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LP-73 Remove changes to CopterControl
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@ -36,7 +36,6 @@
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#include <taskinfo.h>
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#include <sanitycheck.h>
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#include <actuatorsettings.h>
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#include <auxmagsettings.h>
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#ifdef PIOS_INCLUDE_INSTRUMENTATION
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#include <pios_instrumentation.h>
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@ -55,24 +54,6 @@
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*/
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#include "../board_hw_defs.c"
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#if defined(PIOS_INCLUDE_HMC5X83)
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#include "pios_hmc5x83.h"
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pios_hmc5x83_dev_t external_mag = 0;
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static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = {
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#ifdef PIOS_HMC5X83_HAS_GPIOS
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.exti_cfg = NULL,
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#endif
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.M_ODR = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5x83_GAIN_1_9,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.TempCompensation = false,
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.Driver = &PIOS_HMC5x83_I2C_DRIVER,
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.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
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};
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#endif /* PIOS_INCLUDE_HMC5X83 */
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/* One slot per selectable receiver group.
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* eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
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* NOTE: No slot in this map for NONE.
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@ -263,13 +244,8 @@ void PIOS_Board_Init(void)
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#ifndef ERASE_FLASH
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#ifdef PIOS_INCLUDE_WDG
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/* From TauLabs
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* Initialize watchdog as early as possible to catch faults during init
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* but do it only if there is no debugger connected
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*/
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if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) {
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PIOS_WDG_Init();
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}
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/* Initialize watchdog as early as possible to catch faults during init */
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PIOS_WDG_Init();
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#endif
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#endif
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@ -742,25 +718,11 @@ void PIOS_Board_Init(void)
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break;
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case HWSETTINGS_CC_FLEXIPORT_I2C:
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#if defined(PIOS_INCLUDE_I2C)
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if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
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PIOS_Assert(0);
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{
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if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
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PIOS_Assert(0);
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}
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}
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PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init() on Revo, so I copied it here too
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#if defined(PIOS_INCLUDE_HMC5X83)
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// get auxmag type
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AuxMagSettingsTypeOptions option;
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AuxMagSettingsInitialize();
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AuxMagSettingsTypeGet(&option);
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// if the aux mag type is FlexiPort then set it up
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if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
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// attach the 5x83 mag to the previously inited I2C2
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external_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_external_cfg, pios_i2c_flexiport_adapter_id, 0);
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// add this sensor to the sensor task's list
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PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
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// mag alarm is cleared later, so use I2C
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AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag)?SYSTEMALARMS_ALARM_OK:SYSTEMALARMS_ALARM_WARNING);
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}
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#endif /* PIOS_INCLUDE_HMC5X83 */
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#endif /* PIOS_INCLUDE_I2C */
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break;
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case HWSETTINGS_CC_FLEXIPORT_OSDHK:
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