Merge pull request #1247 from bitcraze/krichardsson/refactoring

Krichardsson/refactoring

Makefile

@@ -51,7 +51,8 @@ INCLUDES += -I$(srctree)/src/deck/interface -I$(srctree)/src/deck/drivers/interf
 INCLUDES += -I$(srctree)/src/drivers/interface -I$(srctree)/src/drivers/bosch/interface
 INCLUDES += -I$(srctree)/src/drivers/esp32/interface
 INCLUDES += -I$(srctree)/src/hal/interface
-INCLUDES += -I$(srctree)/src/modules/interface -I$(srctree)/src/modules/interface/kalman_core -I$(srctree)/src/modules/interface/lighthouse -I$(srctree)/src/modules/interface/cpx -I$(srctree)/src/modules/interface/p2pDTR
+INCLUDES += -I$(srctree)/src/modules/interface -I$(srctree)/src/modules/interface/kalman_core -I$(srctree)/src/modules/interface/lighthouse
+INCLUDES += -I$(srctree)/src/modules/interface/cpx -I$(srctree)/src/modules/interface/p2pDTR -I$(srctree)/src/modules/interface/controller  -I$(srctree)/src/modules/interface/estimator
 INCLUDES += -I$(srctree)/src/utils/interface -I$(srctree)/src/utils/interface/kve -I$(srctree)/src/utils/interface/lighthouse -I$(srctree)/src/utils/interface/tdoa
 INCLUDES += -I$(LIB)/FatFS
 INCLUDES += -I$(LIB)/CMSIS/STM32F4xx/Include
@@ -169,12 +170,12 @@ flash_verify:
 #sends a usb message to the CF to place it in DFU mode, then updates firmware over usb
 flash_dfu:
 	$(PYTHON) $(srctree)/tools/make/usb-bootloader.py
-	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000:leave -D $(PROG).bin 
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000:leave -D $(PROG).bin
 
 #uses the dfu utility to flash the firmware at 0x08004000, just after the bootloader
 #call this target directly if CF cannont be flashed automatically through flash_dfu
 flash_dfu_manual:
-	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000:leave -D $(PROG).bin 
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000:leave -D $(PROG).bin
 
 #STM utility targets
 halt:
@@ -216,7 +217,7 @@ MOD_INC = src/modules/interface
 MOD_SRC = src/modules/src
 
 bindings_python build/cffirmware.py: bindings/setup.py $(MOD_SRC)/*.c
-	swig -python -I$(MOD_INC) -Isrc/hal/interface -Isrc/utils/interface -o build/cffirmware_wrap.c bindings/cffirmware.i
+	swig -python -I$(MOD_INC) -Isrc/hal/interface -Isrc/utils/interface -Isrc/modules/interface/controller -o build/cffirmware_wrap.c bindings/cffirmware.i
 	$(PYTHON) bindings/setup.py build_ext --inplace
 
 test_python: build/cffirmware.py
@@ -227,4 +228,3 @@ python_wheel: build/cffirmware.py
 endif
 
 .PHONY: all clean build compile unit prep erase flash check_submodules trace openocd gdb halt reset flash_dfu flash_dfu_manual flash_verify cload size print_version clean_version bindings_python test_python python_wheel
-

bindings/setup.py

@@ -6,6 +6,7 @@
 
 include = [
     "src/modules/interface",
+    "src/modules/interface/controller",
     "src/hal/interface",
     "src/utils/interface/lighthouse",
     "src/utils/interface",
@@ -33,14 +34,14 @@
     "src/modules/src/pptraj_compressed.c",
     "src/modules/src/planner.c",
     "src/modules/src/collision_avoidance.c",
-    "src/modules/src/controller_pid.c",
-    "src/modules/src/position_controller_pid.c",
-    "src/modules/src/attitude_pid_controller.c",
-    "src/modules/src/pid.c",
+    "src/modules/src/controller/controller_pid.c",
+    "src/modules/src/controller/position_controller_pid.c",
+    "src/modules/src/controller/attitude_pid_controller.c",
+    "src/modules/src/controller/controller_mellinger.c",
+    "src/modules/src/controller/controller_brescianini.c",
+    "src/utils/src/pid.c",
     "src/utils/src/filter.c",
     "src/utils/src/num.c",
-    "src/modules/src/controller_mellinger.c",
-    "src/modules/src/controller_brescianini.c",
     "src/modules/src/power_distribution_quadrotor.c",
     # "src/modules/src/power_distribution_flapper.c",
 ]

src/modules/src/Kbuild

@@ -1,17 +1,11 @@
 obj-y += app_channel.o
 obj-$(CONFIG_APP_ENABLE) += app_handler.o
 obj-y += bootloader.o
-obj-y += attitude_pid_controller.o
 obj-y += collision_avoidance.o
 obj-y += collision_avoidance.o
 obj-y += commander.o
 obj-y += comm.o
 obj-y += console.o
-obj-y += controller_indi.o
-obj-y += controller_mellinger.o
-obj-y += controller.o
-obj-y += controller_pid.o
-obj-y += controller_brescianini.o
 obj-y += crtp_commander_generic.o
 obj-y += crtp_commander_high_level.o
 obj-y += crtp_commander.o
@@ -20,10 +14,6 @@ obj-y += crtp_localization_service.o
 obj-y += crtp.o
 obj-y += crtpservice.o
 obj-y += esp_deck_flasher.o
-obj-y += estimator_complementary.o
-obj-$(CONFIG_ESTIMATOR_KALMAN_ENABLE) += estimator_kalman.o
-obj-$(CONFIG_ESTIMATOR_UKF_ENABLE) += estimator_ukf.o
-obj-y += estimator.o
 obj-y += eventtrigger.o
 obj-y += extrx.o
 obj-y += health.o
@@ -36,12 +26,8 @@ obj-y += msp.o
 obj-y += param_logic.o
 obj-y += param_task.o
 obj-y += peer_localization.o
-obj-y += pid.o
 obj-y += planner.o
 obj-y += platformservice.o
-obj-y += position_controller_indi.o
-obj-y += position_controller_pid.o
-obj-y += position_estimator_altitude.o
 obj-$(CONFIG_POWER_DISTRIBUTION_QUADROTOR) += power_distribution_quadrotor.o
 obj-$(CONFIG_POWER_DISTRIBUTION_FLAPPER) += power_distribution_flapper.o
 obj-y += pptraj_compressed.o
@@ -60,18 +46,11 @@ obj-y += system.o
 obj-$(CONFIG_DECK_LOCO) += tdoaEngineInstance.o
 obj-y += vcp_esc_passthrough.o
 obj-y += worker.o
-obj-$(CONFIG_ENABLE_CPX)          += cpx/cpx_external_router.o
-obj-$(CONFIG_ENABLE_CPX)          += cpx/cpx_internal_router.o
-obj-$(CONFIG_ENABLE_CPX_ON_UART2) += cpx/cpx_uart_transport.o
-obj-$(CONFIG_ENABLE_CPX)          += cpx/cpxlink.o
-obj-$(CONFIG_ENABLE_CPX)          += cpx/cpx.o
 
-obj-y += p2pDTR/DTR_handlers.o
-obj-y += p2pDTR/DTR_p2p_interface.o
-obj-y += p2pDTR/queueing.o
-obj-y += p2pDTR/token_ring.o
-# Kalman core
+# Sub folders
 obj-$(CONFIG_ESTIMATOR_KALMAN_ENABLE) += kalman_core/
-
-# Lighthouse
 obj-y += lighthouse/
+obj-y += controller/
+obj-y += estimator/
+obj-y += cpx/
+obj-y += p2pDTR/

src/modules/src/controller/Kbuild

@@ -0,0 +1,8 @@
+obj-y += attitude_pid_controller.o
+obj-y += controller_indi.o
+obj-y += controller_mellinger.o
+obj-y += controller.o
+obj-y += controller_pid.o
+obj-y += controller_brescianini.o
+obj-y += position_controller_indi.o
+obj-y += position_controller_pid.o

src/modules/src/cpx/Kbuild

@@ -0,0 +1,5 @@
+obj-$(CONFIG_ENABLE_CPX)          += cpx_external_router.o
+obj-$(CONFIG_ENABLE_CPX)          += cpx_internal_router.o
+obj-$(CONFIG_ENABLE_CPX_ON_UART2) += cpx_uart_transport.o
+obj-$(CONFIG_ENABLE_CPX)          += cpxlink.o
+obj-$(CONFIG_ENABLE_CPX)          += cpx.o

src/modules/src/estimator/Kbuild

@@ -0,0 +1,5 @@
+obj-y += estimator_complementary.o
+obj-$(CONFIG_ESTIMATOR_KALMAN_ENABLE) += estimator_kalman.o
+obj-$(CONFIG_ESTIMATOR_UKF_ENABLE) += estimator_ukf.o
+obj-y += estimator.o
+obj-y += position_estimator_altitude.o

src/modules/src/p2pDTR/Kbuild

@@ -0,0 +1,4 @@
+obj-y += DTR_handlers.o
+obj-y += DTR_p2p_interface.o
+obj-y += queueing.o
+obj-y += token_ring.o

src/utils/src/Kbuild

@@ -6,38 +6,28 @@ obj-y += crc32.o
 obj-y += debug.o
 obj-y += eprintf.o
 obj-y += buf2buf.o
-### Implementations for abort(), malloc() and free(), needed to interact with apps written in C++
-obj-y += abort.o
-obj-y += malloc.o
-
-### Add rules for handling generated version.c
-
-obj-y += version.o
-version-objs := version_gen.o
-
-src/utils/src/version_gen.c: src/utils/src/version.vtpl FORCE
-	 $(PYTHON) $(srctree)/tools/make/versionTemplate.py --crazyflie-base $(srctree) $< $@
-
-###
 
 obj-y += filter.o
 obj-y += FreeRTOS-openocd.o
-obj-y += kve/kve.o
-obj-y += kve/kve_storage.o
 
-# Lighthouse
-obj-$(CONFIG_DECK_LIGHTHOUSE) += lighthouse/lighthouse_calibration.o
-obj-$(CONFIG_DECK_LIGHTHOUSE) += lighthouse/lighthouse_geometry.o
-obj-$(CONFIG_DECK_LIGHTHOUSE) += lighthouse/ootx_decoder.o
-obj-$(CONFIG_DECK_LIGHTHOUSE) += lighthouse/pulse_processor.o
-obj-$(CONFIG_DECK_LIGHTHOUSE) += lighthouse/pulse_processor_v1.o
-obj-$(CONFIG_DECK_LIGHTHOUSE) += lighthouse/pulse_processor_v2.o
 obj-y += num.o
 obj-y += rateSupervisor.o
 obj-y += sleepus.o
 obj-y += statsCnt.o
 
-# TDoA
-obj-$(CONFIG_DECK_LOCO) += tdoa/tdoaEngine.o
-obj-$(CONFIG_DECK_LOCO) += tdoa/tdoaStats.o
-obj-$(CONFIG_DECK_LOCO) += tdoa/tdoaStorage.o
+### Sub directories
+obj-y += kve/
+obj-y += lighthouse/
+obj-y += tdoa/
+
+
+### Implementations for abort(), malloc() and free(), needed to interact with apps written in C++
+obj-y += abort.o
+obj-y += malloc.o
+obj-y += pid.o
+
+### Rules for handling generated version.c
+obj-y += version.o
+version-objs := version_gen.o
+src/utils/src/version_gen.c: src/utils/src/version.vtpl FORCE
+	 $(PYTHON) $(srctree)/tools/make/versionTemplate.py --crazyflie-base $(srctree) $< $@

src/utils/src/kve/Kbuild

@@ -0,0 +1,2 @@
+obj-y += kve.o
+obj-y += kve_storage.o

src/utils/src/lighthouse/Kbuild

@@ -0,0 +1,6 @@
+obj-$(CONFIG_DECK_LIGHTHOUSE) += lighthouse_calibration.o
+obj-$(CONFIG_DECK_LIGHTHOUSE) += lighthouse_geometry.o
+obj-$(CONFIG_DECK_LIGHTHOUSE) += ootx_decoder.o
+obj-$(CONFIG_DECK_LIGHTHOUSE) += pulse_processor.o
+obj-$(CONFIG_DECK_LIGHTHOUSE) += pulse_processor_v1.o
+obj-$(CONFIG_DECK_LIGHTHOUSE) += pulse_processor_v2.o

src/utils/src/tdoa/Kbuild

@@ -0,0 +1,3 @@
+obj-$(CONFIG_DECK_LOCO) += tdoaEngine.o
+obj-$(CONFIG_DECK_LOCO) += tdoaStats.o
+obj-$(CONFIG_DECK_LOCO) += tdoaStorage.o

tools/test/gcc.yml

@@ -50,6 +50,8 @@ compiler:
       - 'src/modules/interface/'
       - 'src/modules/interface/kalman_core/'
       - 'src/modules/interface/lighthouse/'
+      - 'src/modules/interface/estimator/'
+      - 'src/modules/interface/controller/'
       - 'src/modules/src/'
       - 'src/modules/src/kalman_core/'
       - 'src/modules/src/lighthouse/'