From ad1b7dd2164f5b0e4e63dfdc6c87b962cbfb2b85 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Sun, 8 Jun 2014 12:28:38 +0100
Subject: [PATCH] Update Olimexo to support a 10DOF board.

Sensors on it are: MPU6050 HMC5883L BMP085.

BMP085 not connected to GPIO pins.
---
 Makefile                            |  2 ++
 src/main/drivers/barometer_bmp085.c | 16 ++++++++++------
 src/main/sensors/initialisation.c   | 21 +++++++++++++++------
 src/main/target/OLIMEXINO/target.h  |  6 ++++--
 4 files changed, 31 insertions(+), 14 deletions(-)

diff --git a/Makefile b/Makefile
index 8430c53ead..d1c07d814a 100644
--- a/Makefile
+++ b/Makefile
@@ -198,8 +198,10 @@ OLIMEXINO_SRC	 = startup_stm32f10x_md_gcc.S \
 		   drivers/accgyro_mpu6050.c \
 		   drivers/adc.c \
 		   drivers/adc_stm32f10x.c \
+		   drivers/barometer_bmp085.c \
 		   drivers/bus_i2c_stm32f10x.c \
 		   drivers/bus_spi.c \
+		   drivers/compass_hmc5883l.c \
 		   drivers/gpio_stm32f10x.c \
 		   drivers/light_led_stm32f10x.c \
 		   drivers/pwm_mapping.c \
diff --git a/src/main/drivers/barometer_bmp085.c b/src/main/drivers/barometer_bmp085.c
index 9b395c3d5a..a9c4a10cf6 100755
--- a/src/main/drivers/barometer_bmp085.c
+++ b/src/main/drivers/barometer_bmp085.c
@@ -30,8 +30,10 @@
 static bool convDone = false;
 static uint16_t convOverrun = 0;
 
+#ifdef BARO_GPIO
 #define BARO_OFF                 digitalLo(BARO_GPIO, BARO_PIN);
 #define BARO_ON                  digitalHi(BARO_GPIO, BARO_PIN);
+#endif
 
 // EXTI14 for BMP085 End of Conversion Interrupt
 void EXTI15_10_IRQHandler(void)
@@ -111,9 +113,6 @@ static void bmp085_calculate(int32_t *pressure, int32_t *temperature);
 
 bool bmp085Detect(baro_t *baro)
 {
-    gpio_config_t gpio;
-    EXTI_InitTypeDef EXTI_InitStructure;
-    NVIC_InitTypeDef NVIC_InitStructure;
     uint8_t data;
 
     // Not supported with this frequency
@@ -123,6 +122,11 @@ bool bmp085Detect(baro_t *baro)
     if (bmp085InitDone)
         return true;
 
+#if defined(BARO) && defined(BARO_GPIO)
+    EXTI_InitTypeDef EXTI_InitStructure;
+    NVIC_InitTypeDef NVIC_InitStructure;
+    gpio_config_t gpio;
+
     RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
 
     // PC13, PC14 (Barometer XCLR reset output, EOC input)
@@ -133,9 +137,7 @@ bool bmp085Detect(baro_t *baro)
     gpio.pin = Pin_14;
     gpio.mode = Mode_IN_FLOATING;
     gpioInit(GPIOC, &gpio);
-#ifdef BARO
     BARO_ON;
-#endif
 
     // EXTI interrupt for barometer EOC
     gpioExtiLineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource14);
@@ -153,6 +155,7 @@ bool bmp085Detect(baro_t *baro)
     NVIC_Init(&NVIC_InitStructure);
 
     delay(20); // datasheet says 10ms, we'll be careful and do 20. this is after ms5611 driver kills us, so longer the better.
+#endif
 
     i2cRead(BMP085_I2C_ADDR, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */
     bmp085.chip_id = BMP085_GET_BITSLICE(data, BMP085_CHIP_ID);
@@ -173,7 +176,8 @@ bool bmp085Detect(baro_t *baro)
         baro->calculate = bmp085_calculate;
         return true;
     }
-#ifdef BARO
+
+#if defined(BARO) && defined(BARO_GPIO)
     BARO_OFF;
 #endif
     return false;
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 8bc59e06a0..297f9f845f 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -63,6 +63,8 @@
 #define USE_ACC_MMA8452
 #define USE_ACC_LSM303DLHC
 #define USE_ACC_MPU6050
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
 
 #ifdef NAZE
 #undef USE_ACC_LSM303DLHC
@@ -92,6 +94,7 @@
 #undef USE_ACC_BMA280
 #undef USE_ACC_MMA8452
 #undef USE_ACC_ADXL345
+#undef USE_BARO_MS5611
 #endif
 
 #ifdef CHEBUZZF3
@@ -281,15 +284,21 @@ retry:
 static void detectBaro()
 {
 #ifdef BARO
+#ifdef USE_BARO_MS5611
     // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
-    if (!ms5611Detect(&baro)) {
-        // ms5611 disables BMP085, and tries to initialize + check PROM crc. if this works, we have a baro
-        if (!bmp085Detect(&baro)) {
-            // if both failed, we don't have anything
-            sensorsClear(SENSOR_BARO);
-        }
+    if (ms5611Detect(&baro)) {
+        return;
     }
 #endif
+
+#ifdef USE_BARO_BMP085
+    // ms5611 disables BMP085, and tries to initialize + check PROM crc. if this works, we have a baro
+    if (bmp085Detect(&baro)) {
+        return;
+    }
+#endif
+    sensorsClear(SENSOR_BARO);
+#endif
 }
 
 void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
diff --git a/src/main/target/OLIMEXINO/target.h b/src/main/target/OLIMEXINO/target.h
index d1755c90be..6b0976d7ad 100644
--- a/src/main/target/OLIMEXINO/target.h
+++ b/src/main/target/OLIMEXINO/target.h
@@ -35,7 +35,9 @@
 #define LED1
 #endif
 
-#define GYRO
 #define ACC
+#define BARO
+#define GYRO
+#define MAG
 
-#define SENSORS_SET (SENSOR_ACC)
+#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)