From a252ee134a76ac0762322a18524181f53d3a828d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 20 Jan 2012 14:36:48 -0600
Subject: [PATCH] Fix the l3gd20 initialization in pios_board.c and also change
 the (ugly) hardcoded exti system to use line3 on F1xx for L3GD20

---
 flight/CopterControl/System/inc/pios_config.h |  1 +
 flight/CopterControl/System/pios_board.c      |  2 ++
 flight/PiOS/STM32F10x/pios_exti.c             | 13 ++++++++-----
 flight/PiOS/STM32F10x/pios_l3gd20.c           |  8 --------
 flight/PiOS/pios.h                            |  4 ++++
 5 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h
index 004104f70..53f2d86b9 100644
--- a/flight/CopterControl/System/inc/pios_config.h
+++ b/flight/CopterControl/System/inc/pios_config.h
@@ -75,6 +75,7 @@
 #define PIOS_INCLUDE_BL_HELPER
 
 #define PIOS_INCLUDE_ADXL345
+#define PIOS_INCLUDE_L3GD20
 #define PIOS_INCLUDE_FLASH
 
 #define PIOS_INCLUDE_BMP085
diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c
index 8fb842666..08b791bce 100644
--- a/flight/CopterControl/System/pios_board.c
+++ b/flight/CopterControl/System/pios_board.c
@@ -1146,6 +1146,8 @@ static const struct pios_l3gd20_cfg pios_l3gd20_cfg = {
 		},
 	},
 	.eoc_exti = {
+		.pin_source = GPIO_PinSource3,
+		.port_source = GPIO_PortSourceGPIOA,
 		.init = {
 			.EXTI_Line = EXTI_Line3, // matches above GPIO pin
 			.EXTI_Mode = EXTI_Mode_Interrupt,
diff --git a/flight/PiOS/STM32F10x/pios_exti.c b/flight/PiOS/STM32F10x/pios_exti.c
index 0b4a9a1ae..2a8501066 100644
--- a/flight/PiOS/STM32F10x/pios_exti.c
+++ b/flight/PiOS/STM32F10x/pios_exti.c
@@ -79,14 +79,17 @@ void EXTI9_5_IRQHandler(void)
 }
 
 /**
-* Handle external line 4 interrupt requests
+* Handle external line 3 interrupt requests
 */
-#if defined(PIOS_INCLUDE_USB)
-void EXTI4_IRQHandler(void)
+#if defined(PIOS_INCLUDE_L3GD20)
+extern void PIOS_L3GD20_IRQHandler();
+
+void EXTI3_IRQHandler(void)
 {
-	if (EXTI_GetITStatus(PIOS_USB_DETECT_EXTI_LINE) != RESET) {
+	if (EXTI_GetITStatus(EXTI_Line3) != RESET) {
+		PIOS_L3GD20_IRQHandler();
 		/* Clear the EXTI line pending bit */
-		EXTI_ClearITPendingBit(PIOS_USB_DETECT_EXTI_LINE);
+		EXTI_ClearITPendingBit(EXTI_Line3);
 	}
 }
 #endif
diff --git a/flight/PiOS/STM32F10x/pios_l3gd20.c b/flight/PiOS/STM32F10x/pios_l3gd20.c
index 7d9a9f7ac..944517b0b 100644
--- a/flight/PiOS/STM32F10x/pios_l3gd20.c
+++ b/flight/PiOS/STM32F10x/pios_l3gd20.c
@@ -309,14 +309,6 @@ void PIOS_L3GD20_IRQHandler(void)
 	
 }
 
-void EXTI4_IRQHandler(void)
-{
-	if (EXTI_GetITStatus(PIOS_USB_DETECT_EXTI_LINE) != RESET) {
-		/* Clear the EXTI line pending bit */
-		EXTI_ClearITPendingBit(PIOS_USB_DETECT_EXTI_LINE);
-	}
-}
-
 
 #endif /* L3GD20 */
 
diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h
index e7d02dfd2..d76d29fe1 100644
--- a/flight/PiOS/pios.h
+++ b/flight/PiOS/pios.h
@@ -121,6 +121,10 @@
 #include <pios_adxl345.h>
 #endif
 
+#if defined(PIOS_INCLUDE_L3GD20)
+#include <pios_l3gd20.h>
+#endif
+
 #if defined(PIOS_INCLUDE_BMA180)
 #include <pios_bma180.h>
 #endif