CC mag&baro for OSD, bmp needed some black magic hacking

flight/Modules/Extensions/MagBaro/inc/magbaro.h

@@ -0,0 +1,41 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup AltitudeModule Altitude Module
+ * @brief Communicate with BMP085 and update @ref AltitudeActual "AltitudeActual UAV Object"
+ * @{ 
+ *
+ * @file       altitude.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Altitude module, reads temperature and pressure from BMP085
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef MAGBARO_H
+#define MAGBARO_H
+
+int32_t MagBaroInitialize();
+
+#endif // ALTITUDE_H
+
+/**
+ * @}
+ * @}
+ */

flight/Modules/Extensions/MagBaro/magbaro.c

@@ -0,0 +1,218 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup AltitudeModule Altitude Module
+ * @brief Communicate with BMP085 and update @ref BaroAltitude "BaroAltitude UAV Object"
+ * @{ 
+ *
+ * @file       altitude.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Altitude module, handles temperature and pressure readings from BMP085
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Output object: BaroAltitude
+ *
+ * This module will periodically update the value of the BaroAltitude object.
+ *
+ */
+
+#include "openpilot.h"
+#include "hwsettings.h"
+#include "magbaro.h"
+#include "baroaltitude.h"	// object that will be updated by the module
+#include "magnetometer.h"
+
+// Private constants
+#define STACK_SIZE_BYTES 620
+#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
+#define UPDATE_PERIOD 50
+
+// Private types
+
+// Private variables
+static xTaskHandle taskHandle;
+
+// down sampling variables
+#define alt_ds_size    4
+static int32_t alt_ds_temp = 0;
+static int32_t alt_ds_pres = 0;
+static int alt_ds_count = 0;
+int32_t mag_test;
+static bool magbaroEnabled;
+static float mag_bias[3] = {0,0,0};
+static float mag_scale[3] = {1,1,1};
+
+        // Private functions
+static void magbaroTask(void *parameters);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t MagBaroStart()
+{
+
+	if (magbaroEnabled) {
+		// Start main task
+		xTaskCreate(magbaroTask, (signed char *)"MagBaro", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
+		TaskMonitorAdd(TASKINFO_RUNNING_MAGBARO, taskHandle);
+		return 0;
+	}
+	return -1;
+}
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t MagBaroInitialize()
+{
+#ifdef MODULE_MagBaro_BUILTIN
+	magbaroEnabled = 1;
+#else
+	HwSettingsInitialize();
+	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
+	HwSettingsOptionalModulesGet(optionalModules);
+	if (optionalModules[HWSETTINGS_OPTIONALMODULES_MAGBARO] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
+		magbaroEnabled = 1;
+	} else {
+		magbaroEnabled = 0;
+	}
+#endif
+
+	if(magbaroEnabled)
+	{
+		MagnetometerInitialize();
+		BaroAltitudeInitialize();
+
+		// init down-sampling data
+		alt_ds_temp = 0;
+		alt_ds_pres = 0;
+		alt_ds_count = 0;
+	}
+	return 0;
+}
+MODULE_INITCALL(MagBaroInitialize, MagBaroStart)
+/**
+ * Module thread, should not return.
+ */
+
+static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
+#ifdef PIOS_HMC5883_HAS_GPIOS
+	.exti_cfg = 0,
+#endif
+	.M_ODR = PIOS_HMC5883_ODR_15,
+	.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
+	.Gain = PIOS_HMC5883_GAIN_1_9,
+	.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
+
+};
+
+static void magbaroTask(void *parameters)
+{
+	BaroAltitudeData data;
+	portTickType lastSysTime;
+	
+#if defined(PIOS_INCLUDE_BMP085)
+	PIOS_BMP085_Init();
+#endif
+#if defined(PIOS_INCLUDE_HMC5883)
+	PIOS_HMC5883_Init(&pios_hmc5883_cfg);
+#endif
+
+#if defined(PIOS_INCLUDE_HMC5883)
+	//mag_test = PIOS_HMC5883_Test();
+#else
+	mag_test = 0;
+#endif
+	// Main task loop
+	lastSysTime = xTaskGetTickCount();
+	uint32_t mag_update_time = PIOS_DELAY_GetRaw();
+	while (1)
+	{
+#if defined(PIOS_INCLUDE_BMP085)
+		// Update the temperature data
+		PIOS_BMP085_StartADC(TemperatureConv);
+#ifdef PIOS_BMP085_HAS_GPIOS
+		xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
+#else
+		vTaskDelay(5 / portTICK_RATE_MS);
+#endif
+		PIOS_BMP085_ReadADC();
+		alt_ds_temp += PIOS_BMP085_GetTemperature();
+		
+		// Update the pressure data
+		PIOS_BMP085_StartADC(PressureConv);
+#ifdef PIOS_BMP085_HAS_GPIOS
+		xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
+#else
+		vTaskDelay(26 / portTICK_RATE_MS);
+#endif
+		PIOS_BMP085_ReadADC();
+		alt_ds_pres += PIOS_BMP085_GetPressure();
+		
+		if (++alt_ds_count >= alt_ds_size)
+		{
+			alt_ds_count = 0;
+
+			// Convert from 1/10ths of degC to degC
+			data.Temperature = alt_ds_temp / (10.0 * alt_ds_size);
+			alt_ds_temp = 0;
+
+			// Convert from Pa to kPa
+			data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size);
+			alt_ds_pres = 0;
+
+			// Compute the current altitude (all pressures in kPa)
+			data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255)));
+
+			// Update the AltitudeActual UAVObject
+			BaroAltitudeSet(&data);
+		}
+#endif
+
+#if defined(PIOS_INCLUDE_HMC5883)
+		MagnetometerData mag;
+		if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 100000) {
+			int16_t values[3];
+			PIOS_HMC5883_ReadMag(values);
+			float mags[3] = {(float) values[1] * mag_scale[0] - mag_bias[0],
+			                (float) values[0] * mag_scale[1] - mag_bias[1],
+			                -(float) values[2] * mag_scale[2] - mag_bias[2]};
+			mag.x = mags[0];
+			mag.y = mags[1];
+			mag.z = mags[2];
+			MagnetometerSet(&mag);
+			mag_update_time = PIOS_DELAY_GetRaw();
+		}
+#endif
+
+		// Delay until it is time to read the next sample
+		vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS);
+	}
+}
+
+/**
+ * @}
+ * @}
+ */

flight/Modules/Osd/osdgen/osdgen.c

@@ -2313,7 +2313,7 @@ int32_t osdgenStart(void)
 	// Start gps task
 	vSemaphoreCreateBinary( osdSemaphore);
 	xTaskCreate(osdgenTask, (signed char *)"OSDGEN", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &osdgenTaskHandle);
-	TaskMonitorAdd(TASKINFO_RUNNING_GPS, osdgenTaskHandle);
+	//TaskMonitorAdd(TASKINFO_RUNNING_GPS, osdgenTaskHandle);
 
 	return 0;
 }

flight/Modules/Osd/osdinput/osdinput.c

@@ -85,7 +85,7 @@ int32_t OpOsdStart(void)
 {
 	// Start gps task
 	xTaskCreate(OpOsdTask, (signed char *)"OSD", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &OpOsdTaskHandle);
-	TaskMonitorAdd(TASKINFO_RUNNING_GPS, OpOsdTaskHandle);
+	//TaskMonitorAdd(TASKINFO_RUNNING_GPS, OpOsdTaskHandle);
 
 	return 0;
 }

flight/OSD/Makefile

@@ -48,10 +48,53 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# List of modules to include
+# Optional module and driver defaults
-MODULES = Osd/osdgen GPS
+USE_CAMERASTAB ?= NO
+USE_COMUSBBRIDGE ?= NO
+USE_GPS ?= NO
+USE_TXPID ?= NO
+USE_I2C ?= NO
+USE_ALTITUDE ?= NO
+TEST_FAULTS ?= NO
+USE_MAGBARO ?= NO
 
+# List of optional modules to include
+OPTMODULES =
+ifeq ($(USE_CAMERASTAB), YES)
+OPTMODULES += CameraStab
+endif
+ifeq ($(USE_COMUSBBRIDGE), YES)
+OPTMODULES += ComUsbBridge
+endif
+ifeq ($(USE_GPS), YES)
+OPTMODULES += GPS
+endif
+ifeq ($(USE_TXPID), YES)
+OPTMODULES += TxPID
+endif
+ifeq ($(USE_ALTITUDE), YES)
+ifeq ($(USE_I2C), YES)
+OPTMODULES += Altitude
+else
+$(error "Altitude module (USE_ALTITUDE=YES) requires i2c (USE_I2C=YES)")
+endif
+endif
+ifeq ($(TEST_FAULTS), YES)
+OPTMODULES += Fault
+endif
+ifeq ($(USE_MAGBARO), YES)
+ifeq ($(USE_I2C), YES)
+OPTMODULES += Extensions/MagBaro
+else
+$(error "MagBaro module (USE_MAGBARO=YES) requires i2c (USE_I2C=YES)")
+endif
+endif
+
+# List of mandatory modules to include
+MODULES = Osd/osdgen
+MODULES += GPS
 MODULES += Osd/osdinput
+MODULES += Extensions/MagBaro
 MODULES += Telemetry
 MODULES += FirmwareIAP
 
@@ -94,6 +137,7 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 # use file-extension c for "c-only"-files
 
 ## MODULES
+SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 ## OPENPILOT CORE:
 SRC += ${OPMODULEDIR}/System/systemmod.c
@@ -135,8 +179,8 @@ SRC += $(OPUAVSYNTHDIR)/systemsettings.c
 #SRC += $(OPUAVSYNTHDIR)/attituderaw.c
 SRC += $(OPUAVSYNTHDIR)/attitudeactual.c
 #SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
-#SRC += $(OPUAVSYNTHDIR)/i2cstats.c
+SRC += $(OPUAVSYNTHDIR)/i2cstats.c
-#S#RC += $(OPUAVSYNTHDIR)/watchdogstatus.c
+SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
 #SRC += $(OPUAVSYNTHDIR)/telemetrysettings.c
 #SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
 #SRC += $(OPUAVSYNTHDIR)/mixersettings.c
@@ -157,10 +201,13 @@ SRC += $(OPUAVSYNTHDIR)/gpssettings.c
 SRC += $(OPUAVSYNTHDIR)/gpsvelocity.c
 SRC += $(OPUAVSYNTHDIR)/gpstime.c
 SRC += $(OPUAVSYNTHDIR)/osdsettings.c
+SRC += $(OPUAVSYNTHDIR)/baroaltitude.c
+SRC += $(OPUAVSYNTHDIR)/magnetometer.c
 
 ## PIOS Hardware (Common)
 SRC += $(PIOSCOMMON)/pios_com.c
-#SRC += $(PIOSCOMMON)/pios_hmc5843.c
+SRC += $(PIOSCOMMON)/pios_bmp085.c
+SRC += $(PIOSCOMMON)/pios_hmc5883.c
 #SRC += $(PIOSCOMMON)/printf-stdarg.c
 SRC += $(PIOSCOMMON)/printf2.c
 SRC += $(PIOSCOMMON)/pios_crc.c
@@ -228,7 +275,7 @@ EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
 EXTRAINCDIRS  += $(BOOTINC)
 EXTRAINCDIRS  += $(HWDEFSINC)
 
-EXTRAINCDIRS += ${foreach MOD, ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
+EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
 
 # List any extra directories to look for library files here.
 # Also add directories where the linker should search for
@@ -266,8 +313,8 @@ endif
 CFLAGS += $(ARCHFLAGS)
 
 
-#CFLAGS += -DDIAGNOSTICS
+CFLAGS += -DDIAGNOSTICS
-#CFLAGS += -DDIAG_TASKS
+CFLAGS += -DDIAG_TASKS
 
 # This is not the best place for these.  Really should abstract out
 # to the board file or something
@@ -292,6 +339,9 @@ CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
 
+# Declare all non-optional modules as built-in to force inclusion
+CDEFS += $(foreach MOD, $(notdir $(MODULES)), -DMODULE_$(MOD)_BUILTIN)
+
 # Place project-specific -D and/or -U options for
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER

flight/OSD/System/inc/pios_config.h

@@ -35,7 +35,7 @@
 /* Enable/Disable PiOS Modules */
 #define PIOS_INCLUDE_ADC
 #define PIOS_INCLUDE_DELAY
-//#define PIOS_INCLUDE_I2C
+#define PIOS_INCLUDE_I2C
 #define PIOS_INCLUDE_IRQ
 #define PIOS_INCLUDE_LED
 #define PIOS_INCLUDE_IAP
@@ -57,6 +57,8 @@
 #define PIOS_INCLUDE_COM_AUX
 #define PIOS_INCLUDE_GPS
 //#define PIOS_OVERO_SPI
+#define PIOS_INCLUDE_BMP085
+#define PIOS_INCLUDE_HMC5883
 
 /* Supported receiver interfaces */
 //#define PIOS_INCLUDE_RCVR

flight/OSD/System/pios_board.c

@@ -247,6 +247,7 @@ void PIOS_Board_Init(void) {
 	EventDispatcherInitialize();
 	UAVObjInitialize();
 
+	HwSettingsInitialize();
 
 	/* Initialize the alarms library */
 	AlarmsInitialize();
@@ -459,6 +460,58 @@ void PIOS_Board_Init(void) {
 #endif	/* PIOS_INCLUDE_COM */
 
 
+	/* Configure FlexiPort */
+
+/*	uint8_t hwsettings_rv_flexiport;
+	HwSettingsRV_FlexiPortGet(&hwsettings_rv_flexiport);
+
+	switch (hwsettings_rv_flexiport) {
+		case HWSETTINGS_RV_FLEXIPORT_DISABLED:
+			break;
+		case HWSETTINGS_RV_FLEXIPORT_I2C:*/
+#if defined(PIOS_INCLUDE_I2C)
+		{
+			if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif	/* PIOS_INCLUDE_I2C */
+/*			break;
+
+		case HWSETTINGS_RV_FLEXIPORT_DSM2:
+		case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
+		case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
+		{
+			enum pios_dsm_proto proto;
+			switch (hwsettings_rv_flexiport) {
+				case HWSETTINGS_RV_FLEXIPORT_DSM2:
+					proto = PIOS_DSM_PROTO_DSM2;
+					break;
+				case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
+					proto = PIOS_DSM_PROTO_DSMX10BIT;
+					break;
+				case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
+					proto = PIOS_DSM_PROTO_DSMX11BIT;
+					break;
+				default:
+					PIOS_Assert(0);
+					break;
+			}
+			//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
+			PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
+											 &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
+		}
+			break;
+		case HWSETTINGS_RV_FLEXIPORT_COMAUX:
+			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
+			break;
+		case HWSETTINGS_RV_FLEXIPORT_COMBRIDGE:
+			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
+			break;
+	}*/
+		/* hwsettings_rv_flexiport */
+
+
 #if 1
 	/* Preconfiguration before using DAC----------------------------------------*/
 	GPIO_InitTypeDef GPIO_InitStructure;

flight/PiOS/Boards/STM32F4xx_OSD.h

@@ -267,5 +267,19 @@ extern uint32_t pios_com_telem_usb_id;
 #define PIOS_USB_ENABLED                        1 /* Should remove all references to this */
 #define PIOS_USB_HID_MAX_DEVS                   1
 
+//------------------------
+// PIOS_I2C
+// See also pios_board.c
+//------------------------
+#define PIOS_I2C_MAX_DEVS			1
+extern uint32_t pios_i2c_flexiport_adapter_id;
+#define PIOS_I2C_MAIN_ADAPTER			(pios_i2c_flexiport_adapter_id)
+#define PIOS_I2C_ESC_ADAPTER			(pios_i2c_flexiport_adapter_id)
+#define PIOS_I2C_BMP085_ADAPTER			(pios_i2c_flexiport_adapter_id)
+
+//------------------------
+// PIOS_BMP085
+//------------------------
+#define PIOS_BMP085_OVERSAMPLING                3
 
 #endif /* PIOS_BOARD_H */

flight/PiOS/Common/pios_bmp085.c

@@ -141,8 +141,8 @@ void PIOS_BMP085_Init(void)
 
 	/* Read all 22 bytes of calibration data in one transfer, this is a very optimized way of doing things */
 	uint8_t Data[BMP085_CALIB_LEN];
-	while (!PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN))
+	PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN);
-		continue;
+	//	continue;
 
 	/* Parameters AC1-AC6 */
 	CalibData.AC1 = (Data[0] << 8) | Data[1];
@@ -171,10 +171,10 @@ void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type)
 {
 	/* Start the conversion */
 	if (Type == TemperatureConv) {
-		while (!PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_TEMP_ADDR))
+		while (PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_TEMP_ADDR) != 0)
 			continue;
 	} else if (Type == PressureConv) {
-		while (!PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_PRES_ADDR))
+		while (PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_PRES_ADDR) != 0)
 			continue;
 	}
 
@@ -196,8 +196,8 @@ void PIOS_BMP085_ReadADC(void)
 	/* Read and store the 16bit result */
 	if (CurrentRead == TemperatureConv) {
 		/* Read the temperature conversion */
-		while (!PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2))
+		PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2);
-			continue;
+		//	continue;
 		RawTemperature = ((Data[0] << 8) | Data[1]);
 
 		X1 = (RawTemperature - CalibData.AC6) * CalibData.AC5 >> 15;
@@ -206,8 +206,8 @@ void PIOS_BMP085_ReadADC(void)
 		Temperature = (B5 + 8) >> 4;
 	} else {
 		/* Read the pressure conversion */
-		while (!PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3))
+		PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3);
-			continue;
+		//	continue;
 		RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]) >> (8 - BMP085_OVERSAMPLING);
 
 		B6 = B5 - 4000;

flight/PiOS/Common/pios_hmc5883.c

@@ -54,8 +54,10 @@ void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg * cfg)
 {
 	dev_cfg = cfg; // store config before enabling interrupt
 
+#ifdef PIOS_HMC5883_HAS_GPIOS
 	PIOS_EXTI_Init(cfg->exti_cfg);
-	
+#endif
+
 	int32_t val = PIOS_HMC5883_Config(cfg);
 	
 	PIOS_Assert(val == 0);

flight/PiOS/inc/pios_hmc5883.h

@@ -93,7 +93,9 @@
 
 
 struct pios_hmc5883_cfg {
+#ifdef PIOS_HMC5883_HAS_GPIOS
 	const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
+#endif
 	uint8_t M_ODR;		/* OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
 	uint8_t Meas_Conf;	/* Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
 	uint8_t Gain;		/* Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */

flight/Revolution/System/inc/pios_config.h

@@ -59,6 +59,7 @@
 /* Select the sensors to include */
 #define PIOS_INCLUDE_BMA180
 #define PIOS_INCLUDE_HMC5883
+#define PIOS_HMC5883_HAS_GPIOS
 #define PIOS_INCLUDE_MPU6000
 #define PIOS_MPU6000_ACCEL
 #define PIOS_INCLUDE_L3GD20

flight/board_hw_defs/osd/board_hw_defs.c

@@ -223,6 +223,83 @@ static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
 
 #endif /* PIOS_INCLUDE_COM */
 
+#if defined(PIOS_INCLUDE_I2C)
+
+#include <pios_i2c_priv.h>
+
+/*
+ * I2C Adapters
+ */
+void PIOS_I2C_flexiport_adapter_ev_irq_handler(void);
+void PIOS_I2C_flexiport_adapter_er_irq_handler(void);
+void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
+void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_er_irq_handler")));
+
+static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
+	.regs = I2C2,
+	.remap = GPIO_AF_I2C2,
+	.init = {
+		.I2C_Mode                = I2C_Mode_I2C,
+		.I2C_OwnAddress1         = 0,
+		.I2C_Ack                 = I2C_Ack_Enable,
+		.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
+		.I2C_DutyCycle           = I2C_DutyCycle_2,
+		.I2C_ClockSpeed          = 400000,	/* bits/s */
+	},
+	.transfer_timeout_ms = 50,
+	.scl = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_10,
+            .GPIO_Mode  = GPIO_Mode_AF,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_OType = GPIO_OType_OD,
+            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
+		},
+	},
+	.sda = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_11,
+            .GPIO_Mode  = GPIO_Mode_AF,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_OType = GPIO_OType_OD,
+            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
+		},
+	},
+	.event = {
+		.flags   = 0,		/* FIXME: check this */
+		.init = {
+			.NVIC_IRQChannel                   = I2C2_EV_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+	.error = {
+		.flags   = 0,		/* FIXME: check this */
+		.init = {
+			.NVIC_IRQChannel                   = I2C2_ER_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+};
+
+uint32_t pios_i2c_flexiport_adapter_id;
+void PIOS_I2C_flexiport_adapter_ev_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexiport_adapter_id);
+}
+
+void PIOS_I2C_flexiport_adapter_er_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexiport_adapter_id);
+}
+#endif
 
 #if defined(PIOS_INCLUDE_RTC)
 /*