pios_board.c

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 *
 * Additional note on redistribution: The copyright and license notices above
 * must be maintained in each individual source file that is a derivative work
 * of this source file; otherwise redistribution is prohibited.
 */

/* Pull in the board-specific static HW definitions.
 * Including .c files is a bit ugly but this allows all of
 * the HW definitions to be const and static to limit their
 * scope.
 *
 * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
 */
#include "board_hw_defs.c"

#include <pios.h>
#include <pios_hal.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include "hwrevolution.h"
#include "manualcontrolsettings.h"
#include "modulesettings.h"
#include <pios_max7456.h>
#include <pios_openlrs_rcvr_priv.h>

#if defined(PIOS_INCLUDE_WS2811)
#include "rgbledsettings.h"
#endif

#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
uintptr_t pios_com_debug_id;
#endif  /* PIOS_INCLUDE_DEBUG_CONSOLE */

uintptr_t pios_internal_adc_id = 0;
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_com_openlog_logging_id;

#ifdef PIOS_INCLUDE_MAX7456
max7456_dev_t pios_max7456_id;
#endif

#include <pios_board_info.h>

void PIOS_Board_Init(void) {
        bool use_rxport_usart = false;

        /* some clone boards omit components, we will ignore that if running on a clone */
        bool is_modified_clone = false;

        const struct pios_board_info * bdinfo = &pios_board_info_blob;

#if defined(PIOS_INCLUDE_ANNUNC)
        const struct pios_annunc_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
        PIOS_Assert(led_cfg);
        PIOS_ANNUNC_Init(led_cfg);
#endif  /* PIOS_INCLUDE_ANNUNC */

        pios_spi_t pios_spi_gyro_id;
        /* 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 */
        bool flash_chip_ok = false;
        for (int i = 0; i < NELEMENTS(flash_chip_cfgs); i++) {
                if (PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_telem_flash_id,
                                1, &flash_chip_cfgs[i]) == 0) {
                        flash_chip_ok = true;
                        is_modified_clone = i > 0;
                        break;
                }
        }

        if (!flash_chip_ok) {
                /* Cope with clones with no flash, too. */

                is_modified_clone = true;

                /* Override LED configuration for Omnibus things */
                PIOS_ANNUNC_Init(&pios_annunc_omnibus_cfg);

                pios_external_flash_id = 0;
        }

        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, &flashfs_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0)
                PIOS_HAL_CriticalError(PIOS_LED_HEARTBEAT, PIOS_HAL_PANIC_FILESYS);
#endif  /* PIOS_INCLUDE_FLASH */

        PIOS_RESET_Clear(); // Clear the RCC reset flags after use.

        /* Initialize the hardware UAVOs */
        HwRevolutionInitialize();
        ModuleSettingsInitialize();

#if defined(PIOS_INCLUDE_RTC)
        PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif

        /* 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();
        }

        /* Set up pulse timers */
        PIOS_TIM_InitClock(&tim_1_cfg);
        PIOS_TIM_InitClock(&tim_3_cfg);
        PIOS_TIM_InitClock(&tim_4_cfg);
        PIOS_TIM_InitClock(&tim_5_cfg);
        PIOS_TIM_InitClock(&tim_8_cfg);
        PIOS_TIM_InitClock(&tim_9_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 */
                HwRevolutionSetDefaults(HwRevolutionHandle(), 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 */
        HwRevolutionUSB_VCPPortGet(&hw_usb_vcpport);

        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;
        HwRevolutionUSB_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 = HWREVOLUTION_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 */

#if defined(PIOS_INCLUDE_I2C)
        if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
                if (!is_modified_clone) {
                        PIOS_HAL_CriticalError(PIOS_LED_HEARTBEAT, PIOS_HAL_PANIC_I2C_INT);
                }
        } else {
                if (AlarmsGet(SYSTEMALARMS_ALARM_I2C) == SYSTEMALARMS_ALARM_UNINITIALISED) {
                        AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_OK);
                }
        }
#endif  // PIOS_INCLUDE_I2C

        HwRevolutionDSMxModeOptions hw_DSMxMode;
        HwRevolutionDSMxModeGet(&hw_DSMxMode);

        /* Configure main USART port */

        uint8_t hw_mainport;
        HwRevolutionMainPortGet(&hw_mainport);

        PIOS_HAL_ConfigurePort(hw_mainport,          // port type protocol
                        &pios_usart_main_cfg,                // usart_port_cfg
                        &pios_usart_com_driver,              // com_driver
                        NULL,                                // i2c_id
                        NULL,                                // i2c_cfg
                        NULL,                                // ppm_cfg
                        NULL,                                // pwm_cfg
                        PIOS_LED_HEARTBEAT,                      // led_id
                        &pios_dsm_main_cfg,                  // dsm_cfg
                        hw_DSMxMode >= HWREVOLUTION_DSMXMODE_BIND3PULSES ? HWREVOLUTION_DSMXMODE_AUTODETECT : hw_DSMxMode /* No bind on main port */,
                        &pios_sbus_cfg);                     // sbus_cfg

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

        PIOS_HAL_ConfigurePort(hw_flexiport,         // port type protocol
                        &pios_usart_flexi_cfg,               // usart_port_cfg
                        &pios_usart_com_driver,              // com_driver
                        &pios_i2c_flexiport_adapter_id,      // i2c_id
                        &pios_i2c_flexiport_adapter_cfg,     // i2c_cfg
                        NULL,                                // ppm_cfg
                        NULL,                                // pwm_cfg
                        PIOS_LED_HEARTBEAT,                      // led_id
                        &pios_dsm_flexi_cfg,                 // dsm_cfg
                        hw_DSMxMode,                         // dsm_mode
                        NULL);                               // sbus_cfg

        /* Configure the receiver port*/
        uint8_t hw_rxport;
        HwRevolutionRxPortGet(&hw_rxport);

        switch (hw_rxport) {
        case HWREVOLUTION_RXPORT_DISABLED:
                break;

        case HWREVOLUTION_RXPORT_PWM:
                PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PWM,  // port type protocol
                                NULL,                                   // usart_port_cfg
                                NULL,                                   // com_driver
                                NULL,                                   // i2c_id
                                NULL,                                   // i2c_cfg
                                NULL,                                   // ppm_cfg
                                &pios_pwm_cfg,                          // pwm_cfg
                                PIOS_LED_HEARTBEAT,                         // led_id
                                NULL,                                   // dsm_cfg
                                0,                                      // dsm_mode
                                NULL);                                  // sbus_cfg
                break;

        case HWREVOLUTION_RXPORT_PPM:
        case HWREVOLUTION_RXPORT_PPMOUTPUTS:
                PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PPM,  // port type protocol
                                NULL,                                   // usart_port_cfg
                                NULL,                                   // com_driver
                                NULL,                                   // i2c_id
                                NULL,                                   // i2c_cfg
                                &pios_ppm_cfg,                          // ppm_cfg
                                NULL,                                   // pwm_cfg
                                PIOS_LED_HEARTBEAT,                         // led_id
                                NULL,                                   // dsm_cfg
                                0,                                      // dsm_mode
                                NULL);                                  // sbus_cfg
                break;

        case HWREVOLUTION_RXPORT_UART:
                use_rxport_usart = true;
                break;

        case HWREVOLUTION_RXPORT_PPMUART:
                use_rxport_usart = true;

                PIOS_HAL_ConfigurePort(HWSHARED_PORTTYPES_PPM,  // port type protocol
                                NULL,                                   // usart_port_cfg
                                NULL,                                   // com_driver
                                NULL,                                   // i2c_id
                                NULL,                                   // i2c_cfg
                                &pios_ppm_cfg,                          // ppm_cfg
                                NULL,                                   // pwm_cfg
                                PIOS_LED_HEARTBEAT,                         // led_id
                                NULL,                                   // dsm_cfg
                                0,                                      // dsm_mode
                                NULL);                                  // sbus_cfg
                break;
        }

        /* Configure the RxPort USART */
        if (use_rxport_usart) {
                uint8_t hw_rxportusart;
                HwRevolutionRxPortUsartGet(&hw_rxportusart);

                PIOS_HAL_ConfigurePort(hw_rxportusart,       // port type protocol
                                &pios_rxportusart_cfg,               // usart_port_cfg
                                &pios_usart_com_driver,              // com_driver
                                NULL,                                // i2c_id
                                NULL,                                // i2c_cfg
                                NULL,                                // ppm_cfg
                                NULL,                                // pwm_cfg
                                PIOS_LED_HEARTBEAT,                      // led_id
                                &pios_rxportusart_dsm_aux_cfg,       // dsm_cfg
                                hw_DSMxMode,                         // dsm_mode
                                NULL);                               // sbus_cfg
        }

#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
        switch (hw_rxport) {
        case HWREVOLUTION_RXPORT_DISABLED:
        case HWREVOLUTION_RXPORT_PWM:
        case HWREVOLUTION_RXPORT_PPM:
        case HWREVOLUTION_RXPORT_UART:
        case HWREVOLUTION_RXPORT_PPMUART:
        /* Set up the servo outputs */
#ifdef PIOS_INCLUDE_SERVO
                PIOS_Servo_Init(&pios_servo_cfg);
#endif
                break;
        case HWREVOLUTION_RXPORT_PPMOUTPUTS:
#ifdef PIOS_INCLUDE_SERVO
                PIOS_Servo_Init(&pios_servo_rcvr_ppm_cfg);
#endif
                break;
        case HWREVOLUTION_RXPORT_OUTPUTS:
#ifdef PIOS_INCLUDE_SERVO
                PIOS_Servo_Init(&pios_servo_rcvr_all_cfg);
#endif
                break;
        }
#else
        PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif

        HwRevolutionData hwRevoMini;
        HwRevolutionGet(&hwRevoMini);

        uint8_t hw_spiperiph;

        HwRevolutionSPIPeripheralGet(&hw_spiperiph);

        switch (hw_spiperiph) {
                default:
                        PIOS_Assert(0);
                        break;
                case HWREVOLUTION_SPIPERIPHERAL_DISABLED:
                        break;

#ifdef PIOS_INCLUDE_MAX7456
                case HWREVOLUTION_SPIPERIPHERAL_MAX7456OSD:
                        if (!PIOS_MAX7456_init(&pios_max7456_id, pios_spi_telem_flash_id,
                                                0)) {
                                // XXX do something?
                        }
                        break;
#endif

#ifdef PIOS_INCLUDE_OPENLRS
                case HWREVOLUTION_SPIPERIPHERAL_RADIO:
                        (void) 0;
                        const struct pios_openlrs_cfg *openlrs_cfg =PIOS_BOARD_HW_DEFS_GetOpenLRSCfg(bdinfo->board_rev);

                        PIOS_HAL_ConfigureRFM22B(pios_spi_telem_flash_id,
                                        bdinfo->board_type, bdinfo->board_rev,
                                        hwRevoMini.RfBand,
                                        hwRevoMini.MaxRfPower,
                                        openlrs_cfg,
                                        &openlrs_handle);
                        break;
#endif /* PIOS_INCLUDE_OPENLRS */
        }

#ifdef PIOS_INCLUDE_WS2811
        uint8_t num_leds;

        RGBLEDSettingsInitialize();

        RGBLEDSettingsNumLedsGet(&num_leds);

        if (num_leds > 0) {
                switch (hwRevoMini.WS2811Pin) {
                        default:
                        case HWREVOLUTION_WS2811PIN_DISABLED:
                                break;

                        case HWREVOLUTION_WS2811PIN_PB12INPORTPIN3:
                                PIOS_WS2811_init(&pios_ws2811,
                                                &pios_ws2811_cfg_pb12,
                                                num_leds);
                                PIOS_WS2811_trigger_update(pios_ws2811);
                                break;

                        case HWREVOLUTION_WS2811PIN_PD2OMNIBUSF4LEDPORT:
                                if (hw_spiperiph == HWREVOLUTION_SPIPERIPHERAL_RADIO) {
                                        // Not compatible with radio use.
                                        break;
                                }

                                PIOS_WS2811_init(&pios_ws2811,
                                                &pios_ws2811_cfg_pd2,
                                                num_leds);
                                PIOS_WS2811_trigger_update(pios_ws2811);
                                break;

                        case HWREVOLUTION_WS2811PIN_PB6OMNIBUSF4V2LEDPORT:
                                PIOS_WS2811_init(&pios_ws2811,
                                                &pios_ws2811_cfg_pb6,
                                                num_leds);
                                PIOS_WS2811_trigger_update(pios_ws2811);
                                break;

                        case HWREVOLUTION_WS2811PIN_PA0SERVOOUT6:
                                /* 0 indexed */
                                PIOS_Servo_DisableChannel(6 - 1);
                                PIOS_WS2811_init(&pios_ws2811,
                                                &pios_ws2811_cfg_pa0,
                                                num_leds);
                                PIOS_WS2811_trigger_update(pios_ws2811);
                                break;
                }
        }
#endif /* PIOS_INCLUDE_WS2811 */

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

        PIOS_WDG_Clear();
        PIOS_DELAY_WaitmS(200);
        PIOS_WDG_Clear();

#if defined(PIOS_INCLUDE_MPU)
        pios_mpu_dev_t mpu_dev = NULL;
        if (PIOS_MPU_SPI_Init(&mpu_dev, pios_spi_gyro_id, 0, &pios_mpu_cfg) != 0)
                PIOS_HAL_CriticalError(PIOS_LED_HEARTBEAT, PIOS_HAL_PANIC_IMU);

        HwRevolutionGyroRangeOptions hw_gyro_range;
        HwRevolutionGyroRangeGet(&hw_gyro_range);
        switch(hw_gyro_range) {
                case HWREVOLUTION_GYRORANGE_250:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_250_DEG);
                        break;
                case HWREVOLUTION_GYRORANGE_500:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_500_DEG);
                        break;
                case HWREVOLUTION_GYRORANGE_1000:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_1000_DEG);
                        break;
                case HWREVOLUTION_GYRORANGE_2000:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_2000_DEG);
                        break;
        }

        HwRevolutionAccelRangeOptions hw_accel_range;
        HwRevolutionAccelRangeGet(&hw_accel_range);
        switch(hw_accel_range) {
                case HWREVOLUTION_ACCELRANGE_2G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_2G);
                        break;
                case HWREVOLUTION_ACCELRANGE_4G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_4G);
                        break;
                case HWREVOLUTION_ACCELRANGE_8G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_8G);
                        break;
                case HWREVOLUTION_ACCELRANGE_16G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_16G);
                        break;
        }

        // the filter has to be set before rate else divisor calculation will fail
        HwRevolutionMPU6000DLPFOptions hw_mpu_dlpf;
        HwRevolutionMPU6000DLPFGet(&hw_mpu_dlpf);
        uint16_t bandwidth = \
                (hw_mpu_dlpf == HWREVOLUTION_MPU6000DLPF_188) ? 188 : \
                (hw_mpu_dlpf == HWREVOLUTION_MPU6000DLPF_98)  ? 98  : \
                (hw_mpu_dlpf == HWREVOLUTION_MPU6000DLPF_42)  ? 42  : \
                (hw_mpu_dlpf == HWREVOLUTION_MPU6000DLPF_20)  ? 20  : \
                (hw_mpu_dlpf == HWREVOLUTION_MPU6000DLPF_10)  ? 10  : \
                (hw_mpu_dlpf == HWREVOLUTION_MPU6000DLPF_5)   ? 5   : \
                188;
        PIOS_MPU_SetGyroBandwidth(bandwidth);
#endif

#if defined(PIOS_INCLUDE_I2C)
        PIOS_WDG_Clear();

        uint8_t hw_magnetometer;
        HwRevolutionMagnetometerGet(&hw_magnetometer);

        if (!pios_i2c_mag_pressure_adapter_id) {
                hw_magnetometer = HWREVOLUTION_MAGNETOMETER_NONE;
        }

        switch (hw_magnetometer) {
                case HWREVOLUTION_MAGNETOMETER_NONE:
                        break;

                case HWREVOLUTION_MAGNETOMETER_INTERNAL:
#if defined(PIOS_INCLUDE_HMC5883)
                        if ((PIOS_HMC5883_Init(pios_i2c_mag_pressure_adapter_id, &pios_hmc5883_cfg) != 0) ||
                                        (PIOS_HMC5883_Test() != 0)) {
                                if (!is_modified_clone) {
                                        PIOS_HAL_CriticalError(PIOS_LED_HEARTBEAT, PIOS_HAL_PANIC_MAG);
                                }
                        }
#endif /* PIOS_INCLUDE_HMC5883 */
                        break;

                /* default external mags and handle them in PiOS HAL rather than maintaining list here */
                default:
                        if (hw_flexiport == HWSHARED_PORTTYPES_I2C) {
                                uint8_t hw_orientation;
                                HwRevolutionExtMagOrientationGet(&hw_orientation);

                                PIOS_HAL_ConfigureExternalMag(hw_magnetometer, hw_orientation,
                                        &pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg);
                        } else {
                                PIOS_SENSORS_SetMissing(PIOS_SENSOR_MAG);
                        }
                        break;
        }

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

#if defined(PIOS_INCLUDE_MS5611)
        if ((!pios_i2c_mag_pressure_adapter_id) || (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id) != 0) || (PIOS_MS5611_Test() != 0)) {
                if (!is_modified_clone) {
                        PIOS_HAL_CriticalError(PIOS_LED_HEARTBEAT, PIOS_HAL_PANIC_BARO);
                }
        }
#endif

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

#if defined(PIOS_INCLUDE_BMP280) && !defined(PIOS_EXCLUDE_BMP280_I2C)
        /* BMP280 I2C onboard support on clones */
        if (is_modified_clone &&
                        (pios_i2c_mag_pressure_adapter_id) &&
                        (!PIOS_SENSORS_IsRegistered(PIOS_SENSOR_BARO))) {
                PIOS_BMP280_Init(&pios_bmp280_cfg,
                                pios_i2c_mag_pressure_adapter_id);
        }
#endif /* defined(PIOS_INCLUDE_BMP280) && !defined(PIOS_EXCLUDE_BMP280_I2C) */

#endif    /* PIOS_INCLUDE_I2C */

#ifdef PIOS_INCLUDE_SPI
#ifdef PIOS_INCLUDE_BMP280_SPI
        // BMP280 support
        if ((!flash_chip_ok) &&
                        (!PIOS_SENSORS_IsRegistered(PIOS_SENSOR_BARO))) {
                /* Best effort */
                PIOS_BMP280_SPI_Init(&pios_bmp280_cfg,
                                pios_spi_telem_flash_id, 1);
        }
#endif /* PIOS_INCLUDE_BMP280_SPI */
#endif

#if defined(PIOS_INCLUDE_ADC)
        uintptr_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
}