From eb6bce26b54683bb29cead10132a38cb51419ecd Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Thu, 21 Feb 2013 13:46:52 +0100
Subject: [PATCH] [peripherals] hmc58xx: fix typo in comment and make explict
 separate defines for Y,Z data regs for HMC5843/HMC5883

---
 sw/airborne/peripherals/hmc58xx.c      |  2 +-
 sw/airborne/peripherals/hmc58xx_regs.h | 22 ++++++++++++++++++----
 2 files changed, 19 insertions(+), 5 deletions(-)

diff --git a/sw/airborne/peripherals/hmc58xx.c b/sw/airborne/peripherals/hmc58xx.c
index 873f045739..d320b37898 100644
--- a/sw/airborne/peripherals/hmc58xx.c
+++ b/sw/airborne/peripherals/hmc58xx.c
@@ -145,7 +145,7 @@ void hmc58xx_event(struct Hmc58xx *hmc)
         hmc->data.vect.y = Int16FromBuf(hmc->i2c_trans.buf,2);
         hmc->data.vect.z = Int16FromBuf(hmc->i2c_trans.buf,4);
       }
-      /* HMC5843 has xzy order of axes in returned data */
+      /* HMC5883 has xzy order of axes in returned data */
       else {
         hmc->data.vect.x = Int16FromBuf(hmc->i2c_trans.buf,0);
         hmc->data.vect.y = Int16FromBuf(hmc->i2c_trans.buf,4);
diff --git a/sw/airborne/peripherals/hmc58xx_regs.h b/sw/airborne/peripherals/hmc58xx_regs.h
index a570eda15e..7eb9a1aa2f 100644
--- a/sw/airborne/peripherals/hmc58xx_regs.h
+++ b/sw/airborne/peripherals/hmc58xx_regs.h
@@ -36,10 +36,24 @@
 #define HMC58XX_REG_MODE   0x02
 #define HMC58XX_REG_DATXM  0x03
 #define HMC58XX_REG_DATXL  0x04
-#define HMC58XX_REG_DATYM  0x05
-#define HMC58XX_REG_DATYL  0x06
-#define HMC58XX_REG_DATZM  0x07
-#define HMC58XX_REG_DATZL  0x08
+
+/* Warning!
+ * The HMC5843 and HMC5883 differ here.
+ * - HMC5843 order: Y,Z
+ * - HMC5883 order: Z,Y
+ * So we make defines for each version explicitly.
+ */
+#define HMC5843_REG_DATYM  0x05
+#define HMC5843_REG_DATYL  0x06
+#define HMC5843_REG_DATZM  0x07
+#define HMC5843_REG_DATZL  0x08
+
+#define HMC5883_REG_DATZM  0x05
+#define HMC5883_REG_DATZL  0x06
+#define HMC5883_REG_DATYM  0x07
+#define HMC5883_REG_DATYL  0x08
+
+
 #define HMC58XX_REG_STATUS 0x09
 #define HMC58XX_REG_IDA    0x0A
 #define HMC58XX_REG_IDB    0x0B