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Code Issues Releases Activity

OP-1658 - Applying sensor framework to RevoProto

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This commit is contained in:
Alessio Morale 2015-01-11 17:11:14 +01:00
parent 3d49362345
commit fe59057476
2 changed files with 8 additions and 5 deletions
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5
flight/targets/boards/revoproto/firmware/Makefile
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@ -29,11 +29,8 @@ USE_DSP_LIB ?= NO
# List of mandatory modules to include
MODULES += Sensors
#MODULES += Attitude/revolution
MODULES += StateEstimation # use instead of Attitude
MODULES += Altitude/revolution
MODULES += StateEstimation
MODULES += Airspeed
#MODULES += AltitudeHold # now integrated in Stabilization
MODULES += Stabilization
MODULES += ManualControl
MODULES += Receiver

8
flight/targets/boards/revoproto/firmware/pios_board.c
View File

@ -82,13 +82,14 @@ void PIOS_ADC_DMC_irq_handler(void)
#endif /* if defined(PIOS_INCLUDE_ADC) */
#if defined(PIOS_INCLUDE_HMC5X83)
#include "pios_hmc5x83.h"
pios_hmc5x83_dev_t onboard_mag = 0;
bool pios_board_internal_mag_handler()
{
return PIOS_HMC5x83_IRQHandler(onboard_mag);
}
#include "pios_hmc5x83.h"
static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
.vector = pios_board_internal_mag_handler,
.line = EXTI_Line5,
@ -893,19 +894,23 @@ void PIOS_Board_Init(void)
#if defined(PIOS_INCLUDE_HMC5X83)
onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_adapter_id, 0);
PIOS_HMC5x83_Register(onboard_mag);
#endif
#if defined(PIOS_INCLUDE_MS5611)
PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
PIOS_MS5611_Register();
#endif
switch (bdinfo->board_rev) {
case 0x01:
#if defined(PIOS_INCLUDE_L3GD20)
PIOS_Assert(0); // L3gd20 has not been ported to Sensor framework!!!
PIOS_L3GD20_Init(pios_spi_gyro_id, 0, &pios_l3gd20_cfg);
PIOS_Assert(PIOS_L3GD20_Test() == 0);
#endif
#if defined(PIOS_INCLUDE_BMA180)
PIOS_Assert(0); // BMA180 has not been ported to Sensor framework!!!
PIOS_BMA180_Init(pios_spi_accel_id, 0, &pios_bma180_cfg);
PIOS_Assert(PIOS_BMA180_Test() == 0);
#endif
@ -914,6 +919,7 @@ void PIOS_Board_Init(void)
#if defined(PIOS_INCLUDE_MPU6000)
PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
PIOS_MPU6000_CONFIG_Configure();
PIOS_MPU6000_Register();
#endif
break;
default: