/**
* @brief Initialize the MPU9150 3-axis gyro sensor
* \return none
* \param[in] PIOS_MPU9150_ConfigTypeDef struct to be used to configure sensor.
*
*/
static int32_t PIOS_MPU9150_Config(struct pios_mpu60x0_cfg const * cfg)
{
// Reset chip
if (PIOS_MPU9150_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, PIOS_MPU60X0_PWRMGMT_IMU_RST) != 0)
return -1;
// Give chip some time to initialize
PIOS_DELAY_WaitmS(50);
PIOS_WDG_Clear();
//Power management configuration
PIOS_MPU9150_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, cfg->Pwr_mgmt_clk);
// User control
PIOS_MPU9150_SetReg(PIOS_MPU60X0_USER_CTRL_REG, cfg->User_ctl & ~0x40);
// Digital low-pass filter and scale
// set this before sample rate else sample rate calculation will fail
PIOS_MPU9150_SetLPF(cfg->default_filter);
// Sample rate
PIOS_MPU9150_SetSampleRate(cfg->default_samplerate);
// Set the gyro scale
PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
// Set the accel scale
PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
// Interrupt configuration
PIOS_MPU9150_SetReg(PIOS_MPU60X0_INT_CFG_REG, cfg->interrupt_cfg | 0x02);
// To enable access to the mag on auxillary i2c we must set bit 0x02 in register 0x37
// and clear bit 0x40 in register 0x6a (PIOS_MPU60X0_USER_CTRL_REG, default condition)
// Disable mag first
if (PIOS_MPU9150_Mag_SetReg(MPU9150_MAG_CNTR, 0x00) != 0)
return -1;
PIOS_DELAY_WaitmS(20);
PIOS_WDG_Clear();
// Clear status registers
PIOS_MPU9150_Mag_GetReg(MPU9150_MAG_STATUS);
PIOS_MPU9150_Mag_GetReg(MPU9150_MAG_STATUS2);
PIOS_MPU9150_Mag_GetReg(MPU9150_MAG_XH);
// Trigger first measurement
if (PIOS_MPU9150_Mag_SetReg(MPU9150_MAG_CNTR, 0x01) != 0)
return -1;
// Interrupt enable
PIOS_MPU9150_SetReg(PIOS_MPU60X0_INT_EN_REG, cfg->interrupt_en);
return 0;
}
void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
const struct pios_board_info * bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_led_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_internal_id, &pios_i2c_internal_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_I2C_CheckClear(pios_i2c_internal_id) != 0)
panic(3);
#endif
#if defined(PIOS_INCLUDE_CAN)
if (PIOS_CAN_Init(&pios_can_id, &pios_can_cfg) != 0)
panic(6);
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_CAN_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_CAN_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_can_id, &pios_can_com_driver, pios_can_id,
rx_buffer, PIOS_COM_CAN_RX_BUF_LEN,
tx_buffer, PIOS_COM_CAN_TX_BUF_LEN))
panic(6);
pios_com_bridge_id = pios_com_can_id;
#endif
#if defined(PIOS_INCLUDE_FLASH)
/* Inititialize all flash drivers */
if (PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg) != 0)
panic(5);
/* Register the partition table */
PIOS_FLASH_register_partition_table(pios_flash_partition_table, NELEMENTS(pios_flash_partition_table));
/* Mount all filesystems */
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0)
panic(5);
if (PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_internal_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS) != 0)
panic(5);
#endif /* PIOS_INCLUDE_FLASH */
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
/* Initialize the alarms library. Reads RCC reset flags */
AlarmsInitialize();
PIOS_RESET_Clear(); // Clear the RCC reset flags after use.
/* Initialize the hardware UAVOs */
HwSparkyBGCInitialize();
ModuleSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
#ifndef ERASE_FLASH
/* Initialize watchdog as early as possible to catch faults during init
* but do it only if there is no debugger connected
*/
if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) {
PIOS_WDG_Init();
}
#endif
#if defined(PIOS_INCLUDE_BRUSHLESS)
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_2_brushless_cfg);
PIOS_TIM_InitClock(&tim_3_brushless_cfg);
#endif /* PIOS_INCLUDE_BRUSHLESS */
/* IAP System Setup */
PIOS_IAP_Init();
uint16_t boot_count = PIOS_IAP_ReadBootCount();
if (boot_count < 3) {
PIOS_IAP_WriteBootCount(++boot_count);
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
} else {
/* Too many failed boot attempts, force hw config to defaults */
HwSparkyBGCSetDefaults(HwSparkyBGCHandle(), 0);
ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
#if defined(PIOS_INCLUDE_USB_CDC)
bool usb_cdc_present = false;
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
#else
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
#endif
uintptr_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));
#if defined(PIOS_INCLUDE_USB_CDC)
uint8_t hw_usb_vcpport;
/* Configure the USB VCP port */
HwSparkyBGCUSB_VCPPortGet(&hw_usb_vcpport);
if (!usb_cdc_present) {
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
hw_usb_vcpport = HWSPARKYBGC_USB_VCPPORT_DISABLED;
}
switch (hw_usb_vcpport) {
case HWSPARKYBGC_USB_VCPPORT_DISABLED:
break;
case HWSPARKYBGC_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uintptr_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWSPARKYBGC_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
{
uintptr_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWSPARKYBGC_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uintptr_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
uint8_t hw_usb_hidport;
HwSparkyBGCUSB_HIDPortGet(&hw_usb_hidport);
if (!usb_hid_present) {
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
hw_usb_hidport = HWSPARKYBGC_USB_HIDPORT_DISABLED;
}
switch (hw_usb_hidport) {
case HWSPARKYBGC_USB_HIDPORT_DISABLED:
break;
case HWSPARKYBGC_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uintptr_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB */
/* Configure the IO ports */
HwSparkyBGCDSMxModeOptions hw_DSMxMode;
HwSparkyBGCDSMxModeGet(&hw_DSMxMode);
/* UART1 Port */
uint8_t hw_flexi;
HwSparkyBGCFlexiPortGet(&hw_flexi);
switch (hw_flexi) {
case HWSPARKYBGC_FLEXIPORT_DISABLED:
break;
case HWSPARKYBGC_FLEXIPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_flexi_usart_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWSPARKYBGC_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_flexi_usart_cfg, PIOS_COM_GPS_RX_BUF_LEN, 0, &pios_usart_com_driver, &pios_com_gps_id);
#endif
break;
case HWSPARKYBGC_FLEXIPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
{
uintptr_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_flexi_sbus_cfg)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_flexi_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif /* PIOS_INCLUDE_SBUS */
break;
case HWSPARKYBGC_FLEXIPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
PIOS_Board_configure_dsm(&pios_flexi_dsm_cfg, &pios_flexi_dsm_aux_cfg, &pios_usart_com_driver,
MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWSPARKYBGC_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_flexi_usart_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWSPARKYBGC_FLEXIPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_flexi_usart_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
break;
case HWSPARKYBGC_FLEXIPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_flexi_usart_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWSPARKYBGC_FLEXIPORT_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_GPS)
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_flexi_usart_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
pios_com_mavlink_id = pios_com_gps_id;
#endif /* PIOS_INCLUDE_MAVLINK */
#endif /* PIOS_INCLUDE_GPS */
break;
}
/* Configure the rcvr port */
uint8_t hw_rcvrport;
HwSparkyBGCRcvrPortGet(&hw_rcvrport);
switch (hw_rcvrport) {
case HWSPARKYBGC_RCVRPORT_DISABLED:
break;
case HWSPARKYBGC_RCVRPORT_PPM:
#if defined(PIOS_INCLUDE_PPM)
{
uintptr_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uintptr_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PPM */
break;
case HWSPARKYBGC_RCVRPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
PIOS_Board_configure_dsm(&pios_rcvr_dsm_cfg, &pios_rcvr_dsm_aux_cfg, &pios_usart_com_driver,
MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWSPARKYBGC_RCVRPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
{
uintptr_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_rcvr_sbus_cfg)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_rcvr_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif /* PIOS_INCLUDE_SBUS */
break; break;
}
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
uintptr_t pios_gcsrcvr_id;
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
uintptr_t pios_gcsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
#ifdef PIOS_INCLUDE_SERVO
PIOS_Servo_Init(&pios_servo_cfg);
#endif
#ifdef PIOS_INCLUDE_BRUSHLESS
if (PIOS_Brushless_Init(&pios_brushless_cfg) != 0)
panic(8);
#endif
#else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif
PIOS_WDG_Clear();
PIOS_DELAY_WaitmS(200);
PIOS_WDG_Clear();
#if defined(PIOS_INCLUDE_MPU9150)
int retval;
retval = PIOS_MPU9150_Init(pios_i2c_internal_id, PIOS_MPU9150_I2C_ADD_A0_LOW, &pios_mpu9150_cfg);
if (retval == -10)
panic(1); // indicate missing IRQ separately
if (retval != 0)
panic(2);
// To be safe map from UAVO enum to driver enum
uint8_t hw_gyro_range;
HwSparkyBGCGyroRangeGet(&hw_gyro_range);
switch(hw_gyro_range) {
case HWSPARKYBGC_GYRORANGE_250:
PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
break;
case HWSPARKYBGC_GYRORANGE_500:
PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
break;
case HWSPARKYBGC_GYRORANGE_1000:
PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
break;
case HWSPARKYBGC_GYRORANGE_2000:
PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
break;
uint8_t hw_accel_range;
HwSparkyBGCAccelRangeGet(&hw_accel_range);
switch(hw_accel_range) {
case HWSPARKYBGC_ACCELRANGE_2G:
PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
break;
case HWSPARKYBGC_ACCELRANGE_4G:
PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
break;
case HWSPARKYBGC_ACCELRANGE_8G:
PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
break;
case HWSPARKYBGC_ACCELRANGE_16G:
PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
break;
}
uint8_t hw_mpu9150_dlpf;
HwSparkyBGCMPU9150DLPFGet(&hw_mpu9150_dlpf);
enum pios_mpu60x0_filter mpu9150_dlpf = \
(hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
(hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
(hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
(hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
(hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
(hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
(hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
pios_mpu9150_cfg.default_filter;
PIOS_MPU9150_SetLPF(mpu9150_dlpf);
uint8_t hw_mpu9150_samplerate;
HwSparkyBGCMPU9150RateGet(&hw_mpu9150_samplerate);
uint16_t mpu9150_samplerate = \
(hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_200) ? 200 : \
(hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_333) ? 333 : \
(hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_500) ? 500 : \
(hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_666) ? 666 : \
(hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_1000) ? 1000 : \
(hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_2000) ? 2000 : \
(hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_4000) ? 4000 : \
(hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_8000) ? 8000 : \
pios_mpu9150_cfg.default_samplerate;
PIOS_MPU9150_SetSampleRate(mpu9150_samplerate);
}
#endif /* PIOS_INCLUDE_MPU9150 */
//I2C is slow, sensor init as well, reset watchdog to prevent reset here
PIOS_WDG_Clear();
#if defined(PIOS_INCLUDE_GPIO)
PIOS_GPIO_Init();
#endif
/* Make sure we have at least one telemetry link configured or else fail initialization */
PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
}
