update various code for errors and warnings or fit reorg

sw/airborne/arch/linux/subsystems/actuators/actuators_pwm_arch.c

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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 arch/sim/subsystems/actuators/actuators_pwm_arch.c
+ *  dummy servos handling for linux
+ */
+
+#include "subsystems/actuators/actuators_pwm_arch.h"
+#include "subsystems/actuators/actuators_pwm.h"
+
+void actuators_pwm_arch_init(void)
+{
+
+}
+

sw/airborne/arch/linux/subsystems/actuators/actuators_pwm_arch.h

@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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 arch/sim/subsystems/actuators/actuators_pwm_arch.h
+ *  dummy servos handling for linux
+ */
+
+#ifndef ACTUATORS_PWM_ARCH_H
+#define ACTUATORS_PWM_ARCH_H
+
+#define SERVOS_TICS_OF_USEC(_v) (_v)
+
+#define ActuatorPwmSet(_i, _v) {}
+#define ActuatorsPwmCommit() {}
+
+//extern void actuators_pwm_arch_init(void);
+
+#endif /* ACTUATORS_PWM_ARCH_H */

sw/airborne/arch/sim/led_hw.c

@@ -1,10 +1,20 @@
 #include "led_hw.h"
 
+#include <stdio.h>
+#include <caml/mlvalues.h>
+#include <caml/memory.h>
+#include <caml/callback.h>
+
 value *leds_closure = 0;
-bool led_disable = false;
+bool led_disabled = false;
 
 value register_leds_cb(value cb_name)
 {
   leds_closure = caml_named_value(String_val(cb_name));
   return Val_unit;
 }
+
+void _led_on(int i) { if (leds_closure && !led_disabled) callback2(*leds_closure, Val_int(i), Val_int(1)); }
+void _led_off(int i) { if (leds_closure && !led_disabled) callback2(*leds_closure, Val_int(i), Val_int(0)); }
+void _led_toggle(int i) { if (leds_closure && !led_disabled) callback2(*leds_closure, Val_int(i), Val_int(2)); }
+

sw/airborne/arch/sim/led_hw.h

@@ -1,19 +1,18 @@
 #ifndef LED_HW_H
 #define LED_HW_H
 
-#include <stdio.h>
-#include <caml/mlvalues.h>
-#include <caml/memory.h>
-#include <caml/callback.h>
+#include <stdbool.h>
 
-extern value *leds_closure;
-extern bool led_disable;
+extern bool led_disabled;
+extern void _led_on(int i);
+extern void _led_off(int i);
+extern void _led_toggle(int i);
 
-#define LED_INIT(i) { led_disable = false; }
-#define LED_ON(i) { if (leds_closure && !led_disable) callback2(*leds_closure, Val_int(i), Val_int(1)); }
-#define LED_OFF(i) { if (leds_closure && !led_disable) callback2(*leds_closure, Val_int(i), Val_int(0)); }
-#define LED_TOGGLE(i) { if (leds_closure && !led_disable) callback2(*leds_closure, Val_int(i), Val_int(2)); }
-#define LED_DISABLE(i) { LED_OFF(i); led_disable = true; }
+#define LED_INIT(i) { led_disabled = false; }
+#define LED_ON(i) _led_on(i);
+#define LED_OFF(i) _led_off(i);
+#define LED_TOGGLE(i) _led_toggle(i);
+#define LED_DISABLE(i) { LED_OFF(i); led_disabled = true; }
 
 #define LED_PERIODIC() {}
 

sw/airborne/arch/sim/mcu_periph/gpio_arch.c

@@ -0,0 +1,27 @@
+/*
+ * Copyright (C) 2021 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 arch/sim/mcu_periph/gpio_arch.c
+ *
+ * Dummy file for GPIO
+ */
+
+

sw/airborne/arch/sim/sim_ap.c

@@ -151,9 +151,3 @@ value set_datalink_message(value s)
   return Val_unit;
 }
 
-/** Required by electrical */
-void adc_buf_channel(void *a __attribute__((unused)),
-                     void *b __attribute__((unused)),
-                     void *c __attribute__((unused)))
-{
-}

sw/airborne/boards/ardrone/navdata.c

@@ -132,6 +132,8 @@ ssize_t full_read(int fd, uint8_t *buf, size_t count)
 
 static void send_navdata(struct transport_tx *trans, struct link_device *dev)
 {
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
   pprz_msg_send_ARDRONE_NAVDATA(trans, dev, AC_ID,
                                 &navdata.measure.taille,
                                 &navdata.measure.nu_trame,
@@ -162,6 +164,7 @@ static void send_navdata(struct transport_tx *trans, struct link_device *dev)
                                 &navdata.measure.mz,
                                 &navdata.measure.chksum,
                                 &navdata.checksum_errors);
+#pragma GCC diagnostic pop
 }
 #endif
 

sw/airborne/inter_mcu.h

@@ -46,6 +46,9 @@
 #include "subsystems/electrical.h"
 #include "firmwares/fixedwing/main_fbw.h"
 
+/** FIXME dummy definition for compat with rotorcraft **/
+static inline void intermcu_init(void) {}
+static inline void intermcu_periodic(void) {}
 
 /** Data structure shared by fbw and ap processes */
 struct fbw_state {

sw/airborne/math/pprz_trig_int.c

@@ -854,8 +854,14 @@ inline int16_t pprz_trig_int_f(int32_t angle)
 #endif
 }
 
+#else
+
+// dummy init
+int pprz_trig_int_init(void) { return 0; }
+
 #endif // PPRZ_TRIG_INT_COMPR_FLASH
 
+
 int32_t pprz_itrig_sin(int32_t angle)
 {
 #if defined(PPRZ_TRIG_INT_USE_FLOAT)

sw/airborne/math/pprz_trig_int.h

@@ -53,7 +53,7 @@ extern "C" {
 #endif
 
 #define TRIG_INT_SIZE           6434
-#define TRIG_INT_VAL_MAX  14
+#define TRIG_INT_VAL_MAX        14
 #define TREE_SIZE_4             (TRIG_INT_VAL_MAX - 4)
 #define TREE_SIZE_8             (TRIG_INT_VAL_MAX - 8)
 #define TREE_SIZE_12            (TRIG_INT_VAL_MAX - 12)
@@ -78,9 +78,11 @@ extern int32_t pprz_itrig_cos(int32_t angle);
 extern int32_t int32_atan2(int32_t y, int32_t x);
 extern int32_t int32_atan2_2(int32_t y, int32_t x);
 
+// init compressed table if needed
+extern int pprz_trig_int_init(void);
+
 #if defined(PPRZ_TRIG_INT_COMPR_FLASH)
 uint8_t get_nibble(uint16_t pos);
-int pprz_trig_int_init(void);
 
 #if defined(PPRZ_TRIG_INT_COMPR_HIGHEST)
 void table_encode_4(int16_t val, int16_t val_prev, int16_t cnt, int16_t *tab);

sw/airborne/modules/datalink/mavlink.c

@@ -309,7 +309,7 @@ void mavlink_common_message_handler(const mavlink_message_t *msg)
     }
     break;
 
-#ifndef AP
+#ifdef ROTORCRAFT_FIRMWARE
     /* only for rotorcraft */
     case MAVLINK_MSG_ID_COMMAND_LONG: {
       mavlink_command_long_t cmd;
@@ -438,7 +438,7 @@ static void mavlink_send_heartbeat(struct transport_tx *trans, struct link_devic
 {
   uint8_t mav_state = MAV_STATE_CALIBRATING;
   uint8_t mav_mode = 0;
-#ifdef AP
+#if defined(FIXEDWING_FIRMWARE)
   uint8_t mav_type = MAV_TYPE_FIXED_WING;
   switch (autopilot_get_mode()) {
     case AP_MODE_MANUAL:
@@ -456,7 +456,7 @@ static void mavlink_send_heartbeat(struct transport_tx *trans, struct link_devic
     default:
       break;
   }
-#else
+#elif defined(ROTORCRAFT_FIRMWARE)
   uint8_t mav_type = MAV_TYPE_QUADROTOR;
   switch (autopilot_get_mode()) {
     case AP_MODE_HOME:
@@ -486,6 +486,8 @@ static void mavlink_send_heartbeat(struct transport_tx *trans, struct link_devic
     default:
       break;
   }
+#else
+#error "mavlink datalink: unsupported firmware"
 #endif
   if (stateIsAttitudeValid()) {
     if (autopilot_throttle_killed()) {

sw/airborne/modules/datalink/missionlib/mission_manager.c

@@ -38,10 +38,12 @@
 #pragma GCC diagnostic pop
 
 // for waypoints, include correct header until we have unified API
-#ifdef AP
+#if defined(FIXEDWING_FIRMWARE)
 #include "subsystems/navigation/common_nav.h"
-#else
+#elif defined(ROTORCRAFT_FIRMWARE)
 #include "firmwares/rotorcraft/navigation.h"
+#else
+#error "Mission manager: unsupported firmware"
 #endif
 #include "generated/flight_plan.h"
 

sw/airborne/modules/datalink/missionlib/waypoints.c

@@ -48,7 +48,7 @@
 static void mavlink_send_wp(uint8_t sysid, uint8_t compid, uint16_t seq)
 {
   if (seq < NB_WAYPOINT) { // Due to indexing
-#ifdef AP
+#ifdef FIXEDWING_FIRMWARE
     /* for fixedwing firmware send as LOCAL_ENU for now */
     mavlink_msg_mission_item_send(MAVLINK_COMM_0,
                                   sysid,

sw/airborne/modules/digital_cam/dc.c

@@ -35,7 +35,7 @@
 #include "dc.h"
 
 // for waypoints, include correct header until we have unified API
-#ifdef AP
+#ifdef FIXEDWING_FIRMWARE
 #include "subsystems/navigation/common_nav.h"
 #else
 #include "firmwares/rotorcraft/navigation.h"