From c036b27e0992447f602840887d5b6902c943b99d Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Wed, 29 Jul 2015 23:57:05 +0200
Subject: [PATCH] [modules] mag_hmc58xx: configure MAG_HMC58XX_I2C_DEV

and disable periodic IMU_MAG_RAW report by default
---
 conf/airframes/ENAC/fixed-wing/funjet2.xml |  3 +--
 conf/airframes/ENAC/fixed-wing/jp.xml      |  3 +--
 conf/modules/mag_hmc58xx.xml               | 12 +++++++++++-
 sw/airborne/modules/sensors/mag_hmc58xx.c  |  6 +++---
 4 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index 0bc322e297..1ee4713b8c 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -13,7 +13,7 @@
   <modules>
     <load name="mag_hmc58xx.xml">
       <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
-      <define name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
+      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
     </load>
     <!--load name="sys_mon.xml"/-->
     <!--load name="light.xml">
@@ -24,7 +24,6 @@
   </modules>
 
   <firmware name="fixedwing">
-    <define name="USE_I2C2"/>
     <configure name="PERIODIC_FREQUENCY" value="125"/>
 
     <target name="ap" board="apogee_1.0"/>
diff --git a/conf/airframes/ENAC/fixed-wing/jp.xml b/conf/airframes/ENAC/fixed-wing/jp.xml
index ea0b33f7ba..431a7c0ba3 100644
--- a/conf/airframes/ENAC/fixed-wing/jp.xml
+++ b/conf/airframes/ENAC/fixed-wing/jp.xml
@@ -5,7 +5,7 @@
   <modules>
     <load name="mag_hmc58xx.xml">
       <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
-      <define name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
+      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
     </load>
     <load name="airspeed_adc.xml">
       <configure name="ADC_AIRSPEED" value="ADC_1"/>
@@ -18,7 +18,6 @@
 
   <firmware name="fixedwing">
     <define name="USE_I2C1"/>
-    <define name="USE_I2C2"/>
     <configure name="PERIODIC_FREQUENCY" value="125"/>
 
     <target name="ap" board="apogee_1.0_chibios">
diff --git a/conf/modules/mag_hmc58xx.xml b/conf/modules/mag_hmc58xx.xml
index 3c033a6f16..491a4c202a 100644
--- a/conf/modules/mag_hmc58xx.xml
+++ b/conf/modules/mag_hmc58xx.xml
@@ -8,17 +8,27 @@
     </description>
     <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1" description="I2C device to use (e.g. i2c1)"/>
     <define name="MODULE_HMC58XX_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement (default: FALSE)"/>
+    <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to imu and send as ABI message (default: FALSE)"/>
   </doc>
   <header>
     <file name="mag_hmc58xx.h"/>
   </header>
   <init fun="mag_hmc58xx_module_init()"/>
   <periodic fun="mag_hmc58xx_module_periodic()" freq="60"/>
-  <periodic fun="mag_hmc58xx_report()" freq="10" autorun="TRUE"/>
+  <periodic fun="mag_hmc58xx_report()" freq="10" autorun="FALSE"/>
   <event fun="mag_hmc58xx_module_event()"/>
   <makefile target="ap">
     <file name="mag_hmc58xx.c"/>
     <file name="hmc58xx.c" dir="peripherals"/>
+
+    <raw>
+      ifeq ($(MAG_HMC58XX_I2C_DEV),)
+        $(error mag_hmc58xx module error: please configure MAG_HMC58XX_I2C_DEV)
+      endif
+      MAG_HMC58XX_I2C_DEV_UPPER=$(shell echo $(MAG_HMC58XX_I2C_DEV) | tr a-z A-Z)
+    </raw>
     <define name="USE_I2C"/>
+    <define name="USE_$(MAG_HMC58XX_I2C_DEV_UPPER)"/>
+    <define name="MAG_HMC58XX_I2C_DEV" value="$(MAG_HMC58XX_I2C_DEV)"/>
   </makefile>
 </module>
diff --git a/sw/airborne/modules/sensors/mag_hmc58xx.c b/sw/airborne/modules/sensors/mag_hmc58xx.c
index f3ed0cd50c..36569b2054 100644
--- a/sw/airborne/modules/sensors/mag_hmc58xx.c
+++ b/sw/airborne/modules/sensors/mag_hmc58xx.c
@@ -92,9 +92,9 @@ void mag_hmc58xx_module_event(void)
 void mag_hmc58xx_report(void)
 {
   struct Int32Vect3 mag = {
-    (int32_t)(mag_hmc58xx.data.vect.x),
-    (int32_t)(mag_hmc58xx.data.vect.y),
-    (int32_t)(mag_hmc58xx.data.vect.z)
+    (int32_t)(mag_hmc58xx.data.value[HMC58XX_CHAN_X]),
+    (int32_t)(mag_hmc58xx.data.value[HMC58XX_CHAN_Y]),
+    (int32_t)(mag_hmc58xx.data.value[HMC58XX_CHAN_Z])
   };
   DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice, &mag.x, &mag.y, &mag.z);
 }