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OP-1658 - Applying sensor framework to RevoProto
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3d49362345
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@ -29,11 +29,8 @@ USE_DSP_LIB ?= NO
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# List of mandatory modules to include
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MODULES += Sensors
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#MODULES += Attitude/revolution
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MODULES += StateEstimation # use instead of Attitude
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MODULES += Altitude/revolution
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MODULES += StateEstimation
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MODULES += Airspeed
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#MODULES += AltitudeHold # now integrated in Stabilization
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MODULES += Stabilization
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MODULES += ManualControl
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MODULES += Receiver
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@ -82,13 +82,14 @@ void PIOS_ADC_DMC_irq_handler(void)
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#endif /* if defined(PIOS_INCLUDE_ADC) */
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#if defined(PIOS_INCLUDE_HMC5X83)
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#include "pios_hmc5x83.h"
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pios_hmc5x83_dev_t onboard_mag = 0;
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bool pios_board_internal_mag_handler()
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{
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return PIOS_HMC5x83_IRQHandler(onboard_mag);
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}
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#include "pios_hmc5x83.h"
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static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
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.vector = pios_board_internal_mag_handler,
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.line = EXTI_Line5,
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@ -893,19 +894,23 @@ void PIOS_Board_Init(void)
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#if defined(PIOS_INCLUDE_HMC5X83)
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onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_adapter_id, 0);
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PIOS_HMC5x83_Register(onboard_mag);
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#endif
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#if defined(PIOS_INCLUDE_MS5611)
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PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
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PIOS_MS5611_Register();
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#endif
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switch (bdinfo->board_rev) {
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case 0x01:
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#if defined(PIOS_INCLUDE_L3GD20)
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PIOS_Assert(0); // L3gd20 has not been ported to Sensor framework!!!
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PIOS_L3GD20_Init(pios_spi_gyro_id, 0, &pios_l3gd20_cfg);
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PIOS_Assert(PIOS_L3GD20_Test() == 0);
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#endif
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#if defined(PIOS_INCLUDE_BMA180)
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PIOS_Assert(0); // BMA180 has not been ported to Sensor framework!!!
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PIOS_BMA180_Init(pios_spi_accel_id, 0, &pios_bma180_cfg);
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PIOS_Assert(PIOS_BMA180_Test() == 0);
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#endif
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@ -914,6 +919,7 @@ void PIOS_Board_Init(void)
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#if defined(PIOS_INCLUDE_MPU6000)
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PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
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PIOS_MPU6000_CONFIG_Configure();
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PIOS_MPU6000_Register();
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#endif
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break;
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default:
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