pios_board.c

Go to the documentation of this file.

/*
 * 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/>
 */

/* 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 "hwsparky2.h"
#include "manualcontrolsettings.h"
#include "modulesettings.h"
#include <pios_openlrs_rcvr_priv.h>


#define PIOS_COM_CAN_RX_BUF_LEN 256
#define PIOS_COM_CAN_TX_BUF_LEN 256

uintptr_t pios_com_openlog_logging_id;
uintptr_t pios_com_can_id;
uintptr_t pios_internal_adc_id = 0;
uintptr_t pios_uavo_settings_fs_id;

uintptr_t pios_can_id;

void set_vtx_channel(HwSparky2VTX_ChOptions channel)
{
        uint8_t chan = 0;
        uint8_t band = 0xFF; // Set to "A" band

        switch (channel) {
        case HWSPARKY2_VTX_CH_BOSCAMACH15725:
                chan = 0;
                band = 0;
        case HWSPARKY2_VTX_CH_BOSCAMACH25745:
                chan = 1;
                band = 0;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMACH35765:
                chan = 2;
                band = 0;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMACH45785:
                chan = 3;
                band = 0;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMACH55805:
                chan = 4;
                band = 0;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMACH65825:
                chan = 5;
                band = 0;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMACH75845:
                chan = 6;
                band = 0;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMACH85865:
                chan = 7;
                band = 0;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMBCH15733:
                chan = 0;
                band = 1;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMBCH25752:
                chan = 1;
                band = 1;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMBCH35771:
                chan = 2;
                band = 1;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMBCH45790:
                chan = 3;
                band = 1;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMBCH55809:
                chan = 4;
                band = 1;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMBCH65828:
                chan = 5;
                band = 1;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMBCH75847:
                chan = 6;
                band = 1;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMBCH85866:
                chan = 7;
                band = 1;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMECH15705:
                chan = 0;
                band = 2;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMECH25685:
                chan = 1;
                band = 2;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMECH35665:
                chan = 2;
                band = 2;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMECH45645:
                chan = 3;
                band = 2;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMECH55885:
                chan = 4;
                band = 2;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMECH65905:
                chan = 5;
                band = 2;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMECH75925:
                chan = 6;
                band = 2;
                break;
        case HWSPARKY2_VTX_CH_BOSCAMECH85945:
                chan = 7;
                band = 2;
                break;
        case HWSPARKY2_VTX_CH_AIRWAVECH15740:
                chan = 0;
                band = 3;
                break;
        case HWSPARKY2_VTX_CH_AIRWAVECH25760:
                chan = 1;
                band = 3;
                break;
        case HWSPARKY2_VTX_CH_AIRWAVECH35780:
                chan = 2;
                band = 3;
                break;
        case HWSPARKY2_VTX_CH_AIRWAVECH45800:
                chan = 3;
                band = 3;
                break;
        case HWSPARKY2_VTX_CH_AIRWAVECH55820:
                chan = 4;
                band = 3;
                break;
        case HWSPARKY2_VTX_CH_AIRWAVECH65840:
                chan = 5;
                band = 3;
                break;
        case HWSPARKY2_VTX_CH_AIRWAVECH75860:
                chan = 6;
                band = 3;
                break;
        case HWSPARKY2_VTX_CH_AIRWAVECH85860:
                chan = 7;
                band = 3;
                break;
        }

        GPIO_InitTypeDef GPIO_InitStructure;
        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
        GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
        GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
        GPIO_Init(GPIOB, &GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
        GPIO_Init(GPIOB, &GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
        GPIO_Init(GPIOB, &GPIO_InitStructure);

        if (chan & 0x01) {
                GPIO_SetBits(GPIOB, GPIO_Pin_14);
        } else {
                GPIO_ResetBits(GPIOB, GPIO_Pin_14);
        }

        if (chan & 0x02) {
                GPIO_SetBits(GPIOB, GPIO_Pin_13);
        } else {
                GPIO_ResetBits(GPIOB, GPIO_Pin_13);
        }

        if (chan & 0x04) {
                GPIO_SetBits(GPIOB, GPIO_Pin_12);
        } else {
                GPIO_ResetBits(GPIOB, GPIO_Pin_12);
        }

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
        GPIO_Init(GPIOA, &GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
        GPIO_Init(GPIOA, &GPIO_InitStructure);

        if (band & 0x01) {
                GPIO_SetBits(GPIOA, GPIO_Pin_9);
        } else {
                GPIO_ResetBits(GPIOA, GPIO_Pin_9);
        }

        if (band & 0x02) {
                GPIO_SetBits(GPIOA, GPIO_Pin_10);
        } else {
                GPIO_ResetBits(GPIOA, GPIO_Pin_10);
        }
}

#include <pios_board_info.h>

void PIOS_Board_Init(void) {
        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);
        }

#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 */
#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)
                        PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FLASH);
        }
#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))
                PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_FILESYS);
#if defined(PIOS_INCLUDE_FLASH_JEDEC)
#endif /* PIOS_INCLUDE_FLASH_JEDEC */

#endif  /* PIOS_INCLUDE_FLASH */

        /* Initialize the hardware UAVOs */
        HwSparky2Initialize();
        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();
        }

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

        /* 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,          // port type protocol
                        &pios_usart_main_cfg,                // usart_port_cfg
                        &pios_usart_com_driver,              // com_driver
                        NULL,                                // i2c_id
                        NULL,                                // i2c_cfg
                        NULL,                                // i2c_cfg
                        NULL,                                // pwm_cfg
                        PIOS_LED_ALARM,                      // led_id
                        &pios_dsm_main_cfg,                  // dsm_cfg
                        hw_DSMxMode,                         // dsm_mode
                        NULL);                               // sbus_cfg

        /* Configure FlexiPort */
        uint8_t hw_flexiport;
        HwSparky2FlexiPortGet(&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,                                // i2c_cfg
                        NULL,                                // pwm_cfg
                        PIOS_LED_ALARM,                      // led_id
                        &pios_dsm_flexi_cfg,                 // dsm_cfg
                        hw_DSMxMode,                         // dsm_mode
                        NULL);                               // sbus_cfg

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

        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,
                        hwSparky2.RfBand, hwSparky2.MaxRfPower,
                        openlrs_cfg, &openlrs_handle);
#endif /* PIOS_INCLUDE_OPENLRS */

        /* 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,            // port type protocol
                        get_usart_rcvr_cfg(bdinfo->board_rev), // usart_port_cfg
                        &pios_usart_com_driver,                // com_driver
                        NULL,                                  // i2c_id
                        NULL,                                  // i2c_cfg
                        &pios_ppm_cfg,                         // ppm_cfg
                        NULL,                                  // pwm_cfg
                        PIOS_LED_ALARM,                        // led_id
                        &pios_dsm_rcvr_cfg,                    // dsm_cfg
                        hw_DSMxMode,                           // dsm_mode
                        get_sbus_cfg(bdinfo->board_rev));      // sbus_cfg

#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)
                        PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_CAN);

                if (PIOS_COM_Init(&pios_com_can_id, &pios_can_com_driver, pios_can_id,
                                  PIOS_COM_CAN_RX_BUF_LEN,
                                  PIOS_COM_CAN_TX_BUF_LEN))
                        PIOS_HAL_CriticalError(PIOS_LED_ALARM, PIOS_HAL_PANIC_CAN);

                /* pios_com_bridge_id = pios_com_can_id; */
        }
#endif

        PIOS_DELAY_WaitmS(50);

        PIOS_SENSORS_Init();

#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);
#endif

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

        uint8_t Magnetometer;
        HwSparky2MagnetometerGet(&Magnetometer);

        if (Magnetometer != HWSPARKY2_MAGNETOMETER_INTERNAL)
                pios_mpu_cfg.use_internal_mag = false;


#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_ALARM, PIOS_HAL_PANIC_IMU);

        HwSparky2GyroRangeOptions hw_gyro_range;
        HwSparky2GyroRangeGet(&hw_gyro_range);
        switch(hw_gyro_range) {
                case HWSPARKY2_GYRORANGE_250:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_250_DEG);
                        break;
                case HWSPARKY2_GYRORANGE_500:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_500_DEG);
                        break;
                case HWSPARKY2_GYRORANGE_1000:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_1000_DEG);
                        break;
                case HWSPARKY2_GYRORANGE_2000:
                        PIOS_MPU_SetGyroRange(PIOS_MPU_SCALE_2000_DEG);
                        break;
        }

        HwSparky2AccelRangeOptions hw_accel_range;
        HwSparky2AccelRangeGet(&hw_accel_range);
        switch(hw_accel_range) {
                case HWSPARKY2_ACCELRANGE_2G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_2G);
                        break;
                case HWSPARKY2_ACCELRANGE_4G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_4G);
                        break;
                case HWSPARKY2_ACCELRANGE_8G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_8G);
                        break;
                case HWSPARKY2_ACCELRANGE_16G:
                        PIOS_MPU_SetAccelRange(PIOS_MPU_SCALE_16G);
                        break;
        }

        HwSparky2MPU9250GyroLPFOptions hw_mpu_dlpf;
        HwSparky2MPU9250GyroLPFGet(&hw_mpu_dlpf);
        uint16_t bandwidth = \
                (hw_mpu_dlpf == HWSPARKY2_MPU9250GYROLPF_184) ? 184 : \
                (hw_mpu_dlpf == HWSPARKY2_MPU9250GYROLPF_92)  ? 92  : \
                (hw_mpu_dlpf == HWSPARKY2_MPU9250GYROLPF_41)  ? 41  : \
                (hw_mpu_dlpf == HWSPARKY2_MPU9250GYROLPF_20)  ? 20  : \
                (hw_mpu_dlpf == HWSPARKY2_MPU9250GYROLPF_10)  ? 10  : \
                (hw_mpu_dlpf == HWSPARKY2_MPU9250GYROLPF_5)   ? 5   : \
                188;
        PIOS_MPU_SetGyroBandwidth(bandwidth);
#endif

        PIOS_WDG_Clear();

#if defined(PIOS_INCLUDE_I2C)
        uint8_t hw_magnetometer;
        HwSparky2MagnetometerGet(&hw_magnetometer);

        /* TODO: factor to pios_hal impl */
        switch (hw_magnetometer) {
                case HWSPARKY2_MAGNETOMETER_NONE:
                case HWSPARKY2_MAGNETOMETER_INTERNAL:
                        /* internal mag is handled by MPU code above */
                        break;

                /* default external mags and handle them in PiOS HAL rather than maintaining list here */
                default:
                {
                        HwSparky2ExtMagPortOptions hw_mag_port;
                        HwSparky2ExtMagPortGet(&hw_mag_port);

                        pios_i2c_t i2c_mag_id = 0;
                        const void *i2c_mag_cfg = NULL;
                        switch (hw_mag_port) {
                        case HWSPARKY2_EXTMAGPORT_FLEXIPORT:
                                if (hw_flexiport == HWSHARED_PORTTYPES_I2C) {
                                        i2c_mag_id = pios_i2c_flexiport_adapter_id;
                                        i2c_mag_cfg = &pios_i2c_flexiport_adapter_cfg;
                                }
                                break;
                        case HWSPARKY2_EXTMAGPORT_AUXI2C:
                                i2c_mag_id = pios_i2c_mag_pressure_adapter_id;
                                i2c_mag_cfg = &pios_i2c_mag_pressure_adapter_cfg;
                                break;
                        }

                        if (i2c_mag_id && i2c_mag_cfg) {
                                uint8_t hw_orientation;
                                HwSparky2ExtMagOrientationGet(&hw_orientation);

                                PIOS_HAL_ConfigureExternalMag(hw_magnetometer, hw_orientation,
                                        &i2c_mag_id, i2c_mag_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();

#endif /* PIOS_INCLUDE_I2C */

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

}