diff --git a/apps/examples/px4_deamon_app/Makefile b/apps/examples/px4_deamon_app/Makefile deleted file mode 100644 index e4c169872b..0000000000 --- a/apps/examples/px4_deamon_app/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Basic example application -# - -APPNAME = px4_deamon_app -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/px4_simple_app/Makefile b/apps/examples/px4_simple_app/Makefile deleted file mode 100644 index 102f51fd48..0000000000 --- a/apps/examples/px4_simple_app/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Basic example application -# - -APPNAME = px4_simple_app -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/mk/app.mk b/apps/mk/app.mk deleted file mode 100644 index fa4a12cab6..0000000000 --- a/apps/mk/app.mk +++ /dev/null @@ -1,237 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Common Makefile for nsh command modules and utility libraries; should be -# included by the module-specific Makefile. -# -# To build an app that appears as an nsh external command, the caller -# must define: -# -# APPNAME - the name of the application, defaults to the name -# of the parent directory. -# -# If APPNAME is not defined, a utility library is built instead. The library -# name is normally automatically determined, but it can be overridden by -# setting: -# -# LIBNAME - the name of the library, defaults to the name of the -# directory -# -# The calling makefile may also set: -# -# ASRCS - list of assembly source files, defaults to all .S -# files in the directory -# -# CSRCS - list of C source files, defaults to all .c files -# in the directory -# -# CXXSRCS - list of C++ source files, defaults to all .cpp -# files in the directory -# -# INCLUDES - list of directories to be added to the include -# search path -# -# PRIORITY - thread priority for the command (defaults to -# SCHED_PRIORITY_DEFAULT) -# -# STACKSIZE - stack size for the command (defaults to -# CONFIG_PTHREAD_STACK_DEFAULT) -# -# Symbols in the module are private to the module unless deliberately exported -# using the __EXPORT tag, or DEFAULT_VISIBILITY is set -# - -############################################################################ -# No user-serviceable parts below -############################################################################ - - -############################################################################ -# Work out who included us so we can report decent errors -# -THIS_MAKEFILE := $(lastword $(MAKEFILE_LIST)) -ifeq ($(APP_MAKEFILE),) -APP_MAKEFILE := $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST))) -endif - -############################################################################ -# Get configuration -# --include $(TOPDIR)/.config --include $(TOPDIR)/Make.defs -include $(APPDIR)/Make.defs - -############################################################################ -# Sanity-check the information we've been given and set any defaults -# -SRCDIR ?= $(dir $(APP_MAKEFILE)) -PRIORITY ?= SCHED_PRIORITY_DEFAULT -STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT - -INCLUDES += $(APPDIR) - -ASRCS ?= $(wildcard $(SRCDIR)/*.S) -CSRCS ?= $(wildcard $(SRCDIR)/*.c) -CHDRS ?= $(wildcard $(SRCDIR)/*.h) -CXXSRCS ?= $(wildcard $(SRCDIR)/*.cpp) -CXXHDRS ?= $(wildcard $(SRCDIR)/*.hpp) - -# if APPNAME is not set, this is a library -ifeq ($(APPNAME),) -LIBNAME ?= $(lastword $(subst /, ,$(realpath $(SRCDIR)))) -endif - -# there has to be a source file -ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS),) -$(error $(realpath $(APP_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set) -endif - -# check that C++ is configured if we have C++ source files and we are building -ifneq ($(CXXSRCS),) -ifneq ($(CONFIG_HAVE_CXX),y) -ifeq ($(MAKECMDGOALS),build) -$(error $(realpath $(APP_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration) -endif -endif -endif - -############################################################################ -# Adjust compilation flags to implement EXPORT -# - -ifeq ($(DEFAULT_VISIBILITY),) -DEFAULT_VISIBILITY = hidden -else -DEFAULT_VISIBILITY = default -endif - -CFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h -CXXFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h - -############################################################################ -# Add extra include directories -# -CFLAGS += $(addprefix -I,$(INCLUDES)) -CXXFLAGS += $(addprefix -I,$(INCLUDES)) - -############################################################################ -# Things we are going to build -# - -SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS) -AOBJS = $(patsubst %.S,%.o,$(ASRCS)) -COBJS = $(patsubst %.c,%.o,$(CSRCS)) -CXXOBJS = $(patsubst %.cpp,%.o,$(CXXSRCS)) -OBJS = $(AOBJS) $(COBJS) $(CXXOBJS) - -# Automatic depdendency generation -DEPS = $(OBJS:$(OBJEXT)=.d) -CFLAGS += -MD -CXXFLAGS += -MD - -# The prelinked object that we are ultimately going to build -ifneq ($(APPNAME),) -PRELINKOBJ = $(APPNAME).pre.o -else -PRELINKOBJ = $(LIBNAME).pre.o -endif - -# The archive the prelinked object will be linked into -# XXX does WINTOOL ever get set? -ifeq ($(WINTOOL),y) - INCDIROPT = -w - BIN = "$(shell cygpath -w $(APPDIR)/libapps$(LIBEXT))" -else - BIN = "$(APPDIR)/libapps$(LIBEXT)" -endif - -############################################################################ -# Rules for building things -# - -all: .built -.PHONY: clean depend distclean - -# -# Top-level build; add prelinked object to the apps archive -# -.built: $(PRELINKOBJ) - @$(call ARCHIVE, $(BIN), $(PRELINKOBJ)) - @touch $@ - -# -# Source dependencies -# -depend: - @exit 0 - -ifneq ($(APPNAME),) -# -# App registration -# -context: .context -.context: $(MAKEFILE_LIST) - $(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main) - @touch $@ -else -context: - @exit 0 -endif - -# -# Object files -# -$(PRELINKOBJ): $(OBJS) - $(call PRELINK, $@, $(OBJS)) - -$(AOBJS): %.o : %.S $(MAKEFILE_LIST) - $(call ASSEMBLE, $<, $@) - -$(COBJS): %.o : %.c $(MAKEFILE_LIST) - $(call COMPILE, $<, $@) - -$(CXXOBJS): %.o : %.cpp $(MAKEFILE_LIST) - $(call COMPILEXX, $<, $@) - -# -# Tidying up -# -clean: - @rm -f $(OBJS) $(DEPS) $(PRELINKOBJ) .built - $(call CLEAN) - -distclean: clean - @rm -f Make.dep .depend - --include $(DEPS) diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index e374c088b8..32b26fcf12 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -10,6 +10,7 @@ ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common # # Board support modules # +MODULES += drivers/device MODULES += drivers/stm32 MODULES += drivers/stm32/adc MODULES += drivers/stm32/tone_alarm @@ -75,6 +76,32 @@ MODULES += modules/multirotor_pos_control # MODULES += modules/sdlog +# +# Libraries +# +MODULES += modules/systemlib +MODULES += modules/systemlib/mixer +MODULES += modules/mathlib +MODULES += modules/mathlib/CMSIS +MODULES += modules/controllib +MODULES += modules/uORB + +# +# Demo apps +# +#MODULES += examples/math_demo +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/hello_sky +#MODULES += examples/px4_simple_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/daemon +#MODULES += examples/px4_daemon_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/debug_values +#MODULES += examples/px4_mavlink_debug + # # Transitional support - add commands from the NuttX export archive. # diff --git a/makefiles/module.mk b/makefiles/module.mk index 253b3cd524..86810627b2 100644 --- a/makefiles/module.mk +++ b/makefiles/module.mk @@ -186,7 +186,7 @@ define SRC_SEARCH $(abspath $(firstword $(wildcard $(MODULE_SRC)/$1) MISSING_$1)) endef -ABS_SRCS := $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src))) +ABS_SRCS ?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src))) MISSING_SRCS := $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS))) ifneq ($(MISSING_SRCS),) $(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS)) diff --git a/makefiles/setup.mk b/makefiles/setup.mk index b798f7cabe..3c910bcfaa 100644 --- a/makefiles/setup.mk +++ b/makefiles/setup.mk @@ -56,6 +56,7 @@ export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/ # Default include paths # export INCLUDE_DIRS := $(PX4_MODULE_SRC) \ + $(PX4_MODULE_SRC)/modules/ \ $(PX4_INCLUDE_DIR) # Include from legacy app/library path diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index 6e91f3d1a3..0e18aa8ef1 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -41,93 +41,6 @@ CONFIGURED_APPS += examples/nsh CONFIGURED_APPS += nshlib CONFIGURED_APPS += system/readline -# System library - utility functions -CONFIGURED_APPS += systemlib -CONFIGURED_APPS += systemlib/mixer - -# Math library -ifneq ($(CONFIG_APM),y) -CONFIGURED_APPS += mathlib -CONFIGURED_APPS += mathlib/CMSIS -CONFIGURED_APPS += examples/math_demo -endif - -# Control library -ifneq ($(CONFIG_APM),y) -CONFIGURED_APPS += controllib -CONFIGURED_APPS += examples/control_demo -CONFIGURED_APPS += examples/kalman_demo -endif - -# System utility commands -CONFIGURED_APPS += systemcmds/reboot -CONFIGURED_APPS += systemcmds/perf -CONFIGURED_APPS += systemcmds/top -CONFIGURED_APPS += systemcmds/boardinfo -CONFIGURED_APPS += systemcmds/mixer -CONFIGURED_APPS += systemcmds/param -CONFIGURED_APPS += systemcmds/pwm -CONFIGURED_APPS += systemcmds/bl_update -CONFIGURED_APPS += systemcmds/preflight_check -CONFIGURED_APPS += systemcmds/delay_test - -# Tutorial code from -# https://pixhawk.ethz.ch/px4/dev/hello_sky -# CONFIGURED_APPS += examples/px4_simple_app - -# Tutorial code from -# https://pixhawk.ethz.ch/px4/dev/deamon -# CONFIGURED_APPS += examples/px4_deamon_app - -# Tutorial code from -# https://pixhawk.ethz.ch/px4/dev/debug_values -# CONFIGURED_APPS += examples/px4_mavlink_debug - -# Shared object broker; required by many parts of the system. -CONFIGURED_APPS += uORB - -CONFIGURED_APPS += mavlink -CONFIGURED_APPS += mavlink_onboard -CONFIGURED_APPS += commander -CONFIGURED_APPS += sdlog -CONFIGURED_APPS += sensors - -ifneq ($(CONFIG_APM),y) -CONFIGURED_APPS += ardrone_interface -CONFIGURED_APPS += multirotor_att_control -CONFIGURED_APPS += multirotor_pos_control -CONFIGURED_APPS += position_estimator_mc -CONFIGURED_APPS += fixedwing_att_control -CONFIGURED_APPS += fixedwing_pos_control -CONFIGURED_APPS += position_estimator -CONFIGURED_APPS += attitude_estimator_ekf -CONFIGURED_APPS += hott_telemetry -endif - -# Hacking tools -#CONFIGURED_APPS += system/i2c -CONFIGURED_APPS += systemcmds/i2c - -# Communication and Drivers -#CONFIGURED_APPS += drivers/boards/px4fmu -CONFIGURED_APPS += drivers/device -CONFIGURED_APPS += drivers/ms5611 -CONFIGURED_APPS += drivers/hmc5883 -CONFIGURED_APPS += drivers/mpu6000 -CONFIGURED_APPS += drivers/bma180 -CONFIGURED_APPS += drivers/px4io -CONFIGURED_APPS += drivers/stm32 -#CONFIGURED_APPS += drivers/led -CONFIGURED_APPS += drivers/blinkm -CONFIGURED_APPS += drivers/stm32/tone_alarm -CONFIGURED_APPS += drivers/stm32/adc -CONFIGURED_APPS += drivers/hil -CONFIGURED_APPS += drivers/gps -CONFIGURED_APPS += drivers/mb12xx - -# Testing stuff -CONFIGURED_APPS += px4/sensors_bringup - ifeq ($(CONFIG_CAN),y) #CONFIGURED_APPS += examples/can endif diff --git a/apps/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp similarity index 100% rename from apps/drivers/device/cdev.cpp rename to src/drivers/device/cdev.cpp diff --git a/apps/drivers/device/device.cpp b/src/drivers/device/device.cpp similarity index 100% rename from apps/drivers/device/device.cpp rename to src/drivers/device/device.cpp diff --git a/apps/drivers/device/device.h b/src/drivers/device/device.h similarity index 100% rename from apps/drivers/device/device.h rename to src/drivers/device/device.h diff --git a/apps/drivers/device/i2c.cpp b/src/drivers/device/i2c.cpp similarity index 100% rename from apps/drivers/device/i2c.cpp rename to src/drivers/device/i2c.cpp diff --git a/apps/drivers/device/i2c.h b/src/drivers/device/i2c.h similarity index 100% rename from apps/drivers/device/i2c.h rename to src/drivers/device/i2c.h diff --git a/apps/drivers/device/Makefile b/src/drivers/device/module.mk similarity index 91% rename from apps/drivers/device/Makefile rename to src/drivers/device/module.mk index f7b1fff888..8c716d9cdb 100644 --- a/apps/drivers/device/Makefile +++ b/src/drivers/device/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,4 +35,8 @@ # Build the device driver framework. # -include $(APPDIR)/mk/app.mk +SRCS = cdev.cpp \ + device.cpp \ + i2c.cpp \ + pio.cpp \ + spi.cpp diff --git a/apps/drivers/device/pio.cpp b/src/drivers/device/pio.cpp similarity index 100% rename from apps/drivers/device/pio.cpp rename to src/drivers/device/pio.cpp diff --git a/apps/drivers/device/spi.cpp b/src/drivers/device/spi.cpp similarity index 100% rename from apps/drivers/device/spi.cpp rename to src/drivers/device/spi.cpp diff --git a/apps/drivers/device/spi.h b/src/drivers/device/spi.h similarity index 100% rename from apps/drivers/device/spi.h rename to src/drivers/device/spi.h diff --git a/apps/drivers/drv_accel.h b/src/drivers/drv_accel.h similarity index 100% rename from apps/drivers/drv_accel.h rename to src/drivers/drv_accel.h diff --git a/apps/drivers/drv_adc.h b/src/drivers/drv_adc.h similarity index 100% rename from apps/drivers/drv_adc.h rename to src/drivers/drv_adc.h diff --git a/apps/drivers/drv_baro.h b/src/drivers/drv_baro.h similarity index 100% rename from apps/drivers/drv_baro.h rename to src/drivers/drv_baro.h diff --git a/apps/drivers/drv_blinkm.h b/src/drivers/drv_blinkm.h similarity index 100% rename from apps/drivers/drv_blinkm.h rename to src/drivers/drv_blinkm.h diff --git a/apps/drivers/drv_gpio.h b/src/drivers/drv_gpio.h similarity index 100% rename from apps/drivers/drv_gpio.h rename to src/drivers/drv_gpio.h diff --git a/apps/drivers/drv_gps.h b/src/drivers/drv_gps.h similarity index 100% rename from apps/drivers/drv_gps.h rename to src/drivers/drv_gps.h diff --git a/apps/drivers/drv_gyro.h b/src/drivers/drv_gyro.h similarity index 100% rename from apps/drivers/drv_gyro.h rename to src/drivers/drv_gyro.h diff --git a/apps/drivers/drv_hrt.h b/src/drivers/drv_hrt.h similarity index 100% rename from apps/drivers/drv_hrt.h rename to src/drivers/drv_hrt.h diff --git a/apps/drivers/drv_led.h b/src/drivers/drv_led.h similarity index 100% rename from apps/drivers/drv_led.h rename to src/drivers/drv_led.h diff --git a/apps/drivers/drv_mag.h b/src/drivers/drv_mag.h similarity index 100% rename from apps/drivers/drv_mag.h rename to src/drivers/drv_mag.h diff --git a/apps/drivers/drv_mixer.h b/src/drivers/drv_mixer.h similarity index 100% rename from apps/drivers/drv_mixer.h rename to src/drivers/drv_mixer.h diff --git a/apps/drivers/drv_orb_dev.h b/src/drivers/drv_orb_dev.h similarity index 98% rename from apps/drivers/drv_orb_dev.h rename to src/drivers/drv_orb_dev.h index 8495780d56..713618545d 100644 --- a/apps/drivers/drv_orb_dev.h +++ b/src/drivers/drv_orb_dev.h @@ -43,7 +43,7 @@ #include /* XXX for ORB_DECLARE used in many drivers */ -#include "../uORB/uORB.h" +#include "../modules/uORB/uORB.h" /* * ioctl() definitions diff --git a/apps/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h similarity index 100% rename from apps/drivers/drv_pwm_output.h rename to src/drivers/drv_pwm_output.h diff --git a/apps/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h similarity index 100% rename from apps/drivers/drv_range_finder.h rename to src/drivers/drv_range_finder.h diff --git a/apps/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h similarity index 100% rename from apps/drivers/drv_rc_input.h rename to src/drivers/drv_rc_input.h diff --git a/apps/drivers/drv_sensor.h b/src/drivers/drv_sensor.h similarity index 100% rename from apps/drivers/drv_sensor.h rename to src/drivers/drv_sensor.h diff --git a/apps/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h similarity index 100% rename from apps/drivers/drv_tone_alarm.h rename to src/drivers/drv_tone_alarm.h diff --git a/apps/drivers/led/Makefile b/src/drivers/led/Makefile similarity index 100% rename from apps/drivers/led/Makefile rename to src/drivers/led/Makefile diff --git a/apps/drivers/led/led.cpp b/src/drivers/led/led.cpp similarity index 100% rename from apps/drivers/led/led.cpp rename to src/drivers/led/led.cpp diff --git a/apps/examples/math_demo/math_demo.cpp b/src/examples/math_demo/math_demo.cpp similarity index 95% rename from apps/examples/math_demo/math_demo.cpp rename to src/examples/math_demo/math_demo.cpp index a9c5567480..36d3c2e849 100644 --- a/apps/examples/math_demo/math_demo.cpp +++ b/src/examples/math_demo/math_demo.cpp @@ -1,7 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Example User + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: James Goppert * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,6 +34,7 @@ /** * @file math_demo.cpp + * @author James Goppert * Demonstration of math library */ diff --git a/apps/uORB/Makefile b/src/examples/math_demo/module.mk similarity index 89% rename from apps/uORB/Makefile rename to src/examples/math_demo/module.mk index 64ba52e9c5..deba13fd08 100644 --- a/apps/uORB/Makefile +++ b/src/examples/math_demo/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,11 +32,10 @@ ############################################################################ # -# Makefile to build uORB +# Mathlib / operations demo application # -APPNAME = uorb -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 +MODULE_COMMAND = math_demo +MODULE_STACKSIZE = 12000 -include $(APPDIR)/mk/app.mk +SRCS = math_demo.cpp diff --git a/apps/systemlib/mixer/Makefile b/src/examples/px4_daemon_app/module.mk similarity index 91% rename from apps/systemlib/mixer/Makefile rename to src/examples/px4_daemon_app/module.mk index f8b02f1941..d23c19b75d 100644 --- a/apps/systemlib/mixer/Makefile +++ b/src/examples/px4_daemon_app/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,8 +32,9 @@ ############################################################################ # -# mixer library +# Daemon application # -LIBNAME = mixerlib -include $(APPDIR)/mk/app.mk +MODULE_COMMAND = px4_daemon_app + +SRCS = px4_daemon_app.c diff --git a/apps/examples/px4_deamon_app/px4_deamon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c similarity index 100% rename from apps/examples/px4_deamon_app/px4_deamon_app.c rename to src/examples/px4_daemon_app/px4_daemon_app.c diff --git a/apps/examples/math_demo/Makefile b/src/examples/px4_mavlink_debug/module.mk similarity index 90% rename from apps/examples/math_demo/Makefile rename to src/examples/px4_mavlink_debug/module.mk index a1105899a7..3d400fdbfc 100644 --- a/apps/examples/math_demo/Makefile +++ b/src/examples/px4_mavlink_debug/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,8 +35,6 @@ # Basic example application # -APPNAME = math_demo -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 8192 +MODULE_COMMAND = px4_mavlink_debug -include $(APPDIR)/mk/app.mk +SRCS = px4_mavlink_debug.c \ No newline at end of file diff --git a/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c b/src/examples/px4_mavlink_debug/px4_mavlink_debug.c similarity index 100% rename from apps/examples/px4_mavlink_debug/px4_mavlink_debug.c rename to src/examples/px4_mavlink_debug/px4_mavlink_debug.c diff --git a/src/examples/px4_simple_app/module.mk b/src/examples/px4_simple_app/module.mk new file mode 100644 index 0000000000..2c102fa500 --- /dev/null +++ b/src/examples/px4_simple_app/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Basic example application +# + +MODULE_COMMAND = px4_simple_app + +SRCS = px4_simple_app.c diff --git a/apps/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c similarity index 100% rename from apps/examples/px4_simple_app/px4_simple_app.c rename to src/examples/px4_simple_app/px4_simple_app.c diff --git a/apps/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp similarity index 100% rename from apps/controllib/block/Block.cpp rename to src/modules/controllib/block/Block.cpp diff --git a/apps/controllib/block/Block.hpp b/src/modules/controllib/block/Block.hpp similarity index 100% rename from apps/controllib/block/Block.hpp rename to src/modules/controllib/block/Block.hpp diff --git a/apps/controllib/block/BlockParam.cpp b/src/modules/controllib/block/BlockParam.cpp similarity index 100% rename from apps/controllib/block/BlockParam.cpp rename to src/modules/controllib/block/BlockParam.cpp diff --git a/apps/controllib/block/BlockParam.hpp b/src/modules/controllib/block/BlockParam.hpp similarity index 100% rename from apps/controllib/block/BlockParam.hpp rename to src/modules/controllib/block/BlockParam.hpp diff --git a/apps/controllib/block/List.hpp b/src/modules/controllib/block/List.hpp similarity index 100% rename from apps/controllib/block/List.hpp rename to src/modules/controllib/block/List.hpp diff --git a/apps/controllib/block/UOrbPublication.cpp b/src/modules/controllib/block/UOrbPublication.cpp similarity index 100% rename from apps/controllib/block/UOrbPublication.cpp rename to src/modules/controllib/block/UOrbPublication.cpp diff --git a/apps/controllib/block/UOrbPublication.hpp b/src/modules/controllib/block/UOrbPublication.hpp similarity index 100% rename from apps/controllib/block/UOrbPublication.hpp rename to src/modules/controllib/block/UOrbPublication.hpp diff --git a/apps/controllib/block/UOrbSubscription.cpp b/src/modules/controllib/block/UOrbSubscription.cpp similarity index 100% rename from apps/controllib/block/UOrbSubscription.cpp rename to src/modules/controllib/block/UOrbSubscription.cpp diff --git a/apps/controllib/block/UOrbSubscription.hpp b/src/modules/controllib/block/UOrbSubscription.hpp similarity index 100% rename from apps/controllib/block/UOrbSubscription.hpp rename to src/modules/controllib/block/UOrbSubscription.hpp diff --git a/apps/controllib/blocks.cpp b/src/modules/controllib/blocks.cpp similarity index 100% rename from apps/controllib/blocks.cpp rename to src/modules/controllib/blocks.cpp diff --git a/apps/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp similarity index 100% rename from apps/controllib/blocks.hpp rename to src/modules/controllib/blocks.hpp diff --git a/apps/controllib/fixedwing.cpp b/src/modules/controllib/fixedwing.cpp similarity index 100% rename from apps/controllib/fixedwing.cpp rename to src/modules/controllib/fixedwing.cpp diff --git a/apps/controllib/fixedwing.hpp b/src/modules/controllib/fixedwing.hpp similarity index 100% rename from apps/controllib/fixedwing.hpp rename to src/modules/controllib/fixedwing.hpp diff --git a/apps/controllib/Makefile b/src/modules/controllib/module.mk similarity index 92% rename from apps/controllib/Makefile rename to src/modules/controllib/module.mk index 6749b805fa..13d1069c7a 100644 --- a/apps/controllib/Makefile +++ b/src/modules/controllib/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -34,13 +34,10 @@ # # Control library # -CSRCS = test_params.c - -CXXSRCS = block/Block.cpp \ +SRCS = test_params.c \ + block/Block.cpp \ block/BlockParam.cpp \ block/UOrbPublication.cpp \ block/UOrbSubscription.cpp \ blocks.cpp \ fixedwing.cpp - -include $(APPDIR)/mk/app.mk diff --git a/apps/controllib/test_params.c b/src/modules/controllib/test_params.c similarity index 100% rename from apps/controllib/test_params.c rename to src/modules/controllib/test_params.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c similarity index 100% rename from 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a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c similarity index 100% rename from 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a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c 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b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c rename to 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b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c rename to 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b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c rename to 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b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c rename to 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b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c rename to 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apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c similarity index 100% rename from apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c rename to src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c diff --git a/apps/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h similarity index 100% rename from apps/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h rename to src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h diff --git a/apps/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h similarity index 100% rename from apps/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h rename to src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h diff --git a/apps/mathlib/CMSIS/Include/arm_common_tables.h b/src/modules/mathlib/CMSIS/Include/arm_common_tables.h similarity index 100% rename from apps/mathlib/CMSIS/Include/arm_common_tables.h rename to src/modules/mathlib/CMSIS/Include/arm_common_tables.h diff --git a/apps/mathlib/CMSIS/Include/arm_math.h b/src/modules/mathlib/CMSIS/Include/arm_math.h similarity index 100% rename from apps/mathlib/CMSIS/Include/arm_math.h rename to src/modules/mathlib/CMSIS/Include/arm_math.h diff --git a/apps/mathlib/CMSIS/Include/core_cm3.h b/src/modules/mathlib/CMSIS/Include/core_cm3.h similarity index 100% rename from apps/mathlib/CMSIS/Include/core_cm3.h rename to src/modules/mathlib/CMSIS/Include/core_cm3.h diff --git a/apps/mathlib/CMSIS/Include/core_cm4.h b/src/modules/mathlib/CMSIS/Include/core_cm4.h similarity index 100% rename from apps/mathlib/CMSIS/Include/core_cm4.h rename to src/modules/mathlib/CMSIS/Include/core_cm4.h diff --git a/apps/mathlib/CMSIS/Include/core_cm4_simd.h b/src/modules/mathlib/CMSIS/Include/core_cm4_simd.h similarity index 100% rename from apps/mathlib/CMSIS/Include/core_cm4_simd.h rename to src/modules/mathlib/CMSIS/Include/core_cm4_simd.h diff --git a/apps/mathlib/CMSIS/Include/core_cmFunc.h b/src/modules/mathlib/CMSIS/Include/core_cmFunc.h similarity index 100% rename from apps/mathlib/CMSIS/Include/core_cmFunc.h rename to src/modules/mathlib/CMSIS/Include/core_cmFunc.h diff --git a/apps/mathlib/CMSIS/Include/core_cmInstr.h b/src/modules/mathlib/CMSIS/Include/core_cmInstr.h similarity index 100% rename from apps/mathlib/CMSIS/Include/core_cmInstr.h rename to src/modules/mathlib/CMSIS/Include/core_cmInstr.h diff --git a/apps/mathlib/CMSIS/Makefile b/src/modules/mathlib/CMSIS/module.mk similarity index 89% rename from apps/mathlib/CMSIS/Makefile rename to src/modules/mathlib/CMSIS/module.mk index 9e28518bc7..c676f32618 100644 --- a/apps/mathlib/CMSIS/Makefile +++ b/src/modules/mathlib/CMSIS/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -38,10 +38,10 @@ # # Find sources # -DSPLIB_SRCDIR := $(dir $(lastword $(MAKEFILE_LIST))) -CSRCS := $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c) +DSPLIB_SRCDIR := $(PX4_MODULE_SRC)/modules/mathlib/CMSIS +ABS_SRCS := $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c) -INCLUDES += $(DSPLIB_SRCDIR)/Include \ +INCLUDE_DIRS += $(DSPLIB_SRCDIR)/Include \ $(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \ $(DSPLIB_SRCDIR)/Device/ARM/ARMCM3/Include @@ -57,5 +57,3 @@ EXTRADEFINES += -Wno-unsuffixed-float-constants \ # have anything we can use to mark exported symbols. # DEFAULT_VISIBILITY = YES - -include $(APPDIR)/mk/app.mk diff --git a/apps/mathlib/math/Dcm.cpp b/src/modules/mathlib/math/Dcm.cpp similarity index 99% rename from apps/mathlib/math/Dcm.cpp rename to src/modules/mathlib/math/Dcm.cpp index df0f09b205..c3742e2886 100644 --- a/apps/mathlib/math/Dcm.cpp +++ b/src/modules/mathlib/math/Dcm.cpp @@ -37,7 +37,7 @@ * math direction cosine matrix */ -#include "math/test/test.hpp" +#include #include "Dcm.hpp" #include "Quaternion.hpp" diff --git a/apps/mathlib/math/Dcm.hpp b/src/modules/mathlib/math/Dcm.hpp similarity index 100% rename from apps/mathlib/math/Dcm.hpp rename to src/modules/mathlib/math/Dcm.hpp diff --git a/apps/mathlib/math/EulerAngles.cpp b/src/modules/mathlib/math/EulerAngles.cpp similarity index 99% rename from apps/mathlib/math/EulerAngles.cpp rename to src/modules/mathlib/math/EulerAngles.cpp index 2e96fef4cb..e733d23bb0 100644 --- a/apps/mathlib/math/EulerAngles.cpp +++ b/src/modules/mathlib/math/EulerAngles.cpp @@ -37,7 +37,7 @@ * math vector */ -#include "math/test/test.hpp" +#include "test/test.hpp" #include "EulerAngles.hpp" #include "Quaternion.hpp" diff --git a/apps/mathlib/math/EulerAngles.hpp b/src/modules/mathlib/math/EulerAngles.hpp similarity index 100% rename from apps/mathlib/math/EulerAngles.hpp rename to src/modules/mathlib/math/EulerAngles.hpp diff --git a/apps/mathlib/math/Matrix.cpp b/src/modules/mathlib/math/Matrix.cpp similarity index 99% rename from apps/mathlib/math/Matrix.cpp rename to src/modules/mathlib/math/Matrix.cpp index 9817323702..ebd1aeda3d 100644 --- a/apps/mathlib/math/Matrix.cpp +++ b/src/modules/mathlib/math/Matrix.cpp @@ -37,7 +37,7 @@ * matrix code */ -#include "math/test/test.hpp" +#include "test/test.hpp" #include #include "Matrix.hpp" diff --git a/apps/mathlib/math/Matrix.hpp b/src/modules/mathlib/math/Matrix.hpp similarity index 100% rename from apps/mathlib/math/Matrix.hpp rename to src/modules/mathlib/math/Matrix.hpp diff --git a/apps/mathlib/math/Quaternion.cpp b/src/modules/mathlib/math/Quaternion.cpp similarity index 99% rename from apps/mathlib/math/Quaternion.cpp rename to src/modules/mathlib/math/Quaternion.cpp index 78481b2868..02fec4ca66 100644 --- a/apps/mathlib/math/Quaternion.cpp +++ b/src/modules/mathlib/math/Quaternion.cpp @@ -37,7 +37,7 @@ * math vector */ -#include "math/test/test.hpp" +#include "test/test.hpp" #include "Quaternion.hpp" diff --git a/apps/mathlib/math/Quaternion.hpp b/src/modules/mathlib/math/Quaternion.hpp similarity index 100% rename from apps/mathlib/math/Quaternion.hpp rename to src/modules/mathlib/math/Quaternion.hpp diff --git a/apps/mathlib/math/Vector.cpp b/src/modules/mathlib/math/Vector.cpp similarity index 98% rename from apps/mathlib/math/Vector.cpp rename to src/modules/mathlib/math/Vector.cpp index d58e719dbc..35158a396c 100644 --- a/apps/mathlib/math/Vector.cpp +++ b/src/modules/mathlib/math/Vector.cpp @@ -37,7 +37,7 @@ * math vector */ -#include "math/test/test.hpp" +#include "test/test.hpp" #include "Vector.hpp" diff --git a/apps/mathlib/math/Vector.hpp b/src/modules/mathlib/math/Vector.hpp similarity index 100% rename from apps/mathlib/math/Vector.hpp rename to src/modules/mathlib/math/Vector.hpp diff --git a/apps/mathlib/math/Vector3.cpp b/src/modules/mathlib/math/Vector3.cpp similarity index 98% rename from apps/mathlib/math/Vector3.cpp rename to src/modules/mathlib/math/Vector3.cpp index 9c57506da3..61fcc442f3 100644 --- a/apps/mathlib/math/Vector3.cpp +++ b/src/modules/mathlib/math/Vector3.cpp @@ -37,7 +37,7 @@ * math vector */ -#include "math/test/test.hpp" +#include "test/test.hpp" #include "Vector3.hpp" diff --git a/apps/mathlib/math/Vector3.hpp b/src/modules/mathlib/math/Vector3.hpp similarity index 100% rename from apps/mathlib/math/Vector3.hpp rename to src/modules/mathlib/math/Vector3.hpp diff --git a/apps/mathlib/math/arm/Matrix.cpp b/src/modules/mathlib/math/arm/Matrix.cpp similarity index 100% rename from apps/mathlib/math/arm/Matrix.cpp rename to src/modules/mathlib/math/arm/Matrix.cpp diff --git a/apps/mathlib/math/arm/Matrix.hpp b/src/modules/mathlib/math/arm/Matrix.hpp similarity index 100% rename from apps/mathlib/math/arm/Matrix.hpp rename to src/modules/mathlib/math/arm/Matrix.hpp diff --git a/apps/mathlib/math/arm/Vector.cpp b/src/modules/mathlib/math/arm/Vector.cpp similarity index 100% rename from apps/mathlib/math/arm/Vector.cpp rename to src/modules/mathlib/math/arm/Vector.cpp diff --git a/apps/mathlib/math/arm/Vector.hpp b/src/modules/mathlib/math/arm/Vector.hpp similarity index 100% rename from apps/mathlib/math/arm/Vector.hpp rename to src/modules/mathlib/math/arm/Vector.hpp diff --git a/apps/mathlib/math/generic/Matrix.cpp b/src/modules/mathlib/math/generic/Matrix.cpp similarity index 100% rename from apps/mathlib/math/generic/Matrix.cpp rename to src/modules/mathlib/math/generic/Matrix.cpp diff --git a/apps/mathlib/math/generic/Matrix.hpp b/src/modules/mathlib/math/generic/Matrix.hpp similarity index 100% rename from apps/mathlib/math/generic/Matrix.hpp rename to src/modules/mathlib/math/generic/Matrix.hpp diff --git a/apps/mathlib/math/generic/Vector.cpp b/src/modules/mathlib/math/generic/Vector.cpp similarity index 100% rename from apps/mathlib/math/generic/Vector.cpp rename to src/modules/mathlib/math/generic/Vector.cpp diff --git a/apps/mathlib/math/generic/Vector.hpp b/src/modules/mathlib/math/generic/Vector.hpp similarity index 100% rename from apps/mathlib/math/generic/Vector.hpp rename to src/modules/mathlib/math/generic/Vector.hpp diff --git a/apps/mathlib/math/nasa_rotation_def.pdf b/src/modules/mathlib/math/nasa_rotation_def.pdf similarity index 100% rename from apps/mathlib/math/nasa_rotation_def.pdf rename to src/modules/mathlib/math/nasa_rotation_def.pdf diff --git a/apps/mathlib/math/test/test.cpp b/src/modules/mathlib/math/test/test.cpp similarity index 99% rename from apps/mathlib/math/test/test.cpp rename to src/modules/mathlib/math/test/test.cpp index f5db76d704..2fa2f7e7c4 100644 --- a/apps/mathlib/math/test/test.cpp +++ b/src/modules/mathlib/math/test/test.cpp @@ -39,6 +39,7 @@ #include #include +#include #include "test.hpp" diff --git a/apps/mathlib/math/test/test.hpp b/src/modules/mathlib/math/test/test.hpp similarity index 96% rename from apps/mathlib/math/test/test.hpp rename to src/modules/mathlib/math/test/test.hpp index 841c421445..2027bb827c 100644 --- a/apps/mathlib/math/test/test.hpp +++ b/src/modules/mathlib/math/test/test.hpp @@ -39,9 +39,9 @@ #pragma once -#include -#include -#include +//#include +//#include +//#include bool equal(float a, float b, float eps = 1e-5); void float2SigExp( diff --git a/apps/mathlib/math/test_math.sce b/src/modules/mathlib/math/test_math.sce similarity index 100% rename from apps/mathlib/math/test_math.sce rename to src/modules/mathlib/math/test_math.sce diff --git a/apps/mathlib/mathlib.h b/src/modules/mathlib/mathlib.h similarity index 100% rename from apps/mathlib/mathlib.h rename to src/modules/mathlib/mathlib.h diff --git a/apps/mathlib/Makefile b/src/modules/mathlib/module.mk similarity index 88% rename from apps/mathlib/Makefile rename to src/modules/mathlib/module.mk index 7eebd6ae0b..bcdb2afe50 100644 --- a/apps/mathlib/Makefile +++ b/src/modules/mathlib/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -34,7 +34,7 @@ # # Math library # -CXXSRCS = math/test/test.cpp \ +SRCS = math/test/test.cpp \ math/Vector.cpp \ math/Vector3.cpp \ math/EulerAngles.cpp \ @@ -50,13 +50,11 @@ APP_MAKEFILE := $(lastword $(MAKEFILE_LIST)) -include $(TOPDIR)/.config ifeq ($(CONFIG_ARCH_CORTEXM4)$(CONFIG_ARCH_FPU),yy) -INCLUDES += math/arm -CXXSRCS += math/arm/Vector.cpp \ +INCLUDE_DIRS += math/arm +SRCS += math/arm/Vector.cpp \ math/arm/Matrix.cpp else -INCLUDES += math/generic -CXXSRCS += math/generic/Vector.cpp \ - math/generic/Matrix.cpp +#INCLUDE_DIRS += math/generic +#SRCS += math/generic/Vector.cpp \ +# math/generic/Matrix.cpp endif - -include $(APPDIR)/mk/app.mk diff --git a/src/modules/px4iofirmware/hx_stream.c b/src/modules/px4iofirmware/hx_stream.c deleted file mode 100644 index 8d77f14a8d..0000000000 --- a/src/modules/px4iofirmware/hx_stream.c +++ /dev/null @@ -1,250 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file hx_stream.c - * - * A simple serial line framing protocol based on HDLC - * with 32-bit CRC protection. - */ - -#include -#include -#include -#include -#include -#include -#include -#include - -#include "perf_counter.h" - -#include "hx_stream.h" - - -struct hx_stream { - uint8_t buf[HX_STREAM_MAX_FRAME + 4]; - unsigned frame_bytes; - bool escaped; - bool txerror; - - int fd; - hx_stream_rx_callback callback; - void *callback_arg; - - perf_counter_t pc_tx_frames; - perf_counter_t pc_rx_frames; - perf_counter_t pc_rx_errors; -}; - -/* - * Protocol magic numbers, straight out of HDLC. - */ -#define FBO 0x7e /**< Frame Boundary Octet */ -#define CEO 0x7c /**< Control Escape Octet */ - -static void hx_tx_raw(hx_stream_t stream, uint8_t c); -static void hx_tx_raw(hx_stream_t stream, uint8_t c); -static int hx_rx_frame(hx_stream_t stream); - -static void -hx_tx_raw(hx_stream_t stream, uint8_t c) -{ - if (write(stream->fd, &c, 1) != 1) - stream->txerror = true; -} - -static void -hx_tx_byte(hx_stream_t stream, uint8_t c) -{ - switch (c) { - case FBO: - case CEO: - hx_tx_raw(stream, CEO); - c ^= 0x20; - break; - } - - hx_tx_raw(stream, c); -} - -static int -hx_rx_frame(hx_stream_t stream) -{ - union { - uint8_t b[4]; - uint32_t w; - } u; - unsigned length = stream->frame_bytes; - - /* reset the stream */ - stream->frame_bytes = 0; - stream->escaped = false; - - /* not a real frame - too short */ - if (length < 4) { - if (length > 1) - perf_count(stream->pc_rx_errors); - - return 0; - } - - length -= 4; - - /* compute expected CRC */ - u.w = crc32(&stream->buf[0], length); - - /* compare computed and actual CRC */ - for (unsigned i = 0; i < 4; i++) { - if (u.b[i] != stream->buf[length + i]) { - perf_count(stream->pc_rx_errors); - return 0; - } - } - - /* frame is good */ - perf_count(stream->pc_rx_frames); - stream->callback(stream->callback_arg, &stream->buf[0], length); - return 1; -} - -hx_stream_t -hx_stream_init(int fd, - hx_stream_rx_callback callback, - void *arg) -{ - hx_stream_t stream; - - stream = (hx_stream_t)malloc(sizeof(struct hx_stream)); - - if (stream != NULL) { - memset(stream, 0, sizeof(struct hx_stream)); - stream->fd = fd; - stream->callback = callback; - stream->callback_arg = arg; - } - - return stream; -} - -void -hx_stream_free(hx_stream_t stream) -{ - /* free perf counters (OK if they are NULL) */ - perf_free(stream->pc_tx_frames); - perf_free(stream->pc_rx_frames); - perf_free(stream->pc_rx_errors); - - free(stream); -} - -void -hx_stream_set_counters(hx_stream_t stream, - perf_counter_t tx_frames, - perf_counter_t rx_frames, - perf_counter_t rx_errors) -{ - stream->pc_tx_frames = tx_frames; - stream->pc_rx_frames = rx_frames; - stream->pc_rx_errors = rx_errors; -} - -int -hx_stream_send(hx_stream_t stream, - const void *data, - size_t count) -{ - union { - uint8_t b[4]; - uint32_t w; - } u; - const uint8_t *p = (const uint8_t *)data; - unsigned resid = count; - - if (resid > HX_STREAM_MAX_FRAME) - return -EINVAL; - - /* start the frame */ - hx_tx_raw(stream, FBO); - - /* transmit the data */ - while (resid--) - hx_tx_byte(stream, *p++); - - /* compute the CRC */ - u.w = crc32(data, count); - - /* send the CRC */ - p = &u.b[0]; - resid = 4; - - while (resid--) - hx_tx_byte(stream, *p++); - - /* and the trailing frame separator */ - hx_tx_raw(stream, FBO); - - /* check for transmit error */ - if (stream->txerror) { - stream->txerror = false; - return -EIO; - } - - perf_count(stream->pc_tx_frames); - return 0; -} - -void -hx_stream_rx(hx_stream_t stream, uint8_t c) -{ - /* frame end? */ - if (c == FBO) { - hx_rx_frame(stream); - return; - } - - /* escaped? */ - if (stream->escaped) { - stream->escaped = false; - c ^= 0x20; - - } else if (c == CEO) { - /* now escaped, ignore the byte */ - stream->escaped = true; - return; - } - - /* save for later */ - if (stream->frame_bytes < sizeof(stream->buf)) - stream->buf[stream->frame_bytes++] = c; -} diff --git a/src/modules/px4iofirmware/hx_stream.h b/src/modules/px4iofirmware/hx_stream.h deleted file mode 100644 index 128689953a..0000000000 --- a/src/modules/px4iofirmware/hx_stream.h +++ /dev/null @@ -1,122 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file hx_stream.h - * - * A simple serial line framing protocol based on HDLC - * with 32-bit CRC protection. - */ - -#ifndef _SYSTEMLIB_HX_STREAM_H -#define _SYSTEMLIB_HX_STREAM_H - -#include - -#include "perf_counter.h" - -struct hx_stream; -typedef struct hx_stream *hx_stream_t; - -#define HX_STREAM_MAX_FRAME 64 - -typedef void (* hx_stream_rx_callback)(void *arg, const void *data, size_t length); - -__BEGIN_DECLS - -/** - * Allocate a new hx_stream object. - * - * @param fd The file handle over which the protocol will - * communicate. - * @param callback Called when a frame is received. - * @param callback_arg Passed to the callback. - * @return A handle to the stream, or NULL if memory could - * not be allocated. - */ -__EXPORT extern hx_stream_t hx_stream_init(int fd, - hx_stream_rx_callback callback, - void *arg); - -/** - * Free a hx_stream object. - * - * @param stream A handle returned from hx_stream_init. - */ -__EXPORT extern void hx_stream_free(hx_stream_t stream); - -/** - * Set performance counters for the stream. - * - * Any counter may be set to NULL to disable counting that datum. - * - * @param tx_frames Counter for transmitted frames. - * @param rx_frames Counter for received frames. - * @param rx_errors Counter for short and corrupt received frames. - */ -__EXPORT extern void hx_stream_set_counters(hx_stream_t stream, - perf_counter_t tx_frames, - perf_counter_t rx_frames, - perf_counter_t rx_errors); - -/** - * Send a frame. - * - * This function will block until all frame bytes are sent if - * the descriptor passed to hx_stream_init is marked blocking, - * otherwise it will return -1 (but may transmit a - * runt frame at the same time). - * - * @todo Handling of non-blocking streams needs to be better. - * - * @param stream A handle returned from hx_stream_init. - * @param data Pointer to the data to send. - * @param count The number of bytes to send. - * @return Zero on success, -errno on error. - */ -__EXPORT extern int hx_stream_send(hx_stream_t stream, - const void *data, - size_t count); - -/** - * Handle a byte from the stream. - * - * @param stream A handle returned from hx_stream_init. - * @param c The character to process. - */ -__EXPORT extern void hx_stream_rx(hx_stream_t stream, - uint8_t c); - -__END_DECLS - -#endif diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk index 085697fbb6..82b8f16d3c 100644 --- a/src/modules/px4iofirmware/module.mk +++ b/src/modules/px4iofirmware/module.mk @@ -1,4 +1,18 @@ -SRCS = adc.c controls.c dsm.c i2c.c mixer.cpp px4io.c registers.c safety.c sbus.c \ - up_cxxinitialize.c hx_stream.c perf_counter.c +SRCS = adc.c \ + controls.c \ + dsm.c \ + i2c.c \ + px4io.c \ + registers.c \ + safety.c \ + sbus.c \ + mixer.cpp \ + ../systemlib/mixer/mixer.cpp \ + ../systemlib/mixer/mixer_group.cpp \ + ../systemlib/mixer/mixer_multirotor.cpp \ + ../systemlib/mixer/mixer_simple.cpp \ + ../systemlib/up_cxxinitialize.c \ + ../systemlib/hx_stream.c \ + ../systemlib/perf_counter.c diff --git a/src/modules/px4iofirmware/perf_counter.c b/src/modules/px4iofirmware/perf_counter.c deleted file mode 100644 index 879f4715af..0000000000 --- a/src/modules/px4iofirmware/perf_counter.c +++ /dev/null @@ -1,317 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file perf_counter.c - * - * @brief Performance measuring tools. - */ - -#include -#include -#include -#include - -#include "perf_counter.h" - -/** - * Header common to all counters. - */ -struct perf_ctr_header { - sq_entry_t link; /**< list linkage */ - enum perf_counter_type type; /**< counter type */ - const char *name; /**< counter name */ -}; - -/** - * PC_EVENT counter. - */ -struct perf_ctr_count { - struct perf_ctr_header hdr; - uint64_t event_count; -}; - -/** - * PC_ELAPSED counter. - */ -struct perf_ctr_elapsed { - struct perf_ctr_header hdr; - uint64_t event_count; - uint64_t time_start; - uint64_t time_total; - uint64_t time_least; - uint64_t time_most; -}; - -/** - * PC_INTERVAL counter. - */ -struct perf_ctr_interval { - struct perf_ctr_header hdr; - uint64_t event_count; - uint64_t time_event; - uint64_t time_first; - uint64_t time_last; - uint64_t time_least; - uint64_t time_most; - -}; - -/** - * List of all known counters. - */ -static sq_queue_t perf_counters; - - -perf_counter_t -perf_alloc(enum perf_counter_type type, const char *name) -{ - perf_counter_t ctr = NULL; - - switch (type) { - case PC_COUNT: - ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_count), 1); - break; - - case PC_ELAPSED: - ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_elapsed), 1); - break; - - case PC_INTERVAL: - ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_interval), 1); - break; - - default: - break; - } - - if (ctr != NULL) { - ctr->type = type; - ctr->name = name; - sq_addfirst(&ctr->link, &perf_counters); - } - - return ctr; -} - -void -perf_free(perf_counter_t handle) -{ - if (handle == NULL) - return; - - sq_rem(&handle->link, &perf_counters); - free(handle); -} - -void -perf_count(perf_counter_t handle) -{ - if (handle == NULL) - return; - - switch (handle->type) { - case PC_COUNT: - ((struct perf_ctr_count *)handle)->event_count++; - break; - - case PC_INTERVAL: { - struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle; - hrt_abstime now = hrt_absolute_time(); - - switch (pci->event_count) { - case 0: - pci->time_first = now; - break; - case 1: - pci->time_least = now - pci->time_last; - pci->time_most = now - pci->time_last; - break; - default: { - hrt_abstime interval = now - pci->time_last; - if (interval < pci->time_least) - pci->time_least = interval; - if (interval > pci->time_most) - pci->time_most = interval; - break; - } - } - pci->time_last = now; - pci->event_count++; - break; - } - - default: - break; - } -} - -void -perf_begin(perf_counter_t handle) -{ - if (handle == NULL) - return; - - switch (handle->type) { - case PC_ELAPSED: - ((struct perf_ctr_elapsed *)handle)->time_start = hrt_absolute_time(); - break; - - default: - break; - } -} - -void -perf_end(perf_counter_t handle) -{ - if (handle == NULL) - return; - - switch (handle->type) { - case PC_ELAPSED: { - struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; - hrt_abstime elapsed = hrt_absolute_time() - pce->time_start; - - pce->event_count++; - pce->time_total += elapsed; - - if ((pce->time_least > elapsed) || (pce->time_least == 0)) - pce->time_least = elapsed; - - if (pce->time_most < elapsed) - pce->time_most = elapsed; - } - - default: - break; - } -} - -void -perf_reset(perf_counter_t handle) -{ - if (handle == NULL) - return; - - switch (handle->type) { - case PC_COUNT: - ((struct perf_ctr_count *)handle)->event_count = 0; - break; - - case PC_ELAPSED: { - struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; - pce->event_count = 0; - pce->time_start = 0; - pce->time_total = 0; - pce->time_least = 0; - pce->time_most = 0; - break; - } - - case PC_INTERVAL: { - struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle; - pci->event_count = 0; - pci->time_event = 0; - pci->time_first = 0; - pci->time_last = 0; - pci->time_least = 0; - pci->time_most = 0; - break; - } - } -} - -void -perf_print_counter(perf_counter_t handle) -{ - if (handle == NULL) - return; - - switch (handle->type) { - case PC_COUNT: - printf("%s: %llu events\n", - handle->name, - ((struct perf_ctr_count *)handle)->event_count); - break; - - case PC_ELAPSED: { - struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; - - printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n", - handle->name, - pce->event_count, - pce->time_total, - pce->time_least, - pce->time_most); - break; - } - - case PC_INTERVAL: { - struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle; - - printf("%s: %llu events, %llu avg, min %lluus max %lluus\n", - handle->name, - pci->event_count, - (pci->time_last - pci->time_first) / pci->event_count, - pci->time_least, - pci->time_most); - break; - } - - default: - break; - } -} - -void -perf_print_all(void) -{ - perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters); - - while (handle != NULL) { - perf_print_counter(handle); - handle = (perf_counter_t)sq_next(&handle->link); - } -} - -void -perf_reset_all(void) -{ - perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters); - - while (handle != NULL) { - perf_reset(handle); - handle = (perf_counter_t)sq_next(&handle->link); - } -} diff --git a/src/modules/px4iofirmware/perf_counter.h b/src/modules/px4iofirmware/perf_counter.h deleted file mode 100644 index 5c2cb15b2f..0000000000 --- a/src/modules/px4iofirmware/perf_counter.h +++ /dev/null @@ -1,128 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file perf_counter.h - * Performance measuring tools. - */ - -#ifndef _SYSTEMLIB_PERF_COUNTER_H -#define _SYSTEMLIB_PERF_COUNTER_H value - -/** - * Counter types. - */ -enum perf_counter_type { - PC_COUNT, /**< count the number of times an event occurs */ - PC_ELAPSED, /**< measure the time elapsed performing an event */ - PC_INTERVAL /**< measure the interval between instances of an event */ -}; - -struct perf_ctr_header; -typedef struct perf_ctr_header *perf_counter_t; - -__BEGIN_DECLS - -/** - * Create a new counter. - * - * @param type The type of the new counter. - * @param name The counter name. - * @return Handle for the new counter, or NULL if a counter - * could not be allocated. - */ -__EXPORT extern perf_counter_t perf_alloc(enum perf_counter_type type, const char *name); - -/** - * Free a counter. - * - * @param handle The performance counter's handle. - */ -__EXPORT extern void perf_free(perf_counter_t handle); - -/** - * Count a performance event. - * - * This call only affects counters that take single events; PC_COUNT etc. - * - * @param handle The handle returned from perf_alloc. - */ -__EXPORT extern void perf_count(perf_counter_t handle); - -/** - * Begin a performance event. - * - * This call applies to counters that operate over ranges of time; PC_ELAPSED etc. - * - * @param handle The handle returned from perf_alloc. - */ -__EXPORT extern void perf_begin(perf_counter_t handle); - -/** - * End a performance event. - * - * This call applies to counters that operate over ranges of time; PC_ELAPSED etc. - * - * @param handle The handle returned from perf_alloc. - */ -__EXPORT extern void perf_end(perf_counter_t handle); - -/** - * Reset a performance event. - * - * This call resets performance counter to initial state - * - * @param handle The handle returned from perf_alloc. - */ -__EXPORT extern void perf_reset(perf_counter_t handle); - -/** - * Print one performance counter. - * - * @param handle The counter to print. - */ -__EXPORT extern void perf_print_counter(perf_counter_t handle); - -/** - * Print all of the performance counters. - */ -__EXPORT extern void perf_print_all(void); - -/** - * Reset all of the performance counters. - */ -__EXPORT extern void perf_reset_all(void); - -__END_DECLS - -#endif diff --git a/src/modules/px4iofirmware/up_cxxinitialize.c b/src/modules/px4iofirmware/up_cxxinitialize.c deleted file mode 100644 index c78f295708..0000000000 --- a/src/modules/px4iofirmware/up_cxxinitialize.c +++ /dev/null @@ -1,150 +0,0 @@ -/************************************************************************************ - * configs/stm32f4discovery/src/up_cxxinitialize.c - * arch/arm/src/board/up_cxxinitialize.c - * - * Copyright (C) 2012 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ************************************************************************************/ - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include - -#include - -#include - -//#include -//#include "chip.h" - -/************************************************************************************ - * Definitions - ************************************************************************************/ -/* Debug ****************************************************************************/ -/* Non-standard debug that may be enabled just for testing the static constructors */ - -#ifndef CONFIG_DEBUG -# undef CONFIG_DEBUG_CXX -#endif - -#ifdef CONFIG_DEBUG_CXX -# define cxxdbg dbg -# define cxxlldbg lldbg -# ifdef CONFIG_DEBUG_VERBOSE -# define cxxvdbg vdbg -# define cxxllvdbg llvdbg -# else -# define cxxvdbg(x...) -# define cxxllvdbg(x...) -# endif -#else -# define cxxdbg(x...) -# define cxxlldbg(x...) -# define cxxvdbg(x...) -# define cxxllvdbg(x...) -#endif - -/************************************************************************************ - * Private Types - ************************************************************************************/ -/* This type defines one entry in initialization array */ - -typedef void (*initializer_t)(void); - -/************************************************************************************ - * External references - ************************************************************************************/ -/* _sinit and _einit are symbols exported by the linker script that mark the - * beginning and the end of the C++ initialization section. - */ - -extern initializer_t _sinit; -extern initializer_t _einit; - -/* _stext and _etext are symbols exported by the linker script that mark the - * beginning and the end of text. - */ - -extern uint32_t _stext; -extern uint32_t _etext; - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -/**************************************************************************** - * Name: up_cxxinitialize - * - * Description: - * If C++ and C++ static constructors are supported, then this function - * must be provided by board-specific logic in order to perform - * initialization of the static C++ class instances. - * - * This function should then be called in the application-specific - * user_start logic in order to perform the C++ initialization. NOTE - * that no component of the core NuttX RTOS logic is involved; This - * function defintion only provides the 'contract' between application - * specific C++ code and platform-specific toolchain support - * - ***************************************************************************/ - -__EXPORT void up_cxxinitialize(void) -{ - initializer_t *initp; - - cxxdbg("_sinit: %p _einit: %p _stext: %p _etext: %p\n", - &_sinit, &_einit, &_stext, &_etext); - - /* Visit each entry in the initialzation table */ - - for (initp = &_sinit; initp != &_einit; initp++) - { - initializer_t initializer = *initp; - cxxdbg("initp: %p initializer: %p\n", initp, initializer); - - /* Make sure that the address is non-NULL and lies in the text region - * defined by the linker script. Some toolchains may put NULL values - * or counts in the initialization table - */ - - if ((void*)initializer > (void*)&_stext && (void*)initializer < (void*)&_etext) - { - cxxdbg("Calling %p\n", initializer); - initializer(); - } - } -} diff --git a/apps/systemlib/airspeed.c b/src/modules/systemlib/airspeed.c similarity index 100% rename from apps/systemlib/airspeed.c rename to src/modules/systemlib/airspeed.c diff --git a/apps/systemlib/airspeed.h b/src/modules/systemlib/airspeed.h similarity index 100% rename from apps/systemlib/airspeed.h rename to src/modules/systemlib/airspeed.h diff --git a/apps/systemlib/bson/tinybson.c b/src/modules/systemlib/bson/tinybson.c similarity index 99% rename from apps/systemlib/bson/tinybson.c rename to src/modules/systemlib/bson/tinybson.c index 321466f87a..8aca6a25dd 100644 --- a/apps/systemlib/bson/tinybson.c +++ b/src/modules/systemlib/bson/tinybson.c @@ -40,7 +40,7 @@ #include #include #include -#include +#include #include "tinybson.h" diff --git a/apps/systemlib/bson/tinybson.h b/src/modules/systemlib/bson/tinybson.h similarity index 100% rename from apps/systemlib/bson/tinybson.h rename to src/modules/systemlib/bson/tinybson.h diff --git a/apps/systemlib/conversions.c b/src/modules/systemlib/conversions.c similarity index 100% rename from apps/systemlib/conversions.c rename to src/modules/systemlib/conversions.c diff --git a/apps/systemlib/conversions.h b/src/modules/systemlib/conversions.h similarity index 100% rename from apps/systemlib/conversions.h rename to src/modules/systemlib/conversions.h diff --git a/apps/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c similarity index 100% rename from apps/systemlib/cpuload.c rename to src/modules/systemlib/cpuload.c diff --git a/apps/systemlib/cpuload.h b/src/modules/systemlib/cpuload.h similarity index 100% rename from apps/systemlib/cpuload.h rename to src/modules/systemlib/cpuload.h diff --git a/apps/systemlib/err.c b/src/modules/systemlib/err.c similarity index 100% rename from apps/systemlib/err.c rename to src/modules/systemlib/err.c diff --git a/apps/systemlib/err.h b/src/modules/systemlib/err.h similarity index 100% rename from apps/systemlib/err.h rename to src/modules/systemlib/err.h diff --git a/apps/systemlib/geo/geo.c b/src/modules/systemlib/geo/geo.c similarity index 100% rename from apps/systemlib/geo/geo.c rename to src/modules/systemlib/geo/geo.c diff --git a/apps/systemlib/geo/geo.h b/src/modules/systemlib/geo/geo.h similarity index 100% rename from apps/systemlib/geo/geo.h rename to src/modules/systemlib/geo/geo.h diff --git a/apps/systemlib/getopt_long.c b/src/modules/systemlib/getopt_long.c similarity index 100% rename from apps/systemlib/getopt_long.c rename to src/modules/systemlib/getopt_long.c diff --git a/apps/systemlib/getopt_long.h b/src/modules/systemlib/getopt_long.h similarity index 100% rename from apps/systemlib/getopt_long.h rename to src/modules/systemlib/getopt_long.h diff --git a/apps/systemlib/hx_stream.c b/src/modules/systemlib/hx_stream.c similarity index 100% rename from apps/systemlib/hx_stream.c rename to src/modules/systemlib/hx_stream.c diff --git a/apps/systemlib/hx_stream.h b/src/modules/systemlib/hx_stream.h similarity index 100% rename from apps/systemlib/hx_stream.h rename to src/modules/systemlib/hx_stream.h diff --git a/apps/systemlib/mixer/mixer.cpp b/src/modules/systemlib/mixer/mixer.cpp similarity index 100% rename from apps/systemlib/mixer/mixer.cpp rename to src/modules/systemlib/mixer/mixer.cpp diff --git a/apps/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h similarity index 100% rename from apps/systemlib/mixer/mixer.h rename to src/modules/systemlib/mixer/mixer.h diff --git a/apps/systemlib/mixer/mixer_group.cpp b/src/modules/systemlib/mixer/mixer_group.cpp similarity index 100% rename from apps/systemlib/mixer/mixer_group.cpp rename to src/modules/systemlib/mixer/mixer_group.cpp diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp similarity index 100% rename from apps/systemlib/mixer/mixer_multirotor.cpp rename to src/modules/systemlib/mixer/mixer_multirotor.cpp diff --git a/apps/systemlib/mixer/mixer_simple.cpp b/src/modules/systemlib/mixer/mixer_simple.cpp similarity index 100% rename from apps/systemlib/mixer/mixer_simple.cpp rename to src/modules/systemlib/mixer/mixer_simple.cpp diff --git a/src/modules/systemlib/mixer/module.mk b/src/modules/systemlib/mixer/module.mk new file mode 100644 index 0000000000..4d45e1c506 --- /dev/null +++ b/src/modules/systemlib/mixer/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# mixer library +# +LIBNAME = mixerlib + +SRCS = mixer.cpp \ + mixer_group.cpp \ + mixer_multirotor.cpp \ + mixer_simple.cpp diff --git a/apps/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables similarity index 100% rename from apps/systemlib/mixer/multi_tables rename to src/modules/systemlib/mixer/multi_tables diff --git a/apps/systemlib/Makefile b/src/modules/systemlib/module.mk similarity index 97% rename from apps/systemlib/Makefile rename to src/modules/systemlib/module.mk index b2e233a920..fd0289c9a4 100644 --- a/apps/systemlib/Makefile +++ b/src/modules/systemlib/module.mk @@ -35,7 +35,7 @@ # System utility library # -CSRCS = err.c \ +SRCS = err.c \ hx_stream.c \ perf_counter.c \ param/param.c \ @@ -48,5 +48,3 @@ CSRCS = err.c \ geo/geo.c \ systemlib.c \ airspeed.c - -include $(APPDIR)/mk/app.mk diff --git a/apps/systemlib/param/param.c b/src/modules/systemlib/param/param.c similarity index 99% rename from apps/systemlib/param/param.c rename to src/modules/systemlib/param/param.c index 8073570d1d..69a9bdf9b5 100644 --- a/apps/systemlib/param/param.c +++ b/src/modules/systemlib/param/param.c @@ -46,7 +46,7 @@ #include #include #include -#include +#include #include #include diff --git a/apps/systemlib/param/param.h b/src/modules/systemlib/param/param.h similarity index 100% rename from apps/systemlib/param/param.h rename to src/modules/systemlib/param/param.h diff --git a/apps/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c similarity index 100% rename from apps/systemlib/perf_counter.c rename to src/modules/systemlib/perf_counter.c diff --git a/apps/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h similarity index 100% rename from apps/systemlib/perf_counter.h rename to src/modules/systemlib/perf_counter.h diff --git a/apps/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c similarity index 100% rename from apps/systemlib/pid/pid.c rename to src/modules/systemlib/pid/pid.c diff --git a/apps/systemlib/pid/pid.h b/src/modules/systemlib/pid/pid.h similarity index 100% rename from apps/systemlib/pid/pid.h rename to src/modules/systemlib/pid/pid.h diff --git a/apps/systemlib/ppm_decode.c b/src/modules/systemlib/ppm_decode.c similarity index 100% rename from apps/systemlib/ppm_decode.c rename to src/modules/systemlib/ppm_decode.c diff --git a/apps/systemlib/ppm_decode.h b/src/modules/systemlib/ppm_decode.h similarity index 100% rename from apps/systemlib/ppm_decode.h rename to src/modules/systemlib/ppm_decode.h diff --git a/apps/systemlib/scheduling_priorities.h b/src/modules/systemlib/scheduling_priorities.h similarity index 100% rename from apps/systemlib/scheduling_priorities.h rename to src/modules/systemlib/scheduling_priorities.h diff --git a/apps/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c similarity index 100% rename from apps/systemlib/systemlib.c rename to src/modules/systemlib/systemlib.c diff --git a/apps/systemlib/systemlib.h b/src/modules/systemlib/systemlib.h similarity index 100% rename from apps/systemlib/systemlib.h rename to src/modules/systemlib/systemlib.h diff --git a/apps/systemlib/up_cxxinitialize.c b/src/modules/systemlib/up_cxxinitialize.c similarity index 100% rename from apps/systemlib/up_cxxinitialize.c rename to src/modules/systemlib/up_cxxinitialize.c diff --git a/apps/systemlib/uthash/doc/userguide.txt b/src/modules/systemlib/uthash/doc/userguide.txt similarity index 100% rename from apps/systemlib/uthash/doc/userguide.txt rename to src/modules/systemlib/uthash/doc/userguide.txt diff --git a/apps/systemlib/uthash/doc/utarray.txt b/src/modules/systemlib/uthash/doc/utarray.txt similarity index 100% rename from apps/systemlib/uthash/doc/utarray.txt rename to src/modules/systemlib/uthash/doc/utarray.txt diff --git a/apps/systemlib/uthash/doc/utlist.txt b/src/modules/systemlib/uthash/doc/utlist.txt similarity index 100% rename from apps/systemlib/uthash/doc/utlist.txt rename to src/modules/systemlib/uthash/doc/utlist.txt diff --git a/apps/systemlib/uthash/doc/utstring.txt b/src/modules/systemlib/uthash/doc/utstring.txt similarity index 100% rename from apps/systemlib/uthash/doc/utstring.txt rename to src/modules/systemlib/uthash/doc/utstring.txt diff --git a/apps/systemlib/uthash/utarray.h b/src/modules/systemlib/uthash/utarray.h similarity index 100% rename from apps/systemlib/uthash/utarray.h rename to src/modules/systemlib/uthash/utarray.h diff --git a/apps/systemlib/uthash/uthash.h b/src/modules/systemlib/uthash/uthash.h similarity index 100% rename from apps/systemlib/uthash/uthash.h rename to src/modules/systemlib/uthash/uthash.h diff --git a/apps/systemlib/uthash/utlist.h b/src/modules/systemlib/uthash/utlist.h similarity index 100% rename from apps/systemlib/uthash/utlist.h rename to src/modules/systemlib/uthash/utlist.h diff --git a/apps/systemlib/uthash/utstring.h b/src/modules/systemlib/uthash/utstring.h similarity index 100% rename from apps/systemlib/uthash/utstring.h rename to src/modules/systemlib/uthash/utstring.h diff --git a/apps/systemlib/visibility.h b/src/modules/systemlib/visibility.h similarity index 100% rename from apps/systemlib/visibility.h rename to src/modules/systemlib/visibility.h diff --git a/apps/examples/px4_mavlink_debug/Makefile b/src/modules/uORB/module.mk similarity index 87% rename from apps/examples/px4_mavlink_debug/Makefile rename to src/modules/uORB/module.mk index f59aef16fb..5ec31ab010 100644 --- a/apps/examples/px4_mavlink_debug/Makefile +++ b/src/modules/uORB/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,11 +32,13 @@ ############################################################################ # -# Basic example application +# Makefile to build uORB # -APPNAME = px4_mavlink_debug -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = uorb -include $(APPDIR)/mk/app.mk +# XXX probably excessive, 2048 should be sufficient +MODULE_STACKSIZE = 4096 + +SRCS = uORB.cpp \ + objects_common.cpp diff --git a/apps/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp similarity index 100% rename from apps/uORB/objects_common.cpp rename to src/modules/uORB/objects_common.cpp diff --git a/apps/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h similarity index 100% rename from apps/uORB/topics/actuator_controls.h rename to src/modules/uORB/topics/actuator_controls.h diff --git a/apps/uORB/topics/actuator_controls_effective.h b/src/modules/uORB/topics/actuator_controls_effective.h similarity index 100% rename from apps/uORB/topics/actuator_controls_effective.h rename to src/modules/uORB/topics/actuator_controls_effective.h diff --git a/apps/uORB/topics/actuator_outputs.h b/src/modules/uORB/topics/actuator_outputs.h similarity index 100% rename from apps/uORB/topics/actuator_outputs.h rename to src/modules/uORB/topics/actuator_outputs.h diff --git a/apps/uORB/topics/battery_status.h b/src/modules/uORB/topics/battery_status.h similarity index 100% rename from apps/uORB/topics/battery_status.h rename to src/modules/uORB/topics/battery_status.h diff --git a/apps/uORB/topics/debug_key_value.h b/src/modules/uORB/topics/debug_key_value.h similarity index 100% rename from apps/uORB/topics/debug_key_value.h rename to src/modules/uORB/topics/debug_key_value.h diff --git a/apps/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h similarity index 100% rename from apps/uORB/topics/differential_pressure.h rename to src/modules/uORB/topics/differential_pressure.h diff --git a/apps/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h similarity index 100% rename from apps/uORB/topics/home_position.h rename to src/modules/uORB/topics/home_position.h diff --git a/apps/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h similarity index 100% rename from apps/uORB/topics/manual_control_setpoint.h rename to src/modules/uORB/topics/manual_control_setpoint.h diff --git a/apps/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h similarity index 100% rename from apps/uORB/topics/offboard_control_setpoint.h rename to src/modules/uORB/topics/offboard_control_setpoint.h diff --git a/apps/uORB/topics/omnidirectional_flow.h b/src/modules/uORB/topics/omnidirectional_flow.h similarity index 100% rename from apps/uORB/topics/omnidirectional_flow.h rename to src/modules/uORB/topics/omnidirectional_flow.h diff --git a/apps/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h similarity index 100% rename from apps/uORB/topics/optical_flow.h rename to src/modules/uORB/topics/optical_flow.h diff --git a/apps/uORB/topics/parameter_update.h b/src/modules/uORB/topics/parameter_update.h similarity index 100% rename from apps/uORB/topics/parameter_update.h rename to src/modules/uORB/topics/parameter_update.h diff --git a/apps/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h similarity index 100% rename from apps/uORB/topics/rc_channels.h rename to src/modules/uORB/topics/rc_channels.h diff --git a/apps/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h similarity index 100% rename from apps/uORB/topics/sensor_combined.h rename to src/modules/uORB/topics/sensor_combined.h diff --git a/apps/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h similarity index 100% rename from apps/uORB/topics/subsystem_info.h rename to src/modules/uORB/topics/subsystem_info.h diff --git a/apps/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h similarity index 100% rename from apps/uORB/topics/vehicle_attitude.h rename to src/modules/uORB/topics/vehicle_attitude.h diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h similarity index 100% rename from apps/uORB/topics/vehicle_attitude_setpoint.h rename to src/modules/uORB/topics/vehicle_attitude_setpoint.h diff --git a/apps/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h similarity index 100% rename from apps/uORB/topics/vehicle_command.h rename to src/modules/uORB/topics/vehicle_command.h diff --git a/apps/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h similarity index 100% rename from apps/uORB/topics/vehicle_global_position.h rename to src/modules/uORB/topics/vehicle_global_position.h diff --git a/apps/uORB/topics/vehicle_global_position_set_triplet.h b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h similarity index 100% rename from apps/uORB/topics/vehicle_global_position_set_triplet.h rename to src/modules/uORB/topics/vehicle_global_position_set_triplet.h diff --git a/apps/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/uORB/topics/vehicle_global_position_setpoint.h similarity index 100% rename from apps/uORB/topics/vehicle_global_position_setpoint.h rename to src/modules/uORB/topics/vehicle_global_position_setpoint.h diff --git a/apps/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h similarity index 100% rename from apps/uORB/topics/vehicle_gps_position.h rename to src/modules/uORB/topics/vehicle_gps_position.h diff --git a/apps/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h similarity index 100% rename from apps/uORB/topics/vehicle_local_position.h rename to src/modules/uORB/topics/vehicle_local_position.h diff --git a/apps/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h similarity index 100% rename from apps/uORB/topics/vehicle_local_position_setpoint.h rename to src/modules/uORB/topics/vehicle_local_position_setpoint.h diff --git a/apps/uORB/topics/vehicle_rates_setpoint.h b/src/modules/uORB/topics/vehicle_rates_setpoint.h similarity index 100% rename from apps/uORB/topics/vehicle_rates_setpoint.h rename to src/modules/uORB/topics/vehicle_rates_setpoint.h diff --git a/apps/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h similarity index 100% rename from apps/uORB/topics/vehicle_status.h rename to src/modules/uORB/topics/vehicle_status.h diff --git a/apps/uORB/topics/vehicle_vicon_position.h b/src/modules/uORB/topics/vehicle_vicon_position.h similarity index 100% rename from apps/uORB/topics/vehicle_vicon_position.h rename to src/modules/uORB/topics/vehicle_vicon_position.h diff --git a/apps/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp similarity index 100% rename from apps/uORB/uORB.cpp rename to src/modules/uORB/uORB.cpp diff --git a/apps/uORB/uORB.h b/src/modules/uORB/uORB.h similarity index 100% rename from apps/uORB/uORB.h rename to src/modules/uORB/uORB.h