[paparazzi-commits] [6107] Fix mag event handler for hmc5843

[Allen Ibara]

Revision: 6107
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6107
Author:   aibara
Date:     2010-10-08 05:36:48 +0000 (Fri, 08 Oct 2010)
Log Message:
-----------
Fix mag event handler for hmc5843

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.c
    paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.h
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h

Modified: paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.c        
2010-10-08 05:28:01 UTC (rev 6106)
+++ paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.c        
2010-10-08 05:36:48 UTC (rev 6107)
@@ -3,7 +3,7 @@
 #include "i2c.h"
 
 struct Hmc5843 hmc5843;
-static struct i2c_transaction hmc5843_i2c_trans;
+struct i2c_transaction hmc5843_i2c_trans;
 
 void hmc5843_init(void) {
   hmc5843.status = HMC5843_UNINITIALIZED1;

Modified: paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.h        
2010-10-08 05:28:01 UTC (rev 6106)
+++ paparazzi3/trunk/sw/airborne/booz/peripherals/booz_hmc5843.h        
2010-10-08 05:36:48 UTC (rev 6107)
@@ -44,6 +44,7 @@
 };
 
 extern struct Hmc5843 hmc5843;
+extern struct i2c_transaction hmc5843_i2c_trans;
 
 extern void hmc5843_init(void);
 extern void hmc5843_periodic(void);
@@ -70,7 +71,7 @@
 
 #define MagEvent(_m_handler) {                                         \
     if (hmc5843.status == HMC5843_READING && hmc5843_i2c_trans.status == 
I2CTransSuccess) {    \
-      memcpy(hmc5843.data.buf, (const void*)i2c2.buf, 6);              \
+      memcpy(hmc5843.data.buf, (const void*)hmc5843_i2c_trans.buf, 6);         
\
       _m_handler();                                                    \
       hmc5843.status = HMC5843_IDLE;                                   \
     }                                                                  \

Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h      
2010-10-08 05:28:01 UTC (rev 6106)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h      
2010-10-08 05:36:48 UTC (rev 6107)
@@ -166,6 +166,11 @@
       _mag_handler();                                                  \
     }                                                                  \
   }
+#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC5843
+#include "peripherals/booz_hmc5843.h"
+#define ImuMagEvent(_mag_handler) {                                    \
+         MagEvent(_mag_handler); \
+  }
 #else
 #define ImuMagEvent(_mag_handler) {}
 #endif