rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-29 07:24:13 +01:00
Code Issues Releases Activity

LP-73 port extmag to all other boards

Browse Source
This commit is contained in:
Cliff Geerdes 2015-09-14 01:56:52 -04:00
parent b086d1a021
commit d9b7a0bb00
12 changed files with 215 additions and 70 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
flight/libraries/auxmagsupport.c
View File

@ -27,9 +27,7 @@
#include <stdint.h>
#include "inc/auxmagsupport.h"
#include "CoordinateConversions.h"
#if defined(PIOS_INCLUDE_HMC5X83)
#include "pios_hmc5x83.h"
#endif
#include "pios_hmc5x83.h" // this is needed for mag orientation even for other mag types
#define assumptions \
( \

4
flight/modules/System/systemmod.c
View File

@ -183,6 +183,10 @@ static void systemTask(__attribute__((unused)) void *parameters)
vTaskDelay(10);
}
#ifndef PIOS_INCLUDE_WDG
// if no watchdog is enabled, don't reset watchdog in MODULE_TASKCREATE_ALL loop
#define PIOS_WDG_Clear()
#endif
/* create all modules thread */
MODULE_TASKCREATE_ALL;

19
flight/pios/inc/pios_initcall.h
View File

@ -92,7 +92,6 @@ extern void StartModules();
#define MODULE_INITCALL(ifn, sfn) __define_module_initcall("module", ifn, sfn)
#if 0
#define MODULE_INITIALISE_ALL \
{ for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) { \
if (fn->fn_minit) { \
@ -100,24 +99,7 @@ extern void StartModules();
} \
initTaskDone = 1; \
}
#else
#define MODULE_INITIALISE_ALL \
{ for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) { \
if (fn->fn_minit) { \
(fn->fn_minit)(); } \
} \
initTaskDone = 1; \
}
#endif
#if 0
#define MODULE_TASKCREATE_ALL \
{ for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) { \
if (fn->fn_tinit) { \
(fn->fn_tinit)(); } \
} \
}
#else
#define MODULE_TASKCREATE_ALL \
{ for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) { \
if (fn->fn_tinit) { \
@ -125,7 +107,6 @@ extern void StartModules();
PIOS_WDG_Clear(); \
} \
} }
#endif
#endif /* USE_SIM_POSIX */

24
flight/pios/stm32f10x/pios_i2c.c
View File

@ -711,6 +711,12 @@ static bool i2c_adapter_wait_for_stopped(struct pios_i2c_adapter *i2c_adapter)
static void i2c_adapter_reset_bus(struct pios_i2c_adapter *i2c_adapter)
{
// retry with wait code from
// TauLabs 20150718 - Prevent F3 I2C Init Lockup #1728
uint8_t retry_count;
uint8_t retry_count_clk;
static const uint8_t MAX_I2C_RETRY_COUNT = 10;
/* Reset the I2C block */
I2C_DeInit(i2c_adapter->cfg->regs);
@ -731,11 +737,13 @@ static void i2c_adapter_reset_bus(struct pios_i2c_adapter *i2c_adapter)
/* have to be repeated (due to futher bus errors) but better than clocking 0xFF into an */
/* ESC */
// bool sda_hung = GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) == Bit_RESET;
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) == Bit_RESET) {
retry_count_clk = 0;
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) == Bit_RESET && (retry_count_clk++ < MAX_I2C_RETRY_COUNT)) {
retry_count = 0;
/* Set clock high and wait for any clock stretching to finish. */
GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin) == Bit_RESET) {
;
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin) == Bit_RESET && (retry_count++ < MAX_I2C_RETRY_COUNT)) {
PIOS_DELAY_WaituS(1);
}
PIOS_DELAY_WaituS(2);
@ -759,12 +767,14 @@ static void i2c_adapter_reset_bus(struct pios_i2c_adapter *i2c_adapter)
/* Set data and clock high and wait for any clock stretching to finish. */
GPIO_SetBits(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin);
GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin) == Bit_RESET) {
;
retry_count = 0;
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin) == Bit_RESET && (retry_count++ < MAX_I2C_RETRY_COUNT)) {
PIOS_DELAY_WaituS(1);
}
/* Wait for data to be high */
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) != Bit_SET) {
;
retry_count = 0;
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) != Bit_SET && (retry_count++ < MAX_I2C_RETRY_COUNT)) {
PIOS_DELAY_WaituS(1);
}

50
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -36,6 +36,7 @@
#include <taskinfo.h>
#include <sanitycheck.h>
#include <actuatorsettings.h>
#include <auxmagsettings.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
@ -54,6 +55,24 @@
*/
#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.
@ -244,8 +263,13 @@ void PIOS_Board_Init(void)
#ifndef ERASE_FLASH
#ifdef PIOS_INCLUDE_WDG
/* Initialize watchdog as early as possible to catch faults during init */
PIOS_WDG_Init();
/* 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();
}
#endif
#endif
@ -718,11 +742,25 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_CC_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
PIOS_Assert(0);
}
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() 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:

2
flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
View File

@ -84,7 +84,7 @@
// #define PIOS_INCLUDE_MPU6000
// #define PIOS_MPU6000_ACCEL
/* #define PIOS_INCLUDE_HMC5843 */
// #define PIOS_INCLUDE_HMC5X83
#define PIOS_INCLUDE_HMC5X83
// #define PIOS_HMC5X83_HAS_GPIOS
/* #define PIOS_INCLUDE_BMP085 */
// #define PIOS_INCLUDE_MS5611

65
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
View File

@ -36,6 +36,7 @@
#include <pios_oplinkrcvr_priv.h>
#include <taskinfo.h>
#include <pios_callbackscheduler.h>
#include <auxmagsettings.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
@ -92,8 +93,16 @@ void PIOS_ADC_DMC_irq_handler(void)
#if defined(PIOS_INCLUDE_HMC5X83)
#include "pios_hmc5x83.h"
pios_hmc5x83_dev_t onboard_mag = 0;
pios_hmc5x83_dev_t external_mag = 0;
bool pios_board_internal_mag_handler()
{
return PIOS_HMC5x83_IRQHandler(onboard_mag);
}
static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
.vector = PIOS_HMC5x83_IRQHandler,
.vector = pios_board_internal_mag_handler,
.line = EXTI_Line7,
.pin = {
.gpio = GPIOB,
@ -123,12 +132,28 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
},
};
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
static const struct pios_hmc5x83_cfg pios_hmc5x83_internal_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = &pios_exti_hmc5x83_cfg,
#endif
.M_ODR = PIOS_HMC5x83_ODR_75,
.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,
};
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,
};
@ -397,7 +422,13 @@ void PIOS_Board_Init(void)
PIOS_IAP_WriteBootCmd(2, 0);
}
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_Init();
/* 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();
}
#endif
/* Initialize the task monitor */
@ -654,11 +685,25 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_RM_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_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
#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_RM_FLEXIPORT_GPS:
@ -882,6 +927,7 @@ void PIOS_Board_Init(void)
};
GPIO_Init(GPIOA, &gpioA8);
// init I2C1 for use with the internal mag and baro
if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
@ -893,7 +939,10 @@ void PIOS_Board_Init(void)
#endif
#if defined(PIOS_INCLUDE_HMC5X83)
PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
// attach the 5x83 mag to the previously inited I2C1
onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_internal_cfg, pios_i2c_mag_pressure_adapter_id, 0);
// add this sensor to the sensor task's list
PIOS_HMC5x83_Register(onboard_mag, PIOS_SENSORS_TYPE_3AXIS_MAG);
#endif
#if defined(PIOS_INCLUDE_MS5611)

2
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -38,7 +38,6 @@
#include <pios_ws2811.h>
#include <auxmagsettings.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
#endif
@ -1024,4 +1023,3 @@ void PIOS_Board_Init(void)
* @}
* @}
*/

9
flight/targets/boards/revolution/firmware/revolution.cpp
View File

@ -128,16 +128,7 @@ void initTask(__attribute__((unused)) void *parameters)
PIOS_Board_Init();
/* Initialize modules */
#if 1
MODULE_INITIALISE_ALL;
#else
for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) {
if (fn->fn_minit) {
(fn->fn_minit)();
}
}
initTaskDone = 1;
#endif
/* terminate this task */
vTaskDelete(NULL);

2
flight/targets/boards/revonano/firmware/inc/pios_config.h
View File

@ -84,7 +84,7 @@
// #define PIOS_INCLUDE_MPU6000
// #define PIOS_MPU6000_ACCEL
/* #define PIOS_INCLUDE_HMC5843 */
// #define PIOS_INCLUDE_HMC5X83
#define PIOS_INCLUDE_HMC5X83
// #define PIOS_HMC5X83_HAS_GPIOS
/* #define PIOS_INCLUDE_BMP085 */
#define PIOS_INCLUDE_MS5611

51
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -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>
@ -92,9 +93,26 @@ void PIOS_ADC_DMC_irq_handler(void)
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_ADC_DMA_Handler();
}
#endif /* if defined(PIOS_INCLUDE_ADC) */
#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 */
/**
* Configuration for the MS5611 chip
*/
@ -360,8 +378,15 @@ void PIOS_Board_Init(void)
PIOS_IAP_WriteBootCmd(1, 0);
PIOS_IAP_WriteBootCmd(2, 0);
}
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_Init();
/* 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();
}
#endif
/* Initialize the task monitor */
@ -617,11 +642,25 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_RM_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_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
#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_RM_FLEXIPORT_GPS:

53
flight/targets/boards/revoproto/firmware/pios_board.c
View File

@ -31,6 +31,7 @@
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <taskinfo.h>
#include <auxmagsettings.h>
/*
* Pull in the board-specific static HW definitions.
@ -85,7 +86,9 @@ void PIOS_ADC_DMC_irq_handler(void)
#include "pios_hmc5x83.h"
pios_hmc5x83_dev_t onboard_mag = 0;
pios_hmc5x83_dev_t external_mag = 0;
#ifdef PIOS_HMC5X83_HAS_GPIOS
bool pios_board_internal_mag_handler()
{
return PIOS_HMC5x83_IRQHandler(onboard_mag);
@ -120,13 +123,30 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
},
},
};
#endif /* PIOS_HMC5X83_HAS_GPIOS */
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
static const struct pios_hmc5x83_cfg pios_hmc5x83_internal_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = &pios_exti_hmc5x83_cfg,
#endif
.M_ODR = PIOS_HMC5x83_ODR_75,
.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,
};
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,
};
@ -753,14 +773,27 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_RV_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_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
#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_RV_FLEXIPORT_DSM:
// TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
@ -879,10 +912,12 @@ void PIOS_Board_Init(void)
PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
#endif
// init I2C1 for use with the internal mag
if (PIOS_I2C_Init(&pios_i2c_mag_adapter_id, &pios_i2c_mag_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
// init I2C1 for use with the internal baro
if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
@ -894,8 +929,10 @@ void PIOS_Board_Init(void)
#endif
#if defined(PIOS_INCLUDE_HMC5X83)
onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_adapter_id, 0);
PIOS_HMC5x83_Register(onboard_mag);
// attach the 5x83 mag to the previously inited I2C1
onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_internal_cfg, pios_i2c_mag_adapter_id, 0);
// add this sensor to the sensor task's list
PIOS_HMC5x83_Register(onboard_mag, PIOS_SENSORS_TYPE_3AXIS_MAG);
#endif
#if defined(PIOS_INCLUDE_MS5611)