LP-480 Moved sensors initialization to pios_board_sensors.c

flight/make/apps-defs.mk

@@ -101,6 +101,7 @@ SRC += $(PIOSCOMMON)/pios_servo.c
 SRC += $(PIOSCOMMON)/pios_openlrs.c
 SRC += $(PIOSCOMMON)/pios_openlrs_rcvr.c
 SRC += $(PIOSCOMMON)/pios_board_io.c
+SRC += $(PIOSCOMMON)/pios_board_sensors.c
 
 ## Misc library functions
 SRC += $(FLIGHTLIB)/sanitycheck.c

flight/pios/common/pios_board_io.c

@@ -67,21 +67,12 @@
 # endif /* PIOS_INCLUDE_RCVR */
 #endif /* PIOS_INCLUDE_RFM22B */
 
-#ifdef PIOS_INCLUDE_ADC
-# include <pios_adc_priv.h>
-#endif
-
-#ifdef PIOS_INCLUDE_MS5611
-# include <pios_ms5611.h>
-#endif
-
 #ifdef PIOS_INCLUDE_RCVR
 # include "manualcontrolsettings.h"
 uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; /* Receivers */
 #endif /* PIOS_INCLUDE_RCVR */
 
 #include "hwsettings.h"
-#include "auxmagsettings.h"
 #include "gcsreceiver.h"
 
 #ifdef PIOS_INCLUDE_GPS
@@ -118,14 +109,6 @@ uint32_t pios_com_telem_usb_id; /* USB telemetry */
 uint32_t pios_usb_rctx_id;
 #endif
 
-#if defined(PIOS_INCLUDE_HMC5X83)
-# include "pios_hmc5x83.h"
-# if defined(PIOS_HMC5X83_HAS_GPIOS)
-pios_hmc5x83_dev_t pios_hmc5x83_internal_id;
-# endif
-#endif
-
-
 #include "pios_usb_board_data_priv.h"
 #include "pios_usb_desc_hid_cdc_priv.h"
 #include "pios_usb_desc_hid_only_priv.h"
@@ -495,7 +478,7 @@ void PIOS_BOARD_IO_Configure_GCSRCVR()
 
 #ifdef PIOS_INCLUDE_RFM22B
 
-void PIOS_BOARD_IO_Configure_RFM22B(uint32_t spi_id, PIOS_BOARD_IO_RADIOAUX_Function radioaux_function)
+void PIOS_BOARD_IO_Configure_RFM22B(PIOS_BOARD_IO_RADIOAUX_Function radioaux_function)
 {
 #if defined(PIOS_INCLUDE_RFM22B)
     OPLinkSettingsInitialize();
@@ -533,7 +516,7 @@ void PIOS_BOARD_IO_Configure_RFM22B(uint32_t spi_id, PIOS_BOARD_IO_RADIOAUX_Func
             uint32_t openlrs_id;
             const struct pios_openlrs_cfg *openlrs_cfg = PIOS_BOARD_HW_DEFS_GetOpenLRSCfg(pios_board_info_blob.board_rev);
 
-            PIOS_OpenLRS_Init(&openlrs_id, spi_id, 0, openlrs_cfg);
+            PIOS_OpenLRS_Init(&openlrs_id, PIOS_SPI_RFM22B_ADAPTER, 0, openlrs_cfg);
 
             uint32_t openlrsrcvr_id;
             PIOS_OpenLRS_Rcvr_Init(&openlrsrcvr_id, openlrs_id);
@@ -548,7 +531,7 @@ void PIOS_BOARD_IO_Configure_RFM22B(uint32_t spi_id, PIOS_BOARD_IO_RADIOAUX_Func
             /* Configure the RFM22B device. */
             const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(pios_board_info_blob.board_rev);
 
-            if (PIOS_RFM22B_Init(&pios_rfm22b_id, spi_id, rfm22b_cfg->slave_num, rfm22b_cfg, oplinkSettings.RFBand)) {
+            if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_SPI_RFM22B_ADAPTER, rfm22b_cfg->slave_num, rfm22b_cfg, oplinkSettings.RFBand)) {
                 PIOS_Assert(0);
             }
 #if defined(PIOS_INCLUDE_OPLINKRCVR) && defined(PIOS_INCLUDE_RCVR)
@@ -646,7 +629,7 @@ void PIOS_BOARD_IO_Configure_RFM22B(uint32_t spi_id, PIOS_BOARD_IO_RADIOAUX_Func
             uint16_t mavlink_rx_size = PIOS_COM_MAVLINK_RX_BUF_LEN;
 
             switch (radioaux_function) {
-                default: ;
+            default:;
             case PIOS_BOARD_IO_RADIOAUX_DEBUGCONSOLE:
 #ifdef PIOS_INCLUDE_DEBUG_CONSOLE
                 if (PIOS_COM_Init(&pios_com_debug_id, &pios_rfm22b_aux_com_driver, pios_rfm22b_id,
@@ -657,10 +640,9 @@ void PIOS_BOARD_IO_Configure_RFM22B(uint32_t spi_id, PIOS_BOARD_IO_RADIOAUX_Func
 #endif
                 break;
             case PIOS_BOARD_IO_RADIOAUX_COMBRIDGE:
-                if(PIOS_COM_Init(&pios_com_bridge_id, &pios_rfm22b_aux_com_driver, pios_rfm22b_id,
+                if (PIOS_COM_Init(&pios_com_bridge_id, &pios_rfm22b_aux_com_driver, pios_rfm22b_id,
                                   0, PIOS_COM_BRIDGE_RX_BUF_LEN,
-                                 0, PIOS_COM_BRIDGE_TX_BUF_LEN))
+                                  0, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
-                {
                     PIOS_Assert(0);
                 }
                 break;
@@ -679,106 +661,3 @@ void PIOS_BOARD_IO_Configure_RFM22B(uint32_t spi_id, PIOS_BOARD_IO_RADIOAUX_Func
     OPLinkStatusSet(&oplinkStatus);
 }
 #endif /* ifdef PIOS_INCLUDE_RFM22B */
-
-#ifdef PIOS_INCLUDE_I2C
-void PIOS_BOARD_IO_Configure_I2C(uint32_t i2c_internal_id, uint32_t i2c_external_id)
-{
-    // internal HMC5x83 mag
-# ifdef PIOS_INCLUDE_HMC5X83_INTERNAL
-    const struct pios_hmc5x83_cfg *hmc5x83_internal_cfg = PIOS_BOARD_HW_DEFS_GetInternalHMC5x83Cfg(pios_board_info_blob.board_rev);
-
-    if (hmc5x83_internal_cfg) {
-        // attach the 5x83 mag to internal i2c bus
-
-        pios_hmc5x83_dev_t internal_mag = PIOS_HMC5x83_Init(hmc5x83_internal_cfg, i2c_internal_id, 0);
-#  ifdef PIOS_INCLUDE_WDG
-        // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
-        // this is not in a loop, so it is safe
-        PIOS_WDG_Clear();
-#  endif /* PIOS_INCLUDE_WDG */
-
-#ifdef PIOS_HMC5X83_HAS_GPIOS
-        pios_hmc5x83_internal_id = internal_mag;
-#endif
-        // add this sensor to the sensor task's list
-        PIOS_HMC5x83_Register(internal_mag, PIOS_SENSORS_TYPE_3AXIS_MAG);
-    }
-
-# endif /* PIOS_INCLUDE_HMC5X83_INTERNAL */
-
-    // internal ms5611 baro
-#if defined(PIOS_INCLUDE_MS5611)
-    PIOS_MS5611_Init(PIOS_BOARD_HW_DEFS_GetMS5611Cfg(pios_board_info_blob.board_rev), i2c_internal_id);
-    PIOS_MS5611_Register();
-#endif
-
-    // internal bmp280 baro
-    // internal MPU6000 imu (i2c)
-    // internal eeprom (revo nano) - NOT HERE, should be initialized earlier
-
-
-    /* Initialize external sensors */
-
-    // aux mag
-# ifdef PIOS_INCLUDE_HMC5X83
-    AuxMagSettingsInitialize();
-
-    AuxMagSettingsTypeOptions option;
-    AuxMagSettingsTypeGet(&option);
-
-    const struct pios_hmc5x83_cfg *hmc5x83_external_cfg = PIOS_BOARD_HW_DEFS_GetExternalHMC5x83Cfg(pios_board_info_blob.board_rev);
-
-    if (hmc5x83_external_cfg) {
-        uint32_t i2c_id = 0;
-
-        if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
-            // i2c_external
-            i2c_id = i2c_external_id;
-        } else if (option == AUXMAGSETTINGS_TYPE_I2C) {
-            // i2c_internal (or Sparky2/F3 dedicated I2C port)
-            i2c_id = i2c_internal_id;
-        }
-
-        if (i2c_id) {
-            uint32_t external_mag = PIOS_HMC5x83_Init(hmc5x83_external_cfg, i2c_id, 0);
-#  ifdef PIOS_INCLUDE_WDG
-            // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
-            // this is not in a loop, so it is safe
-            PIOS_WDG_Clear();
-#  endif /* PIOS_INCLUDE_WDG */
-            // add this sensor to the sensor task's list
-            // be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
-            // and before registering some other fast and important sensor
-            // as that would cause delay and time jitter for the second fast sensor
-            PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
-            // mag alarm is cleared later, so use I2C
-            AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
-        }
-    }
-# endif /* PIOS_INCLUDE_HMC5X83 */
-
-    // external ETASV3 Eagletree Airspeed v3
-    // external MS4525D PixHawk Airpeed based on MS4525DO
-
-    // BMA180 accelerometer?
-    // bmp085/bmp180 baro
-
-    // hmc5843 mag
-    // i2c esc (?)
-    // UBX DCC
-}
-#endif /* ifdef PIOS_INCLUDE_I2C */
-
-#ifdef PIOS_INCLUDE_ADC
-void PIOS_BOARD_IO_Configure_ADC()
-{
-    PIOS_ADC_Init(PIOS_BOARD_HW_DEFS_GetAdcCfg(pios_board_info_blob.board_rev));
-    uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
-    HwSettingsADCRoutingArrayGet(adc_config);
-    for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
-        if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
-            PIOS_ADC_PinSetup(i);
-        }
-    }
-}
-#endif /* PIOS_INCLUDE_ADC */

flight/pios/common/pios_board_sensors.c

@@ -0,0 +1,187 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board_sensors.c
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
+ * @brief      board sensors setup
+ *             --
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "pios_board_info.h"
+#include "pios_board_sensors.h"
+#include "pios_board_hw.h"
+
+#include "uavobjectmanager.h"
+#include "auxmagsettings.h"
+#include "hwsettings.h"
+#include <alarms.h>
+
+#ifdef PIOS_INCLUDE_MPU6000
+# include <pios_mpu6000.h>
+# include <pios_mpu6000_config.h>
+#endif
+
+#ifdef PIOS_INCLUDE_MS5611
+# include <pios_ms5611.h>
+#endif
+
+#if defined(PIOS_INCLUDE_ADXL345)
+# include <pios_adxl345.h>
+#endif
+
+#ifdef PIOS_INCLUDE_MPU9250
+# include <pios_mpu9250.h>
+# include <pios_mpu9250_config.h>
+#endif
+
+#if defined(PIOS_INCLUDE_HMC5X83)
+# include "pios_hmc5x83.h"
+# if defined(PIOS_HMC5X83_HAS_GPIOS)
+pios_hmc5x83_dev_t pios_hmc5x83_internal_id;
+# endif
+#endif
+
+#ifdef PIOS_INCLUDE_ADC
+# include "pios_adc_priv.h"
+#endif
+
+void PIOS_BOARD_Sensors_Configure()
+{
+#ifdef PIOS_INCLUDE_MPU6000
+    const struct pios_mpu6000_cfg *mpu6000_cfg = PIOS_BOARD_HW_DEFS_GetMPU6000Cfg(pios_board_info_blob.board_rev);
+    if (mpu6000_cfg) {
+        PIOS_MPU6000_Init(PIOS_SPI_MPU6000_ADAPTER, 0, mpu6000_cfg);
+        PIOS_MPU6000_CONFIG_Configure();
+#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
+        PIOS_MPU6000_Register();
+#endif
+    }
+#endif /* PIOS_INCLUDE_MPU6000 */
+
+#ifdef PIOS_INCLUDE_ADXL345
+    PIOS_ADXL345_Init(PIOS_SPI_ADXL345_ADAPTER, 0);
+#endif
+
+#ifdef PIOS_INCLUDE_MPU9250
+    const struct pios_mpu9250_cfg *mpu9250_cfg = PIOS_BOARD_HW_DEFS_GetMPU9250Cfg(pios_board_info_blob.board_rev);
+    if (mpu9250_cfg) {
+        PIOS_MPU9250_Init(PIOS_SPI_MPU9250_ADAPTER, 0, mpu9250_cfg);
+        PIOS_MPU9250_CONFIG_Configure();
+        PIOS_MPU9250_MainRegister();
+        PIOS_MPU9250_MagRegister();
+    }
+#endif /* PIOS_INCLUDE_MPU9250 */
+
+
+    // internal HMC5x83 mag
+# ifdef PIOS_INCLUDE_HMC5X83_INTERNAL
+    const struct pios_hmc5x83_cfg *hmc5x83_internal_cfg = PIOS_BOARD_HW_DEFS_GetInternalHMC5x83Cfg(pios_board_info_blob.board_rev);
+
+    if (hmc5x83_internal_cfg) {
+        // attach the 5x83 mag to internal i2c bus
+
+        pios_hmc5x83_dev_t internal_mag = PIOS_HMC5x83_Init(hmc5x83_internal_cfg, PIOS_I2C_HMC5X83_INTERNAL_ADAPTER, 0);
+#  ifdef PIOS_INCLUDE_WDG
+        // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
+        // this is not in a loop, so it is safe
+        PIOS_WDG_Clear();
+#  endif /* PIOS_INCLUDE_WDG */
+
+#ifdef PIOS_HMC5X83_HAS_GPIOS
+        pios_hmc5x83_internal_id = internal_mag;
+#endif
+        // add this sensor to the sensor task's list
+        PIOS_HMC5x83_Register(internal_mag, PIOS_SENSORS_TYPE_3AXIS_MAG);
+    }
+
+# endif /* PIOS_INCLUDE_HMC5X83_INTERNAL */
+
+# ifdef PIOS_INCLUDE_HMC5X83
+    AuxMagSettingsInitialize();
+
+    AuxMagSettingsTypeOptions option;
+    AuxMagSettingsTypeGet(&option);
+
+    const struct pios_hmc5x83_cfg *hmc5x83_external_cfg = PIOS_BOARD_HW_DEFS_GetExternalHMC5x83Cfg(pios_board_info_blob.board_rev);
+
+    if (hmc5x83_external_cfg) {
+        uint32_t i2c_id = 0;
+
+        if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
+            // i2c_external
+            i2c_id = PIOS_I2C_EXTERNAL_ADAPTER;
+        } else if (option == AUXMAGSETTINGS_TYPE_I2C) {
+            // i2c_internal (or Sparky2/F3 dedicated I2C port)
+            i2c_id = PIOS_I2C_FLEXI_ADAPTER;
+        }
+
+        if (i2c_id) {
+            uint32_t external_mag = PIOS_HMC5x83_Init(hmc5x83_external_cfg, i2c_id, 0);
+#  ifdef PIOS_INCLUDE_WDG
+            // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
+            // this is not in a loop, so it is safe
+            PIOS_WDG_Clear();
+#  endif /* PIOS_INCLUDE_WDG */
+            // add this sensor to the sensor task's list
+            // be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
+            // and before registering some other fast and important sensor
+            // as that would cause delay and time jitter for the second fast sensor
+            PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
+            // mag alarm is cleared later, so use I2C
+            AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
+        }
+    }
+# endif /* PIOS_INCLUDE_HMC5X83 */
+
+    // internal ms5611 baro
+#if defined(PIOS_INCLUDE_MS5611)
+    const struct pios_ms5611_cfg *ms5611_cfg = PIOS_BOARD_HW_DEFS_GetMS5611Cfg(pios_board_info_blob.board_rev);
+    if (ms5611_cfg) {
+        PIOS_MS5611_Init(ms5611_cfg, PIOS_I2C_MS5611_INTERNAL_ADAPTER);
+        PIOS_MS5611_Register();
+    }
+#endif
+
+#ifdef PIOS_INCLUDE_ADC
+    PIOS_ADC_Init(PIOS_BOARD_HW_DEFS_GetAdcCfg(pios_board_info_blob.board_rev));
+#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
+    uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
+    HwSettingsADCRoutingArrayGet(adc_config);
+    for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
+        if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
+            PIOS_ADC_PinSetup(i);
+        }
+    }
+#endif
+#endif /* PIOS_INCLUDE_ADC */
+
+    // internal bmp280 baro
+    // internal MPU6000 imu (i2c)
+
+    // external ETASV3 Eagletree Airspeed v3
+    // external MS4525D PixHawk Airpeed based on MS4525DO
+
+    // BMA180 accelerometer?
+    // bmp085/bmp180 baro
+
+    // hmc5843 mag
+    // i2c esc (?)
+    // UBX DCC
+}

flight/pios/inc/pios_board_hw.h

@@ -53,4 +53,10 @@ const struct pios_bmp280_cfg *PIOS_BOARD_HW_DEFS_GetBMP280Cfg(uint32_t board_rev
 #ifdef PIOS_INCLUDE_ADC
 const struct pios_adc_cfg *PIOS_BOARD_HW_DEFS_GetAdcCfg(uint32_t board_revision);
 #endif
+#ifdef PIOS_INCLUDE_MPU6000
+const struct pios_mpu6000_cfg *PIOS_BOARD_HW_DEFS_GetMPU6000Cfg(uint32_t board_revision);
+#endif
+#ifdef PIOS_INCLUDE_MPU9250
+const struct pios_mpu9250_cfg *PIOS_BOARD_HW_DEFS_GetMPU9250Cfg(uint32_t board_revision);
+#endif
 #endif /* PIOS_BOARD_HW_H */

flight/pios/inc/pios_board_io.h

@@ -206,10 +206,10 @@ typedef enum {
 
 #ifdef PIOS_INCLUDE_USB
 void PIOS_BOARD_IO_Configure_USB();
-//# if defined(PIOS_INCLUDE_USB_HID)
+// # if defined(PIOS_INCLUDE_USB_HID)
-//#  include <pios_usb_hid_priv.h>
+// #  include <pios_usb_hid_priv.h>
-//extern const struct pios_usb_hid_cfg pios_usb_hid_cfg;
+// extern const struct pios_usb_hid_cfg pios_usb_hid_cfg;
-//# endif /* PIOS_INCLUDE_USB_HID */
+// # endif /* PIOS_INCLUDE_USB_HID */
 #endif /* PIOS_INCLUDE_USB */
 #ifdef PIOS_INCLUDE_PWM
 void PIOS_BOARD_IO_Configure_PWM(const struct pios_pwm_cfg *pwm_cfg);
@@ -221,11 +221,7 @@ void PIOS_BOARD_IO_Configure_PPM(const struct pios_ppm_cfg *ppm_cfg);
 void PIOS_BOARD_IO_Configure_UART(const struct pios_usart_cfg *usart_cfg, PIOS_BOARD_IO_UART_Function function);
 
 #ifdef PIOS_INCLUDE_RFM22B
-void PIOS_BOARD_IO_Configure_RFM22B(uint32_t spi_id, PIOS_BOARD_IO_RADIOAUX_Function function);
+void PIOS_BOARD_IO_Configure_RFM22B(PIOS_BOARD_IO_RADIOAUX_Function function);
-#endif
-
-#ifdef PIOS_INCLUDE_I2C
-void PIOS_BOARD_IO_Configure_I2C(uint32_t i2c_internal_id, uint32_t i2c_external_id);
 #endif
 
 #ifdef PIOS_INCLUDE_GCSRCVR

flight/pios/inc/pios_board_sensors.h

@@ -0,0 +1,33 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board_sensors.h
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
+ * @brief      board sensors setup
+ *             --
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef PIOS_BOARD_SENSORS_H
+#define PIOS_BOARD_SENSORS_H
+
+#include "pios.h"
+
+void PIOS_BOARD_Sensors_Configure();
+
+#endif /* PIOS_BOARD_SENSORS_H */

flight/pios/stm32f10x/inc/pios_servo_config.h

@@ -30,7 +30,7 @@
  * Generic servo pin configuration structure for an STM32F10x
  */
 #define TIM_SERVO_CHANNEL_CONFIG(_timer, _channel, _gpio, _pin, _remap) \
-{                                                     \
+    {                                                     \
         .timer = _timer,                                  \
         .timer_chan = TIM_Channel_##_channel,             \
         .pin   = {                                        \
@@ -38,12 +38,12 @@
             .init = {                                     \
                 .GPIO_Pin   = GPIO_Pin_##_pin,            \
                 .GPIO_Mode  = GPIO_Mode_IPD, \
-            .GPIO_Speed = GPIO_Speed_2MHz,\
+                .GPIO_Speed = GPIO_Speed_2MHz, \
             },                                            \
             .pin_source     = GPIO_PinSource##_pin,       \
         },                                                \
         .remap = _remap,                        \
-}
+    }
 
 
 #endif /* PIOS_SERVO_CONFIG_H_ */

flight/targets/boards/coptercontrol/board_hw_defs.c

@@ -186,11 +186,11 @@ static const struct pios_spi_cfg pios_spi_gyro_cfg = {
     },
 };
 
-static uint32_t pios_spi_gyro_id;
+uint32_t pios_spi_gyro_adapter_id;
 void PIOS_SPI_gyro_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
+    PIOS_SPI_IRQ_Handler(pios_spi_gyro_adapter_id);
 }
 
 
@@ -402,11 +402,11 @@ static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc = {
     },
 };
 
-static uint32_t pios_spi_flash_accel_id;
+uint32_t pios_spi_flash_accel_adapter_id;
 void PIOS_SPI_flash_accel_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_SPI_IRQ_Handler(pios_spi_flash_accel_id);
+    PIOS_SPI_IRQ_Handler(pios_spi_flash_accel_adapter_id);
 }
 
 #endif /* PIOS_INCLUDE_SPI */
@@ -485,6 +485,11 @@ void PIOS_ADC_handler()
 {
     PIOS_ADC_DMA_Handler();
 }
+
+const struct pios_adc_cfg *PIOS_BOARD_HW_DEFS_GetAdcCfg(__attribute__((unused)) uint32_t board_revision)
+{
+    return &pios_adc_cfg;
+}
 #endif /* if defined(PIOS_INCLUDE_ADC) */
 
 #include "pios_tim_priv.h"
@@ -988,7 +993,6 @@ const struct pios_usb_cfg *PIOS_BOARD_HW_DEFS_GetUsbCfg(uint32_t board_revision)
  */
 #if defined(PIOS_INCLUDE_MPU6000)
 #include "pios_mpu6000.h"
-#include "pios_mpu6000_config.h"
 static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
     .vector = PIOS_MPU6000_IRQHandler,
     .line   = EXTI_Line3,
@@ -1037,6 +1041,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
     .std_prescaler  = PIOS_SPI_PRESCALER_64,
     .max_downsample = 2
 };
+
+const struct pios_mpu6000_cfg *PIOS_BOARD_HW_DEFS_GetMPU6000Cfg(__attribute__((unused)) uint32_t board_revision)
+{
+    return &pios_mpu6000_cfg;
+}
 #endif /* PIOS_INCLUDE_MPU6000 */
-
-

flight/targets/boards/coptercontrol/firmware/pios_board.c

@@ -38,11 +38,9 @@
 #ifdef PIOS_INCLUDE_INSTRUMENTATION
 #include <pios_instrumentation.h>
 #endif
-#if defined(PIOS_INCLUDE_ADXL345)
-#include <pios_adxl345.h>
-#endif
 
 #include <pios_board_io.h>
+#include <pios_board_sensors.h>
 
 /*
  * Pull in the board-specific static HW definitions.
@@ -133,12 +131,12 @@ void PIOS_Board_Init(void)
 
     switch (bdinfo->board_rev) {
     case BOARD_REVISION_CC:
-        if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc)) {
+        if (PIOS_SPI_Init(&pios_spi_flash_accel_adapter_id, &pios_spi_flash_accel_cfg_cc)) {
             PIOS_Assert(0);
         }
         break;
     case BOARD_REVISION_CC3D:
-        if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc3d)) {
+        if (PIOS_SPI_Init(&pios_spi_flash_accel_adapter_id, &pios_spi_flash_accel_cfg_cc3d)) {
             PIOS_Assert(0);
         }
         break;
@@ -151,7 +149,7 @@ void PIOS_Board_Init(void)
     uintptr_t flash_id;
     switch (bdinfo->board_rev) {
     case BOARD_REVISION_CC:
-        if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 1)) {
+        if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_adapter_id, 1)) {
             PIOS_DEBUG_Assert(0);
         }
         if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_w25x_cfg, &pios_jedec_flash_driver, flash_id)) {
@@ -159,7 +157,7 @@ void PIOS_Board_Init(void)
         }
         break;
     case BOARD_REVISION_CC3D:
-        if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 0)) {
+        if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_adapter_id, 0)) {
             PIOS_DEBUG_Assert(0);
         }
         if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_m25p_cfg, &pios_jedec_flash_driver, flash_id)) {
@@ -238,7 +236,7 @@ void PIOS_Board_Init(void)
         PIOS_BOARD_IO_Configure_UART(&pios_usart_flexi_cfg, flexi_function_map[hwsettings_flexiport]);
     }
 
-    switch(hwsettings_flexiport) {
+    switch (hwsettings_flexiport) {
     case HWSETTINGS_CC_FLEXIPORT_I2C:
 #if defined(PIOS_INCLUDE_I2C)
         if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
@@ -341,33 +339,23 @@ void PIOS_Board_Init(void)
 
     switch (bdinfo->board_rev) {
     case BOARD_REVISION_CC:
-        // Revision 1 with invensense gyros, start the ADC
-#if defined(PIOS_INCLUDE_ADC)
-        PIOS_ADC_Init(&pios_adc_cfg);
-#endif
-#if defined(PIOS_INCLUDE_ADXL345)
-        PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0);
-#endif
         break;
     case BOARD_REVISION_CC3D:
         // Revision 2 with MPU6000 gyros, start a SPI interface and connect to it
         GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
 
-#if defined(PIOS_INCLUDE_MPU6000)
+        // Set up the SPI interface to the mpu6000
-        // Set up the SPI interface to the serial flash
+        if (PIOS_SPI_Init(&pios_spi_gyro_adapter_id, &pios_spi_gyro_cfg)) {
-        if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
             PIOS_Assert(0);
         }
-        PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
-        PIOS_MPU6000_CONFIG_Configure();
-        init_test = !PIOS_MPU6000_Driver.test(0);
-#endif /* PIOS_INCLUDE_MPU6000 */
 
         break;
     default:
         PIOS_Assert(0);
     }
 
+    PIOS_BOARD_Sensors_Configure();
+
     /* 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);
 

flight/targets/boards/coptercontrol/pios_board.h

@@ -117,6 +117,10 @@ extern uint32_t pios_i2c_flexi_adapter_id;
 // See also pios_board.c
 // -------------------------
 #define PIOS_SPI_MAX_DEVS        2
+extern uint32_t pios_spi_gyro_adapter_id;
+#define PIOS_SPI_MPU6000_ADAPTER (pios_spi_gyro_adapter_id)
+extern uint32_t pios_spi_flash_accel_adapter_id;
+#define PIOS_SPI_ADXL345_ADAPTER (pios_spi_flash_accel_adapter_id)
 
 // -------------------------
 // PIOS_USART

flight/targets/boards/discoveryf4bare/board_hw_defs.c

@@ -343,15 +343,15 @@ static const struct pios_spi_cfg pios_spi_gyro_cfg = {
     }
 };
 
-static uint32_t pios_spi_gyro_id;
+uint32_t pios_spi_gyro_adapter_id;
 void PIOS_SPI_gyro_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
+    PIOS_SPI_IRQ_Handler(pios_spi_gyro_adapter_id);
 }
 
 
-#if false
+#ifdef PIOS_INCLUDE_RFM22B
 /*
  * SPI3 Interface
  * Used for Flash and the RFM22B
@@ -479,11 +479,11 @@ static const struct pios_spi_cfg pios_spi_telem_flash_cfg = {
     },
 };
 
-uint32_t pios_spi_telem_flash_id;
+uint32_t pios_spi_telem_flash_adapter_id;
 void PIOS_SPI_telem_flash_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_id);
+    PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_adapter_id);
 }
 
 
@@ -1448,7 +1448,6 @@ const struct pios_ms5611_cfg *PIOS_BOARD_HW_DEFS_GetMS5611Cfg(__attribute__((unu
  */
 #if defined(PIOS_INCLUDE_MPU6000)
 #include "pios_mpu6000.h"
-#include "pios_mpu6000_config.h"
 static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
     .vector = PIOS_MPU6000_IRQHandler,
     .line   = EXTI_Line4,
@@ -1496,6 +1495,10 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
     .filter               = PIOS_MPU6000_LOWPASS_256_HZ,
     .orientation   = PIOS_MPU6000_TOP_180DEG
 };
+
+const struct pios_mpu6000_cfg *PIOS_BOARD_HW_DEFS_GetMPU6000Cfg(__attribute__((unused)) uint32_t board_revision)
+{
+    return &pios_mpu6000_cfg;
+}
+
 #endif /* PIOS_INCLUDE_MPU6000 */
-
-

flight/targets/boards/discoveryf4bare/bootloader/main.c

@@ -35,6 +35,7 @@
 #include <pios_usbhook.h> /* PIOS_USBHOOK_* */
 #include <stdbool.h>
 #include <pios_board_init.h>
+#include <pios_board_io.h>
 
 extern void FLASH_Download();
 void check_bor();

flight/targets/boards/discoveryf4bare/firmware/pios_board.c

@@ -39,6 +39,7 @@
 #endif
 
 #include <pios_board_io.h>
+#include <pios_board_sensors.h>
 
 /*
  * Pull in the board-specific static HW definitions.
@@ -143,17 +144,20 @@ void PIOS_Board_Init(void)
 #endif
 
 
-#if false
+#ifdef PIOS_INCLUDE_MPU6000
     /* Set up the SPI interface to the gyro/acelerometer */
-    if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
+    if (PIOS_SPI_Init(&pios_spi_gyro_adapter_id, &pios_spi_gyro_cfg)) {
         PIOS_DEBUG_Assert(0);
     }
+#endif /* PIOS_INCLUDE_MPU6000 */
 
-    /* Set up the SPI interface to the flash and rfm22b */
+#ifdef PIOS_INCLUDE_RFM22B
-    if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
+    /* Set up the SPI interface to the rfm22b */
+    if (PIOS_SPI_Init(&pios_spi_telem_flash_adapter_id, &pios_spi_telem_flash_cfg)) {
         PIOS_DEBUG_Assert(0);
     }
-#endif
+#endif /* PIOS_INCLUDE_RFM22B */
+
 #if defined(PIOS_INCLUDE_FLASH)
     /* Connect flash to the appropriate interface and configure it */
     uintptr_t flash_id;
@@ -251,8 +255,6 @@ void PIOS_Board_Init(void)
         }
         PIOS_DELAY_WaitmS(50);
     }
-    
-    PIOS_BOARD_IO_Configure_I2C(pios_i2c_mag_pressure_adapter_id, pios_i2c_flexiport_adapter_id);
 #endif
 
 #if defined(PIOS_INCLUDE_USB)
@@ -288,7 +290,7 @@ void PIOS_Board_Init(void)
     uint8_t hwsettings_radioaux;
     HwSettingsRadioAuxStreamGet(&hwsettings_radioaux);
 
-    if(hwsettings_radioaux < NELEMENTS(radioaux_function_map)) {
+    if (hwsettings_radioaux < NELEMENTS(radioaux_function_map)) {
         PIOS_BOARD_IO_Configure_RFM22B(pios_spi_telem_flash_id, radioaux_function_map[hwsettings_radioaux]);
     }
 #endif /* PIOS_INCLUDE_RFM22B */
@@ -357,11 +359,7 @@ void PIOS_Board_Init(void)
     PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
 #endif
 
-#if defined(PIOS_INCLUDE_MPU6000)
+    PIOS_BOARD_Sensors_Configure();
-    PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
-    PIOS_MPU6000_CONFIG_Configure();
-    PIOS_MPU6000_Register();
-#endif
 
 #ifdef PIOS_INCLUDE_WS2811
     PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg);
@@ -377,8 +375,6 @@ void PIOS_Board_Init(void)
         .GPIO_OType = GPIO_OType_OD,
     };
     GPIO_Init(GPIOA, &gpioA8);
-    
-    PIOS_BOARD_IO_Configure_ADC();
 #endif // PIOS_INCLUDE_ADC
 }
 

flight/targets/boards/discoveryf4bare/pios_board.h

@@ -86,6 +86,10 @@
 // See also pios_board.c
 // ------------------------
 #define PIOS_SPI_MAX_DEVS        3
+extern uint32_t pios_spi_telem_flash_adapter_id;
+#define PIOS_SPI_RFM22B_ADAPTER  (pios_spi_telem_flash_adapter_id)
+extern uint32_t pios_spi_gyro_adapter_id;
+#define PIOS_SPI_MPU6000_ADAPTER (pios_spi_gyro_adapter_id)
 
 // ------------------------
 // PIOS_WDG
@@ -104,10 +108,11 @@
 // ------------------------
 #define PIOS_I2C_MAX_DEVS                 3
 extern uint32_t pios_i2c_mag_pressure_adapter_id;
-#define PIOS_I2C_MAIN_ADAPTER   (pios_i2c_mag_pressure_adapter_id)
+#define PIOS_I2C_HMC5X83_INTERNAL_ADAPTER (pios_i2c_mag_pressure_adapter_id)
 extern uint32_t pios_i2c_flexiport_adapter_id;
 #define PIOS_I2C_FLEXI_ADAPTER            (pios_i2c_flexiport_adapter_id)
 #define PIOS_I2C_ETASV3_ADAPTER           (PIOS_I2C_FLEXI_ADAPTER)
+#define PIOS_I2C_EXTERNAL_ADAPTER         (PIOS_I2C_FLEXI_ADAPTER)
 
 // -------------------------
 // PIOS_USART

flight/targets/boards/revolution/board_hw_defs.c

@@ -464,11 +464,11 @@ static const struct pios_spi_cfg pios_spi_gyro_cfg = {
     }
 };
 
-static uint32_t pios_spi_gyro_id;
+uint32_t pios_spi_gyro_adapter_id;
 void PIOS_SPI_gyro_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
+    PIOS_SPI_IRQ_Handler(pios_spi_gyro_adapter_id);
 }
 
 
@@ -599,11 +599,11 @@ static const struct pios_spi_cfg pios_spi_telem_flash_cfg = {
     },
 };
 
-uint32_t pios_spi_telem_flash_id;
+uint32_t pios_spi_telem_flash_adapter_id;
 void PIOS_SPI_telem_flash_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_id);
+    PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_adapter_id);
 }
 
 
@@ -1738,7 +1738,6 @@ const struct pios_ms5611_cfg *PIOS_BOARD_HW_DEFS_GetMS5611Cfg(__attribute__((unu
  */
 #if defined(PIOS_INCLUDE_MPU6000)
 #include "pios_mpu6000.h"
-#include "pios_mpu6000_config.h"
 static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
     .vector = PIOS_MPU6000_IRQHandler,
     .line   = EXTI_Line4,
@@ -1789,4 +1788,10 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
     .std_prescaler  = PIOS_SPI_PRESCALER_64,
     .max_downsample = 20,
 };
+
+const struct pios_mpu6000_cfg *PIOS_BOARD_HW_DEFS_GetMPU6000Cfg(__attribute__((unused)) uint32_t board_revision)
+{
+    return &pios_mpu6000_cfg;
+}
+
 #endif /* PIOS_INCLUDE_MPU6000 */

flight/targets/boards/revolution/firmware/pios_board.c

@@ -38,6 +38,7 @@
 #endif
 
 #include <pios_board_io.h>
+#include <pios_board_sensors.h>
 
 /*
  * Pull in the board-specific static HW definitions.
@@ -143,12 +144,12 @@ void PIOS_Board_Init(void)
 #endif
 
     /* Set up the SPI interface to the gyro/acelerometer */
-    if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
+    if (PIOS_SPI_Init(&pios_spi_gyro_adapter_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)) {
+    if (PIOS_SPI_Init(&pios_spi_telem_flash_adapter_id, &pios_spi_telem_flash_cfg)) {
         PIOS_DEBUG_Assert(0);
     }
 
@@ -157,7 +158,7 @@ void PIOS_Board_Init(void)
     uintptr_t flash_id;
 
     // Initialize the external USER flash
-    if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_id, 1)) {
+    if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_adapter_id, 1)) {
         PIOS_DEBUG_Assert(0);
     }
 
@@ -246,8 +247,6 @@ void PIOS_Board_Init(void)
         }
         PIOS_DELAY_WaitmS(50);
     }
-
-    PIOS_BOARD_IO_Configure_I2C(pios_i2c_mag_pressure_adapter_id, pios_i2c_flexiport_adapter_id);
 #endif
 
     /* Moved this here to allow DSM binding on flexiport */
@@ -291,8 +290,8 @@ void PIOS_Board_Init(void)
     uint8_t hwsettings_radioaux;
     HwSettingsRadioAuxStreamGet(&hwsettings_radioaux);
 
-    if(hwsettings_radioaux < NELEMENTS(radioaux_function_map)) {
+    if (hwsettings_radioaux < NELEMENTS(radioaux_function_map)) {
-        PIOS_BOARD_IO_Configure_RFM22B(pios_spi_telem_flash_id, radioaux_function_map[hwsettings_radioaux]);
+        PIOS_BOARD_IO_Configure_RFM22B(radioaux_function_map[hwsettings_radioaux]);
     }
 #endif /* PIOS_INCLUDE_RFM22B */
 
@@ -359,11 +358,7 @@ void PIOS_Board_Init(void)
     PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
 #endif
 
-#if defined(PIOS_INCLUDE_MPU6000)
+    PIOS_BOARD_Sensors_Configure();
-    PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
-    PIOS_MPU6000_CONFIG_Configure();
-    PIOS_MPU6000_Register();
-#endif
 
 #ifdef PIOS_INCLUDE_WS2811
     HwSettingsWS2811LED_OutOptions ws2811_pin_settings;
@@ -384,8 +379,6 @@ void PIOS_Board_Init(void)
         .GPIO_OType = GPIO_OType_OD,
     };
     GPIO_Init(GPIOA, &gpioA8);
-
-    PIOS_BOARD_IO_Configure_ADC();
 #endif // PIOS_INCLUDE_ADC
 
     DEBUG_PRINTF(2, "Board complete\r\n");

flight/targets/boards/revolution/pios_board.h

@@ -104,6 +104,10 @@
 // See also pios_board.c
 // ------------------------
 #define PIOS_SPI_MAX_DEVS        3
+extern uint32_t pios_spi_gyro_adapter_id;
+#define PIOS_SPI_MPU6000_ADAPTER (pios_spi_gyro_adapter_id)
+extern uint32_t pios_spi_telem_flash_adapter_id;
+#define PIOS_SPI_RFM22B_ADAPTER  (pios_spi_telem_flash_adapter_id)
 
 // ------------------------
 // PIOS_WDG
@@ -122,11 +126,13 @@
 // ------------------------
 #define PIOS_I2C_MAX_DEVS                 3
 extern uint32_t pios_i2c_mag_pressure_adapter_id;
-#define PIOS_I2C_MAIN_ADAPTER     (pios_i2c_mag_pressure_adapter_id)
+#define PIOS_I2C_HMC5X83_INTERNAL_ADAPTER (pios_i2c_mag_pressure_adapter_id)
+#define PIOS_I2C_MS5611_INTERNAL_ADAPTER  (pios_i2c_mag_pressure_adapter_id)
 extern uint32_t pios_i2c_flexiport_adapter_id;
 #define PIOS_I2C_FLEXI_ADAPTER            (pios_i2c_flexiport_adapter_id)
 #define PIOS_I2C_ETASV3_ADAPTER           (PIOS_I2C_FLEXI_ADAPTER)
 #define PIOS_I2C_MS4525DO_ADAPTER         (PIOS_I2C_FLEXI_ADAPTER)
+#define PIOS_I2C_EXTERNAL_ADAPTER         (PIOS_I2C_FLEXI_ADAPTER)
 
 // -------------------------
 // PIOS_USART

flight/targets/boards/revonano/board_hw_defs.c

@@ -115,8 +115,8 @@ const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused))
 #include <pios_spi_priv.h>
 
 /*
- * SPI1 Interface
+ * SPI2 Interface
- * Used for MPU6000 gyro and accelerometer
+ * Used for MPU9250 gyro and accelerometer
  */
 void PIOS_SPI_gyro_irq_handler(void);
 void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
@@ -229,11 +229,11 @@ static const struct pios_spi_cfg pios_spi_gyro_cfg = {
     }
 };
 
-static uint32_t pios_spi_gyro_id;
+uint32_t pios_spi_gyro_adapter_id;
 void PIOS_SPI_gyro_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
+    PIOS_SPI_IRQ_Handler(pios_spi_gyro_adapter_id);
 }
 
 #endif /* PIOS_INCLUDE_SPI */
@@ -329,7 +329,7 @@ __attribute__((alias("PIOS_I2C_pressure_adapter_ev_irq_handler")));
 void I2C3_ER_IRQHandler()
 __attribute__((alias("PIOS_I2C_pressure_adapter_er_irq_handler")));
 
-static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
+static const struct pios_i2c_adapter_cfg pios_i2c_eeprom_pressure_adapter_cfg = {
     .regs     = I2C3,
     .remapSCL = GPIO_AF_I2C3,
     .remapSDA = GPIO_AF9_I2C3,
@@ -382,17 +382,17 @@ static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
     },
 };
 
-uint32_t pios_i2c_pressure_adapter_id;
+uint32_t pios_i2c_eeprom_pressure_adapter_id;
 void PIOS_I2C_pressure_adapter_ev_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_I2C_EV_IRQ_Handler(pios_i2c_pressure_adapter_id);
+    PIOS_I2C_EV_IRQ_Handler(pios_i2c_eeprom_pressure_adapter_id);
 }
 
 void PIOS_I2C_pressure_adapter_er_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_I2C_ER_IRQ_Handler(pios_i2c_pressure_adapter_id);
+    PIOS_I2C_ER_IRQ_Handler(pios_i2c_eeprom_pressure_adapter_id);
 }
 
 
@@ -937,7 +937,6 @@ struct pios_flash_eeprom_cfg flash_main_chip_cfg = {
  */
 
 
-
 #if defined(PIOS_INCLUDE_ADC)
 
 #include "pios_adc_priv.h"
@@ -1019,7 +1018,6 @@ const struct pios_ms5611_cfg *PIOS_BOARD_HW_DEFS_GetMS5611Cfg(__attribute__((unu
  */
 #if defined(PIOS_INCLUDE_MPU9250)
 #include "pios_mpu9250.h"
-#include "pios_mpu9250_config.h"
 static const struct pios_exti_cfg pios_exti_mpu9250_cfg __exti_config = {
     .vector = PIOS_MPU9250_IRQHandler,
     .line   = EXTI_Line15,
@@ -1070,4 +1068,9 @@ static const struct pios_mpu9250_cfg pios_mpu9250_cfg = {
     .std_prescaler  = PIOS_SPI_PRESCALER_64,
     .max_downsample = 26,
 };
+
+const struct pios_mpu9250_cfg *PIOS_BOARD_HW_DEFS_GetMPU9250Cfg(__attribute__((unused)) uint32_t board_revision)
+{
+    return &pios_mpu9250_cfg;
+}
 #endif /* PIOS_INCLUDE_MPU9250 */

flight/targets/boards/revonano/firmware/pios_board.c

@@ -41,6 +41,7 @@
 #endif
 
 #include <pios_board_io.h>
+#include <pios_board_sensors.h>
 
 /*
  * Pull in the board-specific static HW definitions.
@@ -129,18 +130,12 @@ void PIOS_Board_Init(void)
 #endif
 
     /* Set up the SPI interface to the gyro/acelerometer */
-    if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
+    if (PIOS_SPI_Init(&pios_spi_gyro_adapter_id, &pios_spi_gyro_cfg)) {
         PIOS_DEBUG_Assert(0);
     }
-#if false
 
-    /* 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);
-    }
-#endif
 #ifdef PIOS_INCLUDE_I2C
-    if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
+    if (PIOS_I2C_Init(&pios_i2c_eeprom_pressure_adapter_id, &pios_i2c_eeprom_pressure_adapter_cfg)) {
         PIOS_DEBUG_Assert(0);
     }
 #endif
@@ -150,7 +145,7 @@ void PIOS_Board_Init(void)
     uintptr_t flash_id = 0;
 
     // Initialize the external USER flash
-    if (PIOS_Flash_EEPROM_Init(&flash_id, &flash_main_chip_cfg, pios_i2c_pressure_adapter_id, 0x50)) {
+    if (PIOS_Flash_EEPROM_Init(&flash_id, &flash_main_chip_cfg, pios_i2c_eeprom_pressure_adapter_id, 0x50)) {
         PIOS_DEBUG_Assert(0);
     }
 
@@ -317,16 +312,7 @@ void PIOS_Board_Init(void)
 
     PIOS_DELAY_WaitmS(50);
 
-#if defined(PIOS_INCLUDE_ADC)
+    PIOS_BOARD_Sensors_Configure();
-    PIOS_BOARD_IO_Configure_ADC();
-#endif
-
-#if defined(PIOS_INCLUDE_MPU9250)
-    PIOS_MPU9250_Init(pios_spi_gyro_id, 0, &pios_mpu9250_cfg);
-    PIOS_MPU9250_CONFIG_Configure();
-    PIOS_MPU9250_MainRegister();
-    PIOS_MPU9250_MagRegister();
-#endif
 
     // Attach the board config check hook
     SANITYCHECK_AttachHook(&RevoNanoConfigHook);

flight/targets/boards/revonano/pios_board.h

@@ -104,7 +104,8 @@
 // See also pios_board.c
 // ------------------------
 #define PIOS_SPI_MAX_DEVS        3
-
+extern uint32_t pios_spi_gyro_adapter_id;
+#define PIOS_SPI_MPU9250_ADAPTER (pios_spi_gyro_adapter_id)
 // ------------------------
 // PIOS_WDG
 // ------------------------
@@ -121,12 +122,13 @@
 // See also pios_board.c
 // ------------------------
 #define PIOS_I2C_MAX_DEVS                3
-extern uint32_t pios_i2c_mag_pressure_adapter_id;
+extern uint32_t pios_i2c_eeprom_pressure_adapter_id;
-#define PIOS_I2C_MAIN_ADAPTER     (pios_i2c_mag_pressure_adapter_id)
+#define PIOS_I2C_MS5611_INTERNAL_ADAPTER (pios_i2c_eeprom_pressure_adapter_id)
 extern uint32_t pios_i2c_flexiport_adapter_id;
 #define PIOS_I2C_FLEXI_ADAPTER           (pios_i2c_flexiport_adapter_id)
 #define PIOS_I2C_ETASV3_ADAPTER          (PIOS_I2C_FLEXI_ADAPTER)
 #define PIOS_I2C_MS4525DO_ADAPTER        (PIOS_I2C_FLEXI_ADAPTER)
+#define PIOS_I2C_EXTERNAL_ADAPTER        (PIOS_I2C_FLEXI_ADAPTER)
 
 // -------------------------
 // PIOS_USART

flight/targets/boards/sparky2/board_hw_defs.c

@@ -254,11 +254,11 @@ static const struct pios_spi_cfg pios_spi_gyro_cfg = {
     }
 };
 
-static uint32_t pios_spi_gyro_id;
+uint32_t pios_spi_gyro_adapter_id;
 void PIOS_SPI_gyro_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
+    PIOS_SPI_IRQ_Handler(pios_spi_gyro_adapter_id);
 }
 
 
@@ -389,11 +389,11 @@ static const struct pios_spi_cfg pios_spi_telem_flash_cfg = {
     },
 };
 
-uint32_t pios_spi_telem_flash_id;
+uint32_t pios_spi_telem_flash_adapter_id;
 void PIOS_SPI_telem_flash_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_id);
+    PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_adapter_id);
 }
 
 
@@ -642,14 +642,14 @@ static const struct pios_usart_cfg pios_usart_rcvr_cfg = {
 /*
  * I2C Adapters
  */
-void PIOS_i2c_mag_pressure_adapter_ev_irq_handler(void);
+void PIOS_i2c_pressure_adapter_ev_irq_handler(void);
-void PIOS_i2c_mag_pressure_adapter_er_irq_handler(void);
+void PIOS_i2c_pressure_adapter_er_irq_handler(void);
 void I2C1_EV_IRQHandler()
-__attribute__((alias("PIOS_i2c_mag_pressure_adapter_ev_irq_handler")));
+__attribute__((alias("PIOS_i2c_pressure_adapter_ev_irq_handler")));
 void I2C1_ER_IRQHandler()
-__attribute__((alias("PIOS_i2c_mag_pressure_adapter_er_irq_handler")));
+__attribute__((alias("PIOS_i2c_pressure_adapter_er_irq_handler")));
 
-static const struct pios_i2c_adapter_cfg pios_i2c_mag_pressure_adapter_cfg = {
+static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
     .regs     = I2C1,
     .remapSCL = GPIO_AF_I2C1,
     .remapSDA = GPIO_AF_I2C1,
@@ -702,17 +702,17 @@ static const struct pios_i2c_adapter_cfg pios_i2c_mag_pressure_adapter_cfg = {
     },
 };
 
-uint32_t pios_i2c_mag_pressure_adapter_id;
+uint32_t pios_i2c_pressure_adapter_id;
-void PIOS_i2c_mag_pressure_adapter_ev_irq_handler(void)
+void PIOS_i2c_pressure_adapter_ev_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_I2C_EV_IRQ_Handler(pios_i2c_mag_pressure_adapter_id);
+    PIOS_I2C_EV_IRQ_Handler(pios_i2c_pressure_adapter_id);
 }
 
-void PIOS_i2c_mag_pressure_adapter_er_irq_handler(void)
+void PIOS_i2c_pressure_adapter_er_irq_handler(void)
 {
     /* Call into the generic code to handle the IRQ for this specific device */
-    PIOS_I2C_ER_IRQ_Handler(pios_i2c_mag_pressure_adapter_id);
+    PIOS_I2C_ER_IRQ_Handler(pios_i2c_pressure_adapter_id);
 }
 
 
@@ -788,8 +788,8 @@ void PIOS_I2C_flexiport_adapter_er_irq_handler(void)
 }
 
 
-void PIOS_i2c_mag_pressure_adapter_ev_irq_handler(void);
+void PIOS_i2c_pressure_adapter_ev_irq_handler(void);
-void PIOS_i2c_mag_pressure_adapter_er_irq_handler(void);
+void PIOS_i2c_pressure_adapter_er_irq_handler(void);
 
 #endif /* PIOS_INCLUDE_I2C */
 
@@ -1307,7 +1307,6 @@ const struct pios_ms5611_cfg *PIOS_BOARD_HW_DEFS_GetMS5611Cfg(__attribute__((unu
  */
 #if defined(PIOS_INCLUDE_MPU9250)
 #include "pios_mpu9250.h"
-#include "pios_mpu9250_config.h"
 static const struct pios_exti_cfg pios_exti_mpu9250_cfg __exti_config = {
     .vector = PIOS_MPU9250_IRQHandler,
     .line   = EXTI_Line5,
@@ -1358,5 +1357,9 @@ static const struct pios_mpu9250_cfg pios_mpu9250_cfg = {
     .std_prescaler  = PIOS_SPI_PRESCALER_64,
     .max_downsample = 26,
 };
-#endif /* PIOS_INCLUDE_MPU9250 */
 
+const struct pios_mpu9250_cfg *PIOS_BOARD_HW_DEFS_GetMPU9250Cfg(__attribute__((unused)) uint32_t board_revision)
+{
+    return &pios_mpu9250_cfg;
+}
+#endif /* PIOS_INCLUDE_MPU9250 */

flight/targets/boards/sparky2/firmware/pios_board.c

@@ -41,7 +41,7 @@
 #endif
 
 #include <pios_board_io.h>
-
+#include <pios_board_sensors.h>
 
 /*
  * Pull in the board-specific static HW definitions.
@@ -140,12 +140,12 @@ void PIOS_Board_Init(void)
 #endif
 
     /* Set up the SPI interface to the gyro/acelerometer */
-    if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
+    if (PIOS_SPI_Init(&pios_spi_gyro_adapter_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)) {
+    if (PIOS_SPI_Init(&pios_spi_telem_flash_adapter_id, &pios_spi_telem_flash_cfg)) {
         PIOS_DEBUG_Assert(0);
     }
 
@@ -154,7 +154,7 @@ void PIOS_Board_Init(void)
     uintptr_t flash_id = 0;
 
     // Initialize the external USER flash
-    if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_id, 1)) {
+    if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_adapter_id, 1)) {
         PIOS_DEBUG_Assert(0);
     }
 
@@ -231,7 +231,7 @@ void PIOS_Board_Init(void)
 
 #if defined(PIOS_INCLUDE_I2C)
     /* Set up internal I2C bus */
-    if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
+    if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
         PIOS_DEBUG_Assert(0);
     }
     PIOS_DELAY_WaitmS(50);
@@ -242,8 +242,6 @@ void PIOS_Board_Init(void)
         }
         PIOS_DELAY_WaitmS(50);
     }
-    
-    PIOS_BOARD_IO_Configure_I2C(pios_i2c_mag_pressure_adapter_id, pios_i2c_flexiport_adapter_id);
 #endif
 
     /* Moved this here to allow binding on flexiport */
@@ -259,6 +257,7 @@ void PIOS_Board_Init(void)
 
     uint8_t hwsettings_mainport;
     HwSettingsSPK2_MainPortGet(&hwsettings_mainport);
+
     if (hwsettings_mainport < NELEMENTS(main_function_map)) {
         PIOS_BOARD_IO_Configure_UART(&pios_usart_main_cfg, main_function_map[hwsettings_mainport]);
     }
@@ -267,8 +266,8 @@ void PIOS_Board_Init(void)
     uint8_t hwsettings_radioaux;
     HwSettingsRadioAuxStreamGet(&hwsettings_radioaux);
 
-    if(hwsettings_radioaux < NELEMENTS(radioaux_function_map)) {
+    if (hwsettings_radioaux < NELEMENTS(radioaux_function_map)) {
-        PIOS_BOARD_IO_Configure_RFM22B(pios_spi_telem_flash_id, radioaux_function_map[hwsettings_radioaux]);
+        PIOS_BOARD_IO_Configure_RFM22B(radioaux_function_map[hwsettings_radioaux]);
     }
 #endif /* PIOS_INCLUDE_RFM22B */
 
@@ -301,7 +300,7 @@ void PIOS_Board_Init(void)
     }
 
 #if defined(PIOS_INCLUDE_PPM)
-    if(hwsettings_rcvrport == HWSETTINGS_SPK2_RCVRPORT_PPM) {
+    if (hwsettings_rcvrport == HWSETTINGS_SPK2_RCVRPORT_PPM) {
         PIOS_BOARD_IO_Configure_PPM(&pios_ppm_cfg);
     }
 #endif
@@ -316,12 +315,7 @@ void PIOS_Board_Init(void)
     PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
 #endif
 
-#if defined(PIOS_INCLUDE_MPU9250)
+    PIOS_BOARD_Sensors_Configure();
-    PIOS_MPU9250_Init(pios_spi_gyro_id, 0, &pios_mpu9250_cfg);
-    PIOS_MPU9250_CONFIG_Configure();
-    PIOS_MPU9250_MainRegister();
-    PIOS_MPU9250_MagRegister();
-#endif
 
 #ifdef PIOS_INCLUDE_WS2811
     HwSettingsWS2811LED_OutOptions ws2811_pin_settings;
@@ -342,10 +336,7 @@ void PIOS_Board_Init(void)
         .GPIO_OType = GPIO_OType_OD,
     };
     GPIO_Init(GPIOA, &gpioA8);
-    
-    PIOS_BOARD_IO_Configure_ADC();
 #endif /* PIOS_INCLUDE_ADC */
-
 }
 
 /**

flight/targets/boards/sparky2/pios_board.h

@@ -106,6 +106,10 @@
 // See also pios_board.c
 // ------------------------
 #define PIOS_SPI_MAX_DEVS        3
+extern uint32_t pios_spi_telem_flash_adapter_id;
+#define PIOS_SPI_RFM22B_ADAPTER  (pios_spi_telem_flash_adapter_id)
+extern uint32_t pios_spi_gyro_adapter_id;
+#define PIOS_SPI_MPU9250_ADAPTER (pios_spi_gyro_adapter_id)
 
 // ------------------------
 // PIOS_WDG
@@ -123,8 +127,9 @@
 // See also pios_board.c
 // ------------------------
 #define PIOS_I2C_MAX_DEVS                3
-extern uint32_t pios_i2c_mag_pressure_adapter_id;
+extern uint32_t pios_i2c_pressure_adapter_id;
-#define PIOS_I2C_MAIN_ADAPTER     (pios_i2c_mag_pressure_adapter_id)
+#define PIOS_I2C_MS5611_INTERNAL_ADAPTER (pios_i2c_pressure_adapter_id)
+#define PIOS_I2C_EXTERNAL_ADAPTER        (pios_i2c_pressure_adapter_id)
 extern uint32_t pios_i2c_flexiport_adapter_id;
 #define PIOS_I2C_FLEXI_ADAPTER           (pios_i2c_flexiport_adapter_id)
 #define PIOS_I2C_ETASV3_ADAPTER          (PIOS_I2C_FLEXI_ADAPTER)