{"action":"created","comment":{"url":"https://api.github.com/repos/betaflight/betaflight/pulls/comments/144827730","pull_request_review_id":69527014,"id":144827730,"diff_hunk":"@@ -145,80 +153,121 @@ static void hmc5883_extiHandler(extiCallbackRec_t* cb)\n }\n #endif\n \n-static void hmc5883lConfigureDataReadyInterruptHandling(void)\n+static void hmc5883lConfigureDataReadyInterruptHandling(magDev_t* mag)\n {\n #ifdef USE_MAG_DATA_READY_SIGNAL\n-\n-    if (!(hmc5883InterruptIO)) {\n+    if (mag->magIntExtiTag == IO_TAG_NONE) {\n         return;\n     }\n+\n+    const IO_t magIntIO = IOGetByTag(mag->magIntExtiTag);\n+\n #ifdef ENSURE_MAG_DATA_READY_IS_HIGH\n-    uint8_t status = IORead(hmc5883InterruptIO);\n+    uint8_t status = IORead(magIntIO);\n     if (!status) {\n         return;\n     }\n #endif\n \n-    EXTIHandlerInit(&hmc5883_extiCallbackRec, hmc5883_extiHandler);\n-    EXTIConfig(hmc5883InterruptIO, &hmc5883_extiCallbackRec, NVIC_PRIO_MAG_INT_EXTI, EXTI_Trigger_Rising);\n-    EXTIEnable(hmc5883InterruptIO, true);\n+#if defined (STM32F7)\n+    IOInit(magIntIO, OWNER_COMPASS_EXTI, 0);\n+    EXTIHandlerInit(&mag->exti, hmc5883_extiHandler);\n+    EXTIConfig(magIntIO, &gmag->exti, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL));\n+#else\n+    IOInit(magIntIO, OWNER_COMPASS_EXTI, 0);\n+    IOConfigGPIO(magIntIO, IOCFG_IN_FLOATING);\n+    EXTIHandlerInit(&mag->exti, hmc5883_extiHandler);\n+    EXTIConfig(magIntIO, &mag->exti, NVIC_PRIO_MAG_INT_EXTI, EXTI_Trigger_Rising);","path":"src/main/drivers/compass/compass_hmc5883l.c","position":139,"original_position":139,"commit_id":"4c7d8530cdf612e4557fb5418e26e3fd14b8f756","original_commit_id":"4c7d8530cdf612e4557fb5418e26e3fd14b8f756","user":{"login":"ledvinap","id":2318015,"avatar_url":"https://avatars2.githubusercontent.com/u/2318015?v=4","gravatar_id":"","url":"https://api.github.com/users/ledvinap","html_url":"https://github.com/ledvinap","followers_url":"https://api.github.com/users/ledvinap/followers","following_url":"https://api.github.com/users/ledvinap/following{/other_user}","gists_url":"https://api.github.com/users/ledvinap/gists{/gist_id}","starred_url":"https://api.github.com/users/ledvinap/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ledvinap/subscriptions","organizations_url":"https://api.github.com/users/ledvinap/orgs","repos_url":"https://api.github.com/users/ledvinap/repos","events_url":"https://api.github.com/users/ledvinap/events{/privacy}","received_events_url":"https://api.github.com/users/ledvinap/received_events","type":"User","site_admin":false},"body":"Just a note:\r\nF1,F3,F4 EXTIConfig may be eventually updated to handle IO configuration internally (to match F7)\r\n","created_at":"2017-10-16T12:04:25Z","updated_at":"2017-10-16T12:56:26Z","html_url":"https://github.com/betaflight/betaflight/pull/4317#discussion_r144827730","pull_request_url":"https://api.github.com/repos/betaflight/betaflight/pulls/4317","author_association":"NONE","_links":{"self":{"href":"https://api.github.com/repos/betaflight/betaflight/pulls/comments/144827730"},"html":{"href":"https://github.com/betaflight/betaflight/pull/4317#discussion_r144827730"},"pull_request":{"href":"https://api.github.com/repos/betaflight/betaflight/pulls/4317"}}},"pull_request":{"url":"https://api.github.com/repos/betaflight/betaflight/pulls/4317","id":145611734,"html_url":"https://github.com/betaflight/betaflight/pull/4317","diff_url":"https://github.com/betaflight/betaflight/pull/4317.diff","patch_url":"https://github.com/betaflight/betaflight/pull/4317.patch","issue_url":"https://api.github.com/repos/betaflight/betaflight/issues/4317","number":4317,"state":"open","locked":false,"title":"Configurable compass drivers based on jflyper's PR #3613","user":{"login":"MJ666","id":8107952,"avatar_url":"https://avatars1.githubusercontent.com/u/8107952?v=4","gravatar_id":"","url":"https://api.github.com/users/MJ666","html_url":"https://github.com/MJ666","followers_url":"https://api.github.com/users/MJ666/followers","following_url":"https://api.github.com/users/MJ666/following{/other_user}","gists_url":"https://api.github.com/users/MJ666/gists{/gist_id}","starred_url":"https://api.github.com/users/MJ666/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MJ666/subscriptions","organizations_url":"https://api.github.com/users/MJ666/orgs","repos_url":"https://api.github.com/users/MJ666/repos","events_url":"https://api.github.com/users/MJ666/events{/privacy}","received_events_url":"https://api.github.com/users/MJ666/received_events","type":"User","site_admin":false},"body":"Based on jflyper's PR #3613.\r\n\r\nThese drivers are successfully tested with the following boards:\r\n\r\nSPRacing F3 Mini (MPU9250 I2C, AK8975 and AK8963 driver with target change)\r\nAlienFlightNG F7 Aubis16 (ICM20602, AK8963 both SPI)\r\nAlienFlightNG F7 Quad Brushed board and my F7 Development Board (MPU2950 SPI)\r\n\r\nThe MW32 (Naze compatible) (no Mag is included anymore in the NAZE target. I was not able to create a working build with reduced functionality and the Mag added back in. The FC was not responding anymore to the BF Configurator)\r\n\r\nThis means the AK8963 and AK8975 part is already well tested. The HMC8583L (I2C and SPI) drivers still need to be tested. I don't have any hardware for this part of the tests.\r\n\r\nThe AlienFlightNG F7 target has support for an MCU9250 (SPI) or the AK8963 (SPI) with another Gyro chip (SPI) in the same target. Both combinations are seamlessly autodetected. The Gyro and Mag sensors are connected to different SPI busses. The SPI Mag is sharing the SPI bus with the Baro without issues (AlienFlightNG F7 Anubis16).\r\n","created_at":"2017-10-10T06:53:10Z","updated_at":"2017-10-16T12:56:26Z","closed_at":null,"merged_at":null,"merge_commit_sha":"6ec02bfd2341fec09854b686457b8114c9dd644b","assignee":{"login":"martinbudden","id":194586,"avatar_url":"https://avatars2.githubusercontent.com/u/194586?v=4","gravatar_id":"","url":"https://api.github.com/users/martinbudden","html_url":"https://github.com/martinbudden","followers_url":"https://api.github.com/users/martinbudden/followers","following_url":"https://api.github.com/users/martinbudden/following{/other_user}","gists_url":"https://api.github.com/users/martinbudden/gists{/gist_id}","starred_url":"https://api.github.com/users/martinbudden/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/martinbudden/subscriptions","organizations_url":"https://api.github.com/users/martinbudden/orgs","repos_url":"https://api.github.com/users/martinbudden/repos","events_url":"https://api.github.com/users/martinbudden/events{/privacy}","received_events_url":"https://api.github.com/users/martinbudden/received_events","type":"User","site_admin":false},"assignees":[{"login":"martinbudden","id":194586,"avatar_url":"https://avatars2.githubusercontent.com/u/194586?v=4","gravatar_id":"","url":"https://api.github.com/users/martinbudden","html_url":"https://github.com/martinbudden","followers_url":"https://api.github.com/users/martinbudden/followers","following_url":"https://api.github.com/users/martinbudden/following{/other_user}","gists_url":"https://api.github.com/users/martinbudden/gists{/gist_id}","starred_url":"https://api.github.com/users/martinbudden/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/martinbudden/subscriptions","organizations_url":"https://api.github.com/users/martinbudden/orgs","repos_url":"https://api.github.com/users/martinbudden/repos","events_url":"https://api.github.com/users/martinbudden/events{/privacy}","received_events_url":"https://api.github.com/users/martinbudden/received_events","type":"User","site_admin":false},{"login":"digitalentity","id":11059099,"avatar_url":"https://avatars2.githubusercontent.com/u/11059099?v=4","gravatar_id":"","url":"https://api.github.com/users/digitalentity","html_url":"https://github.com/digitalentity","followers_url":"https://api.github.com/users/digitalentity/followers","following_url":"https://api.github.com/users/digitalentity/following{/other_user}","gists_url":"https://api.github.com/users/digitalentity/gists{/gist_id}","starred_url":"https://api.github.com/users/digitalentity/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/digitalentity/subscriptions","organizations_url":"https://api.github.com/users/digitalentity/orgs","repos_url":"https://api.github.com/users/digitalentity/repos","events_url":"https://api.github.com/users/digitalentity/events{/privacy}","received_events_url":"https://api.github.com/users/digitalentity/received_events","type":"User","site_admin":false},{"login":"jflyper","id":14850998,"avatar_url":"https://avatars0.githubusercontent.com/u/14850998?v=4","gravatar_id":"","url":"https://api.github.com/users/jflyper","html_url":"https://github.com/jflyper","followers_url":"https://api.github.com/users/jflyper/followers","following_url":"https://api.github.com/users/jflyper/following{/other_user}","gists_url":"https://api.github.com/users/jflyper/gists{/gist_id}","starred_url":"https://api.github.com/users/jflyper/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jflyper/subscriptions","organizations_url":"https://api.github.com/users/jflyper/orgs","repos_url":"https://api.github.com/users/jflyper/repos","events_url":"https://api.github.com/users/jflyper/events{/privacy}","received_events_url":"https://api.github.com/users/jflyper/received_events","type":"User","site_admin":false}],"requested_reviewers":[],"milestone":{"url":"https://api.github.com/repos/betaflight/betaflight/milestones/6","html_url":"https://github.com/betaflight/betaflight/milestone/6","labels_url":"https://api.github.com/repos/betaflight/betaflight/milestones/6/labels","id":2278187,"number":6,"title":"Betaflight 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