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Code Issues Releases Activity

LP-73 uncrustify

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This commit is contained in:
Cliff Geerdes 2015-10-25 23:59:52 -04:00
parent 5cb042e703
commit e0a805518f
8 changed files with 76 additions and 72 deletions
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9
flight/modules/Sensors/sensors.c
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@ -84,7 +84,7 @@
#define REGISTER_WDG() #define REGISTER_WDG()
#endif #endif
static const TickType_t sensor_period_ticks = ((uint32_t) (1000.0f / PIOS_SENSOR_RATE / (float) portTICK_RATE_MS)); static const TickType_t sensor_period_ticks = ((uint32_t)(1000.0f / PIOS_SENSOR_RATE / (float)portTICK_RATE_MS));
// Interval in number of sample to recalculate temp bias // Interval in number of sample to recalculate temp bias
#define TEMP_CALIB_INTERVAL 30 #define TEMP_CALIB_INTERVAL 30
@ -263,7 +263,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
bool sensors_test = true; bool sensors_test = true;
uint8_t count = 0; uint8_t count = 0;
LL_FOREACH((PIOS_SENSORS_Instance *)sensors_list, sensor) { LL_FOREACH((PIOS_SENSORS_Instance *)sensors_list, sensor) {
RELOAD_WDG(); // mag tests on I2C have 200+(7x10)ms delay calls in them RELOAD_WDG(); // mag tests on I2C have 200+(7x10)ms delay calls in them
sensors_test &= PIOS_SENSORS_Test(sensor); sensors_test &= PIOS_SENSORS_Test(sensor);
count++; count++;
} }
@ -299,6 +299,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
LL_FOREACH((PIOS_SENSORS_Instance *)sensors_list, sensor) { LL_FOREACH((PIOS_SENSORS_Instance *)sensors_list, sensor) {
// we will wait on the sensor that's marked as primary( that means the sensor with higher sample rate) // we will wait on the sensor that's marked as primary( that means the sensor with higher sample rate)
bool is_primary = (sensor->type & PIOS_SENSORS_TYPE_3AXIS_ACCEL); bool is_primary = (sensor->type & PIOS_SENSORS_TYPE_3AXIS_ACCEL);
if (!sensor->driver->is_polled) { if (!sensor->driver->is_polled) {
const QueueHandle_t queue = PIOS_SENSORS_GetQueue(sensor); const QueueHandle_t queue = PIOS_SENSORS_GetQueue(sensor);
while (xQueueReceive(queue, while (xQueueReceive(queue,
@ -378,10 +379,12 @@ static void processSamples3d(sensor_fetch_context *sensor_context, const PIOS_SE
handleMag(samples, temperature); handleMag(samples, temperature);
PERF_MEASURE_PERIOD(counterMagPeriod); PERF_MEASURE_PERIOD(counterMagPeriod);
return; return;
case PIOS_SENSORS_TYPE_3AXIS_AUXMAG: case PIOS_SENSORS_TYPE_3AXIS_AUXMAG:
handleAuxMag(samples); handleAuxMag(samples);
PERF_MEASURE_PERIOD(counterMagPeriod); PERF_MEASURE_PERIOD(counterMagPeriod);
return; return;
default: default:
PERF_TRACK_VALUE(counterAccelSamples, sensor_context->count); PERF_TRACK_VALUE(counterAccelSamples, sensor_context->count);
PERF_MEASURE_PERIOD(counterAccelPeriod); PERF_MEASURE_PERIOD(counterAccelPeriod);
@ -584,7 +587,7 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
float sumQuat[4]; float sumQuat[4];
const float trimRpy[3] = { attitudeSettings.BoardLevelTrim.Roll, attitudeSettings.BoardLevelTrim.Pitch, 0.0f }; const float trimRpy[3] = { attitudeSettings.BoardLevelTrim.Roll, attitudeSettings.BoardLevelTrim.Pitch, 0.0f };
// do we actually want to include BoardLevelTrim in the mag rotation? BoardRotation yes, but BoardLevelTrim? // do we actually want to include BoardLevelTrim in the mag rotation? BoardRotation yes, but BoardLevelTrim?
// and is BoardLevelTrim done at the correct point in the sequence of rotations? // and is BoardLevelTrim done at the correct point in the sequence of rotations?
RPY2Quaternion(trimRpy, trimQuat); RPY2Quaternion(trimRpy, trimQuat);
// add the boardrotation and boardtrim rotations and put them into a rotation matrix // add the boardrotation and boardtrim rotations and put them into a rotation matrix

12
flight/pios/common/pios_hmc5x83.c
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@ -158,11 +158,11 @@ pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_
dev->magCountMax = 1; dev->magCountMax = 1;
#endif /* PIOS_SENSOR_RATE */ #endif /* PIOS_SENSOR_RATE */
// with this counter // with this counter
dev->magCount = 0; dev->magCount = 0;
} }
if (PIOS_HMC5x83_Config(dev) != 0) { if (PIOS_HMC5x83_Config(dev) != 0) {
return ((pios_hmc5x83_dev_t) NULL); return (pios_hmc5x83_dev_t)NULL;
} }
dev->data_ready = false; dev->data_ready = false;
@ -405,12 +405,11 @@ bool PIOS_HMC5x83_NewDataAvailable(__attribute__((unused)) pios_hmc5x83_dev_t ha
pios_hmc5x83_dev_data_t *dev = dev_validate(handler); pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
#ifdef PIOS_HMC5X83_HAS_GPIOS #ifdef PIOS_HMC5X83_HAS_GPIOS
if (dev->cfg->exti_cfg) { // if this device has an interrupt line attached, then wait for interrupt to say data is ready if (dev->cfg->exti_cfg) { // if this device has an interrupt line attached, then wait for interrupt to say data is ready
return dev->data_ready; return dev->data_ready;
} } else
else
#endif /* PIOS_HMC5X83_HAS_GPIOS */ #endif /* PIOS_HMC5X83_HAS_GPIOS */
{ // else poll to see if data is ready or just say "true" and set polling interval elsewhere { // else poll to see if data is ready or just say "true" and set polling interval elsewhere
if (++(dev->magCount) >= dev->magCountMax) { if (++(dev->magCount) >= dev->magCountMax) {
dev->magCount = 0; dev->magCount = 0;
return true; return true;
@ -521,6 +520,7 @@ int32_t PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler)
bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler) bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler)
{ {
pios_hmc5x83_dev_data_t *dev = dev_validate(handler); pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
dev->data_ready = true; dev->data_ready = true;
return false; return false;

3
flight/pios/inc/pios_initcall.h
View File

@ -106,7 +106,8 @@ extern void StartModules();
(fn->fn_tinit)(); \ (fn->fn_tinit)(); \
PIOS_WDG_Clear(); \ PIOS_WDG_Clear(); \
} \ } \
} } } \
}
#endif /* USE_SIM_POSIX */ #endif /* USE_SIM_POSIX */

34
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
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@ -93,7 +93,7 @@ void PIOS_ADC_DMC_irq_handler(void)
#if defined(PIOS_INCLUDE_HMC5X83) #if defined(PIOS_INCLUDE_HMC5X83)
#include "pios_hmc5x83.h" #include "pios_hmc5x83.h"
pios_hmc5x83_dev_t onboard_mag = 0; pios_hmc5x83_dev_t onboard_mag = 0;
pios_hmc5x83_dev_t external_mag = 0; pios_hmc5x83_dev_t external_mag = 0;
bool pios_board_internal_mag_handler() bool pios_board_internal_mag_handler()
@ -134,28 +134,28 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
static const struct pios_hmc5x83_cfg pios_hmc5x83_internal_cfg = { static const struct pios_hmc5x83_cfg pios_hmc5x83_internal_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS #ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = &pios_exti_hmc5x83_cfg, .exti_cfg = &pios_exti_hmc5x83_cfg,
#endif #endif
.M_ODR = PIOS_HMC5x83_ODR_75, .M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL, .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9, .Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS, .Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.TempCompensation = false, .TempCompensation = false,
.Driver = &PIOS_HMC5x83_I2C_DRIVER, .Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
}; };
static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = { static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS #ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = NULL, .exti_cfg = NULL,
#endif #endif
.M_ODR = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c .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, .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9, .Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS, .Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.TempCompensation = false, .TempCompensation = false,
.Driver = &PIOS_HMC5x83_I2C_DRIVER, .Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, // ENU for GPSV9, WND for typical I2C mag .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, // ENU for GPSV9, WND for typical I2C mag
}; };
#endif /* PIOS_INCLUDE_HMC5X83 */ #endif /* PIOS_INCLUDE_HMC5X83 */
@ -682,7 +682,7 @@ void PIOS_Board_Init(void)
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) { if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0); PIOS_Assert(0);
} }
PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too
#ifdef PIOS_INCLUDE_WDG #ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe // this is not in a loop, so it is safe
@ -710,7 +710,7 @@ void PIOS_Board_Init(void)
// as that would cause delay and time jitter for the second fast sensor // as that would cause delay and time jitter for the second fast sensor
PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG); PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
// mag alarm is cleared later, so use I2C // mag alarm is cleared later, so use I2C
AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag)?SYSTEMALARMS_ALARM_OK:SYSTEMALARMS_ALARM_WARNING); AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
} }
#endif /* PIOS_INCLUDE_HMC5X83 */ #endif /* PIOS_INCLUDE_HMC5X83 */
#endif /* PIOS_INCLUDE_I2C */ #endif /* PIOS_INCLUDE_I2C */

34
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -93,7 +93,7 @@ void PIOS_ADC_DMC_irq_handler(void)
#if defined(PIOS_INCLUDE_HMC5X83) #if defined(PIOS_INCLUDE_HMC5X83)
#include "pios_hmc5x83.h" #include "pios_hmc5x83.h"
pios_hmc5x83_dev_t onboard_mag = 0; pios_hmc5x83_dev_t onboard_mag = 0;
pios_hmc5x83_dev_t external_mag = 0; pios_hmc5x83_dev_t external_mag = 0;
#ifdef PIOS_HMC5X83_HAS_GPIOS #ifdef PIOS_HMC5X83_HAS_GPIOS
@ -136,28 +136,28 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
static const struct pios_hmc5x83_cfg pios_hmc5x83_internal_cfg = { static const struct pios_hmc5x83_cfg pios_hmc5x83_internal_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS #ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = &pios_exti_hmc5x83_cfg, .exti_cfg = &pios_exti_hmc5x83_cfg,
#endif #endif
.M_ODR = PIOS_HMC5x83_ODR_75, .M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL, .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9, .Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS, .Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.TempCompensation = false, .TempCompensation = false,
.Driver = &PIOS_HMC5x83_I2C_DRIVER, .Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
}; };
static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = { static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS #ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = NULL, .exti_cfg = NULL,
#endif #endif
.M_ODR = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c .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, .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9, .Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS, .Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.TempCompensation = false, .TempCompensation = false,
.Driver = &PIOS_HMC5x83_I2C_DRIVER, .Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, // ENU for GPSV9, WND for typical I2C mag .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, // ENU for GPSV9, WND for typical I2C mag
}; };
#endif /* PIOS_INCLUDE_HMC5X83 */ #endif /* PIOS_INCLUDE_HMC5X83 */
@ -493,7 +493,7 @@ void PIOS_Board_Init(void)
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) { if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0); PIOS_Assert(0);
} }
PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too
#ifdef PIOS_INCLUDE_WDG #ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe // this is not in a loop, so it is safe
@ -521,7 +521,7 @@ void PIOS_Board_Init(void)
// as that would cause delay and time jitter for the second fast sensor // as that would cause delay and time jitter for the second fast sensor
PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG); PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
// mag alarm is cleared later, so use I2C // mag alarm is cleared later, so use I2C
AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag)?SYSTEMALARMS_ALARM_OK:SYSTEMALARMS_ALARM_WARNING); AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
} }
#endif /* PIOS_INCLUDE_HMC5X83 */ #endif /* PIOS_INCLUDE_HMC5X83 */
#endif /* PIOS_INCLUDE_I2C */ #endif /* PIOS_INCLUDE_I2C */

18
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -101,15 +101,15 @@ pios_hmc5x83_dev_t external_mag = 0;
static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = { static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS #ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = NULL, .exti_cfg = NULL,
#endif #endif
.M_ODR = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c .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, .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9, .Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS, .Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.TempCompensation = false, .TempCompensation = false,
.Driver = &PIOS_HMC5x83_I2C_DRIVER, .Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, // ENU for GPSV9, WND for typical I2C mag .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, // ENU for GPSV9, WND for typical I2C mag
}; };
#endif /* PIOS_INCLUDE_HMC5X83 */ #endif /* PIOS_INCLUDE_HMC5X83 */
@ -639,7 +639,7 @@ void PIOS_Board_Init(void)
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) { if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0); PIOS_Assert(0);
} }
PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too
#ifdef PIOS_INCLUDE_WDG #ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe // this is not in a loop, so it is safe
@ -667,7 +667,7 @@ void PIOS_Board_Init(void)
// as that would cause delay and time jitter for the second fast sensor // as that would cause delay and time jitter for the second fast sensor
PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG); PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
// mag alarm is cleared later, so use I2C // mag alarm is cleared later, so use I2C
AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag)?SYSTEMALARMS_ALARM_OK:SYSTEMALARMS_ALARM_WARNING); AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
} }
#endif /* PIOS_INCLUDE_HMC5X83 */ #endif /* PIOS_INCLUDE_HMC5X83 */
#endif /* PIOS_INCLUDE_I2C */ #endif /* PIOS_INCLUDE_I2C */

34
flight/targets/boards/revoproto/firmware/pios_board.c
View File

@ -85,7 +85,7 @@ void PIOS_ADC_DMC_irq_handler(void)
#if defined(PIOS_INCLUDE_HMC5X83) #if defined(PIOS_INCLUDE_HMC5X83)
#include "pios_hmc5x83.h" #include "pios_hmc5x83.h"
pios_hmc5x83_dev_t onboard_mag = 0; pios_hmc5x83_dev_t onboard_mag = 0;
pios_hmc5x83_dev_t external_mag = 0; pios_hmc5x83_dev_t external_mag = 0;
#ifdef PIOS_HMC5X83_HAS_GPIOS #ifdef PIOS_HMC5X83_HAS_GPIOS
@ -127,28 +127,28 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
static const struct pios_hmc5x83_cfg pios_hmc5x83_internal_cfg = { static const struct pios_hmc5x83_cfg pios_hmc5x83_internal_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS #ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = &pios_exti_hmc5x83_cfg, .exti_cfg = &pios_exti_hmc5x83_cfg,
#endif #endif
.M_ODR = PIOS_HMC5x83_ODR_75, .M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL, .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9, .Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS, .Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.TempCompensation = false, .TempCompensation = false,
.Driver = &PIOS_HMC5x83_I2C_DRIVER, .Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
}; };
static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = { static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS #ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = NULL, .exti_cfg = NULL,
#endif #endif
.M_ODR = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c .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, .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9, .Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS, .Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.TempCompensation = false, .TempCompensation = false,
.Driver = &PIOS_HMC5x83_I2C_DRIVER, .Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
}; };
#endif /* PIOS_INCLUDE_HMC5X83 */ #endif /* PIOS_INCLUDE_HMC5X83 */
@ -776,7 +776,7 @@ void PIOS_Board_Init(void)
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) { if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0); PIOS_Assert(0);
} }
PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too
#ifdef PIOS_INCLUDE_WDG #ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe // this is not in a loop, so it is safe
@ -801,7 +801,7 @@ void PIOS_Board_Init(void)
// add this sensor to the sensor task's list // add this sensor to the sensor task's list
PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG); PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
// mag alarm is cleared later, so use I2C // mag alarm is cleared later, so use I2C
AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag)?SYSTEMALARMS_ALARM_OK:SYSTEMALARMS_ALARM_WARNING); AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
} }
#endif /* PIOS_INCLUDE_HMC5X83 */ #endif /* PIOS_INCLUDE_HMC5X83 */
#endif /* PIOS_INCLUDE_I2C */ #endif /* PIOS_INCLUDE_I2C */

4
ground/gcs/src/plugins/config/configrevowidget.cpp
View File

@ -245,7 +245,7 @@ void ConfigRevoWidget::storeAndClearBoardRotation()
// Store current aux mag board rotation // Store current aux mag board rotation
AuxMagSettings *auxMagSettings = AuxMagSettings::GetInstance(getObjectManager()); AuxMagSettings *auxMagSettings = AuxMagSettings::GetInstance(getObjectManager());
Q_ASSERT(auxMagSettings); Q_ASSERT(auxMagSettings);
AuxMagSettings::DataFields auxMagData = auxMagSettings->getData(); AuxMagSettings::DataFields auxMagData = auxMagSettings->getData();
auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_YAW] = auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_YAW]; auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_YAW] = auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_YAW];
auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_ROLL] = auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_ROLL]; auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_ROLL] = auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_ROLL];
auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_PITCH] = auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_PITCH]; auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_PITCH] = auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_PITCH];
@ -276,7 +276,7 @@ void ConfigRevoWidget::recallBoardRotation()
// Restore the aux mag board rotation // Restore the aux mag board rotation
AuxMagSettings *auxMagSettings = AuxMagSettings::GetInstance(getObjectManager()); AuxMagSettings *auxMagSettings = AuxMagSettings::GetInstance(getObjectManager());
Q_ASSERT(auxMagSettings); Q_ASSERT(auxMagSettings);
AuxMagSettings::DataFields auxMagData = auxMagSettings->getData(); AuxMagSettings::DataFields auxMagData = auxMagSettings->getData();
auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_YAW] = auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_YAW]; auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_YAW] = auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_YAW];
auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_ROLL] = auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_ROLL]; auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_ROLL] = auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_ROLL];
auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_PITCH] = auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_PITCH]; auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_PITCH] = auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_PITCH];