refs #17 Last changes for ADC demo.

OSURoboticsClub · Feb 10, 2015 · 0125d5e · 0125d5e
1 parent 1841a39
commit 0125d5e
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Showing 3 changed files with 20 additions and 9 deletions.
diff --git a/variants/platforms/aerial_v4/i2c_platform.cpp b/variants/platforms/aerial_v4/i2c_platform.cpp
@@ -2,16 +2,8 @@
 
 #include "hal.h"
 
-// See ChibiOS/os/hal/platforms/STM32/I2Cv1
-static const I2CConfig I2CD2_CONFIG = {
-	OPMODE_I2C,
-	400000,
-	FAST_DUTY_CYCLE_2
-};
-
 I2CPlatform::I2CPlatform() {
 	// I2C2
-	i2cStart(&I2CD2, &I2CD2_CONFIG);
 	palSetPadMode(GPIOB, 10, PAL_MODE_ALTERNATE(4));   // SCL
 	palSetPadMode(GPIOB, 11, PAL_MODE_ALTERNATE(4));   // SDA
 }
diff --git a/variants/platforms/aerial_v4/platform.cpp b/variants/platforms/aerial_v4/platform.cpp
@@ -5,6 +5,7 @@
 #include "drivers/mpu9250.hpp"
 #include "sensor/accelerometer.hpp"
 #include "sensor/gyroscope.hpp"
+#include "drivers/lsm303dlhc_mag.hpp"
 
 #include "drivers/vishaytherm.hpp"
 #include "sensor/thermistor.hpp"
@@ -47,6 +48,15 @@ static const SPIConfig H3LIS331DL_CONFIG {
   SPI_CR1_BR_0   // 42000000/2^1 = 21000000
 };
 
+// See ChibiOS/os/hal/platforms/STM32/I2Cv1
+static const I2CConfig I2CD2_CONFIG = {
+	OPMODE_I2C,
+	400000,
+	FAST_DUTY_CYCLE_2
+};
+
+static const i2caddr_t LSM303_I2C_MAG_ADDRESS = (0x3c >> 1);
+
 const size_t ADC_GRP1_NUM_CHANNELS = 2;
 const size_t ADC_GRP1_BUF_DEPTH = 4;
 
@@ -98,6 +108,12 @@ Accelerometer& Platform::get() {
   return get<MPU9250>();
 }
 
+template <>
+Magnetometer& Platform::get() {
+  static LSM303DLHCMag mag(&I2CD2, &I2CD2_CONFIG, LSM303_I2C_MAG_ADDRESS);
+  return mag;
+}
+
 template <>
 VishayTherm& Platform::get() {
   static VishayTherm therm(&ADCD1, &ADC_GRP1_CONFIG, &samples, &avg_ch);
@@ -160,6 +176,8 @@ void Platform::init() {
   // Initialize IMU
   get<MPU9250>().init();
 
+  get<Magnetometer>().init();
+
   // Initialize thermistor
   get<VishayTherm>().init();
 

diff --git a/variants/units/helios/unit_data.hpp b/variants/units/helios/unit_data.hpp
@@ -8,6 +8,7 @@
 #include "input/offboard_input_source.hpp"
 #include "sensor/gyroscope.hpp"
 #include "sensor/accelerometer.hpp"
+#include "sensor/magnetometer.hpp"
 #include "sensor/gps.hpp"
 #include "sensor/thermistor.hpp"
 #include "system/multirotor_vehicle_system.hpp"
@@ -42,7 +43,7 @@ struct UnitData {
       system(platform.get<Gyroscope>(),
              platform.get<Accelerometer>(),
              platform.get<GPS>(),
-             std::experimental::nullopt,
+             std::experimental::make_optional(&platform.get<Magnetometer>()),
              std::experimental::make_optional(&platform.get<Thermistor>()),
              world, attitude, inputSource, motorMapper, communicator) {
   }