Mavlink protocol in an independent module, solved macro bug

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

@@ -12,6 +12,7 @@
     <load name="baro_board.xml"/>
     <load name="airspeed_ads1114.xml"/>
     <!--load name="mcp355x.xml"/-->
+    <load name="mavlink.xml"/>
   </modules>
 
   <firmware name="fixedwing">
@@ -31,7 +32,7 @@
     <subsystem name="radio_control" type="ppm"/>
 
     <!-- Communication -->
-    <subsystem name="telemetry" type="mavlink"/>
+    <subsystem name="telemetry" type="dummy"/>
 
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="imu"     type="umarim"/>

conf/autopilot/fixedwing.xml

@@ -16,7 +16,7 @@
 
  <subsystem name="radio_control" 	types="ppm"/>
     <!-- Communication -->
- <subsystem name="telemetry" 	types="transparent|xbee_api|transparent_usb|mavlink">
+ <subsystem name="telemetry" 	types="transparent|xbee_api|transparent_usb|dummy">
    <configure name="MODEM_BAUD"     values="B9600|B38400|B57600|B115200"/>
  </subsystem>
  <!-- Actuators (automatically used according to board) -->

conf/autopilot/subsystems/fixedwing/telemetry_dummy.makefile

@@ -0,0 +1,11 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+
+ap.CFLAGS += -DUSE_PPRZ_TRANSPORT=0
+ap.CFLAGS += -DUSE_$(MODEM_PORT)
+ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DDOWNLINK_FBW_DEVICE=$(MODEM_PORT) -DDOWNLINK_AP_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
+ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport
+ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
+ap.srcs += $(SRC_FIRMWARE)/datalink.c

conf/modules/mavlink.xml

@@ -0,0 +1,14 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="mavlink">
+  <header>
+    <file name="mavlink.h"/>
+  </header>
+  <periodic fun="PeriodicSendMavlink(MavlinkTransport, UART1)" freq="60"/>
+  <event fun="MavlinkDatalinkEvent()"/>
+  <makefile>
+    <file name="mavlink.c"/>
+    <file name="mavlink_transport.c"/>
+  </makefile>
+</module>
+

conf/telemetry/mavlink.xml

@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <!DOCTYPE telemetry SYSTEM "telemetry.dtd">
 <telemetry>
-  <process name="Ap">
+  <process name="Ap"><mode name="default"/></process>
+  <process name="Mavlink">
     <mode name="default">
       <message name="HEARTBEAT"                period="5"/>
       <!--<message name="SYS_STATUS"               period="1"/>

sw/airborne/firmwares/fixedwing/ap_downlink.h

@@ -66,7 +66,8 @@
 
 #define SEND_MISSION_STATUS(_trans, _dev) Downlink({ \
 	uint8_t _circle_count = NavCircleCount(); \
-	DOWNLINK_SEND_MISSION_STATUS(_trans, _dev, &estimator_flight_time, &nav_block, &block_time, &nav_stage, &stage_time, &sys_time.nb_sec, &gps.fix, &dist2_to_wp, &dist2_to_home, &_circle_count, &nav_oval_count, &horizontal_mode);\
+	uint32_t nb_sec = sys_time.nb_sec; \
+	DOWNLINK_SEND_MISSION_STATUS(_trans, _dev, &estimator_flight_time, &nav_block, &block_time, &nav_stage, &stage_time, &nb_sec, &gps.fix, &dist2_to_wp, &dist2_to_home, &_circle_count, &nav_oval_count, &horizontal_mode);\
 })
 /* XGGDEBUG:NEWMESS: if is rotorcraft horizontal_mode should be &guidance_h_mode */
 

sw/airborne/firmwares/fixedwing/datalink.c

@@ -63,7 +63,6 @@
 #include "mcu_periph/uart.h"
 #include "subsystems/datalink/downlink.h"
 #include "ap_downlink.h"
-//#include "mavlink_downlink.h"
 
 #define MOfCm(_x) (((float)(_x))/100.)
 

sw/airborne/modules/mavlink/mavlink.c

@@ -0,0 +1,28 @@
+/*
+ * Paparazzi mcu0 $Id: pprz_transport.c 929 2006-06-02 12:11:37Z poine $
+ *
+ * Copyright (C) 2006  Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2010  ENAC
+ *
+ * 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.
+ *
+ */
+
+#define PERIODIC_C_MAVLINK
+
+#include "generated/periodic_telemetry.h"

sw/airborne/modules/mavlink/mavlink.h

@@ -0,0 +1,51 @@
+/*
+ * Paparazzi $Id: pprz_transport.h 4870 2010-04-24 03:02:39Z poine $
+ *
+ * Copyright (C) 2010  ENAC
+ *
+ * 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 mavlink_transport.h
+ *  \Using MAVLINK protocol
+ *
+ */
+
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#include "subsystems/datalink/datalink.h"
+#include "mavlink_transport.h"
+
+#include "mavlink_downlink.h"
+
+/* Datalink Event */
+
+/*
+#define MavlinkDatalinkEvent() {			                  \
+  MavlinkCheckAndParse(PPRZ_UART, mavlink_tp); \
+  DlCheckAndParse();                                  \
+}
+*/
+#define MavlinkDatalinkEvent() {}
+
+
+
+#endif /* MAVLINK_H */
+

sw/airborne/firmwares/fixedwing/mavlink_downlink.c → sw/airborne/modules/mavlink/mavlink_downlink.c

@@ -22,14 +22,9 @@
  *
  */
 
-#include "firmwares/fixedwing/mavlink_downlink.h"
-#include "generated/airframe.h"
-
-#ifdef AP
-#ifndef TELEMETRY_MODE_AP
-#define TELEMETRY_MODE_AP 0
-#endif
-uint8_t telemetry_mode_Ap_DefaultChannel = TELEMETRY_MODE_AP;
-#endif /** AP */
-
+/* PERIODIC_C_MAVLINK is defined before generated/periodic_telemetry.h
+ * in order to implement telemetry_mode_Mavlink_*
+ */
+#define PERIODIC_C_MAVLINK
 
+#include "generated/periodic_telemetry.h"

sw/airborne/firmwares/fixedwing/mavlink_downlink.h → sw/airborne/modules/mavlink/mavlink_downlink.h

@@ -39,40 +39,27 @@
 
 #include "generated/airframe.h"
 
-#ifndef DOWNLINK_DEVICE
-#define DOWNLINK_DEVICE DOWNLINK_MAV_DEVICE
-#endif
 #include "subsystems/datalink/downlink.h"
 
 #include "downlink_msg.h"
-#include "generated/periodic.h"
-
-//#include "generated/modules.h"
+#include "generated/periodic_telemetry.h"
 
 #if defined DOWNLINK
 #define Mavlink(x) x
 #else
 #define Mavlink(x) {}
 #endif
 
-
-#ifdef AP
-/** Telemetry mode for AP process: index in the telemetry.xml file */
-#include "ap_downlink.h"
-//extern uint8_t telemetry_mode_Ap_DefaultChannel;
-#endif
-
 /* _type: 1 for FIXEDWING, 2 for QUADROTOR, 4 for HELICOPTER */
-#define PERIODIC_SEND_HEARTBEAT(_trans,_dev) Mavlink ({	\
-	uint8_t _type = 1;	\
-	uint8_t autopilot = 9;	\
-	uint8_t base_mode = 220; \
-	uint32_t custom_mode = 0; \
-	uint8_t system_status = 0; \
-	uint8_t mavlink_version = 3; \
-DOWNLINK_SEND_HEARTBEAT(_trans, _dev, &_type, &autopilot, &base_mode, &custom_mode, &system_status, &mavlink_version); \
-		})
-
+#define PERIODIC_SEND_HEARTBEAT(_trans,_dev) { \
+  uint8_t _type = 1;\
+  uint8_t autopilot = 9;\
+  uint8_t base_mode = 220;\
+  uint32_t custom_mode = 0;\
+  uint8_t system_status = 0;\
+  uint8_t mavlink_version = 3;\
+  DOWNLINK_SEND_HEARTBEAT(MavlinkTransport, UART1, &_type, &autopilot, &base_mode, &custom_mode, &system_status, &mavlink_version);\
+ }
 
 /*
 #define PERIODIC_SEND_SYS_STATUS(_trans,_dev) { \

sw/airborne/subsystems/datalink/mavlink_transport.c → sw/airborne/modules/mavlink/mavlink_transport.c

@@ -23,10 +23,10 @@
  */
 
 #include <inttypes.h>
-#include "subsystems/datalink/mavlink_transport.h"
+#include "modules/mavlink/mavlink_transport.h"
 #include "mcu_periph/uart.h"
 
-uint8_t ck_a, ck_b, mavlink_down_packet_seq = 1;
+uint8_t mavlink_down_packet_seq = 1;
 uint16_t checksum;
 
 struct mavlink_transport mavlink_tp;

sw/airborne/subsystems/datalink/mavlink_transport.h → sw/airborne/modules/mavlink/mavlink_transport.h

@@ -99,11 +99,11 @@ extern uint16_t checksum;
   crc_init(&checksum);			\
 }
 
-#define MavlinkTransportPutAcId(_dev, _byte) { \			  \
+#define MavlinkTransportPutAcId(_dev, _byte) { \
     MavlinkTransportPut1Byte(_dev, _byte);		  \
  }
 
-#define MavlinkTransportPutUint8(_dev, _byte) { \			  \
+#define MavlinkTransportPutUint8(_dev, _byte) { \
     MavlinkTransportPut1Byte(_dev, _byte);		  \
     crc_accumulate(_byte, &checksum); \
  }

sw/airborne/subsystems/datalink/datalink.h

@@ -47,7 +47,6 @@
 /** Datalink kinds */
 #define PPRZ 1
 #define XBEE 2
-#define MAV 3
 
 EXTERN bool_t dl_msg_available;
 /** Flag provided to control calls to ::dl_parse_msg. NOT used in this module*/
@@ -82,13 +81,6 @@ EXTERN void dl_parse_msg(void);
   DlCheckAndParse();                      \
 }
 
-#elif DATALINK == MAV
-
-#define DatalinkEvent() {			            \
-  MavlinkCheckAndParse(MAV_UART, mavlink_tp);  \
-  DlCheckAndParse();                      \
-}
-
 #else
 
 // Unknown DATALINK

sw/airborne/subsystems/datalink/downlink.h

@@ -40,7 +40,6 @@
 #ifdef SIM_UART
 #include "sim_uart.h"
 #include "subsystems/datalink/pprz_transport.h"
-#include "subsystems/datalink/mavlink_transport.h"
 #include "subsystems/datalink/xbee.h"
 #else /* SIM_UART */
 /** Software In The Loop simulation uses IVY bus directly as the transport layer */
@@ -49,7 +48,6 @@
 
 #else /** SITL */
 #include "subsystems/datalink/pprz_transport.h"
-#include "subsystems/datalink/mavlink_transport.h"
 #include "subsystems/datalink/xbee.h"
 #if USE_AUDIO_TELEMETRY
 #include "subsystems/datalink/audio_telemetry.h"

sw/airborne/subsystems/datalink/pprz_transport.h

@@ -53,9 +53,19 @@ extern uint8_t ck_a, ck_b, pprz_down_packet_seq;
 /** 4 = STX + len + ck_a + ck_b */
 #define PprzTransportSizeOf(_dev, _payload) (_payload+4)
 
+#ifndef USE_PPRZ_TRANSPORT
+#define USE_PPRZ_TRANSPORT 1
+#endif
+
+#if USE_PPRZ_TRANSPORT
 #define PprzTransportCheckFreeSpace(_dev, _x) TransportLink(_dev, CheckFreeSpace(_x))
 #define PprzTransportPut1Byte(_dev, _x) TransportLink(_dev, Transmit(_x))
 #define PprzTransportSendMessage(_dev) TransportLink(_dev, SendMessage())
+#else
+#define PprzTransportCheckFreeSpace(_dev, _x) TRUE
+#define PprzTransportPut1Byte(_dev, _x) {}
+#define PprzTransportSendMessage(_dev) {}
+#endif
 
 #define PprzTransportHeader(_dev, payload_len) { \
   PprzTransportPut1Byte(_dev, STX);				\