Difference between revisions of "AirborneCodeReorg"

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Fixed wing airframes have makefile directly in them - we can't change anything in the airborne code without breaking everybody's airframe
Fixed wing airframes have makefile directly in them - we can't change anything in the airborne code without breaking everybody's airframe


  ap.srcs += commands.c
--> use the subsystems
  ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
  ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
  ap.CFLAGS += -DRADIO_CONTROL
  ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
  [...]
  ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
  ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
Booz uses "susbsystem" Makefiles
 
  include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
  include $(CFG_BOOZ)/booz2_autopilot.makefile
  include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
  include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
  include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
 
This is the Makefile part of a booz vehicle using a booz2 IMU, mikrokopter actuators and ppm radio control


There is also the "module" facility which is very good for optional features.
There is also the "module" facility which is very good for optional features.
Line 43: Line 26:
==Coding Style==
==Coding Style==


==Names==
* 2 spaces for indent
Booz both stands for the LPC2148 quad board and the quadrotor autopilot code - Let's call the quadrotor autopilot "Baloo" ( if you got a better name, don't hesitate, but be quick). What about a name for the fixedwing code ? (which has been called Paparazzi until now and collides with the name of the project itself )
* please no trailing whitespaces (e.g. fix with M-x whitespace-cleanup in emacs)
 
Name proposal: '''Pablo''' (PAscal's Brainchild Lives On), also a friendly, artlike, short and possible to pronounce name
 
Note2: Mybe try to find name with "PA" in it to honour Pascal. Or call it somethin with "Hec" in it.The "but be quick", would be good to have a cooling period for new features and names so peple who also work on the projec but did not have the time could vote too.


== Proposals and RFC ==  
== Proposals and RFC ==  


=== Reorganization poposed action steps ===


#Move more code to modules
=== Directory structure proposals ===
#Move Makefile out of the airframe file as much as possible and replace with XML build
#Send mailing list message requesting to change the makefile section of airframes into new include structure
#Once many users have this in place and the wiki page is good, we can start to move code


relative to sw/airborne


=== Directory structure proposals ===
  firmware/
relative to sw/airborne
      rotorcraft/
   baloo/ (a target)
          rotorcraft.makefile
  fixedwing/(or a new name, another target)
          rotorcraft.xml // list of subsystems: maybe autogenerate as this should reflect the directory structure
  radio_control/ (a subsystem)
          foo/
  gps/ (another subsystem)
              foo.c
  ...(more subsystems)
              foo_2.c
  imu.[ch]
      fixedwing/
   imu/
          control/
              control.c
              control_adaptive.c
   subsystems/
      imu/              // a general subsystem with several implementations and arch depended code (initialization, interrupts, ...)
          imu_xsense.c
          imu_b2.c
          calibration_routines/    // might be useful to have subdirectories
      gps/              // another general subsystem
          ....
      radio_control/    // another general subsystem
          ....
      actuator
          stm - lpc - arm - omap - ...
   boards/
      test_tiny
      test_lisa
   modules/
   modules/
      ....
   arch/
   arch/
    avr/
      subsystems/
    lpc21/
          imu/
    stm32/
              lcp21/
    omap/
                  imu_xsense_arch.[ch]
                  imu_b2_arch.[ch]
              stm32/
                  imu_xsense_arch.[ch]
                  imu_b2_arch.[ch]
              sim/
      firmware/
          fixedwing/
              control/
                  lcp21/
                      control_arch.[ch]
                      control_adaptive_arch.[ch]
                  stm32/
                      control_arch.[ch]
                      control_adaptive_arch.[ch]
                  sim/


each susbsystem having several implementations gets a subdirectory
  imu.[ch]
  imu/
    imu_xsense.[ch]
    imu_b2.[ch]




in each of the directory under arch, a replication of the toplevel directory containing architecture specific implementations
each general susbsystem having several implementations gets a subdirectory under subsystems
 
   imu.[ch]
   imu.h
   imu/
   imu/
     imu_xsense.[ch]
     imu_xsense.[ch]
     imu_b2.[ch]
     imu_b2.[ch]
  arch/
    lpc21/
      imu/
        imu_xsense_arch.[ch]
        imu_b2_arch.[ch]
      modules/
        demo/
          demo_arch.[ch]
    stm32/
      imu/
        imu_xsense_arch.[ch]
        imu_b2_arch.[ch]
      modules/
        demo/
          demo_arch.[ch]


==supported boards==
Rationale for the subsystem directory:
* twog_1
# to have less directories in the airborne root
* tiny_2.11
# to help auto-documentation tools: "all subfolders in airborne/subsystems/ are subsystems. if you put them directly in airborne it becomes: all directories in airborne are subsystems except arch/firmware/modules/... etc
* tiny_2.1
# it's less obvious how the imu code is used (is it standalone/firmware/modules) to newcommers than with the extra dir.
* tiny_1.1
* tiny_0.99
* booz
* lisa_l_1.0
* pc


==Test Code==
==Test Code==
Line 129: Line 111:
   <firmware name=rotorcraft>
   <firmware name=rotorcraft>
     <!-- this set of firmware fits in 2 targets: -->
     <!-- this set of firmware fits in 2 targets: -->
     <target name="ap" board="booz">
     <target name="ap" board="booz"/>
      <param name"FLASH_MODE" value="IAP"/>
    </target>
     <target name="sim" board="sim" />
     <target name="sim" board="sim" />


Line 183: Line 163:
     <!-- this set of firmware fits in 2 targets: -->
     <!-- this set of firmware fits in 2 targets: -->
     <target name="ap" board="tiny_2.11">
     <target name="ap" board="tiny_2.11">
      <param name"FLASH_MODE" value="IAP"/>
       <define name="ALT_KALMAN"/>
       <define name="ALT_KALMAN"/>
     </target>
     </target>
Line 214: Line 193:
|
|
   <subsystem name="gps" type="ubx">
   <subsystem name="gps" type="ubx">
     <param name="GPS_UART_NR" value="1"/>
     <configure name="GPS_PORT" value="1"/>
     <param name="GPS_BAUD"    value="38400"/>
     <configure name="GPS_BAUD"    value="B38400"/>
    <configure name="GPS_LED"    value="2"/>
   </subsystem>  
   </subsystem>  
|
|
  GPS_UART_NR=1
  GPS_PORT=1
  GPS_BAUD=38400
  GPS_BAUD=B38400
  include $(CFG_BOOZ)/subsystems/booz2_gps_ubx.makefile
GPS_LED=2
  include $(CFG_FIXEDWING)/subsystems/gps_ubx.makefile
|}
|}


Line 229: Line 210:
* Note that you only 1 time in the board file (e.g. /boards/tiny_2.11.makefile)
* Note that you only 1 time in the board file (e.g. /boards/tiny_2.11.makefile)


   $(TARGET).arch = arm7
   $(TARGET).arch = lpc21


instead having this in the firmware/subsystem makefiles
instead having this in the firmware/subsystem makefiles


   tunnel.ARCH = arm7
   tunnel.ARCH = lpc21
   ap.ARCH = arm7
   ap.ARCH = lpc21
   fbw.ARCH = arm7
   fbw.ARCH = lpc21
   ...
   ...


==Include guards==
==Include guards==
Line 312: Line 291:


* All headers are defined relative to sw/airborne (limit the -I to -Isw/airborne and the generated code)
* All headers are defined relative to sw/airborne (limit the -I to -Isw/airborne and the generated code)
   #include "baloo/whatever.h"
   #include "foo/whatever.h"
* Generated headers are indicated by their directory
* Generated headers are indicated by their directory
   #include "generated/airframe.h"
   #include "generated/airframe.h"
Line 323: Line 302:
I could not agree more!
I could not agree more!


Let's start with a subsystem that is both simple enough yet representative, I suggest radio control
For now people using fixed wing have
  ap.CFLAGS += -DRADIO_CONTROL
  ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
Let's ask people to remove those lines from their makefile and replace with
  <firmware name="fixedwing">
    <target name="ap" board="tiny_2.11">
    <subsystem name="radio_control" type="ppm"/>
  </firmware>
which will generate the following in Makefile.ac
  include $(PAPARAZZI_SRC)/conf/boards/tiny_2.11.makefile
  include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing.makefile
  include $(CFG_FIXED_WINGS)/radio_control_ppm.makefile
and the following in airframe.f
#define USE_RADIO_CONTROL 1
#define USE_RADIO_CONTROL_PPM 1
==Outcomes (Currently in no particular order)==
Replacing the makefile section of the airframe file with xml should:-


#Provide a simpler to understand and consistent syntax for end users.
== things discuss or cleanup/remove ==
#Enable Paparazzi centre to provide a list of all targets for an airframe.
* remove sw/include/std.h?  was for old avr stuff
#Simplify the design of tools that automatically generate airframe files.
* cleanup TODO file
#Simplify the process of documenting the airframe file and any future additions to it.
* <strike>there is wind_tunnel under sw/airborne and under sw/in_progress</strike>
* make a bin and/or build dir where all the ground sw build files and binaries go (paparazzicenter, gen_tools) to only have source files under sw
 
The reorganisation of directory structures is aimed at simplifying development and maintainance. The aim here is to provide :
 
#A consistent structure for all targets, all architectures and all subsystems.
#A structure that informs the naming of files.
#A route to eventually enable the merging of fixed wing and rotor craft code bases.
 
 
== available subsystems ==
 
{| class="wikitable" style="text-align:center" border="1"
! Name !! type !! airframe(s) !! description
|-
| rowspan="2"| radio_control
| ppm ||  FW || ppm based R/C input
|-
| spektrum ||  FW || spektrum based R/C input
|-
| rowspan="2"| telemetry
| transparent ||  FW, rotor || to be used with any serial link replacement
|-
| xbee_api ||  FW, rotor || for XBee modems in API mode
|-
| rowspan="3"|actuators
| 4017 ||  FW || 4017 decade counter (used on tiny_2 and twog)
|-
| 4015 ||  FW || 4015 decade counter (used on tiny_1)
|-
| ppm ||  FW || output ppm to a R/C receiver
|-
| attitude || infrared ||  FW ||
|-
| rowspan="2"|gyro
| roll ||  FW || roll gyro
|-
| pitch ||  FW || pitch
|-
| rowspan="3"| gps
| ublox_lea5h ||  FW ||
|-
| ublox_lea4p ||  FW ||
|-
| skytraq ||  FW ||
|-
|airspeed|| ets ||  FW || Eagle Tree Systems airspeed and baro sensor
|-
|navigation || - ||  FW || standard navigation routines
|}


Some of this subsystems could be moved to modules to limit the number of #ifdef in main_ap
[[Category:Software]] [[Category:Developer_Documentation]]

Latest revision as of 10:16, 18 March 2013

Our Challenge

The current airborne sourcecode has gone a little bit out of control. Everyone was working on it enthusiastically, which is great! However, we feel now the moment has arrived where deep reorganization of the code would benefit us all.

It is really appreciated if you want to help out in this quest. Therefore remarks and suggestions can be placed on the page designed specifically for this. Of-course feel free to use the mailinglist also.

Problem areas

Fixed wing airframes have makefile directly in them - we can't change anything in the airborne code without breaking everybody's airframe

--> use the subsystems

There is also the "module" facility which is very good for optional features.

There are 3 kinds of code in the airborne directory

  • generic code (that doesn't depend on any architecture or plateforme) - there's a lot of it and it should probably be sorted by type of functionalities
    • fixedwing/main.c
    • thrust_vectoring/main.c
    • gps.[ch]
  • processor specific code (stm32, lpc21, avr, etc...)
    • arch/lpc21/uart_arch.[ch]
  • plateforme specific code (tiny, booz, lisa, etc...)
    • blaaaaa

Coding Style

  • 2 spaces for indent
  • please no trailing whitespaces (e.g. fix with M-x whitespace-cleanup in emacs)

Proposals and RFC

Directory structure proposals

relative to sw/airborne 

 firmware/
     rotorcraft/
         rotorcraft.makefile
         rotorcraft.xml // list of subsystems: maybe autogenerate as this should reflect the directory structure
         foo/
             foo.c
             foo_2.c
     fixedwing/
         control/
             control.c
             control_adaptive.c
 subsystems/
     imu/              // a general subsystem with several implementations and arch depended code (initialization, interrupts, ...)
         imu_xsense.c
         imu_b2.c
         calibration_routines/    // might be useful to have subdirectories
     gps/              // another general subsystem
         ....
     radio_control/    // another general subsystem
         ....
     actuator
         stm - lpc - arm - omap - ...
 boards/
     test_tiny
     test_lisa
 modules/
     ....
 arch/
     subsystems/
         imu/
             lcp21/
                 imu_xsense_arch.[ch]
                 imu_b2_arch.[ch]
             stm32/
                 imu_xsense_arch.[ch]
                 imu_b2_arch.[ch]
             sim/
     firmware/
         fixedwing/
             control/
                 lcp21/
                     control_arch.[ch]
                     control_adaptive_arch.[ch]
                 stm32/
                     control_arch.[ch]
                     control_adaptive_arch.[ch]
                 sim/


each general susbsystem having several implementations gets a subdirectory under subsystems 

 imu.[ch]
 imu/
   imu_xsense.[ch]
   imu_b2.[ch]

Rationale for the subsystem directory:

  1. to have less directories in the airborne root
  2. to help auto-documentation tools: "all subfolders in airborne/subsystems/ are subsystems. if you put them directly in airborne it becomes: all directories in airborne are subsystems except arch/firmware/modules/... etc
  3. it's less obvious how the imu code is used (is it standalone/firmware/modules) to newcommers than with the extra dir.

Test Code

Testing code is specifically for UAS of utmost importance. To test we could opt to make small cases in Testlink for everyone to try and report the outcome.

Replace makefile section with xml - [READY]

of course leave the possibility to have a makefile section, but the normal user would have something like

airframe.xml => Makefile.ac 
 <firmware name=rotorcraft>
   <target name="ap" board="booz"/>
   <target name="sim" board="sim" />

   <subsystem name="radio_control" type="ppm"/>
   <subsystem name="actuators" type="mkk"/>
   <subsystem name="imu" type="b2v1"/>
 </firmware >
 <firmware name="setup" >
   <target name="tunnel" />
   <target name="test_actuators" />
 </firmware>

 ifeq ($(TARGET),ap)
 include $(PAPARAZZI_SRC)/conf/board/booz.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/rotorcraft.makefile
 include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
 include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
 include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
 endif

 ifeq ($(TARGET),sim)
 include $(PAPARAZZI_SRC)/conf/board/pc.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/rotorcraft.makefile
 include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
 include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
 include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
 endif

 ifeq ($(TARGET),tunnel)
 include $(PAPARAZZI_SRC)/conf/board/booz.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/setup.makefile
 endif


?? put defines in here that get written in airframe.h ??

cdewagter I'm not really sure this is needed as otherwise you might put all other data of the airframe file in here too next to the submodule it belongs too. I think it is more readable with less defines in here. I would suggest to only have global compile defines that need to be in the Makefile.ac here...

airframe.xml => Makefile.ac 
 <firmware name=fixedwing>
   <target name="ap" board="tiny_2.11">
     <define name="ALT_KALMAN"/>
   </target>
   <subsystem name="led" />
 </firmware >

  FLASH_MODE = IAP
  include $(PAPARAZZI_SRC)/conf/board/tiny_2.11.makefile
  include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing.makefile
  ap.CFLAGS += -DALT_KALMAN
  include $(SRCS_FIXEDWING)/led.makefile
airframe.h 
 #define USE_LED

set makefile variables

airframe.xml => Makefile.ac 
 <subsystem name="gps" type="ubx">
   <configure name="GPS_PORT" value="1"/>
   <configure name="GPS_BAUD"    value="B38400"/>
   <configure name="GPS_LED"     value="2"/>
 </subsystem> 

GPS_PORT=1
GPS_BAUD=B38400
GPS_LED=2
include $(CFG_FIXEDWING)/subsystems/gps_ubx.makefile
  • Note that now a subsystem can be enabled for all targets in that firmware by using
 $(TARGET).srcs += navigation.c
  • Note that you only 1 time in the board file (e.g. /boards/tiny_2.11.makefile)
 $(TARGET).arch = lpc21

instead having this in the firmware/subsystem makefiles 

 tunnel.ARCH = lpc21
 ap.ARCH = lpc21
 fbw.ARCH = lpc21
 ...

Include guards

All headers have to be checked for missing include guards, style template: 

#ifndef <MODULE>_<TARGET>_<FILENAME>_H
#define <MODULE>_<TARGET>_<FILENAME>_H
[code]
#endif /* <MODULE>_<TARGET>_<FILENAME>_H */

Example for sw/airborne/csc/airspeed.h: 

#ifndef CSC_AP_AIRSPEED_H
#define CSC_AP_AIRSPEED_H
[code]
#endif /* CSC_AP_AIRSPEED_H */


Here is a list of headers know not to include guards please remove any that you update from the list. 

sw/in_progress/videolizer/spook/conf_parse.h
sw/in_progress/videolizer/spook/rtp.h
sw/in_progress/videolizer/spook/stream.h
sw/in_progress/videolizer/spook/log.h
sw/in_progress/videolizer/spook/pmsg.h
sw/in_progress/videolizer/spook/global_config.h
sw/in_progress/videolizer/spook/outputs.h
sw/in_progress/videolizer/spook/jpeg_tables.h
sw/in_progress/videolizer/spook/frame.h
sw/in_progress/videolizer/spook/inputs.h
sw/in_progress/videolizer/spook/event.h
sw/in_progress/videolizer/spook/mpegaudio.h
sw/in_progress/videolizer/spook/encoders.h
sw/in_progress/videolizer/spook/base64_table.h
sw/in_progress/videolizer/spook/rtp_media.h
sw/in_progress/videolizer/wis-go7007-linux/kernel/go7007-priv.h 
sw/in_progress/videolizer/ws-go7007-linux/kernel/wis-i2c.h 
sw/in_progress/videolizer/wis-go7007-linux/include/go7007.h 
sw/in_progress/inertial/C/tilt_display.h sw/airborne/fms/packet_header.h 
sw/airborne/arm7/interrupt_hw.h 
sw/airborne/arm7/lpcusb/usbhw_lpc.h
sw/airborne/arm7/lpcusb/usbdebug.h 
sw/airborne/arm7/lpcusb/examples/console.h 
sw/airborne/arm7/lpcusb/examples/startup.h 
sw/airborne/arm7/lpcusb/examples/msc_bot.h 
sw/airborne/arm7/lpcusb/examples/spi.h 
sw/airborne/arm7/lpcusb/examples/msc_scsi.h
sw/airborne/arm7/lpcusb/examples/blockdev.h
sw/airborne/arm7/lpcusb/usbapi.h
sw/airborne/arm7/test/bootloader/console.h
sw/airborne/arm7/test/bootloader/usbhw_lpc.h
sw/airborne/arm7/test/bootloader/startup.h 
sw/airborne/arm7/test/bootloader/usbdebug.h 
sw/airborne/arm7/test/bootloader/usbapi.h 
sw/airborne/arm7/test/bootloader/lpc21iap.h 
sw/airborne/arm7/test/welcome.h 
sw/airborne/csc/csc_vane.h 
sw/airborne/csc/csc_airspeed.h 
sw/airborne/vor/lo.h 
sw/airborne/coaxial/tl_gps_configure.h 
sw/airborne/flightzone.h 
sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.h 
sw/airborne/sd_card/sd_card.h 
sw/airborne/ism/uart_hw.h 
sw/airborne/sim/sim_uart.h 
sw/airborne/sim/ivy_transport.h 
sw/airborne/sim/led_hw.h 
sw/airborne/osam_imu_ugear.h 
sw/airborne/wind_tunnel/wt_baro.h

Misc

  • All headers are defined relative to sw/airborne (limit the -I to -Isw/airborne and the generated code)
 #include "foo/whatever.h"
  • Generated headers are indicated by their directory
 #include "generated/airframe.h"

Proposed methodology

[6:50:19 PM] Christophe De Wagter: "builing a new road is easy: nobody can ride until it is finished." ... "for road-works on an existing road there are 2 options: a) a non-important road can be closed for a while during roadworks b) but for roads that are too important: you need to keep a lane open: that is more work than closing it down but in the end keeps the total traffic problem minimal" [6:51:05 PM] Christophe De Wagter: I think that a gradual approach might be slightly more work, but keeps the road open and developments running.

I could not agree more!


things discuss or cleanup/remove

  • remove sw/include/std.h? was for old avr stuff
  • cleanup TODO file
  • there is wind_tunnel under sw/airborne and under sw/in_progress
  • make a bin and/or build dir where all the ground sw build files and binaries go (paparazzicenter, gen_tools) to only have source files under sw
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