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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_adapter_id,
	     &pios_i2c_internal_adapter_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	if (PIOS_I2C_CheckClear(pios_i2c_internal_adapter_id) != 0)
		panic(5);
#endif

#if defined(PIOS_INCLUDE_SPI)
	if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	if (PIOS_SPI_Init
	    (&pios_spi_gyro_accel_id, &pios_spi_gyro_accel_cfg)) {
		PIOS_Assert(0);
	}
#endif

#if defined(PIOS_INCLUDE_FLASH)
	/* Inititialize all flash drivers */
	if (PIOS_Flash_Jedec_Init
	    (&pios_external_flash_id, pios_spi_flash_id, 0,
	     &flash_mx25_cfg) != 0)
		panic(1);
	if (PIOS_Flash_Internal_Init
	    (&pios_internal_flash_id, &flash_internal_cfg) != 0)
		panic(1);

	/* Register the partition table */
	const struct pios_flash_partition *flash_partition_table;
	uint32_t num_partitions;
	flash_partition_table =
	    PIOS_BOARD_HW_DEFS_GetPartitionTable(bdinfo->board_rev,
						 &num_partitions);
	PIOS_FLASH_register_partition_table(flash_partition_table,
					    num_partitions);

	/* Mount all filesystems */
	if (PIOS_FLASHFS_Logfs_Init
	    (&pios_uavo_settings_fs_id, &flashfs_settings_cfg,
	     FLASH_PARTITION_LABEL_SETTINGS) != 0)
		panic(1);
	if (PIOS_FLASHFS_Logfs_Init
	    (&pios_waypoints_settings_fs_id, &flashfs_waypoints_cfg,
	     FLASH_PARTITION_LABEL_WAYPOINTS) != 0)
		panic(1);

#if defined(ERASE_FLASH)
	PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
#endif

#endif /* PIOS_INCLUDE_FLASH */

	/* Initialize the task monitor library */
	TaskMonitorInitialize();

	/* Initialize UAVObject libraries */
	UAVObjInitialize();

	/* Initialize the alarms library. Reads RCC reset flags */
	AlarmsInitialize();
	PIOS_RESET_Clear(); // Clear the RCC reset flags after use.

	/* Initialize the hardware UAVOs */
	HwColibriInitialize();
	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

	/* Set up pulse timers */
	//Timers used for inputs (1, 2, 5, 8)
	PIOS_TIM_InitClock(&tim_1_cfg);
	PIOS_TIM_InitClock(&tim_2_cfg);
	PIOS_TIM_InitClock(&tim_5_cfg);
	PIOS_TIM_InitClock(&tim_8_cfg);
	// Timers used for outputs (3, 10, 11, 12)
	PIOS_TIM_InitClock(&tim_3_cfg);
	PIOS_TIM_InitClock(&tim_10_cfg);
	PIOS_TIM_InitClock(&tim_11_cfg);
	PIOS_TIM_InitClock(&tim_12_cfg);

	/* 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 */
		HwColibriSetDefaults(HwColibriHandle(), 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;
	bool usb_cdc_present = false;

#if defined(PIOS_INCLUDE_USB_CDC)
	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 */
	HwColibriUSB_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 = HWCOLIBRI_USB_VCPPORT_DISABLED;
	}

	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);
	}

	switch (hw_usb_vcpport) {
	case HWCOLIBRI_USB_VCPPORT_DISABLED:
		break;
	case HWCOLIBRI_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			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 HWCOLIBRI_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
		{
			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 HWCOLIBRI_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
		{
			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;
	case HWCOLIBRI_USB_VCPPORT_PICOC:
#if defined(PIOS_INCLUDE_COM)
		{
			uint8_t *rx_buffer =
			    (uint8_t *)
			    PIOS_malloc(PIOS_COM_PICOC_RX_BUF_LEN);
			uint8_t *tx_buffer =
			    (uint8_t *)
			    PIOS_malloc(PIOS_COM_PICOC_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init
			    (&pios_com_picoc_id, &pios_usb_cdc_com_driver,
			     pios_usb_cdc_id, rx_buffer,
			     PIOS_COM_PICOC_RX_BUF_LEN, tx_buffer,
			     PIOS_COM_PICOC_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#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;
	HwColibriUSB_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 = HWCOLIBRI_USB_HIDPORT_DISABLED;
	}

	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);
	}

	switch (hw_usb_hidport) {
	case HWCOLIBRI_USB_HIDPORT_DISABLED:
		break;
	case HWCOLIBRI_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			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 */

	if (usb_hid_present || usb_cdc_present) {
		PIOS_USBHOOK_Activate();
	}
#endif /* PIOS_INCLUDE_USB */

	/* Configure the IO ports */
	HwColibriDSMxModeOptions hw_DSMxMode;
	HwColibriDSMxModeGet(&hw_DSMxMode);

	/* init sensor queue registration */
	PIOS_SENSORS_Init();

	/* UART1 Port */
	uint8_t hw_uart1;
	HwColibriUart1Get(&hw_uart1);
	switch (hw_uart1) {
	case HWCOLIBRI_UART1_DISABLED:
		break;
	case HWCOLIBRI_UART1_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_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 HWCOLIBRI_UART1_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg,
					 PIOS_COM_GPS_RX_BUF_LEN,
					 PIOS_COM_GPS_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_gps_id);
#endif
		break;
	case HWCOLIBRI_UART1_I2C:
#if defined(PIOS_INCLUDE_I2C)
		if (PIOS_I2C_Init
		    (&pios_i2c_usart1_adapter_id,
		     &pios_i2c_usart1_adapter_cfg)) {
			PIOS_Assert(0);
		}

		if (PIOS_I2C_CheckClear(pios_i2c_usart1_adapter_id) != 0)
			panic(6);

#if defined(PIOS_INCLUDE_HMC5883)
		{
			uint8_t Magnetometer;
			HwColibriMagnetometerGet(&Magnetometer);

			if (Magnetometer ==
			    HWCOLIBRI_MAGNETOMETER_EXTERNALI2CUART1) {
				// init sensor
				if (PIOS_HMC5883_Init
				    (pios_i2c_usart1_adapter_id,
				     &pios_hmc5883_external_cfg) != 0)
					panic(8);
				if (PIOS_HMC5883_Test() != 0)
					panic(8);
			}
		}
#endif /* PIOS_INCLUDE_HMC5883 */
#endif /* PIOS_INCLUDE_I2C */
		break;
	case HWCOLIBRI_UART1_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			
			PIOS_Board_configure_dsm(&pios_usart1_dsm_hsum_cfg,
						 &pios_usart1_dsm_aux_cfg,
						 &pios_usart_com_driver,
						 MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM,
						 &hw_DSMxMode);
		}
#endif /* PIOS_INCLUDE_DSM */
		break;
	case HWCOLIBRI_UART1_HOTTSUMD:
	case HWCOLIBRI_UART1_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			switch (hw_uart1) {
			case HWCOLIBRI_UART1_HOTTSUMD:
				proto = PIOS_HSUM_PROTO_SUMD;
				break;
			case HWCOLIBRI_UART1_HOTTSUMH:
				proto = PIOS_HSUM_PROTO_SUMH;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_hsum
			    (&pios_usart1_dsm_hsum_cfg,
			     &pios_usart_com_driver, &proto,
			     MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
		}
#endif /* PIOS_INCLUDE_HSUM */
		break;
	case HWCOLIBRI_UART1_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg, 0,
					 PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWCOLIBRI_UART1_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg,
					 PIOS_COM_BRIDGE_RX_BUF_LEN,
					 PIOS_COM_BRIDGE_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_bridge_id);
#endif
		break;
	case HWCOLIBRI_UART1_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_usart1_cfg, 0,
					 PIOS_COM_MAVLINK_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
		break;
	case HWCOLIBRI_UART1_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
		PIOS_Board_configure_com(&pios_usart1_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 */
		break;
	case HWCOLIBRI_UART1_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg,
					 PIOS_COM_HOTT_RX_BUF_LEN,
					 PIOS_COM_HOTT_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
		break;
	case HWCOLIBRI_UART1_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg, 0,
					 PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
	case HWCOLIBRI_UART1_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart1_cfg, 0,
					 PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_lighttelemetry_id);
#endif
		break;
	case HWCOLIBRI_UART1_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg,
					 PIOS_COM_PICOC_RX_BUF_LEN,
					 PIOS_COM_PICOC_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
		break;
	}

	/* UART2 Port */
	uint8_t hw_uart2;
	HwColibriUart2Get(&hw_uart2);
	switch (hw_uart2) {
	case HWCOLIBRI_UART2_DISABLED:
		break;
	case HWCOLIBRI_UART2_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_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 HWCOLIBRI_UART2_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg,
					 PIOS_COM_GPS_RX_BUF_LEN,
					 PIOS_COM_GPS_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_gps_id);
#endif
		break;
	case HWCOLIBRI_UART2_SBUS:
		//hardware signal inverter required
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
		{
			uintptr_t pios_usart_sbus_id;
			if (PIOS_USART_Init
			    (&pios_usart_sbus_id, &pios_usart2_sbus_cfg)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_id;
			if (PIOS_SBus_Init
			    (&pios_sbus_id, &pios_usart2_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 HWCOLIBRI_UART2_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_usart2_dsm_hsum_cfg,
						 &pios_usart2_dsm_aux_cfg,
						 &pios_usart_com_driver,
						 MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM,
						 &hw_DSMxMode);
		}
#endif /* PIOS_INCLUDE_DSM */
		break;
	case HWCOLIBRI_UART2_HOTTSUMD:
	case HWCOLIBRI_UART2_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			switch (hw_uart2) {
			case HWCOLIBRI_UART2_HOTTSUMD:
				proto = PIOS_HSUM_PROTO_SUMD;
				break;
			case HWCOLIBRI_UART2_HOTTSUMH:
				proto = PIOS_HSUM_PROTO_SUMH;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_hsum
			    (&pios_usart2_dsm_hsum_cfg,
			     &pios_usart_com_driver, &proto,
			     MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
		}
#endif /* PIOS_INCLUDE_HSUM */
		break;
	case HWCOLIBRI_UART2_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, 0,
					 PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWCOLIBRI_UART2_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg,
					 PIOS_COM_BRIDGE_RX_BUF_LEN,
					 PIOS_COM_BRIDGE_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_bridge_id);
#endif
		break;
	case HWCOLIBRI_UART2_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_usart2_cfg, 0,
					 PIOS_COM_MAVLINK_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
		break;
	case HWCOLIBRI_UART2_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
		PIOS_Board_configure_com(&pios_usart2_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 */
		break;
	case HWCOLIBRI_UART2_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg,
					 PIOS_COM_HOTT_RX_BUF_LEN,
					 PIOS_COM_HOTT_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
		break;
	case HWCOLIBRI_UART2_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, 0,
					 PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
	case HWCOLIBRI_UART2_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart2_cfg, 0,
					 PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_lighttelemetry_id);
#endif
		break;
	case HWCOLIBRI_UART2_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg,
					 PIOS_COM_PICOC_RX_BUF_LEN,
					 PIOS_COM_PICOC_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
		break;
	}

	if (hw_uart2 != HWCOLIBRI_UART2_SBUS) {
		GPIO_Init(pios_usart2_sbus_aux_cfg.inv.gpio, (GPIO_InitTypeDef*)&pios_usart2_sbus_aux_cfg.inv.init);
		GPIO_WriteBit(pios_usart2_sbus_aux_cfg.inv.gpio, pios_usart2_sbus_aux_cfg.inv.init.GPIO_Pin, pios_usart2_sbus_aux_cfg.gpio_inv_disable);
	}

	/* UART3 Port */
	uint8_t hw_uart3;
	HwColibriUart3Get(&hw_uart3);
	switch (hw_uart3) {
	case HWCOLIBRI_UART3_DISABLED:
		break;
	case HWCOLIBRI_UART3_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_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 HWCOLIBRI_UART3_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg,
					 PIOS_COM_GPS_RX_BUF_LEN,
					 PIOS_COM_GPS_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_gps_id);
#endif
		break;
	case HWCOLIBRI_UART3_I2C:
#if defined(PIOS_INCLUDE_I2C)
		if (PIOS_I2C_Init
		    (&pios_i2c_usart3_adapter_id,
		     &pios_i2c_usart3_adapter_cfg)) {
			PIOS_Assert(0);
		}
		if (PIOS_I2C_CheckClear(pios_i2c_usart3_adapter_id) != 0)
			panic(7);

#if defined(PIOS_INCLUDE_HMC5883)
		{
			uint8_t Magnetometer;
			HwColibriMagnetometerGet(&Magnetometer);

			if (Magnetometer ==
			    HWCOLIBRI_MAGNETOMETER_EXTERNALI2CUART3) {
				// init sensor
				if (PIOS_HMC5883_Init
				    (pios_i2c_usart3_adapter_id,
				     &pios_hmc5883_external_cfg) != 0)
					panic(9);
				if (PIOS_HMC5883_Test() != 0)
					panic(9);
			}
		}
#endif /* PIOS_INCLUDE_HMC5883 */
#endif /* PIOS_INCLUDE_I2C */
		break;
	case HWCOLIBRI_UART3_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_usart3_dsm_hsum_cfg,
						 &pios_usart3_dsm_aux_cfg,
						 &pios_usart_com_driver,
						 MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM,
						 &hw_DSMxMode);
		}
#endif /* PIOS_INCLUDE_DSM */
		break;
	case HWCOLIBRI_UART3_HOTTSUMD:
	case HWCOLIBRI_UART3_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			switch (hw_uart3) {
			case HWCOLIBRI_UART3_HOTTSUMD:
				proto = PIOS_HSUM_PROTO_SUMD;
				break;
			case HWCOLIBRI_UART3_HOTTSUMH:
				proto = PIOS_HSUM_PROTO_SUMH;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_hsum
			    (&pios_usart3_dsm_hsum_cfg,
			     &pios_usart_com_driver, &proto,
			     MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
		}
#endif /* PIOS_INCLUDE_HSUM */
		break;
	case HWCOLIBRI_UART3_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, 0,
					 PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWCOLIBRI_UART3_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg,
					 PIOS_COM_BRIDGE_RX_BUF_LEN,
					 PIOS_COM_BRIDGE_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_bridge_id);
#endif
		break;
	case HWCOLIBRI_UART3_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_usart3_cfg, 0,
					 PIOS_COM_MAVLINK_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
		break;
	case HWCOLIBRI_UART3_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
		PIOS_Board_configure_com(&pios_usart3_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 */
		break;
	case HWCOLIBRI_UART3_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg,
					 PIOS_COM_HOTT_RX_BUF_LEN,
					 PIOS_COM_HOTT_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
		break;
	case HWCOLIBRI_UART3_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, 0,
					 PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
	case HWCOLIBRI_UART3_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg,
					 PIOS_COM_PICOC_RX_BUF_LEN,
					 PIOS_COM_PICOC_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
		break;
	case HWCOLIBRI_UART3_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart3_cfg, 0,
					 PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_lighttelemetry_id);
#endif
		break;
	}

	/* UART4 Port */
	uint8_t hw_uart4;
	HwColibriUart4Get(&hw_uart4);
	switch (hw_uart4) {
	case HWCOLIBRI_UART4_DISABLED:
		break;
	case HWCOLIBRI_UART4_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_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 HWCOLIBRI_UART4_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_cfg,
					 PIOS_COM_GPS_RX_BUF_LEN,
					 PIOS_COM_GPS_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_gps_id);
#endif
		break;
	case HWCOLIBRI_UART4_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_usart4_dsm_hsum_cfg,
						 &pios_usart4_dsm_aux_cfg,
						 &pios_usart_com_driver,
						 MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM,
						 &hw_DSMxMode);
		}
#endif /* PIOS_INCLUDE_DSM */
		break;
	case HWCOLIBRI_UART4_HOTTSUMD:
	case HWCOLIBRI_UART4_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			switch (hw_uart4) {
			case HWCOLIBRI_UART4_HOTTSUMD:
				proto = PIOS_HSUM_PROTO_SUMD;
				break;
			case HWCOLIBRI_UART4_HOTTSUMH:
				proto = PIOS_HSUM_PROTO_SUMH;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_hsum
			    (&pios_usart4_dsm_hsum_cfg,
			     &pios_usart_com_driver, &proto,
			     MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
		}
#endif /* PIOS_INCLUDE_HSUM */
		break;
	case HWCOLIBRI_UART4_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_cfg, 0,
					 PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWCOLIBRI_UART4_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_cfg,
					 PIOS_COM_BRIDGE_RX_BUF_LEN,
					 PIOS_COM_BRIDGE_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_bridge_id);
#endif
		break;
	case HWCOLIBRI_UART4_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_usart4_cfg, 0,
					 PIOS_COM_MAVLINK_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
		break;
	case HWCOLIBRI_UART4_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
		PIOS_Board_configure_com(&pios_usart4_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 */
		break;
	case HWCOLIBRI_UART4_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_cfg,
					 PIOS_COM_HOTT_RX_BUF_LEN,
					 PIOS_COM_HOTT_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
		break;
	case HWCOLIBRI_UART4_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_cfg, 0,
					 PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
	case HWCOLIBRI_UART4_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart4_cfg, 0,
					 PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_lighttelemetry_id);
#endif
		break;
	case HWCOLIBRI_UART4_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_cfg,
					 PIOS_COM_PICOC_RX_BUF_LEN,
					 PIOS_COM_PICOC_TX_BUF_LEN,
					 &pios_usart_com_driver,
					 &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
		break;
	}

	/* Configure the rcvr port */
	uint8_t hw_rcvrport;
	HwColibriRcvrPortGet(&hw_rcvrport);

	switch (hw_rcvrport) {
	case HWCOLIBRI_RCVRPORT_DISABLED:
		break;
	case HWCOLIBRI_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
		{
			uintptr_t pios_pwm_id;
			PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);

			uintptr_t pios_pwm_rcvr_id;
			if (PIOS_RCVR_Init
			    (&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver,
			     pios_pwm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map
			    [MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] =
			    pios_pwm_rcvr_id;
		}
#endif /* PIOS_INCLUDE_PWM */
		break;
	case HWCOLIBRI_RCVRPORT_PWMADC:
#if defined(PIOS_INCLUDE_PWM)
		{
			uintptr_t pios_pwm_id;
			PIOS_PWM_Init(&pios_pwm_id,
				      &pios_pwm_with_adc_cfg);

			uintptr_t pios_pwm_rcvr_id;
			if (PIOS_RCVR_Init
			    (&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver,
			     pios_pwm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map
			    [MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] =
			    pios_pwm_rcvr_id;
		}
#endif /* PIOS_INCLUDE_PWM */
		break;
	case HWCOLIBRI_RCVRPORT_PPM:
	case HWCOLIBRI_RCVRPORT_PPMADC:
	case HWCOLIBRI_RCVRPORT_PPMOUTPUTS:
	case HWCOLIBRI_RCVRPORT_PPMOUTPUTSADC:
#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 HWCOLIBRI_RCVRPORT_PPMPWM:
		/* This is a combination of PPM and PWM inputs */
#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 */
#if defined(PIOS_INCLUDE_PWM)
		{
			uintptr_t pios_pwm_id;
			PIOS_PWM_Init(&pios_pwm_id,
				      &pios_pwm_with_ppm_cfg);

			uintptr_t pios_pwm_rcvr_id;
			if (PIOS_RCVR_Init
			    (&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver,
			     pios_pwm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map
			    [MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] =
			    pios_pwm_rcvr_id;
		}
#endif /* PIOS_INCLUDE_PWM */
		break;
	case HWCOLIBRI_RCVRPORT_PPMPWMADC:
		/* This is a combination of PPM and PWM inputs with IN6 and IN7 free for adc */
#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 */
#if defined(PIOS_INCLUDE_PWM)
		{
			uintptr_t pios_pwm_id;
			PIOS_PWM_Init(&pios_pwm_id,
				      &pios_pwm_with_ppm_with_adc_cfg);

			uintptr_t pios_pwm_rcvr_id;
			if (PIOS_RCVR_Init
			    (&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver,
			     pios_pwm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map
			    [MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] =
			    pios_pwm_rcvr_id;
		}
#endif /* PIOS_INCLUDE_PWM */
		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
	switch (hw_rcvrport) {
	case HWCOLIBRI_RCVRPORT_DISABLED:
	case HWCOLIBRI_RCVRPORT_PWM:
	case HWCOLIBRI_RCVRPORT_PWMADC:
	case HWCOLIBRI_RCVRPORT_PPM:
	case HWCOLIBRI_RCVRPORT_PPMADC:
	case HWCOLIBRI_RCVRPORT_PPMPWM:
	case HWCOLIBRI_RCVRPORT_PPMPWMADC:
		/* Set up the servo outputs */
#ifdef PIOS_INCLUDE_SERVO
		PIOS_Servo_Init(&pios_servo_cfg);
#endif
		break;
	case HWCOLIBRI_RCVRPORT_PPMOUTPUTS:
	case HWCOLIBRI_RCVRPORT_OUTPUTS:
#ifdef PIOS_INCLUDE_SERVO
		PIOS_Servo_Init(&pios_servo_with_rcvr_cfg);
#endif
		break;
	case HWCOLIBRI_RCVRPORT_PPMOUTPUTSADC:
	case HWCOLIBRI_RCVRPORT_OUTPUTSADC:
#ifdef PIOS_INCLUDE_SERVO
		PIOS_Servo_Init(&pios_servo_with_rcvr_with_adc_cfg);
#endif
		break;
	}
#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_MPU6000)
	if (PIOS_MPU6000_Init(pios_spi_gyro_accel_id, 0, &pios_mpu6000_cfg)
	    != 0)
		panic(2);
	if (PIOS_MPU6000_Test() != 0)
		panic(2);

	// To be safe map from UAVO enum to driver enum
	uint8_t hw_gyro_range;
	HwColibriGyroRangeGet(&hw_gyro_range);
	switch (hw_gyro_range) {
	case HWCOLIBRI_GYRORANGE_250:
		PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
		break;
	case HWCOLIBRI_GYRORANGE_500:
		PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
		break;
	case HWCOLIBRI_GYRORANGE_1000:
		PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
		break;
	case HWCOLIBRI_GYRORANGE_2000:
		PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
		break;
	}

	uint8_t hw_accel_range;
	HwColibriAccelRangeGet(&hw_accel_range);
	switch (hw_accel_range) {
	case HWCOLIBRI_ACCELRANGE_2G:
		PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
		break;
	case HWCOLIBRI_ACCELRANGE_4G:
		PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
		break;
	case HWCOLIBRI_ACCELRANGE_8G:
		PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
		break;
	case HWCOLIBRI_ACCELRANGE_16G:
		PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
		break;
	}

	// the filter has to be set before rate else divisor calculation will fail
	uint8_t hw_mpu6000_dlpf;
	HwColibriMPU6000DLPFGet(&hw_mpu6000_dlpf);
	enum pios_mpu60x0_filter mpu6000_dlpf =
	    (hw_mpu6000_dlpf ==
	     HWCOLIBRI_MPU6000DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ
	    : (hw_mpu6000_dlpf ==
	       HWCOLIBRI_MPU6000DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ
	    : (hw_mpu6000_dlpf ==
	       HWCOLIBRI_MPU6000DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ
	    : (hw_mpu6000_dlpf ==
	       HWCOLIBRI_MPU6000DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ
	    : (hw_mpu6000_dlpf ==
	       HWCOLIBRI_MPU6000DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ
	    : (hw_mpu6000_dlpf ==
	       HWCOLIBRI_MPU6000DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ
	    : (hw_mpu6000_dlpf ==
	       HWCOLIBRI_MPU6000DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ :
	    pios_mpu6000_cfg.default_filter;
	PIOS_MPU6000_SetLPF(mpu6000_dlpf);

	uint8_t hw_mpu6000_samplerate;
	HwColibriMPU6000RateGet(&hw_mpu6000_samplerate);
	uint16_t mpu6000_samplerate =
	    (hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_200) ? 200 :
	    (hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_333) ? 333 :
	    (hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_500) ? 500 :
	    (hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_666) ? 666 :
	    (hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_1000) ? 1000 :
	    (hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_2000) ? 2000 :
	    (hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_4000) ? 4000 :
	    (hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_8000) ? 8000 :
	    pios_mpu6000_cfg.default_samplerate;
	PIOS_MPU6000_SetSampleRate(mpu6000_samplerate);
#endif

#if defined(PIOS_INCLUDE_I2C)
#if defined(PIOS_INCLUDE_HMC5883)
	{
		uint8_t Magnetometer;
		HwColibriMagnetometerGet(&Magnetometer);

		if (Magnetometer == HWCOLIBRI_MAGNETOMETER_INTERNAL) {
			if (PIOS_HMC5883_Init
			    (pios_i2c_internal_adapter_id,
			     &pios_hmc5883_internal_cfg) != 0)
				panic(3);
			if (PIOS_HMC5883_Test() != 0)
				panic(3);
		}

		if (Magnetometer == HWCOLIBRI_MAGNETOMETER_EXTERNALI2CUART1
		    || Magnetometer ==
		    HWCOLIBRI_MAGNETOMETER_EXTERNALI2CUART3) {
			// setup sensor orientation
			uint8_t ExtMagOrientation;
			HwColibriExtMagOrientationGet(&ExtMagOrientation);

			enum pios_hmc5883_orientation hmc5883_orientation =
			    (ExtMagOrientation ==
			     HWCOLIBRI_EXTMAGORIENTATION_TOP0DEGCW) ?
			    PIOS_HMC5883_TOP_0DEG : (ExtMagOrientation ==
						     HWCOLIBRI_EXTMAGORIENTATION_TOP90DEGCW)
			    ? PIOS_HMC5883_TOP_90DEG : (ExtMagOrientation
							==
							HWCOLIBRI_EXTMAGORIENTATION_TOP180DEGCW)
			    ? PIOS_HMC5883_TOP_180DEG : (ExtMagOrientation
							 ==
							 HWCOLIBRI_EXTMAGORIENTATION_TOP270DEGCW)
			    ? PIOS_HMC5883_TOP_270DEG : (ExtMagOrientation
							 ==
							 HWCOLIBRI_EXTMAGORIENTATION_BOTTOM0DEGCW)
			    ? PIOS_HMC5883_BOTTOM_0DEG : (ExtMagOrientation
							  ==
							  HWCOLIBRI_EXTMAGORIENTATION_BOTTOM90DEGCW)
			    ? PIOS_HMC5883_BOTTOM_90DEG
			    : (ExtMagOrientation ==
			       HWCOLIBRI_EXTMAGORIENTATION_BOTTOM180DEGCW)
			    ? PIOS_HMC5883_BOTTOM_180DEG
			    : (ExtMagOrientation ==
			       HWCOLIBRI_EXTMAGORIENTATION_BOTTOM270DEGCW)
			    ? PIOS_HMC5883_BOTTOM_270DEG :
			    pios_hmc5883_external_cfg.Default_Orientation;
			PIOS_HMC5883_SetOrientation(hmc5883_orientation);
		}
	}
#endif

	//I2C is slow, sensor init as well, reset watchdog to prevent reset here
	PIOS_WDG_Clear();

#if defined(PIOS_INCLUDE_MS5611)
	if (PIOS_MS5611_Init
	    (&pios_ms5611_cfg, pios_i2c_internal_adapter_id) != 0)
		panic(4);
	if (PIOS_MS5611_Test() != 0)
		panic(4);
#endif

	//I2C is slow, sensor init as well, reset watchdog to prevent reset here
	PIOS_WDG_Clear();

#endif /* PIOS_INCLUDE_I2C */

#if defined(PIOS_INCLUDE_GPIO)
	PIOS_GPIO_Init();
#endif

#if defined(PIOS_INCLUDE_ADC)
	if (hw_rcvrport == HWCOLIBRI_RCVRPORT_PWMADC ||
	    hw_rcvrport == HWCOLIBRI_RCVRPORT_PPMADC ||
	    hw_rcvrport == HWCOLIBRI_RCVRPORT_PPMPWMADC ||
	    hw_rcvrport == HWCOLIBRI_RCVRPORT_OUTPUTSADC ||
	    hw_rcvrport == HWCOLIBRI_RCVRPORT_PPMOUTPUTSADC) {
		uint32_t internal_adc_id;
		PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg);
		PIOS_ADC_Init(&pios_internal_adc_id,
			      &pios_internal_adc_driver, internal_adc_id);
	}
#endif

#if defined(PIOS_INCLUDE_FLASH)
	if ( PIOS_STREAMFS_Init(&streamfs_id, &streamfs_settings, FLASH_PARTITION_LABEL_LOG) != 0)
		panic(8);

	const uint32_t LOG_BUF_LEN = 256;
	uint8_t *log_rx_buffer = PIOS_malloc(LOG_BUF_LEN);
	uint8_t *log_tx_buffer = PIOS_malloc(LOG_BUF_LEN);
	if (PIOS_COM_Init(&pios_com_spiflash_logging_id, &pios_streamfs_com_driver, streamfs_id,
	                  log_rx_buffer, LOG_BUF_LEN, log_tx_buffer, LOG_BUF_LEN) != 0)
		panic(9);
#endif /* PIOS_INCLUDE_FLASH */

	//Set battery input pin to floating as long as it is unused
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
	GPIO_Init(GPIOC, &GPIO_InitStructure);
	GPIO_ResetBits(GPIOC, GPIO_Pin_15);

	//Set buzzer output to low as long as it is unused
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	GPIO_ResetBits(GPIOA, GPIO_Pin_4);

	/* 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);
}
예제 #2
0
void PIOS_Board_Init(void) {

	check_bor();

	const struct pios_board_info * bdinfo = &pios_board_info_blob;

	// Make sure all the PWM outputs are low
	const struct pios_servo_cfg * servo_cfg = get_servo_cfg(bdinfo->board_rev);
	const struct pios_tim_channel * channels = servo_cfg->channels;
	uint8_t num_channels = servo_cfg->num_channels;
	for (int i = 0; i < num_channels; i++) {
		GPIO_Init(channels[i].pin.gpio, (GPIO_InitTypeDef*) &channels[i].pin.init);
	}

	/* Delay system */
	PIOS_DELAY_Init();

#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 */

	/* Set up the SPI interface to the gyro/acelerometer */
	if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
		PIOS_DEBUG_Assert(0);
	}

	/* Set up the SPI interface to the flash and rfm22b */
	if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
		PIOS_DEBUG_Assert(0);
	}

#if defined(PIOS_INCLUDE_FLASH)
	/* Inititialize all flash drivers */
#if defined(PIOS_INCLUDE_FLASH_JEDEC)
	if (get_external_flash(bdinfo->board_rev)) {
		if (PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_telem_flash_id, 1, &flash_m25p_cfg) != 0)
			panic(1);
	}
#endif /* PIOS_INCLUDE_FLASH_JEDEC */

	PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg);

	/* Register the partition table */
	const struct pios_flash_partition * flash_partition_table;
	uint32_t num_partitions;
	flash_partition_table = PIOS_BOARD_HW_DEFS_GetPartitionTable(bdinfo->board_rev, &num_partitions);
	PIOS_FLASH_register_partition_table(flash_partition_table, num_partitions);

	/* Mount all filesystems */
	if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, get_flashfs_settings_cfg(bdinfo->board_rev), FLASH_PARTITION_LABEL_SETTINGS))
		panic(1);
#if defined(PIOS_INCLUDE_FLASH_JEDEC)
	if (get_external_flash(bdinfo->board_rev)) {
		if (PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS) != 0)
			panic(1);
	}
#endif /* PIOS_INCLUDE_FLASH_JEDEC */

#if defined(ERASE_FLASH)
	PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
#endif

#endif	/* PIOS_INCLUDE_FLASH */

	/* Initialize UAVObject libraries */
	EventDispatcherInitialize();
	UAVObjInitialize();

	HwSparky2Initialize();
	ModuleSettingsInitialize();

#if defined(PIOS_INCLUDE_RTC)
	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

	/* Initialize the alarms library */
	AlarmsInitialize();

	/* Initialize the task monitor library */
	TaskMonitorInitialize();

	/* Set up pulse timers */
	PIOS_TIM_InitClock(&tim_3_cfg);
	PIOS_TIM_InitClock(&tim_5_cfg);
	PIOS_TIM_InitClock(&tim_8_cfg);
	PIOS_TIM_InitClock(&tim_9_cfg);
	PIOS_TIM_InitClock(&tim_12_cfg);

	NVIC_InitTypeDef tim_8_up_irq = {
		.NVIC_IRQChannel                   = TIM8_UP_TIM13_IRQn,
		.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
		.NVIC_IRQChannelSubPriority        = 0,
		.NVIC_IRQChannelCmd                = ENABLE,
	};
	NVIC_Init(&tim_8_up_irq);

	/* 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 */
		HwSparky2SetDefaults(HwSparky2Handle(), 0);
		ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
		AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
	}


	//PIOS_IAP_Init();

#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;
	bool usb_cdc_present = false;

#if defined(PIOS_INCLUDE_USB_CDC)
	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 */
	HwSparky2USB_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 = HWSPARKY2_USB_VCPPORT_DISABLED;
	}

	PIOS_HAL_ConfigureCDC(hw_usb_vcpport, pios_usb_id, &pios_usb_cdc_cfg);

#endif	/* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_USB_HID)
	/* Configure the usb HID port */
	uint8_t hw_usb_hidport;
	HwSparky2USB_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 = HWSPARKY2_USB_HIDPORT_DISABLED;
	}

	PIOS_HAL_ConfigureHID(hw_usb_hidport, pios_usb_id, &pios_usb_hid_cfg);

#endif	/* PIOS_INCLUDE_USB_HID */

	if (usb_hid_present || usb_cdc_present) {
		PIOS_USBHOOK_Activate();
	}
#endif	/* PIOS_INCLUDE_USB */

	/* Configure IO ports */
	HwSparky2DSMxModeOptions hw_DSMxMode;
	HwSparky2DSMxModeGet(&hw_DSMxMode);
	
	/* Configure main USART port */
	uint8_t hw_mainport;
	HwSparky2MainPortGet(&hw_mainport);

	PIOS_HAL_ConfigurePort(hw_mainport, &pios_usart_main_cfg,
			&pios_usart_com_driver, NULL, NULL, NULL,
			PIOS_LED_ALARM,
			&pios_usart_dsm_hsum_main_cfg, &pios_dsm_main_cfg,
			hw_DSMxMode, NULL, NULL, false);

	/* Configure FlexiPort */
	uint8_t hw_flexiport;
	HwSparky2FlexiPortGet(&hw_flexiport);

	PIOS_HAL_ConfigurePort(hw_flexiport, &pios_usart_flexi_cfg,
			&pios_usart_com_driver,
			&pios_i2c_flexiport_adapter_id,
			&pios_i2c_flexiport_adapter_cfg, NULL,
			PIOS_LED_ALARM,
			&pios_usart_dsm_hsum_flexi_cfg, &pios_dsm_flexi_cfg,
			hw_DSMxMode, NULL, NULL, false);

#if defined(PIOS_INCLUDE_RFM22B)
	HwSparky2Data hwSparky2;
	HwSparky2Get(&hwSparky2);

	const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);

	const struct pios_openlrs_cfg *openlrs_cfg = PIOS_BOARD_HW_DEFS_GetOpenLRSCfg(bdinfo->board_rev);

	PIOS_HAL_ConfigureRFM22B(hwSparky2.Radio,
			bdinfo->board_type, bdinfo->board_rev,
			hwSparky2.MaxRfPower, hwSparky2.MaxRfSpeed,
			openlrs_cfg, rfm22b_cfg,
			hwSparky2.MinChannel, hwSparky2.MaxChannel,
			hwSparky2.CoordID, 1);

#endif /* PIOS_INCLUDE_RFM22B */

	/* Configure the receiver port*/
	uint8_t hw_rcvrport;
	HwSparky2RcvrPortGet(&hw_rcvrport);

	if (bdinfo->board_rev != BRUSHEDSPARKY_V0_2 && hw_DSMxMode >= HWSPARKY2_DSMXMODE_BIND3PULSES) {
		hw_DSMxMode = HWSPARKY2_DSMXMODE_AUTODETECT; /* Do not try to bind through XOR */
	}

	PIOS_HAL_ConfigurePort(hw_rcvrport,
			NULL, /* XXX TODO: fix as part of DSM refactor */
			&pios_usart_com_driver,
			NULL, NULL,
			&pios_ppm_cfg, 
			PIOS_LED_ALARM,
			&pios_usart_dsm_hsum_rcvr_cfg,
			&pios_dsm_rcvr_cfg,
			hw_DSMxMode, get_sbus_rcvr_cfg(bdinfo->board_rev),
			&pios_sbus_cfg, get_sbus_toggle(bdinfo->board_rev));

#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
	/* Set up the servo outputs */
	PIOS_Servo_Init(&pios_servo_cfg);
#else
	PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif
	
	if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
		PIOS_DEBUG_Assert(0);
	}

#if defined(PIOS_INCLUDE_CAN)
	if(get_use_can(bdinfo->board_rev)) {
		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

	PIOS_DELAY_WaitmS(50);

	PIOS_SENSORS_Init();

#if defined(PIOS_INCLUDE_ADC)
	uint32_t internal_adc_id;
	PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg);
	PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id);
 
        // configure the pullup for PA8 (inhibit pullups from current/sonar shared pin)
        GPIO_Init(pios_current_sonar_pin.gpio, &pios_current_sonar_pin.init);
#endif

#if defined(PIOS_INCLUDE_MS5611)
	if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id) != 0)
		panic(4);
	if (PIOS_MS5611_Test() != 0)
		panic(4);
#endif

	uint8_t Magnetometer;
	HwSparky2MagnetometerGet(&Magnetometer);

	if (Magnetometer != HWSPARKY2_MAGNETOMETER_INTERNAL)
		pios_mpu9250_cfg.use_magnetometer = false;


#if defined(PIOS_INCLUDE_MPU9250_SPI)
	if (PIOS_MPU9250_SPI_Init(pios_spi_gyro_id, 0, &pios_mpu9250_cfg) != 0)
		panic(2);

	// To be safe map from UAVO enum to driver enum
	uint8_t hw_gyro_range;
	HwSparky2GyroRangeGet(&hw_gyro_range);
	switch(hw_gyro_range) {
		case HWSPARKY2_GYRORANGE_250:
			PIOS_MPU9250_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
			break;
		case HWSPARKY2_GYRORANGE_500:
			PIOS_MPU9250_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
			break;
		case HWSPARKY2_GYRORANGE_1000:
			PIOS_MPU9250_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
			break;
		case HWSPARKY2_GYRORANGE_2000:
			PIOS_MPU9250_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
			break;
	}

	uint8_t hw_accel_range;
	HwSparky2AccelRangeGet(&hw_accel_range);
	switch(hw_accel_range) {
		case HWSPARKY2_ACCELRANGE_2G:
			PIOS_MPU9250_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
			break;
		case HWSPARKY2_ACCELRANGE_4G:
			PIOS_MPU9250_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
			break;
		case HWSPARKY2_ACCELRANGE_8G:
			PIOS_MPU9250_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
			break;
		case HWSPARKY2_ACCELRANGE_16G:
			PIOS_MPU9250_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
			break;
	}

	// the filter has to be set before rate else divisor calculation will fail
	uint8_t hw_mpu9250_dlpf;
	HwSparky2MPU9250GyroLPFGet(&hw_mpu9250_dlpf);
	enum pios_mpu9250_gyro_filter mpu9250_gyro_lpf = \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250GYROLPF_184) ? PIOS_MPU9250_GYRO_LOWPASS_184_HZ : \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250GYROLPF_92) ? PIOS_MPU9250_GYRO_LOWPASS_92_HZ : \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250GYROLPF_41) ? PIOS_MPU9250_GYRO_LOWPASS_41_HZ : \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250GYROLPF_20) ? PIOS_MPU9250_GYRO_LOWPASS_20_HZ : \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250GYROLPF_10) ? PIOS_MPU9250_GYRO_LOWPASS_10_HZ : \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250GYROLPF_5) ? PIOS_MPU9250_GYRO_LOWPASS_5_HZ : \
	    pios_mpu9250_cfg.default_gyro_filter;
	PIOS_MPU9250_SetGyroLPF(mpu9250_gyro_lpf);

	HwSparky2MPU9250AccelLPFGet(&hw_mpu9250_dlpf);
	enum pios_mpu9250_accel_filter mpu9250_accel_lpf = \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_460) ? PIOS_MPU9250_ACCEL_LOWPASS_460_HZ : \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_184) ? PIOS_MPU9250_ACCEL_LOWPASS_184_HZ : \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_92) ? PIOS_MPU9250_ACCEL_LOWPASS_92_HZ : \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_41) ? PIOS_MPU9250_ACCEL_LOWPASS_41_HZ : \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_20) ? PIOS_MPU9250_ACCEL_LOWPASS_20_HZ : \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_10) ? PIOS_MPU9250_ACCEL_LOWPASS_10_HZ : \
	    (hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_5) ? PIOS_MPU9250_ACCEL_LOWPASS_5_HZ : \
	    pios_mpu9250_cfg.default_accel_filter;
	PIOS_MPU9250_SetAccelLPF(mpu9250_accel_lpf);

	uint8_t hw_mpu9250_samplerate;
	HwSparky2MPU9250RateGet(&hw_mpu9250_samplerate);
	uint16_t mpu9250_samplerate = \
	    (hw_mpu9250_samplerate == HWSPARKY2_MPU9250RATE_200) ? 200 : \
	    (hw_mpu9250_samplerate == HWSPARKY2_MPU9250RATE_250) ? 250 : \
	    (hw_mpu9250_samplerate == HWSPARKY2_MPU9250RATE_333) ? 333 : \
	    (hw_mpu9250_samplerate == HWSPARKY2_MPU9250RATE_500) ? 500 : \
	    (hw_mpu9250_samplerate == HWSPARKY2_MPU9250RATE_1000) ? 1000 : \
	    pios_mpu9250_cfg.default_samplerate;
	PIOS_MPU9250_SetSampleRate(mpu9250_samplerate);
#endif /* PIOS_INCLUDE_MPU9250_SPI */


	PIOS_WDG_Clear();

#if defined(PIOS_INCLUDE_HMC5883)
	{
		uint8_t Magnetometer;
		HwSparky2MagnetometerGet(&Magnetometer);

		if (Magnetometer == HWSPARKY2_MAGNETOMETER_EXTERNALI2CFLEXIPORT)
		{
			if (PIOS_HMC5883_Init(pios_i2c_flexiport_adapter_id, &pios_hmc5883_external_cfg) != 0)
				panic(6);
			if (PIOS_HMC5883_Test() != 0)
				panic(6);
		} else if (Magnetometer == HWSPARKY2_MAGNETOMETER_EXTERNALAUXI2C) {
			if (PIOS_HMC5883_Init(pios_i2c_mag_pressure_adapter_id, &pios_hmc5883_external_cfg) != 0)
				panic(6);
			if (PIOS_HMC5883_Test() != 0)
				panic(6);
		}

		if (Magnetometer != HWSPARKY2_MAGNETOMETER_INTERNAL) {
			// setup sensor orientation
			uint8_t ExtMagOrientation;
			HwSparky2ExtMagOrientationGet(&ExtMagOrientation);
			enum pios_hmc5883_orientation hmc5883_orientation = \
				(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_TOP0DEGCW)      ? PIOS_HMC5883_TOP_0DEG      : \
				(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_TOP90DEGCW)     ? PIOS_HMC5883_TOP_90DEG     : \
				(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_TOP180DEGCW)    ? PIOS_HMC5883_TOP_180DEG    : \
				(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_TOP270DEGCW)    ? PIOS_HMC5883_TOP_270DEG    : \
				(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_BOTTOM0DEGCW)   ? PIOS_HMC5883_BOTTOM_0DEG   : \
				(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_BOTTOM90DEGCW)  ? PIOS_HMC5883_BOTTOM_90DEG  : \
				(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_BOTTOM180DEGCW) ? PIOS_HMC5883_BOTTOM_180DEG : \
				(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_BOTTOM270DEGCW) ? PIOS_HMC5883_BOTTOM_270DEG : \
				pios_hmc5883_external_cfg.Default_Orientation;
			PIOS_HMC5883_SetOrientation(hmc5883_orientation);
		}
	}
#endif /* PIOS_INCLUDE_HMC5883 */

#if defined(PIOS_INCLUDE_FLASH) && defined(PIOS_INCLUDE_FLASH_JEDEC)
	if (get_external_flash(bdinfo->board_rev)) {
		if ( PIOS_STREAMFS_Init(&streamfs_id, &streamfs_settings, FLASH_PARTITION_LABEL_LOG) != 0)
			panic(8);
			
		const uint32_t LOG_BUF_LEN = 256;
		uint8_t *log_rx_buffer = PIOS_malloc(LOG_BUF_LEN);
		uint8_t *log_tx_buffer = PIOS_malloc(LOG_BUF_LEN);
		if (PIOS_COM_Init(&pios_com_logging_id, &pios_streamfs_com_driver, streamfs_id,
			log_rx_buffer, LOG_BUF_LEN, log_tx_buffer, LOG_BUF_LEN) != 0)
			panic(9);
	}
#endif	/* PIOS_INCLUDE_FLASH */

	switch (bdinfo->board_rev) {
	case BRUSHEDSPARKY_V0_2:
		{
			HwSparky2VTX_ChOptions channel;
			HwSparky2VTX_ChGet(&channel);
			set_vtx_channel(channel);
		}
		break;
	}

}
예제 #3
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_FLASH)
	/* Inititialize all flash drivers */
	if (PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg) != 0)
		panic(1);

	/* Register the partition table */
	const struct pios_flash_partition * flash_partition_table;
	uint32_t num_partitions;
	flash_partition_table = PIOS_BOARD_HW_DEFS_GetPartitionTable(bdinfo->board_rev, &num_partitions);
	PIOS_FLASH_register_partition_table(flash_partition_table, num_partitions);

	/* Mount all filesystems */
	if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0)
		panic(1);

#if defined(PIOS_INCLUDE_EXTERNAL_FLASH_WAYPOINTS)
	/* Use external flash chip to store waypoints */
	if (PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_external_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS) != 0)
		panic(1);
#endif /* PIOS_INCLUDE_EXTERNAL_FLASH_WAYPOINTS */

#endif	/* PIOS_INCLUDE_FLASH */

	/* Initialize the task monitor library */
	TaskMonitorInitialize();

	/* Initialize UAVObject libraries */
	EventDispatcherInitialize();
	UAVObjInitialize();

	/* Initialize the alarms library */
	AlarmsInitialize();

	HwFlyingF4Initialize();
	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

	/* Set up pulse timers */
	//inputs
	PIOS_TIM_InitClock(&tim_2_cfg);
	PIOS_TIM_InitClock(&tim_4_cfg);
	PIOS_TIM_InitClock(&tim_8_cfg);
	PIOS_TIM_InitClock(&tim_9_cfg);
	//outputs
	PIOS_TIM_InitClock(&tim_1_cfg);
	PIOS_TIM_InitClock(&tim_3_cfg);

	/* 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 */
		HwFlyingF4SetDefaults(HwFlyingF4Handle(), 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;
	bool usb_cdc_present = false;

#if defined(PIOS_INCLUDE_USB_CDC)
	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 */
	HwFlyingF4USB_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 = HWFLYINGF4_USB_VCPPORT_DISABLED;
	}

	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);
	}

	switch (hw_usb_vcpport) {
	case HWFLYINGF4_USB_VCPPORT_DISABLED:
		break;
	case HWFLYINGF4_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			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 HWFLYINGF4_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
		{
			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 HWFLYINGF4_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
		{
			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;
	case HWFLYINGF4_USB_VCPPORT_PICOC:
#if defined(PIOS_INCLUDE_COM)
		{
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_PICOC_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_PICOC_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_picoc_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						rx_buffer, PIOS_COM_PICOC_RX_BUF_LEN,
						tx_buffer, PIOS_COM_PICOC_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#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;
	HwFlyingF4USB_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 = HWFLYINGF4_USB_HIDPORT_DISABLED;
	}

	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);
	}

	switch (hw_usb_hidport) {
	case HWFLYINGF4_USB_HIDPORT_DISABLED:
		break;
	case HWFLYINGF4_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			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 */

	if (usb_hid_present || usb_cdc_present) {
		PIOS_USBHOOK_Activate();
	}
#endif	/* PIOS_INCLUDE_USB */

	/* Configure the IO ports */
	uint8_t hw_DSMxBind;
	HwFlyingF4DSMxBindGet(&hw_DSMxBind);

	/* init sensor queue registration */
	PIOS_SENSORS_Init();

	/* UART1 Port */
	uint8_t hw_uart1;
	HwFlyingF4Uart1Get(&hw_uart1);
	switch (hw_uart1) {
	case HWFLYINGF4_UART1_DISABLED:
		break;
	case HWFLYINGF4_UART1_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
		break;
	case HWFLYINGF4_UART1_SBUS:
		//hardware signal inverter required
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
		{
			uintptr_t pios_usart_sbus_id;
			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart1_sbus_cfg)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_id;
			if (PIOS_SBus_Init(&pios_sbus_id, &pios_usart1_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 HWFLYINGF4_UART1_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_usart1_dsm_hsum_cfg, &pios_usart1_dsm_aux_cfg, &pios_usart_com_driver,
				MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hw_DSMxBind);
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWFLYINGF4_UART1_HOTTSUMD:
	case HWFLYINGF4_UART1_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			switch (hw_uart1) {
			case HWFLYINGF4_UART1_HOTTSUMD:
				proto = PIOS_HSUM_PROTO_SUMD;
				break;
			case HWFLYINGF4_UART1_HOTTSUMH:
				proto = PIOS_HSUM_PROTO_SUMH;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_hsum(&pios_usart1_dsm_hsum_cfg, &pios_usart_com_driver,
				&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
		}
#endif	/* PIOS_INCLUDE_HSUM */
		break;
	case HWFLYINGF4_UART1_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
		break;
	}


	/* UART2 Port */
	uint8_t hw_uart2;
	HwFlyingF4Uart2Get(&hw_uart2);
	switch (hw_uart2) {
	case HWFLYINGF4_UART2_DISABLED:
		break;
	case HWFLYINGF4_UART2_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_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 HWFLYINGF4_UART2_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
		break;
	case HWFLYINGF4_UART2_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_usart2_dsm_hsum_cfg, &pios_usart2_dsm_aux_cfg, &pios_usart_com_driver,
				MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hw_DSMxBind);
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWFLYINGF4_UART2_HOTTSUMD:
	case HWFLYINGF4_UART2_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			switch (hw_uart2) {
			case HWFLYINGF4_UART2_HOTTSUMD:
				proto = PIOS_HSUM_PROTO_SUMD;
				break;
			case HWFLYINGF4_UART2_HOTTSUMH:
				proto = PIOS_HSUM_PROTO_SUMH;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_hsum(&pios_usart2_dsm_hsum_cfg, &pios_usart_com_driver,
				&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
		}
#endif	/* PIOS_INCLUDE_HSUM */
		break;
	case HWFLYINGF4_UART2_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWFLYINGF4_UART2_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
		break;
	case HWFLYINGF4_UART2_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWFLYINGF4_UART2_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
		PIOS_Board_configure_com(&pios_usart2_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 */
		break;
	case HWFLYINGF4_UART2_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
	case HWFLYINGF4_UART2_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif  
		break;
	case HWFLYINGF4_UART2_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
		break;
	case HWFLYINGF4_UART2_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
		PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif /* PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY */
		break;

	}


	/* UART3 Port */
	uint8_t hw_uart3;
	HwFlyingF4Uart3Get(&hw_uart3);
	switch (hw_uart3) {
	case HWFLYINGF4_UART3_DISABLED:
		break;
	case HWFLYINGF4_UART3_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_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 HWFLYINGF4_UART3_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
		break;
	case HWFLYINGF4_UART3_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_usart3_dsm_hsum_cfg, &pios_usart3_dsm_aux_cfg, &pios_usart_com_driver,
				MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hw_DSMxBind);
		}
#endif	/* PIOS_INCLUDE_DSM */
	case HWFLYINGF4_UART3_HOTTSUMD:
	case HWFLYINGF4_UART3_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			switch (hw_uart3) {
			case HWFLYINGF4_UART3_HOTTSUMD:
				proto = PIOS_HSUM_PROTO_SUMD;
				break;
			case HWFLYINGF4_UART3_HOTTSUMH:
				proto = PIOS_HSUM_PROTO_SUMH;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_hsum(&pios_usart3_dsm_hsum_cfg, &pios_usart_com_driver,
				&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
		}
#endif	/* PIOS_INCLUDE_HSUM */
		break;
	case HWFLYINGF4_UART3_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWFLYINGF4_UART3_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
		break;
	case HWFLYINGF4_UART3_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWFLYINGF4_UART3_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
		PIOS_Board_configure_com(&pios_usart3_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 */
		break;
	case HWFLYINGF4_UART3_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
	case HWFLYINGF4_UART3_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif  
		break;
	case HWFLYINGF4_UART3_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
		break;
	case HWFLYINGF4_UART3_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
		PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif /* PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY */

	}


	/* Configure the rcvr port */
	uint8_t hw_rcvrport;
	HwFlyingF4RcvrPortGet(&hw_rcvrport);

	switch (hw_rcvrport) {
	case HWFLYINGF4_RCVRPORT_DISABLED:
		break;
	case HWFLYINGF4_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
		{
			uintptr_t pios_pwm_id;
			PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);

			uintptr_t pios_pwm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_PWM */
		break;
	case HWFLYINGF4_RCVRPORT_PPM:
	case HWFLYINGF4_RCVRPORT_PPMOUTPUTS:
#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 HWFLYINGF4_RCVRPORT_PPMPWM:
		/* This is a combination of PPM and PWM inputs */
#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 */
#if defined(PIOS_INCLUDE_PWM)
		{
			uintptr_t pios_pwm_id;
			PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_with_ppm_cfg);

			uintptr_t pios_pwm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_PWM */
		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
	switch (hw_rcvrport) {
		case HWFLYINGF4_RCVRPORT_DISABLED:
		case HWFLYINGF4_RCVRPORT_PWM:
		case HWFLYINGF4_RCVRPORT_PPM:
			/* Set up the servo outputs */
#ifdef PIOS_INCLUDE_SERVO
			PIOS_Servo_Init(&pios_servo_cfg);
#endif
			break;
		case HWFLYINGF4_RCVRPORT_PPMOUTPUTS:
		case HWFLYINGF4_RCVRPORT_OUTPUTS:
#ifdef PIOS_INCLUDE_SERVO
			PIOS_Servo_Init(&pios_servo_rcvr_cfg);
#endif
			break;
	}
#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_I2C)
	if (PIOS_I2C_Init(&pios_i2c_10dof_adapter_id, &pios_i2c_10dof_adapter_cfg)) {
		PIOS_DEBUG_Assert(0);
	}

	if (PIOS_I2C_CheckClear(pios_i2c_10dof_adapter_id) != 0)
		panic(5);

#if defined(PIOS_INCLUDE_MPU6050)

	if (PIOS_MPU6050_Init(pios_i2c_10dof_adapter_id, PIOS_MPU6050_I2C_ADD_A0_LOW, &pios_mpu6050_cfg) != 0)
		panic(2);
	if (PIOS_MPU6050_Test() != 0)
		panic(2);

	// To be safe map from UAVO enum to driver enum
	uint8_t hw_gyro_range;
	HwFlyingF4GyroRangeGet(&hw_gyro_range);
	switch(hw_gyro_range) {
		case HWFLYINGF4_GYRORANGE_250:
			PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
			break;
		case HWFLYINGF4_GYRORANGE_500:
			PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
			break;
		case HWFLYINGF4_GYRORANGE_1000:
			PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
			break;
		case HWFLYINGF4_GYRORANGE_2000:
			PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
			break;
	}

	uint8_t hw_accel_range;
	HwFlyingF4AccelRangeGet(&hw_accel_range);
	switch(hw_accel_range) {
		case HWFLYINGF4_ACCELRANGE_2G:
			PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
			break;
		case HWFLYINGF4_ACCELRANGE_4G:
			PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
			break;
		case HWFLYINGF4_ACCELRANGE_8G:
			PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
			break;
		case HWFLYINGF4_ACCELRANGE_16G:
			PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
			break;
	}

	// the filter has to be set before rate else divisor calculation will fail
	uint8_t hw_mpu6050_dlpf;
	HwFlyingF4MPU6050DLPFGet(&hw_mpu6050_dlpf);
	enum pios_mpu60x0_filter mpu6050_dlpf = \
	    (hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
	    (hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
	    (hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
	    (hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
	    (hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
	    (hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
	    (hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
	    pios_mpu6050_cfg.default_filter;
	PIOS_MPU6050_SetLPF(mpu6050_dlpf);

	uint8_t hw_mpu6050_samplerate;
	HwFlyingF4MPU6050RateGet(&hw_mpu6050_samplerate);
	uint16_t mpu6050_samplerate = \
	    (hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_200) ? 200 : \
	    (hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_333) ? 333 : \
	    (hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_500) ? 500 : \
	    (hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_666) ? 666 : \
	    (hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_1000) ? 1000 : \
	    (hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_2000) ? 2000 : \
	    (hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_4000) ? 4000 : \
	    (hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_8000) ? 8000 : \
	    pios_mpu6050_cfg.default_samplerate;
	PIOS_MPU6050_SetSampleRate(mpu6050_samplerate);
	
	PIOS_MPU6050_SetPassThrough(true);
#endif /* PIOS_INCLUDE_MPU6050 */

	PIOS_WDG_Clear();
	PIOS_DELAY_WaitmS(50);
	PIOS_WDG_Clear();

#if defined(PIOS_INCLUDE_HMC5883)
	{
		uint8_t Magnetometer;
		HwFlyingF4MagnetometerGet(&Magnetometer);

		if (Magnetometer == HWFLYINGF4_MAGNETOMETER_EXTERNALI2C) {

			if (PIOS_HMC5883_Init(pios_i2c_10dof_adapter_id, &pios_hmc5883_external_cfg) != 0)
				panic(3);
			if (PIOS_HMC5883_Test() != 0)
				panic(3);

			// setup sensor orientation
			uint8_t ExtMagOrientation;
			HwFlyingF4ExtMagOrientationGet(&ExtMagOrientation);

			enum pios_hmc5883_orientation hmc5883_orientation = \
				(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_TOP0DEGCW) ? PIOS_HMC5883_TOP_0DEG : \
				(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_TOP90DEGCW) ? PIOS_HMC5883_TOP_90DEG : \
				(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_TOP180DEGCW) ? PIOS_HMC5883_TOP_180DEG : \
				(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_TOP270DEGCW) ? PIOS_HMC5883_TOP_270DEG : \
				(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_BOTTOM0DEGCW) ? PIOS_HMC5883_BOTTOM_0DEG : \
				(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_BOTTOM90DEGCW) ? PIOS_HMC5883_BOTTOM_90DEG : \
				(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_BOTTOM180DEGCW) ? PIOS_HMC5883_BOTTOM_180DEG : \
				(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_BOTTOM270DEGCW) ? PIOS_HMC5883_BOTTOM_270DEG : \
				pios_hmc5883_external_cfg.Default_Orientation;
			PIOS_HMC5883_SetOrientation(hmc5883_orientation);
		}
	}
#endif

	//I2C is slow, sensor init as well, reset watchdog to prevent reset here
	PIOS_WDG_Clear();

#if defined(PIOS_INCLUDE_MS5611)
	if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_10dof_adapter_id) != 0)
		panic(4);
	if (PIOS_MS5611_Test() != 0)
		panic(4);
#endif

	//I2C is slow, sensor init as well, reset watchdog to prevent reset here
	PIOS_WDG_Clear();

#endif	/* PIOS_INCLUDE_I2C */


#if defined(PIOS_INCLUDE_GPIO)
	PIOS_GPIO_Init();
#endif

#if defined(PIOS_INCLUDE_ADC)
	PIOS_ADC_Init(&pios_adc_cfg);
#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);
}