsystems/gps.h"
 #include "subsystems/air_data.h"
 
-#if USE_BARO_BOARD
-#include "subsystems/sensors/baro.h"
-PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BOARD)
-#endif
-
 #include "subsystems/electrical.h"
 
 #include "firmwares/rotorcraft/autopilot.h"
@@ -84,6 +79,14 @@ PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BO
 #include "subsystems/abi.h"
 
 
+#if USE_BARO_BOARD
+#if BARO_BOARD_MODULE_LOADED
+PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BOARD)
+#else
+#warning "USE_BARO_BOARD is TRUE, but baro_board.xml module not loaded!"
+#endif // BARO_BOARD_MODULE_LOADED
+#endif // USE_BARO_BOARD
+
 /* if PRINT_CONFIG is defined, print some config options */
 PRINT_CONFIG_VAR(PERIODIC_FREQUENCY)
 
@@ -97,11 +100,6 @@ PRINT_CONFIG_VAR(TELEMETRY_FREQUENCY)
  */
 PRINT_CONFIG_VAR(MODULES_FREQUENCY)
 
-#ifndef BARO_PERIODIC_FREQUENCY
-#define BARO_PERIODIC_FREQUENCY 50
-#endif
-PRINT_CONFIG_VAR(BARO_PERIODIC_FREQUENCY)
-
 #if USE_AHRS && USE_IMU && (defined AHRS_PROPAGATE_FREQUENCY)
 #if (AHRS_PROPAGATE_FREQUENCY > PERIODIC_FREQUENCY)
 #warning "PERIODIC_FREQUENCY should be least equal or greater than AHRS_PROPAGATE_FREQUENCY"
@@ -121,9 +119,6 @@ tid_t failsafe_tid;      ///< id for failsafe_check() timer
 tid_t radio_control_tid; ///< id for radio_control_periodic_task() timer
 tid_t electrical_tid;    ///< id for electrical_periodic() timer
 tid_t telemetry_tid;     ///< id for telemetry_periodic() timer
-#if USE_BARO_BOARD
-tid_t baro_tid;          ///< id for baro_periodic() timer
-#endif
 
 #ifndef SITL
 int main( void ) {
@@ -153,9 +148,7 @@ STATIC_INLINE void main_init( void ) {
   radio_control_init();
 
   air_data_init();
-#if USE_BARO_BOARD
-  baro_init();
-#endif
+
   imu_init();
   ahrs_aligner_init();
   ahrs_init();
@@ -188,9 +181,6 @@ STATIC_INLINE void main_init( void ) {
   failsafe_tid = sys_time_register_timer(0.05, NULL);
   electrical_tid = sys_time_register_timer(0.1, NULL);
   telemetry_tid = sys_time_register_timer((1./TELEMETRY_FREQUENCY), NULL);
-#if USE_BARO_BOARD
-  baro_tid = sys_time_register_timer(1./BARO_PERIODIC_FREQUENCY, NULL);
-#endif
 }
 
 STATIC_INLINE void handle_periodic_tasks( void ) {
@@ -206,10 +196,6 @@ STATIC_INLINE void handle_periodic_tasks( void ) {
     electrical_periodic();
   if (sys_time_check_and_ack_timer(telemetry_tid))
     telemetry_periodic();
-#if USE_BARO_BOARD
-  if (sys_time_check_and_ack_timer(baro_tid))
-    baro_periodic();
-#endif
 }
 
 STATIC_INLINE void main_periodic( void ) {
@@ -290,10 +276,6 @@ STATIC_INLINE void main_event( void ) {
 
   ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
 
-#if USE_BARO_BOARD
-  BaroEvent();
-#endif
-
 #if USE_GPS
   GpsEvent(on_gps_event);
 #endif

sw/airborne/modules/sensors/airspeed_ads1114.c

@@ -26,7 +26,7 @@
  */
 
 #include "modules/sensors/airspeed_ads1114.h"
-#include "subsystems/sensors/baro.h"
+#include "modules/sensors/baro_board_module.h"
 #include "baro_board.h"
 
 void airspeed_periodic(void) {

sw/airborne/subsystems/sensors/baro.h → sw/airborne/modules/sensors/baro_board_module.h

@@ -20,21 +20,22 @@
  */
 
 /**
- * @file subsystems/sensors/baro.h
+ * @file modules/sensors/baro_board_module.h
  *
  * Common barometric sensor implementation.
  * Used with baro integrated to the autopilot board.
  * Implementation is in boards/<board_name>/baro_board.[ch]
  *
  */
 
-#ifndef SUBSYSTEMS_SENSORS_BARO_H
-#define SUBSYSTEMS_SENSORS_BARO_H
+#ifndef MODULES_SENSORS_BARO_H
+#define MODULES_SENSORS_BARO_H
 
 #include BOARD_CONFIG
 
 #if USE_BARO_BOARD
 #include "baro_board.h"
+#define BARO_BOARD_MODULE_LOADED 1
 #ifndef BARO_BOARD
 #define BARO_BOARD BARO_BOARD_DEFAULT
 #endif
@@ -43,4 +44,4 @@
 extern void baro_init(void);
 extern void baro_periodic(void);
 
-#endif /* SUBSYSTEMS_SENSORS_BARO_H */
+#endif /* MODULES_SENSORS_BARO_H */