/** * @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); }