LP-72 Get I2CPort working with I2C Aux Mag LP-73

flight/targets/boards/sparky2/board_hw_defs.c

@@ -1473,12 +1473,13 @@ static const struct pios_tim_clock_cfg tim_12_cfg = {
     },
 };
 
+#include <pios_servo_priv.h>
 
+#if 1
 /**
  * Pios servo configuration structures
  * Using TIM3, TIM9, TIM2, TIM5
  */
-#include <pios_servo_priv.h>
 static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
     {
         .timer = TIM3,
@@ -1685,6 +1686,8 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
         .remap = GPIO_AF_TIM12,
     },
 };
+#endif
+
 #define PIOS_SERVOPORT_ALL_PINS_PWMOUT        6
 #define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM 11
 #define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN     12
@@ -1703,6 +1706,8 @@ const struct pios_servo_cfg pios_servo_cfg_out = {
     .channels     = pios_tim_servoport_all_pins,
     .num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT,
 };
+
+#if 0
 // All servo outputs, servo input ch1 ppm, ch2-6 outputs
 const struct pios_servo_cfg pios_servo_cfg_out_in_ppm = {
     .tim_oc_init          = {
@@ -1733,7 +1738,7 @@ const struct pios_servo_cfg pios_servo_cfg_out_in = {
     .channels     = pios_tim_servoport_all_pins,
     .num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN,
 };
-
+#endif
 
 /*
  * PWM Inputs

flight/targets/boards/sparky2/firmware/inc/pios_config.h

@@ -84,8 +84,8 @@
 /* #define PIOS_INCLUDE_MPU6000 */
 /* seems to be completely unused #define PIOS_MPU6000_ACCEL */
 /* #define PIOS_INCLUDE_HMC5843 */
-/* disable till auxmag is added #define PIOS_INCLUDE_HMC5X83 */
+#define PIOS_INCLUDE_HMC5X83
-/* disable till auxmag is added #define PIOS_HMC5X83_HAS_GPIOS */
+/* Sparky2 5X83s are all external and thus don't have GPIOs #define PIOS_HMC5X83_HAS_GPIOS */
 /* #define PIOS_INCLUDE_BMP085 */
 #define PIOS_INCLUDE_MS5611
 #define PIOS_INCLUDE_MPU9250

flight/targets/boards/sparky2/firmware/pios_board.c

@@ -38,6 +38,7 @@
 #include <pios_ws2811.h>
 #include <sanitycheck.h>
 #include <actuatorsettings.h>
+#include <auxmagsettings.h>
 
 #ifdef PIOS_INCLUDE_INSTRUMENTATION
 #include <pios_instrumentation.h>
@@ -96,11 +97,14 @@ void PIOS_ADC_DMC_irq_handler(void)
 #if defined(PIOS_INCLUDE_HMC5X83)
 #include "pios_hmc5x83.h"
 pios_hmc5x83_dev_t i2c_port_mag = 0;
+pios_hmc5x83_dev_t flexi_port_mag = 0;
 
+#if 0
 bool pios_board_internal_mag_handler()
 {
     return PIOS_HMC5x83_IRQHandler(i2c_port_mag);
 }
+
 static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
     .vector = pios_board_internal_mag_handler,
     .line   = EXTI_Line7,
@@ -131,9 +135,16 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
         },
     },
 };
+#endif
 
 static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
+#if 0
     .exti_cfg    = &pios_exti_hmc5x83_cfg,
+#else
+#ifdef PIOS_HMC5X83_HAS_GPIOS
+    .exti_cfg    = NULL,
+#endif /* PIOS_HMC5X83_HAS_GPIOS */
+#endif /* 0 */
     .M_ODR       = PIOS_HMC5x83_ODR_75,
     .Meas_Conf   = PIOS_HMC5x83_MEASCONF_NORMAL,
     .Gain        = PIOS_HMC5x83_GAIN_1_9,
@@ -466,6 +477,7 @@ void PIOS_Board_Init(void)
         PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
         break;
     case HWSETTINGS_RM_FLEXIPORT_I2C:
+#if 0
 #if defined(PIOS_INCLUDE_I2C)
         {
             if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
@@ -473,6 +485,44 @@ void PIOS_Board_Init(void)
             }
         }
 #endif /* PIOS_INCLUDE_I2C */
+#else
+#if defined(PIOS_INCLUDE_I2C)
+        if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
+            PIOS_Assert(0);
+        }
+        PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too
+#ifdef PIOS_INCLUDE_WDG
+        // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
+        // this is not in a loop, so it is safe
+        // leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
+        // to avoid making something else fail when HMC5X83 is removed
+        PIOS_WDG_Clear();
+#endif /* PIOS_INCLUDE_WDG */
+#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
+            flexi_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_flexiport_adapter_id, 0);
+#ifdef PIOS_INCLUDE_WDG
+            // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
+            // this is not in a loop, so it is safe
+            PIOS_WDG_Clear();
+#endif /* PIOS_INCLUDE_WDG */
+            // add this sensor to the sensor task's list
+            // be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
+            // and before registering some other fast and important sensor
+            // as that would cause delay and time jitter for the second fast sensor
+            PIOS_HMC5x83_Register(flexi_port_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
+            // mag alarm is cleared later, so use I2C
+            AlarmsSet(SYSTEMALARMS_ALARM_I2C, (flexi_port_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
+        }
+#endif /* PIOS_INCLUDE_HMC5X83 */
+#endif /* PIOS_INCLUDE_I2C */
+#endif /* 0 */
         break;
     case HWSETTINGS_RM_FLEXIPORT_GPS:
         PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
@@ -807,11 +857,12 @@ void PIOS_Board_Init(void)
     OPLinkStatusSet(&oplinkStatus);
 #endif /* PIOS_INCLUDE_RFM22B */
 
+#if 1
 #if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM)
-
     const struct pios_servo_cfg *pios_servo_cfg;
     // default to servo outputs only
     pios_servo_cfg = &pios_servo_cfg_out;
+#endif
 #endif
 
     /* Configure the receiver port*/
@@ -892,11 +943,13 @@ void PIOS_Board_Init(void)
     }
 #endif /* PIOS_INCLUDE_OPLINKRCVR */
 
+#if 1
 #ifndef PIOS_ENABLE_DEBUG_PINS
     // pios_servo_cfg points to the correct configuration based on input port settings
     PIOS_Servo_Init(pios_servo_cfg);
 #else
     PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
+#endif
 #endif
 
     // Disable GPIO_A8 Pullup to prevent wrong results on battery voltage readout
@@ -920,20 +973,67 @@ void PIOS_Board_Init(void)
     PIOS_MPU9250_MagRegister();
 #endif
 
+#if 0
+#ifdef PIOS_INCLUDE_WDG
+    // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
+    // this is not in a loop, so it is safe
+    // leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
+    // to avoid making something else fail when HMC5X83 is removed
     PIOS_WDG_Clear();
+#endif /* PIOS_INCLUDE_WDG */
 
 #if defined(PIOS_INCLUDE_HMC5X83)
     // on board mag is in the MPU9250
     // this hmc5x83 mag is an external mag
     i2c_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
+#ifdef PIOS_INCLUDE_WDG
+    // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
+    // this is not in a loop, so it is safe
     PIOS_WDG_Clear();
-    PIOS_HMC5x83_Register(i2c_port_mag);
+#endif /* PIOS_INCLUDE_WDG */
-#endif
+    PIOS_HMC5x83_Register(i2c_port_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
+#endif /* PIOS_INCLUDE_HMC5X83 */
+
+#else
+
+#if defined(PIOS_INCLUDE_I2C)
+#ifdef PIOS_INCLUDE_WDG
+        // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
+        // this is not in a loop, so it is safe
+        // leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
+        // to avoid making something else fail when HMC5X83 is removed
+        PIOS_WDG_Clear();
+#endif /* PIOS_INCLUDE_WDG */
+#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_I2C) {
+            // attach the 5x83 mag to the previously inited I2C2
+            i2c_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
+#ifdef PIOS_INCLUDE_WDG
+            // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
+            // this is not in a loop, so it is safe
+            PIOS_WDG_Clear();
+#endif /* PIOS_INCLUDE_WDG */
+            // add this sensor to the sensor task's list
+            // be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
+            // and before registering some other fast and important sensor
+            // as that would cause delay and time jitter for the second fast sensor
+            PIOS_HMC5x83_Register(i2c_port_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
+            // mag alarm is cleared later, so use I2C
+            AlarmsSet(SYSTEMALARMS_ALARM_I2C, (i2c_port_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
+        }
+#endif /* PIOS_INCLUDE_HMC5X83 */
+#endif /* PIOS_INCLUDE_I2C */
+#endif /* 0 */
 
 #if defined(PIOS_INCLUDE_MS5611)
     PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id);
     PIOS_MS5611_Register();
-#endif
+#endif /* PIOS_INCLUDE_MS5611 */
 
     #ifdef PIOS_INCLUDE_WS2811
 #include <pios_ws2811.h>

shared/uavobjectdefinition/auxmagsettings.xml

@@ -6,7 +6,7 @@
          defaultvalue="1,0,0,0,1,0,0,0,1"/>
         <field name="MagBiasNullingRate" units="" type="float" elements="1" defaultvalue="0"/>
         <field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
-        <field name="Type" units="" type="enum" elements="1" options="GPSV9,Flexi,I2C,DJI" defaultvalue="GPSV9"/>
+        <field name="Type" units="" type="enum" elements="1" options="GPSV9,Ext,Flexi,I2C,DJI" defaultvalue="GPSV9"/>
         <field name="Usage" units="" type="enum" elements="1" options="Both,OnboardOnly,AuxOnly" defaultvalue="Both"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>