Merge branch 'master' into dev

conf/Makefile.lpc21

@@ -50,7 +50,6 @@ OBJCOPY = $(GCC_BIN_PREFIX)-objcopy
 OBJDUMP = $(GCC_BIN_PREFIX)-objdump
 NM      = $(GCC_BIN_PREFIX)-nm
 SIZE    = $(GCC_BIN_PREFIX)-size
-OOCD    = $(TOOLCHAIN_DIR)/bin/openocd
 
 #
 # If we can't find the toolchain (in /opt/paparazzi/arm-multilib or ~/sat) then try picking up the compilers from the path
@@ -72,7 +71,15 @@ OBJCOPY = $(shell which $(GCC_PREFIX)-objcopy)
 OBJDUMP = $(shell which $(GCC_PREFIX)-objdump)
 NM      = $(shell which $(GCC_PREFIX)-nm)
 SIZE    = $(shell which $(GCC_PREFIX)-size)
-OOCD    = $(shell which openocd)
+endif
+
+#first try to find OpenOCD in the path
+OOCD = $(shell which openocd)
+#if OpenOCD could not be found in the path, try the toolchain dir
+ifeq ($(OOCD),)
+ifneq ($(TOOLCHAIN),)
+OOCD = $(shell if test -e $(TOOLCHAIN_DIR)/bin/openocd ; then echo $(TOOLCHAIN_DIR)/bin/openocd ; else echo "Warning: OpenOCD not found"; fi)
+endif
 endif
 
 # Define some other programs and commands.
@@ -182,7 +189,6 @@ LPC21IAP = $(PAPARAZZI_SRC)/sw/ground_segment/lpc21iap/lpc21iap
 
 # ---------------------------------------------------------------------------
 # Flash-Programming support using openocd
-OOCD = openocd
 OOCD_INTERFACE = arm-usb-ocd
 OOCD_TARGET    = csc
 

conf/Makefile.stm32

@@ -53,7 +53,6 @@ DMP  = $(GCC_BIN_PREFIX)-objdump
 NM   = $(GCC_BIN_PREFIX)-nm
 SIZE = $(GCC_BIN_PREFIX)-size
 RM   = rm
-OOCD = $(TOOLCHAIN_DIR)/bin/openocd
 
 # If we can't find the toolchain then try picking up the compilers from the path
 else
@@ -63,10 +62,19 @@ CP   = $(shell which arm-none-eabi-objcopy)
 DMP  = $(shell which arm-none-eabi-objdump)
 NM   = $(shell which arm-none-eabi-nm)
 SIZE = $(shell which arm-none-eabi-size)
-OOCD = $(shell which openocd)
 GCC_LIB_DIR=$(shell dirname `which arm-none-eabi-gcc`)/../arm-none-eabi/lib
 endif
 
+#first try to find OpenOCD in the path
+OOCD = $(shell which openocd)
+#if OpenOCD could not be found in the path, try the toolchain dir
+ifeq ($(OOCD),)
+ifneq ($(TOOLCHAIN),)
+OOCD = $(shell if test -e $(TOOLCHAIN_DIR)/bin/openocd ; then echo $(TOOLCHAIN_DIR)/bin/openocd ; else echo "Warning: OpenOCD not found"; fi)
+endif
+endif
+
+
 LOADER=/home/poine/work/stm32/stm32loader-a3c51c26ad6c/stm32loader.py
 
 ifndef $(TARGET).OOCD_INTERFACE

conf/airframes/logger_sd.xml

@@ -0,0 +1,47 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!--
+
+    Connects a microSD card to the SPI port of the Paparazzi Tiny. Keep cables
+    short, microSD card can be directly soldered to Molex cable. For now only
+    non SDHC SD cards (<= 2GB) are supported. martinmm@pfump.org
+
+    microSD         TinyV2 SPI J3
+    8 nc
+    7 DO            5 MISO
+    6 GND           1 GND
+    5 CLK           7 SCK
+    4 Vcc           2 +3V3
+    3 DI            4 MOSI
+    2 CS            3 SSEL
+    1 nc
+
+    Looking onto the gold plated connector side of the microSD card:
+
+    ###############
+    I 8
+    I 7
+    I 6
+    I 5
+    I 4
+    I 3
+    I 2
+    I 1
+    ######    ##
+          \  I  \
+           ##    ##
+
+-->
+
+<airframe name="Logger">
+
+  <firmware name="logger">
+    <target name="ap" board="tiny_2.11" >
+      <configure name="SPI_CHANNEL" value="1" />
+      <configure name="UART0_BAUD" value="B9600" />
+      <configure name="UART1_BAUD" value="B9600" />
+    </target>
+  </firmware>
+
+</airframe>
+

conf/autopilot/logger.makefile

@@ -1,62 +1,54 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
+#
+# setup.makefile
+#
+#
 
-<!--
 
-    Connects a microSD card to the SPI port of the Paparazzi Tiny. Keep cables
+CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
-    short, microSD card can be directly soldered to Molex cable. For now only
-    non SDHC SD cards (<= 2GB) are supported. martinmm@pfump.org
 
-    microSD         TinyV2 SPI J3
+SRC_ARCH=arch/$(ARCH)
-    8 nc
+SRC_FIRMWARE=firmwares/logger
-    7 DO            5 MISO
-    6 GND           1 GND
-    5 CLK           7 SCK
-    4 Vcc           2 +3V3
-    3 DI            4 MOSI
-    2 CS            3 SSEL
-    1 nc
 
-    Looking onto the gold plated connector side of the microSD card:
+SETUP_INC = -I$(SRC_FIRMWARE)
 
-    ###############
+$(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-    I 8
-    I 7
-    I 6
-    I 5
-    I 4
-    I 3
-    I 2
-    I 1
-    ######    ##
-          \  I  \
-           ##    ##
 
--->
+# default config
+ifndef SPI_CHANNEL
+SPI_CHANNEL = 1
+endif
 
-<airframe name="Logger">
+ifndef UART0_BAUD
+UART0_BAUD = B9600
+endif
 
- <makefile>
+ifndef UART1_BAUD
+UART1_BAUD = B9600
+endif
 
-CONFIG = \"tiny_2_1_1_usb.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+# a configuration program to access both uart through usb
+ifeq ($(ARCH), lpc21)
 
-FLASH_MODE=IAP
 
-ap.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED
+ap.CFLAGS += -DUSE_LED
-ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_logger.c
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c $(SRC_FIRMWARE)/main_logger.c
 
 #choose one
 ap.CFLAGS += -DLOG_XBEE
 #ap.CFLAGS += -DLOG_PPRZ
 
+
 #set the speed
-ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600 -DUSE_UART0_RX_ONLY
+ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=$(UART0_BAUD) -DUSE_UART0_RX_ONLY
-ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600 -DUSE_UART1_RX_ONLY
+ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=$(UART1_BAUD) -DUSE_UART1_RX_ONLY
 ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
+ap.srcs += mcu_periph/uart.c
+ap.srcs += $(SRC_ARCH)/mcu_arch.c
+ap.srcs += mcu.c
 
 #set SPI interface for SD card (0 or 1)
-ap.CFLAGS += -DHW_ENDPOINT_LPC2000_SPINUM=1
+ap.CFLAGS += -DHW_ENDPOINT_LPC2000_SPINUM=$(SPI_CHANNEL)
 
 #efsl
 ap.CFLAGS += -I $(SRC_ARCH)/efsl/inc -I $(SRC_ARCH)/efsl/conf
@@ -84,7 +76,9 @@ ap.srcs += $(SRC_ARCH)/lpcusb/examples/msc_scsi.c
 ap.srcs += $(SRC_ARCH)/lpcusb/examples/blockdev_sd.c
 ap.srcs += $(SRC_ARCH)/lpcusb/examples/lpc2000_spi.c
 
- </makefile>
 
-</airframe>
+else
+$(error usb_tunnel currently only implemented for the lpc21)
+endif
+
 

conf/modules/digital_cam_servo.xml

@@ -0,0 +1,43 @@
+<!DOCTYPE module SYSTEM "./module.dtd">
+
+<!--
+
+// Use (parts of) the following section in airframe file to change
+
+  <section name="DIGITAL_CAMERA" prefix="DC_">
+
+    <configure name="PUSH" value"LED_ON" />
+    <configure name="RELEASE" value"LED_OFF" />
+
+    <configure name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
+    <configure name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
+  </section>
+
+# ap.CFLAGS += -DGPS_TRIGGERED_FUNCTION="dc_shoot_on_gps"
+# ap.CFLAGS += -DDC_GPS_TRIGGER_START=1
+# ap.CFLAGS += -DDC_GPS_TRIGGER_STOP=3
+
+-->
+
+<module name="digital_cam_servo" dir="digital_cam">
+
+  <header>
+    <file name="servo_cam_ctrl.h"/>
+  </header>
+
+  <init fun="servo_cam_ctrl_init()"/>
+
+  <periodic fun="servo_cam_ctrl_periodic()" freq="4" autorun="TRUE"/>
+
+  <makefile >
+
+    <define name="DIGITAL_CAM" />
+    <file name="servo_cam_ctrl.c"/>
+    <file name="dc.c"/>
+    <define name="SENSOR_SYNC_SEND" value="1" />
+
+  </makefile>
+
+
+</module>
+

sw/airborne/boards/navgo/imu_navgo.c

@@ -74,13 +74,16 @@ void imu_impl_init(void)
 void imu_periodic( void )
 {
   // Start reading the latest gyroscope data
-  itg3200_periodic();
+  Itg3200Periodic();
 
   // Start reading the latest accelerometer data
-  adxl345_periodic();
+  // Periodicity is automatically adapted
+  // 3200 is the maximum output freq corresponding to the parameter 0xF
+  // A factor 2 is applied to reduice the delay without overloading the i2c
+  RunOnceEvery((PERIODIC_FREQUENCY/(2*3200>>(0xf-ADXL345_BW_RATE))),Adxl345Periodic());
 
-  // Read HMC58XX at 50Hz (main loop for rotorcraft: 512Hz)
+  // Read HMC58XX at 100Hz (main loop for rotorcraft: 512Hz)
-  RunOnceEvery(10,hmc58xx_periodic());
+  RunOnceEvery(5,Hmc58xxPeriodic());
 
   //RunOnceEvery(20,imu_navgo_downlink_raw());
 }

sw/airborne/boards/navgo_1.0.h

@@ -51,6 +51,16 @@
 
 #define DefaultVoltageOfAdc(adc) (0.01837*adc)
 
+/* SPI (SSP) */
+#define SPI_SELECT_SLAVE0_PORT 0
+#define SPI_SELECT_SLAVE0_PIN 20
+
+#define SPI1_DRDY_PINSEL PINSEL1
+#define SPI1_DRDY_PINSEL_BIT   0
+#define SPI1_DRDY_PINSEL_VAL   1
+#define SPI1_DRDY_EINT         0
+#define SPI1_DRDY_VIC_IT       VIC_EINT0
+
 /* PWM0 (internal PWM5) */
 /* P0.21 */
 #define PWM0_PINSEL PINSEL1
@@ -65,4 +75,4 @@
 
 #define BOARD_HAS_BARO
 
-#endif /* CONFIG_UMARIM_V1_0_H */
+#endif /* CONFIG_NAVGO_V1_0_H */

sw/airborne/boards/umarim/imu_umarim.c

@@ -69,10 +69,10 @@ void imu_impl_init(void)
 void imu_periodic( void )
 {
   // Start reading the latest gyroscope data
-  itg3200_periodic();
+  Itg3200Periodic();
 
   // Start reading the latest accelerometer data
-  adxl345_periodic();
+  Adxl345Periodic();
 
   //RunOnceEvery(10,imu_umarim_downlink_raw());
 }

sw/airborne/modules/digital_cam/servo_cam_ctrl.c

@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#include "servo_cam_ctrl.h"
+
+// Button Timer
+uint8_t dc_timer;
+
+
+
+

sw/airborne/modules/digital_cam/servo_cam_ctrl.h

@@ -0,0 +1,132 @@
+/*
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+
+/** \file servo_cam_ctrl.h
+ *  \brief Digital Camera Control
+ *
+ * Provides the control of the shutter and the zoom of a digital camera
+ * through standard binary IOs of the board.
+ *
+ * Configuration:
+ *  Since the API of led.h is used, connected pins must be defined as led
+ *  numbers (usually in the airframe file):
+ *   <define name="DC_SHUTTER_SERVO" value="6"/>
+ *   <define name="DC_ZOOM_IN_SERVO" value="7"/>
+ *   <define name="DC_ZOOM_OUT_SERVO" value="8"/>
+ *   <define name="DC_POWER_SERVO" value="9"/>
+ *  Related bank and pin must also be defined:
+ *   <define name="LED_6_BANK" value="0"/>
+ *   <define name="LED_6_PIN" value="2"/>
+ *  The required initialization (dc_init()) and periodic (4Hz) process
+ *
+ */
+
+#ifndef servo_cam_ctrl_H
+#define servo_cam_ctrl_H
+
+// Include Standard Camera Control Interface
+#include "dc.h"
+
+// Include Servo and airframe servo channels
+#include "std.h"
+#include "commands.h"
+#include "generated/airframe.h"
+
+extern uint8_t dc_timer;
+
+static inline void servo_cam_ctrl_init(void)
+{
+  // Call common DC init
+  dc_init();
+
+  // Do LED specific DC init
+  dc_timer = 0;
+}
+
+#define DC_PUSH(X) 	commands[X] = -MAX_PPRZ;
+#define DC_RELEASE(X) 	commands[X] =  MAX_PPRZ;
+
+#ifndef DC_SHUTTER_DELAY
+#define DC_SHUTTER_DELAY 2  /* 4Hz -> 0.5s */
+#endif
+
+#ifndef DC_SHUTTER_SERVO
+#error DC: Please specify at least a SHUTTER SERVO
+#endif
+
+/* Command The Camera */
+static inline void dc_send_command(uint8_t cmd)
+{
+  dc_timer = DC_SHUTTER_DELAY;
+  switch (cmd)
+  {
+    case DC_SHOOT:
+      DC_PUSH(DC_SHUTTER_SERVO);
+      dc_send_shot_position();
+      break;
+#ifdef DC_ZOOM_IN_SERVO
+    case DC_TALLER:
+      DC_PUSH(DC_ZOOM_IN_SERVO);
+      break;
+#endif
+#ifdef DC_ZOOM_OUT_SERVO
+    case DC_WIDER:
+      DC_PUSH(DC_ZOOM_OUT_SERVO);
+      break;
+#endif
+#ifdef DC_POWER_SERVO
+    case DC_POWER:
+      DC_PUSH(DC_POWER_SERVO);
+      break;
+#endif
+  }
+}
+
+
+/* 4Hz Periodic */
+static inline void servo_cam_ctrl_periodic( void )
+{
+  if (dc_timer) {
+    dc_timer--;
+  } else {
+    DC_RELEASE(DC_SHUTTER_SERVO);
+#ifdef DC_ZOOM_IN_SERVO
+    DC_RELEASE(DC_ZOOM_IN_SERVO);
+#endif
+#ifdef DC_ZOOM_OUT_SERVO
+    DC_RELEASE(DC_ZOOM_OUT_SERVO);
+#endif
+#ifdef DC_POWER_SERVO
+    DC_RELEASE(DC_POWER_SERVO);
+#endif
+  }
+
+  // Common DC Periodic task
+  dc_periodic_4Hz();
+}
+
+
+
+
+
+#endif // DC_H

sw/airborne/peripherals/adxl345.extra_i2c.h

@@ -67,6 +67,8 @@
 #define ADXL345_I2C_DEVICE i2c1
 #endif
 
+// Config done flag
+extern bool_t adxl345_initialized;
 // Data ready flag
 extern volatile bool_t adxl345_data_available;
 // Data vector
@@ -78,9 +80,16 @@ extern struct i2c_transaction adxl345_trans;
 
 // Functions
 extern void adxl345_init(void);
-extern void adxl345_periodic(void);
+extern void adxl345_configure(void);
+extern void adxl345_read(void);
 extern void adxl345_event(void);
 
+// Macro for using ADXL345 in periodic function
+#define Adxl345Periodic() {                 \
+  if (adxl345_initialized) adxl345_read();  \
+  else adxl345_configure();                 \
+}
+
 #define AccelEvent(_handler) {     \
     adxl345_event();              \
     if (adxl345_data_available) { \

sw/airborne/peripherals/adxl345.i2c.c

@@ -62,21 +62,25 @@ static void adxl345_send_config(void)
       adxl345_i2c_trans.buf[0] = ADXL345_REG_BW_RATE;
       adxl345_i2c_trans.buf[1] = ADXL345_BW_RATE;
       I2CTransmit(ADXL345_I2C_DEVICE, adxl345_i2c_trans, ADXL345_I2C_ADDR, 2);
+      adxl345_init_status++;
       break;
     case ADXL_CONF_POWER:
       adxl345_i2c_trans.buf[0] = ADXL345_REG_POWER_CTL;
       adxl345_i2c_trans.buf[1] = ADXL345_POWER_CTL;
       I2CTransmit(ADXL345_I2C_DEVICE, adxl345_i2c_trans, ADXL345_I2C_ADDR, 2);
+      adxl345_init_status++;
       break;
     case ADXL_CONF_INT:
       adxl345_i2c_trans.buf[0] = ADXL345_REG_INT_ENABLE;
       adxl345_i2c_trans.buf[1] = ADXL345_INT_ENABLE;
       I2CTransmit(ADXL345_I2C_DEVICE, adxl345_i2c_trans, ADXL345_I2C_ADDR, 2);
+      adxl345_init_status++;
       break;
     case ADXL_CONF_FORMAT:
       adxl345_i2c_trans.buf[0] = ADXL345_REG_DATA_FORMAT;
       adxl345_i2c_trans.buf[1] = ADXL345_DATA_FORMAT;
       I2CTransmit(ADXL345_I2C_DEVICE, adxl345_i2c_trans, ADXL345_I2C_ADDR, 2);
+      adxl345_init_status++;
       break;
     case ADXL_CONF_DONE:
       adxl345_initialized = TRUE;
@@ -87,24 +91,23 @@ static void adxl345_send_config(void)
   }
 }
 
-void adxl345_periodic(void)
+// Configure
+void adxl345_configure(void)
 {
-  if (!adxl345_initialized) {
+  if (adxl345_init_status == ADXL_CONF_UNINIT) {
-    // Configure
+    adxl345_init_status++;
     if (adxl345_i2c_trans.status == I2CTransSuccess || adxl345_i2c_trans.status == I2CTransDone) {
-      adxl345_init_status++;
       adxl345_send_config();
     }
-    if (adxl345_i2c_trans.status == I2CTransFailed) {
-      adxl345_send_config(); // Retry config
-    }
   }
-  else {
+}
-    // Normal reading
+
-    if (adxl345_i2c_trans.status == I2CTransDone){
+// Normal reading
-      adxl345_i2c_trans.buf[0] = ADXL345_REG_DATA_X0;
+void adxl345_read(void)
-      I2CTransceive(ADXL345_I2C_DEVICE, adxl345_i2c_trans, ADXL345_I2C_ADDR, 1, 6);
+{
-    }
+  if (adxl345_initialized && adxl345_i2c_trans.status == I2CTransDone) {
+    adxl345_i2c_trans.buf[0] = ADXL345_REG_DATA_X0;
+    I2CTransceive(ADXL345_I2C_DEVICE, adxl345_i2c_trans, ADXL345_I2C_ADDR, 1, 6);
   }
 }
 
@@ -125,6 +128,17 @@ void adxl345_event(void)
       adxl345_i2c_trans.status = I2CTransDone;
     }
   }
+  else if (!adxl345_initialized && adxl345_init_status != ADXL_CONF_UNINIT) { // Configuring
+    if (adxl345_i2c_trans.status == I2CTransSuccess || adxl345_i2c_trans.status == I2CTransDone) {
+      adxl345_i2c_trans.status = I2CTransDone;
+      adxl345_send_config();
+    }
+    if (adxl345_i2c_trans.status == I2CTransFailed) {
+      adxl345_init_status--;
+      adxl345_i2c_trans.status = I2CTransDone;
+      adxl345_send_config(); // Retry config (TODO max retry)
+    }
+  }
 }
 
 

sw/airborne/peripherals/hmc58xx.c

@@ -61,16 +61,19 @@ static void hmc58xx_send_config(void)
       hmc58xx_i2c_trans.buf[0] = HMC58XX_REG_CFGA;
       hmc58xx_i2c_trans.buf[1] = HMC58XX_CRA;
       I2CTransmit(HMC58XX_I2C_DEVICE, hmc58xx_i2c_trans, HMC58XX_ADDR, 2);
+      hmc58xx_init_status++;
       break;
     case HMC_CONF_CRB:
       hmc58xx_i2c_trans.buf[0] = HMC58XX_REG_CFGB;
       hmc58xx_i2c_trans.buf[1] = HMC58XX_CRB;
       I2CTransmit(HMC58XX_I2C_DEVICE, hmc58xx_i2c_trans, HMC58XX_ADDR, 2);
+      hmc58xx_init_status++;
       break;
     case HMC_CONF_MODE:
       hmc58xx_i2c_trans.buf[0] = HMC58XX_REG_MODE;
       hmc58xx_i2c_trans.buf[1] = HMC58XX_MD;
       I2CTransmit(HMC58XX_I2C_DEVICE, hmc58xx_i2c_trans, HMC58XX_ADDR, 2);
+      hmc58xx_init_status++;
       break;
     case HMC_CONF_DONE:
       hmc58xx_initialized = TRUE;
@@ -81,24 +84,23 @@ static void hmc58xx_send_config(void)
   }
 }
 
-void hmc58xx_periodic(void)
+// Configure
+void hmc58xx_configure(void)
 {
-  if (!hmc58xx_initialized) {
+  if (hmc58xx_init_status == HMC_CONF_UNINIT) {
-    // Configure
+    hmc58xx_init_status++;
     if (hmc58xx_i2c_trans.status == I2CTransSuccess || hmc58xx_i2c_trans.status == I2CTransDone) {
-      hmc58xx_init_status++;
       hmc58xx_send_config();
     }
-    if (hmc58xx_i2c_trans.status == I2CTransFailed) {
-      hmc58xx_send_config(); // Retry config
-    }
   }
-  else {
+}
-    // Normal reading
+
-    if (hmc58xx_i2c_trans.status == I2CTransDone){
+// Normal reading
-      hmc58xx_i2c_trans.buf[0] = HMC58XX_REG_DATXM;
+void hmc58xx_read(void)
-      I2CTransceive(HMC58XX_I2C_DEVICE, hmc58xx_i2c_trans, HMC58XX_ADDR, 1, 6);
+{
-    }
+  if (hmc58xx_initialized && hmc58xx_i2c_trans.status == I2CTransDone){
+    hmc58xx_i2c_trans.buf[0] = HMC58XX_REG_DATXM;
+    I2CTransceive(HMC58XX_I2C_DEVICE, hmc58xx_i2c_trans, HMC58XX_ADDR, 1, 6);
   }
 }
 
@@ -118,5 +120,16 @@ void hmc58xx_event(void)
       hmc58xx_i2c_trans.status = I2CTransDone;
     }
   }
+  else if (!hmc58xx_initialized && hmc58xx_init_status != HMC_CONF_UNINIT) { // Configuring
+    if (hmc58xx_i2c_trans.status == I2CTransSuccess || hmc58xx_i2c_trans.status == I2CTransDone) {
+      hmc58xx_i2c_trans.status = I2CTransDone;
+      hmc58xx_send_config();
+    }
+    if (hmc58xx_i2c_trans.status == I2CTransFailed) {
+      hmc58xx_init_status--;
+      hmc58xx_i2c_trans.status = I2CTransDone;
+      hmc58xx_send_config(); // Retry config (TODO max retry)
+    }
+  }
 }
 

sw/airborne/peripherals/hmc58xx.h

@@ -70,6 +70,8 @@
 #define HMC58XX_I2C_DEVICE i2c2
 #endif
 
+// Config done flag
+extern bool_t hmc58xx_initialized;
 // Data ready flag
 extern volatile bool_t hmc58xx_data_available;
 // Data vector
@@ -81,9 +83,16 @@ extern struct i2c_transaction hmc58xx_i2c_trans;
 
 // Functions
 extern void hmc58xx_init(void);
-extern void hmc58xx_periodic(void);
+extern void hmc58xx_configure(void);
+extern void hmc58xx_read(void);
 extern void hmc58xx_event(void);
 
+// Macro for using HMC58XX in periodic function
+#define Hmc58xxPeriodic() {                 \
+  if (hmc58xx_initialized) hmc58xx_read();  \
+  else hmc58xx_configure();                 \
+}
+
 #define MagEvent(_m_handler) {    \
     hmc58xx_event();              \
     if (hmc58xx_data_available) { \

sw/airborne/peripherals/itg3200.c

@@ -62,21 +62,25 @@ static void itg3200_send_config(void)
       itg3200_i2c_trans.buf[0] = ITG3200_REG_SMPLRT_DIV;
       itg3200_i2c_trans.buf[1] = ITG3200_SMPLRT_DIV;
       I2CTransmit(ITG3200_I2C_DEVICE, itg3200_i2c_trans, ITG3200_I2C_ADDR, 2);
+      itg3200_init_status++;
       break;
     case ITG_CONF_DF:
       itg3200_i2c_trans.buf[0] = ITG3200_REG_DLPF_FS;
       itg3200_i2c_trans.buf[1] = ITG3200_DLPF_FS;
       I2CTransmit(ITG3200_I2C_DEVICE, itg3200_i2c_trans, ITG3200_I2C_ADDR, 2);
+      itg3200_init_status++;
       break;
     case ITG_CONF_INT:
       itg3200_i2c_trans.buf[0] = ITG3200_REG_INT_CFG;
       itg3200_i2c_trans.buf[1] = ITG3200_INT_CFG;
       I2CTransmit(ITG3200_I2C_DEVICE, itg3200_i2c_trans, ITG3200_I2C_ADDR, 2);
+      itg3200_init_status++;
       break;
     case ITG_CONF_PWR:
       itg3200_i2c_trans.buf[0] = ITG3200_REG_PWR_MGM;
       itg3200_i2c_trans.buf[1] = ITG3200_PWR_MGM;
       I2CTransmit(ITG3200_I2C_DEVICE, itg3200_i2c_trans, ITG3200_I2C_ADDR, 2);
+      itg3200_init_status++;
       break;
     case ITG_CONF_DONE:
       itg3200_initialized = TRUE;
@@ -87,24 +91,23 @@ static void itg3200_send_config(void)
   }
 }
 
-void itg3200_periodic(void)
+// Configure
+void itg3200_configure(void)
 {
-  if (!itg3200_initialized) {
+  if (itg3200_init_status == ITG_CONF_UNINIT) {
-    // Configure
+    itg3200_init_status++;
     if (itg3200_i2c_trans.status == I2CTransSuccess || itg3200_i2c_trans.status == I2CTransDone) {
-      itg3200_init_status++;
       itg3200_send_config();
     }
-    if (itg3200_i2c_trans.status == I2CTransFailed) {
-      itg3200_send_config(); // Retry config
-    }
   }
-  else {
+}
-    // Normal reading
+
-    if (itg3200_i2c_trans.status == I2CTransDone) {
+// Normal reading
-      itg3200_i2c_trans.buf[0] = ITG3200_REG_INT_STATUS;
+void itg3200_read(void)
-      I2CTransceive(ITG3200_I2C_DEVICE, itg3200_i2c_trans, ITG3200_I2C_ADDR, 1, 9);
+{
-    }
+  if (itg3200_initialized && itg3200_i2c_trans.status == I2CTransDone) {
+    itg3200_i2c_trans.buf[0] = ITG3200_REG_INT_STATUS;
+    I2CTransceive(ITG3200_I2C_DEVICE, itg3200_i2c_trans, ITG3200_I2C_ADDR, 1, 9);
   }
 }
 
@@ -128,5 +131,16 @@ void itg3200_event(void)
       itg3200_i2c_trans.status = I2CTransDone;
     }
   }
+  else if (!itg3200_initialized && itg3200_init_status != ITG_CONF_UNINIT) { // Configuring
+    if (itg3200_i2c_trans.status == I2CTransSuccess || itg3200_i2c_trans.status == I2CTransDone) {
+      itg3200_i2c_trans.status = I2CTransDone;
+      itg3200_send_config();
+    }
+    if (itg3200_i2c_trans.status == I2CTransFailed) {
+      itg3200_init_status--;
+      itg3200_i2c_trans.status = I2CTransDone;
+      itg3200_send_config(); // Retry config (TODO max retry)
+    }
+  }
 }
 

sw/airborne/peripherals/itg3200.extra.h

@@ -64,6 +64,8 @@
 #define ITG3200_I2C_DEVICE i2c1
 #endif
 
+// Config done flag
+extern bool_t itg3200_initialized;
 // Data ready flag
 extern volatile bool_t itg3200_data_available;
 // Data vector
@@ -75,9 +77,16 @@ extern struct i2c_transaction itg3200_trans;
 
 // Functions
 extern void itg3200_init(void);
-extern void itg3200_periodic(void);
+extern void itg3200_configure(void);
+extern void itg3200_read(void);
 extern void itg3200_event(void);
 
+// Macro for using ITG3200 in periodic function
+#define Itg3200Periodic() {                 \
+  if (itg3200_initialized) itg3200_read();  \
+  else itg3200_configure();                 \
+}
+
 #define GyroEvent(_handler) {     \
     itg3200_event();              \
     if (itg3200_data_available) { \

sw/ground_segment/cockpit/gcs.ml

@@ -359,6 +359,7 @@ let options =
    "-no_google_http", Arg.Unit (fun () -> Gm.set_policy Gm.NoHttp), "Switch off Google Maps downloading";
    "-ortho", Arg.Set_string get_bdortho, "IGN tiles path";
    "-osm", Arg.Unit (fun () -> Gm.set_maps_source Gm.OSM), "Use OpenStreetMap database (default is Google)";
+   "-ms", Arg.Unit (fun () -> Gm.set_maps_source Gm.MS), "Use Microsoft maps database (default is Google)";
    "-particules", Arg.Set display_particules, "Display particules";
     "-plugin", Arg.Set_string  plugin_window, "External X application (launched with the id of the plugin window as argument)";
    "-ref", Arg.Set_string geo_ref, "Geographic ref (e.g. 'WGS84 43.605 1.443')";
@@ -404,10 +405,13 @@ let create_geomap = fun switch_fullscreen editor_frame ->
   let maps_source_menu = map_menu_fact#add_submenu "Maps Source" in
   let maps_source_fact = new GMenu.factory maps_source_menu in
   let group = ref None in
+  (* Determine a decent default selected item *)
+  let active_maps_source = Gm.get_maps_source () in
   List.iter
     (fun maps_source ->
       let callback = fun b -> if b then Gm.set_maps_source maps_source in
-      let menu_item = maps_source_fact#add_radio_item ~group: !group ~callback (Gm.string_of_maps_source maps_source) in
+      let active = (maps_source = active_maps_source) in
+      let menu_item = maps_source_fact#add_radio_item ~group: !group ~active ~callback (Gm.string_of_maps_source maps_source) in
       group := menu_item#group)
     Gm.maps_sources;
 

sw/lib/ocaml/gm.ml

@@ -48,6 +48,7 @@ let string_of_maps_source = function
 
 let maps_source = ref Google
 let set_maps_source = fun s -> maps_source := s
+let get_maps_source = fun () -> !maps_source
 
 let mkdir = fun d ->
   if not (Sys.file_exists d) then

sw/lib/ocaml/gm.mli

@@ -38,6 +38,9 @@ type tile_t = {
 type maps_source = Google | OSM | MS
 val string_of_maps_source : maps_source -> string
 val maps_sources : maps_source list
+val set_maps_source : maps_source -> unit
+val get_maps_source : unit -> maps_source
+(** Initialized to Google *)
 
 val tile_of_geo : Latlong.geographic -> int -> tile_t
 (** [tile_string geo zoom] Returns the tile description containing a
@@ -56,9 +59,6 @@ val set_policy : policy -> unit
 val get_policy : unit -> policy
 (** Initialized to CacheOrHttp using cache and http access *)
 
-val set_maps_source : maps_source -> unit
-(** Initialized to Google *)
-
 exception Not_available
 
 val get_image : string -> tile_t * string