From ae9f30c7297fed511978626de69b2885e2cc6cde Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Wed, 1 Oct 2014 02:07:46 +0200
Subject: [PATCH] OP-1477 - Fix mag exti config, set correct rate,  set correct
 SPI speed for hmc5x83. Note: GPIO is disabled as it seems there is some
 issues with Exti on PB0

---
 flight/modules/gpsp/gps9maghandler.c                   | 10 +++++++++-
 flight/pios/common/pios_hmc5x83.c                      |  1 +
 flight/targets/boards/gpsplatinum/board_hw_defs.c      |  8 ++++----
 .../boards/gpsplatinum/firmware/inc/pios_config.h      |  2 +-
 4 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/flight/modules/gpsp/gps9maghandler.c b/flight/modules/gpsp/gps9maghandler.c
index 610d9f74b..0d49f3295 100644
--- a/flight/modules/gpsp/gps9maghandler.c
+++ b/flight/modules/gpsp/gps9maghandler.c
@@ -29,14 +29,22 @@
 #include <ubx_utils.h>
 #include <pios_hmc5x83.h>
 #include "inc/gps9protocol.h"
-
+#define MAG_RATE_HZ 30
 extern pios_hmc5x83_dev_t onboard_mag;
 
 void handleMag()
 {
+#ifdef PIOS_HMC5X83_HAS_GPIOS
     if (!PIOS_HMC5x83_NewDataAvailable(onboard_mag)) {
         return;
     }
+#else
+    static uint32_t lastUpdate = 0;
+    if(PIOS_DELAY_DiffuS(lastUpdate) < (1000000 / MAG_RATE_HZ)){
+        return;
+    }
+    lastUpdate = PIOS_DELAY_GetRaw();
+#endif
     static int16_t mag[3];
 
     if (PIOS_HMC5x83_ReadMag(onboard_mag, mag) == 0) {
diff --git a/flight/pios/common/pios_hmc5x83.c b/flight/pios/common/pios_hmc5x83.c
index 73b4902d9..ab9abc58d 100644
--- a/flight/pios/common/pios_hmc5x83.c
+++ b/flight/pios/common/pios_hmc5x83.c
@@ -401,6 +401,7 @@ static int32_t pios_hmc5x83_spi_claim_bus(pios_hmc5x83_dev_data_t *dev)
     if (PIOS_SPI_ClaimBus(dev->port_id) < 0) {
         return -1;
     }
+    PIOS_SPI_SetClockSpeed(dev->port_id, SPI_BaudRatePrescaler_16);
     PIOS_SPI_RC_PinSet(dev->port_id, dev->slave_num, 0);
     return 0;
 }
diff --git a/flight/targets/boards/gpsplatinum/board_hw_defs.c b/flight/targets/boards/gpsplatinum/board_hw_defs.c
index 0772f0cef..8fa93f3d9 100644
--- a/flight/targets/boards/gpsplatinum/board_hw_defs.c
+++ b/flight/targets/boards/gpsplatinum/board_hw_defs.c
@@ -214,11 +214,11 @@ bool pios_board_mag_handler()
 }
 static const struct pios_exti_cfg pios_exti_mag_cfg __exti_config = {
     .vector = pios_board_mag_handler,
-    .line   = EXTI_Line7,
+    .line   = EXTI_Line0,
     .pin    = {
         .gpio = GPIOB,
         .init = {
-            .GPIO_Pin   = GPIO_Pin_7,
+            .GPIO_Pin   = GPIO_Pin_0,
             .GPIO_Speed = GPIO_Speed_Level_3,
             .GPIO_Mode  = GPIO_Mode_IN,
             .GPIO_OType = GPIO_OType_OD,
@@ -227,14 +227,14 @@ static const struct pios_exti_cfg pios_exti_mag_cfg __exti_config = {
     },
     .irq                             = {
         .init                        = {
-            .NVIC_IRQChannel    = EXTI4_15_IRQn,
+            .NVIC_IRQChannel    = EXTI0_1_IRQn,
             .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_LOW,
             .NVIC_IRQChannelCmd = ENABLE,
         },
     },
     .exti                            = {
         .init                        = {
-            .EXTI_Line    = EXTI_Line7, // matches above GPIO pin
+            .EXTI_Line    = EXTI_Line0, // matches above GPIO pin
             .EXTI_Mode    = EXTI_Mode_Interrupt,
             .EXTI_Trigger = EXTI_Trigger_Rising,
             .EXTI_LineCmd = ENABLE,
diff --git a/flight/targets/boards/gpsplatinum/firmware/inc/pios_config.h b/flight/targets/boards/gpsplatinum/firmware/inc/pios_config.h
index 389e6176c..b618482af 100644
--- a/flight/targets/boards/gpsplatinum/firmware/inc/pios_config.h
+++ b/flight/targets/boards/gpsplatinum/firmware/inc/pios_config.h
@@ -83,7 +83,7 @@
 // #define PIOS_MPU6000_ACCEL
 /* #define PIOS_INCLUDE_HMC5843 */
 #define PIOS_INCLUDE_HMC5X83
-#define PIOS_HMC5X83_HAS_GPIOS
+//#define PIOS_HMC5X83_HAS_GPIOS
 /* #define PIOS_INCLUDE_BMP085 */
 /* #define PIOS_INCLUDE_MS5611 */
 /* #define PIOS_INCLUDE_MPXV */