[rt_paparazzi] cleanup

Based on @flixr's comments
1) [i2c|uart|spi]_pprzi.c renamed to _pprz.c
2) fixed doxygen comments, cleaned up code style
3) cleaned ms5611 periph to be more better integrated with ChibiOS
4) ImuEvent moved into main_chibios.c
5) main_chibios.c cleaned
6) supressed warnings for unused arguments in arch functions
7) fixed callback for threads (see example with GPS thread)
8) uart_receive_x macro changed into a function (look at GPS thread)
9) defined SPI_VOLATILE qualifier for SPI volatile buffers

conf/firmwares/rotorcraft_rt.makefile

@@ -43,7 +43,6 @@ ROTORCRAFT_INC = -I$(SRC_FIRMWARE) -I$(SRC_BOARD)
 ap.ARCHDIR = $(ARCH)
 
 #we are using normal rotorcraft firmware, just different arch
-$(TARGET).CFLAGS 	+= -DFIRMWARE=ROTORCRAFT
 $(TARGET).CFLAGS += -DUSE_CHIBIOS_RTOS
 ap.CFLAGS += $(ROTORCRAFT_INC)
 ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT
@@ -91,12 +90,12 @@ endif
 ap.srcs += subsystems/settings.c
 
 #ap.srcs += mcu_periph/uart.c -> two file problem, see: http://www.cplusplus.com/forum/general/35718/
-ap.srcs += mcu_periph/uart_pprzi.c
+ap.srcs += mcu_periph/uart_pprz.c
 ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 # I2C
 ifeq ($(TARGET), ap)
-  $(TARGET).srcs += mcu_periph/i2c_pprzi.c
+  $(TARGET).srcs += mcu_periph/i2c_pprz.c
   $(TARGET).srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
 endif
 

conf/firmwares/subsystems/shared/spi_master.makefile

@@ -6,7 +6,7 @@ SPI_INCLUDED = 1
 
 #generic spi master driver
 SPI_CFLAGS = -DUSE_SPI -DSPI_MASTER
-SPI_SRCS = mcu_periph/spi_pprzi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
+SPI_SRCS = mcu_periph/spi_pprz.c $(SRC_ARCH)/mcu_periph/spi_arch.c
 
 ap.CFLAGS += $(SPI_CFLAGS)
 ap.srcs += $(SPI_SRCS)

sw/airborne/arch/chibios/STM32F107xC.ld

@@ -25,11 +25,15 @@
     for full details of how and when the exception can be applied.
 */
 
-/*
- * ST32F107xC memory setup.
+/**
+ * @file arch/chibios/STM32F107xC.ld
+ * ST32F107xC memory setup and linker script
+ *
  * Modified by Michal Podhradsky, 2013
- * Flash addr is shifted by 8kb (luftboot)
+ * Flash address is shifted by 8kb (Luftboot)
  * Note: probably not the cleanest solution, but it works
+ *
+ * __process_stack_size__ determines stack size of main() thread
  */
 __main_stack_size__     = 0x0400;
 __process_stack_size__  = 0x0400;

sw/airborne/arch/chibios/led_hw.h

@@ -24,7 +24,8 @@
  * Boston, MA 02111-1307, USA.
  */
 /**
- * @brief chibios arch dependant led manipulation macros
+ * @file arch/chibios/led_hw.h
+ * Led macro implementation for ChibiOS arch
  */
 #ifndef LED_HW_H
 #define LED_HW_H
@@ -35,7 +36,7 @@
 #include "hal.h"
 
 /*
- *  Regular GPIO driven LEDs
+ * Regular GPIO driven LEDs
  */
 #define _LED_GPIO(i)  i
 #define _LED_GPIO_PIN(i) i

sw/airborne/arch/chibios/mcu_arch.c

@@ -24,9 +24,11 @@
  * Boston, MA 02111-1307, USA.
  */
 /**
- * @brief chibios arch dependant microcontroller initialisation functions.
- * @details Mostly empty defines, because Chibios takes
- * 			care of mcu initialization
+ * @file arch/chibios/mcu_arch.c
+ * Microcontroller initialization function for ChibiOS
+ *
+ * ChibiOS initialized peripherals by itself, only interrupt
+ * vector has to be relocated for Luftboot
  */
 #include "mcu.h"
 #include "ch.h"

sw/airborne/arch/chibios/mcu_arch.h

@@ -24,9 +24,11 @@
  * Boston, MA 02111-1307, USA.
  */
 /**
- * @brief chibios arch dependant microcontroller initialisation functions.
- * @details Mostly empty defines, because Chibios takes
- * 			care of mcu initialization
+ * @file arch/chibios/mcu_arch.h
+ * Microcontroller initialization function for ChibiOS
+ *
+ * ChibiOS initialized peripherals by itself, hence empty
+ * functions for Paparazzi compatibility.
  */
 #ifndef CHIBIOS_MCU_ARCH_H
 #define CHIBIOS_MCU_ARCH_H

sw/airborne/arch/chibios/mcu_periph/adc_arch.h

@@ -37,11 +37,11 @@
 #include "hal.h"
 
 
-/// ADC error flags
+// ADC error flags
 extern uint8_t adc_error_flag;
 extern ADCDriver* adcp_err;
 
-/// NB_ADCx_CHANNELS
+// NB_ADCx_CHANNELS
 enum adc1_channels {
 #if USE_AD1_1
   ADC1_C1,

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

@@ -24,9 +24,7 @@
  * Boston, MA 02111-1307, USA.
  */
 /**
- * @brief chibios arch dependant gpio functions
- * @details In Chibios palSet/Clear/Toggle(port, pin)
- * 		    replaces gpio functions
- *
+ * @file arch/chibios/mcu_periph/gpio_arch.c
+ * gpio functions implemented for ChibiOS arch
  */
 #include "mcu_periph/gpio.h"

sw/airborne/arch/chibios/mcu_periph/gpio_arch.h

@@ -24,10 +24,8 @@
  * Boston, MA 02111-1307, USA.
  */
 /**
- * @brief chibios arch dependant gpio functions
- * @details In Chibios palSet/Clear/Toggle(port, pin)
- * 		    replaces gpio functions
- *
+ * @file arch/chibios/mcu_periph/gpio_arch.h
+ * gpio functions implemented for ChibiOS arch
  */
 #ifndef GPIO_ARCH_H
 #define GPIO_ARCH_H

sw/airborne/arch/chibios/mcu_periph/i2c_arch.c

@@ -89,10 +89,7 @@ void i2c_event(void){}
  * Empty, for paparazzi compatibility only. Bitrate is already
  * set in i2cX_hw_init()
  */
-void i2c_setbitrate(struct i2c_periph* p, int bitrate){
-  (void) p;
-  (void) bitrate;
-}
+void i2c_setbitrate(struct i2c_periph* p __attribute__((unused)), int bitrate __attribute__((unused))){}
 
 /**
  * i2c_submit() function
@@ -104,6 +101,10 @@ void i2c_setbitrate(struct i2c_periph* p, int bitrate){
  * Note that we are using the same buffer for transmit and recevive. It is
  * OK because in i2c transaction is Tx always before Rx.
  *
+ * I2C calls are synchronous, timeout is set to 1/PERIODIC_FREQUENCY seconds
+ * TODO: Note that on STM32F1xx such as Lia board I2C bus can easily hang in
+ * an interrupt (see issue #531). Use I2C bus with care and caution.
+ *
  * @param[in] p pointer to a @p i2c_periph struct
  * @param[in] t pointer to a @p i2c_transaction struct
  */
@@ -117,50 +118,48 @@ bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t){
   i2cReleaseBus((I2CDriver*)p->reg_addr);
 
   if (status != RDY_OK) {
-      t->status = I2CTransFailed;
-      static i2cflags_t errors = 0;
-      errors = i2cGetErrors((I2CDriver*)p->reg_addr);
-      if (errors & I2CD_BUS_ERROR) {
-        p->errors->miss_start_stop_cnt++;
-      }
-      if (errors & I2CD_ARBITRATION_LOST) {
-        p->errors->arb_lost_cnt++;
-      }
-      if (errors & I2CD_ACK_FAILURE) {
-        p->errors->ack_fail_cnt++;
-      }
-      if (errors & I2CD_OVERRUN) {
-        p->errors->over_under_cnt++;
-      }
-      if (errors & I2CD_PEC_ERROR) {
-        p->errors->pec_recep_cnt++;
-      }
-      if (errors & I2CD_TIMEOUT) {
-        p->errors->timeout_tlow_cnt++;
-      }
-      if (errors & I2CD_SMB_ALERT) {
-        p->errors->smbus_alert_cnt++;
-      }
-      return FALSE;
+    t->status = I2CTransFailed;
+    static i2cflags_t errors = 0;
+    errors = i2cGetErrors((I2CDriver*)p->reg_addr);
+    if (errors & I2CD_BUS_ERROR) {
+      p->errors->miss_start_stop_cnt++;
+    }
+    if (errors & I2CD_ARBITRATION_LOST) {
+      p->errors->arb_lost_cnt++;
+    }
+    if (errors & I2CD_ACK_FAILURE) {
+      p->errors->ack_fail_cnt++;
+    }
+    if (errors & I2CD_OVERRUN) {
+      p->errors->over_under_cnt++;
+    }
+    if (errors & I2CD_PEC_ERROR) {
+      p->errors->pec_recep_cnt++;
+    }
+    if (errors & I2CD_TIMEOUT) {
+      p->errors->timeout_tlow_cnt++;
+    }
+    if (errors & I2CD_SMB_ALERT) {
+      p->errors->smbus_alert_cnt++;
+    }
+    return FALSE;
   }
   else {
-      t->status = I2CTransSuccess;
-      return TRUE;
+    t->status = I2CTransSuccess;
+    return TRUE;
   }
 #else
   (void) p;
   (void) t;
   return FALSE;
 #endif
-
 }
 
 /**
  * i2c_idle() function
  *
  * Empty, for paparazzi compatibility only
  */
-bool_t i2c_idle(struct i2c_periph* p){
-  (void) p;
+bool_t i2c_idle(struct i2c_periph* p __attribute__((unused))){
   return FALSE;
 }