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Code Issues Releases Activity

LP-73 Remove changes to CopterControl

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This commit is contained in:
Cliff Geerdes 2015-09-16 01:33:32 -04:00
parent d9b7a0bb00
commit a110eeda21
1 changed files with 6 additions and 44 deletions
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50
flight/targets/boards/coptercontrol/firmware/pios_board.c
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@ -36,7 +36,6 @@
#include <taskinfo.h>
#include <sanitycheck.h>
#include <actuatorsettings.h>
#include <auxmagsettings.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
@ -55,24 +54,6 @@
*/
#include "../board_hw_defs.c"
#if defined(PIOS_INCLUDE_HMC5X83)
#include "pios_hmc5x83.h"
pios_hmc5x83_dev_t external_mag = 0;
static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = NULL,
#endif
.M_ODR = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.TempCompensation = false,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
};
#endif /* PIOS_INCLUDE_HMC5X83 */
/* One slot per selectable receiver group.
* eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
* NOTE: No slot in this map for NONE.
@ -263,13 +244,8 @@ void PIOS_Board_Init(void)
#ifndef ERASE_FLASH
#ifdef PIOS_INCLUDE_WDG
/* From TauLabs
* Initialize watchdog as early as possible to catch faults during init
* but do it only if there is no debugger connected
*/
if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) {
PIOS_WDG_Init();
}
/* Initialize watchdog as early as possible to catch faults during init */
PIOS_WDG_Init();
#endif
#endif
@ -742,25 +718,11 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_CC_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
{
if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
PIOS_Assert(0);
}
}
PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init() on Revo, so I copied it here too
#if defined(PIOS_INCLUDE_HMC5X83)
// get auxmag type
AuxMagSettingsTypeOptions option;
AuxMagSettingsInitialize();
AuxMagSettingsTypeGet(&option);
// if the aux mag type is FlexiPort then set it up
if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
// attach the 5x83 mag to the previously inited I2C2
external_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_external_cfg, pios_i2c_flexiport_adapter_id, 0);
// add this sensor to the sensor task's list
PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
// mag alarm is cleared later, so use I2C
AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag)?SYSTEMALARMS_ALARM_OK:SYSTEMALARMS_ALARM_WARNING);
}
#endif /* PIOS_INCLUDE_HMC5X83 */
#endif /* PIOS_INCLUDE_I2C */
break;
case HWSETTINGS_CC_FLEXIPORT_OSDHK: