flight/targets/boards/pikoblx/board_hw_defs.c

   1 /**
   2  ******************************************************************************
   3  * @file       board_hw_defs.c
   4  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
   5  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   6  *             PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
   7  *
   8  * @brief Defines board specific static initializers for hardware for the PikoBLX board.
   9  *****************************************************************************/
  10 /*
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License as published by
  13  * the Free Software Foundation; either version 3 of the License, or
  14  * (at your option) any later version.
  15  *
  16  * This program is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  18  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  19  * for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License along
  22  * with this program; if not, write to the Free Software Foundation, Inc.,
  23  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  24  */
  25
  26 #if defined(PIOS_INCLUDE_LED)
  27
  28 #include <pios_led_priv.h>
  29 static const struct pios_gpio pios_leds[] = {
  30     [PIOS_LED_HEARTBEAT] = {
  31         .pin                =             {
  32             .gpio = GPIOB,
  33             .init =             {
  34                 .GPIO_Pin   = GPIO_Pin_9,
  35                 .GPIO_Mode  = GPIO_Mode_OUT,
  36                 .GPIO_OType = GPIO_OType_PP,
  37                 .GPIO_Speed = GPIO_Speed_50MHz,
  38                 .GPIO_PuPd  = GPIO_PuPd_NOPULL,
  39             },
  40         },
  41         .active_low         = true
  42     },
  43     [PIOS_LED_ALARM] =     {
  44         .pin                =             {
  45             .gpio = GPIOB,
  46             .init =             {
  47                 .GPIO_Pin   = GPIO_Pin_5,
  48                 .GPIO_Mode  = GPIO_Mode_OUT,
  49                 .GPIO_OType = GPIO_OType_PP,
  50                 .GPIO_Speed = GPIO_Speed_50MHz,
  51                 .GPIO_PuPd  = GPIO_PuPd_NOPULL,
  52             },
  53         },
  54         .active_low         = true
  55     },
  56     [PIOS_BUZZER_ALARM] =  {
  57         .pin                =             {
  58             .gpio = GPIOA,
  59             .init =             {
  60                 .GPIO_Pin   = GPIO_Pin_0,
  61                 .GPIO_Mode  = GPIO_Mode_OUT,
  62                 .GPIO_OType = GPIO_OType_PP,
  63                 .GPIO_Speed = GPIO_Speed_50MHz,
  64                 .GPIO_PuPd  = GPIO_PuPd_NOPULL,
  65             },
  66         },
  67         .active_low         = false
  68     },
  69 };
  70
  71 static const struct pios_gpio_cfg pios_led_cfg = {
  72     .gpios     = pios_leds,
  73     .num_gpios = NELEMENTS(pios_leds),
  74 };
  75
  76 const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
  77 {
  78     return &pios_led_cfg;
  79 }
  80
  81 #endif /* PIOS_INCLUDE_LED */
  82
  83 #if defined(PIOS_INCLUDE_SPI)
  84
  85 #include <pios_spi_priv.h>
  86
  87 /* Gyro interface */
  88
  89 static const struct pios_spi_cfg pios_spi_mpu6000_cfg = {
  90     .regs = SPI2,
  91     .init = {
  92         .SPI_Mode              = SPI_Mode_Master,
  93         .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
  94         .SPI_DataSize          = SPI_DataSize_8b,
  95         .SPI_NSS               = SPI_NSS_Soft,
  96         .SPI_FirstBit          = SPI_FirstBit_MSB,
  97         .SPI_CRCPolynomial     = 7,
  98         .SPI_CPOL              = SPI_CPOL_High,
  99         .SPI_CPHA              = SPI_CPHA_2Edge,
 100         .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,       /* 10 Mhz */
 101     },
 102     .use_crc = false,
 103     .remap   = GPIO_AF_5,
 104     .sclk    = {
 105         .gpio = GPIOB,
 106         .init = {
 107             .GPIO_Pin   = GPIO_Pin_13,
 108             .GPIO_Speed = GPIO_Speed_50MHz,
 109             .GPIO_Mode  = GPIO_Mode_AF,
 110             .GPIO_OType = GPIO_OType_PP,
 111             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 112         },
 113     },
 114     .miso                      = {
 115         .gpio = GPIOB,
 116         .init = {
 117             .GPIO_Pin   = GPIO_Pin_14,
 118             .GPIO_Speed = GPIO_Speed_50MHz,
 119             .GPIO_Mode  = GPIO_Mode_AF,
 120             .GPIO_OType = GPIO_OType_PP,
 121             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 122         },
 123     },
 124     .mosi                      = {
 125         .gpio = GPIOB,
 126         .init = {
 127             .GPIO_Pin   = GPIO_Pin_15,
 128             .GPIO_Speed = GPIO_Speed_50MHz,
 129             .GPIO_Mode  = GPIO_Mode_AF,
 130             .GPIO_OType = GPIO_OType_PP,
 131             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 132         },
 133     },
 134     .slave_count               = 1,
 135     .ssel                      = {
 136         {
 137             .gpio = GPIOB,
 138             .init = {
 139                 .GPIO_Pin   = GPIO_Pin_12,
 140                 .GPIO_Speed = GPIO_Speed_50MHz,
 141                 .GPIO_Mode  = GPIO_Mode_OUT,
 142                 .GPIO_OType = GPIO_OType_PP,
 143                 .GPIO_PuPd  = GPIO_PuPd_UP
 144             },
 145         }
 146     },
 147 };
 148
 149 uint32_t pios_spi_mpu6000_id;
 150
 151 #endif /* PIOS_INCLUDE_SPI */
 152
 153 #if defined(PIOS_INCLUDE_FLASH)
 154 #include "pios_flashfs_logfs_priv.h"
 155 #include "pios_flash_jedec_priv.h"
 156 #include "pios_flash_internal_priv.h"
 157
 158 static const struct pios_flash_internal_cfg flash_internal_system_cfg = {};
 159
 160 static const struct flashfs_logfs_cfg flashfs_internal_cfg = {
 161     .fs_magic      = 0x99abcfef,
 162     .total_fs_size = EE_BANK_SIZE, /* 32K bytes (16x2KB sectors) */
 163     .arena_size    = 0x00004000, /* 64 * slot size = 16K bytes = 8 sectors */
 164     .slot_size     = 0x00000100, /* 256 bytes */
 165
 166     .start_offset  = EE_BANK_BASE, /* start after the bootloader */
 167     .sector_size   = 0x00000800, /* 2K bytes */
 168     .page_size     = 0x00000800, /* 2K bytes */
 169 };
 170
 171 #endif /* PIOS_INCLUDE_FLASH */
 172
 173 #include "pios_tim_priv.h"
 174
 175 static const TIM_TimeBaseInitTypeDef tim_time_base = {
 176     .TIM_Prescaler         = (PIOS_MASTER_CLOCK / 1000000) - 1,
 177     .TIM_ClockDivision     = TIM_CKD_DIV1,
 178     .TIM_CounterMode       = TIM_CounterMode_Up,
 179     .TIM_Period            = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
 180     .TIM_RepetitionCounter = 0x0000,
 181 };
 182
 183 static const struct pios_tim_clock_cfg tim_1_cfg = {
 184     .timer = TIM1,
 185     .time_base_init                            = &tim_time_base,
 186     .irq   = {
 187         .init                                  = {
 188             .NVIC_IRQChannel    = TIM1_CC_IRQn,
 189             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 190             .NVIC_IRQChannelSubPriority        = 0,
 191             .NVIC_IRQChannelCmd = ENABLE,
 192         },
 193     },
 194 };
 195
 196 static const struct pios_tim_clock_cfg tim_2_cfg = {
 197     .timer = TIM2,
 198     .time_base_init                            = &tim_time_base,
 199     .irq   = {
 200         .init                                  = {
 201             .NVIC_IRQChannel    = TIM2_IRQn,
 202             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 203             .NVIC_IRQChannelSubPriority        = 0,
 204             .NVIC_IRQChannelCmd = ENABLE,
 205         },
 206     },
 207 };
 208
 209 static const struct pios_tim_clock_cfg tim_3_cfg = {
 210     .timer = TIM3,
 211     .time_base_init                            = &tim_time_base,
 212     .irq   = {
 213         .init                                  = {
 214             .NVIC_IRQChannel    = TIM3_IRQn,
 215             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 216             .NVIC_IRQChannelSubPriority        = 0,
 217             .NVIC_IRQChannelCmd = ENABLE,
 218         },
 219     },
 220 };
 221
 222 static const struct pios_tim_clock_cfg tim_4_cfg = {
 223     .timer = TIM4,
 224     .time_base_init                            = &tim_time_base,
 225     .irq   = {
 226         .init                                  = {
 227             .NVIC_IRQChannel    = TIM4_IRQn,
 228             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 229             .NVIC_IRQChannelSubPriority        = 0,
 230             .NVIC_IRQChannelCmd = ENABLE,
 231         },
 232     },
 233 };
 234
 235 static const struct pios_tim_clock_cfg tim_8_cfg = {
 236     .timer = TIM8,
 237     .time_base_init                            = &tim_time_base,
 238     .irq   = {
 239         .init                                  = {
 240             .NVIC_IRQChannel    = TIM8_CC_IRQn,
 241             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 242             .NVIC_IRQChannelSubPriority        = 0,
 243             .NVIC_IRQChannelCmd = ENABLE,
 244         },
 245     },
 246 };
 247
 248 static const struct pios_tim_clock_cfg tim_15_cfg = {
 249     .timer = TIM4,
 250     .time_base_init                            = &tim_time_base,
 251     .irq   = {
 252         .init                                  = {
 253             .NVIC_IRQChannel    = TIM1_BRK_TIM15_IRQn,
 254             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 255             .NVIC_IRQChannelSubPriority        = 0,
 256             .NVIC_IRQChannelCmd = ENABLE,
 257         },
 258     },
 259 };
 260
 261 static const struct pios_tim_clock_cfg tim_16_cfg = {
 262     .timer = TIM4,
 263     .time_base_init                            = &tim_time_base,
 264     .irq   = {
 265         .init                                  = {
 266             .NVIC_IRQChannel    = TIM1_UP_TIM16_IRQn,
 267             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 268             .NVIC_IRQChannelSubPriority        = 0,
 269             .NVIC_IRQChannelCmd = ENABLE,
 270         },
 271     },
 272 };
 273
 274 static const struct pios_tim_clock_cfg tim_17_cfg = {
 275     .timer = TIM4,
 276     .time_base_init                            = &tim_time_base,
 277     .irq   = {
 278         .init                                  = {
 279             .NVIC_IRQChannel    = TIM1_TRG_COM_TIM17_IRQn,
 280             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 281             .NVIC_IRQChannelSubPriority        = 0,
 282             .NVIC_IRQChannelCmd = ENABLE,
 283         },
 284     },
 285 };
 286
 287 #include <pios_servo_config.h>
 288
 289 #define GPIO_AF_PA1_TIM2       GPIO_AF_1
 290 #define GPIO_AF_PA0_TIM2       GPIO_AF_1
 291 #define GPIO_AF_PA8_TIM1       GPIO_AF_6
 292 #define GPIO_AF_PA2_TIM2       GPIO_AF_1
 293 #define GPIO_AF_PB6_TIM4       GPIO_AF_2
 294 #define GPIO_AF_PB5_TIM3       GPIO_AF_2
 295 #define GPIO_AF_PB0_TIM3       GPIO_AF_2
 296 #define GPIO_AF_PB1_TIM3       GPIO_AF_2
 297 #define GPIO_AF_PB9_TIM4       GPIO_AF_2
 298 #define GPIO_AF_PB8_TIM4       GPIO_AF_2
 299 #define GPIO_AF_PB7_TIM4       GPIO_AF_2
 300 #define GPIO_AF_PB4_TIM3       GPIO_AF_2
 301 #define GPIO_AF_PB11_TIM2      GPIO_AF_1
 302 #define GPIO_AF_PA15_TIM8      GPIO_AF_2
 303 #define GPIO_AF_PA3_TIM15      GPIO_AF_9
 304 #define GPIO_AF_PA6_TIM3       GPIO_AF_2
 305 #define GPIO_AF_PA7_TIM3       GPIO_AF_2
 306 #define GPIO_AF_PA10_TIM2      GPIO_AF_10
 307
 308 #define GPIO_AF_PA4_TIM3       GPIO_AF_2
 309 #define GPIO_AF_PA7_TIM17      GPIO_AF_1
 310 #define GPIO_AF_PB8_TIM16      GPIO_AF_1
 311
 312 #define TIM1_CH1_DMA_INSTANCE  1
 313 #define TIM1_CH1_DMA_CHANNEL   2
 314
 315 #define TIM16_CH1_DMA_INSTANCE 2
 316 #define TIM16_CH1_DMA_CHANNEL  3
 317
 318 static const struct pios_tim_channel pios_tim_servoport_pins[] = {
 319     TIM_SERVO_CHANNEL_CONFIG(TIM3,  2, A, 4), // bank 1
 320     TIM_SERVO_CHANNEL_CONFIG(TIM3,  1, A, 6), // bank 1
 321     TIM_SERVO_CHANNEL_CONFIG(TIM3,  3, B, 0), // bank 1
 322     TIM_SERVO_CHANNEL_CONFIG(TIM3,  4, B, 1), // bank 1
 323     TIM_SERVO_CHANNEL_CONFIG(TIM2,  2, A, 1), // bank 2
 324     TIM_SERVO_CHANNEL_CONFIG(TIM2,  3, A, 2), // bank 2
 325     TIM_SERVO_CHANNEL_CONFIG(TIM15, 2, A, 3), // bank 3
 326     TIM_SERVO_CHANNEL_CONFIG(TIM1,  1, A, 8), // transponder (bank 4)
 327 };
 328
 329 #if defined(PIOS_INCLUDE_USART)
 330
 331 #define GPIO_AF_USART1 GPIO_AF_7
 332 #define GPIO_AF_USART2 GPIO_AF_7
 333 #define GPIO_AF_USART3 GPIO_AF_7
 334
 335
 336 #include "pios_usart_priv.h"
 337 #include "pios_usart_config.h"
 338
 339 static const struct pios_usart_cfg pios_usart_cfg[] = {
 340     USART_CONFIG(USART1, B, 7,  B, 6),
 341     USART_CONFIG(USART2, B, 4,  B, 3),
 342     USART_CONFIG(USART3, B, 11, B, 10),
 343 };
 344
 345
 346 #endif /* PIOS_INCLUDE_USART */
 347
 348 #if defined(PIOS_INCLUDE_COM)
 349
 350 #include "pios_com_priv.h"
 351
 352 #endif /* PIOS_INCLUDE_COM */
 353
 354 #if defined(PIOS_INCLUDE_RTC)
 355 /*
 356  * Realtime Clock (RTC)
 357  */
 358 #include <pios_rtc_priv.h>
 359
 360 void PIOS_RTC_IRQ_Handler(void);
 361 void RTC_WKUP_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler")));
 362 static const struct pios_rtc_cfg pios_rtc_main_cfg = {
 363     .clksrc    = RCC_RTCCLKSource_HSE_Div32,
 364     .prescaler = 25 - 1, // 8Mhz / 32 / 16 / 25 => 625Hz
 365     .irq                                       = {
 366         .init                                  = {
 367             .NVIC_IRQChannel    = RTC_WKUP_IRQn,
 368             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 369             .NVIC_IRQChannelSubPriority        = 0,
 370             .NVIC_IRQChannelCmd = ENABLE,
 371         },
 372     },
 373 };
 374
 375 void PIOS_RTC_IRQ_Handler(void)
 376 {
 377     PIOS_RTC_irq_handler();
 378 }
 379
 380 #endif /* if defined(PIOS_INCLUDE_RTC) */
 381
 382 #if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM)
 383 /*
 384  * Servo outputs
 385  */
 386 #include <pios_servo_priv.h>
 387
 388 const struct pios_servo_cfg pios_servo_cfg = {
 389     .tim_oc_init          = {
 390         .TIM_OCMode       = TIM_OCMode_PWM1,
 391         .TIM_OutputState  = TIM_OutputState_Enable,
 392         .TIM_OutputNState = TIM_OutputNState_Disable,
 393         .TIM_Pulse        = PIOS_SERVOS_INITIAL_POSITION,
 394         .TIM_OCPolarity   = TIM_OCPolarity_High,
 395         .TIM_OCNPolarity  = TIM_OCPolarity_High,
 396         .TIM_OCIdleState  = TIM_OCIdleState_Reset,
 397         .TIM_OCNIdleState = TIM_OCNIdleState_Reset,
 398     },
 399     .channels     = pios_tim_servoport_pins,
 400     .num_channels = NELEMENTS(pios_tim_servoport_pins),
 401 };
 402
 403 #endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */
 404
 405 /*
 406  * PPM Inputs
 407  */
 408 #if defined(PIOS_INCLUDE_PPM)
 409 #include <pios_ppm_priv.h>
 410
 411 static const struct pios_tim_channel pios_tim_ppm = TIM_SERVO_CHANNEL_CONFIG(TIM17, 1, A, 7);
 412
 413 const struct pios_ppm_cfg pios_ppm_cfg = {
 414     .tim_ic_init         = {
 415         .TIM_ICPolarity  = TIM_ICPolarity_Rising,
 416         .TIM_ICSelection = TIM_ICSelection_DirectTI,
 417         .TIM_ICPrescaler = TIM_ICPSC_DIV1,
 418         .TIM_ICFilter    = 0x0,
 419     },
 420     .channels     = &pios_tim_ppm,
 421     .num_channels = 1,
 422 };
 423 #endif /* PIOS_INCLUDE_PPM */
 424
 425
 426 #if defined(PIOS_INCLUDE_RCVR)
 427 #include "pios_rcvr_priv.h"
 428
 429 #endif /* PIOS_INCLUDE_RCVR */
 430
 431 #if defined(PIOS_INCLUDE_USB)
 432 #include "pios_usb_priv.h"
 433
 434 static const struct pios_usb_cfg pios_usb_main_cfg = {
 435     .irq                                       = {
 436         .init                                  = {
 437             .NVIC_IRQChannel    = USB_LP_CAN1_RX0_IRQn,
 438             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
 439             .NVIC_IRQChannelSubPriority        = 0,
 440             .NVIC_IRQChannelCmd = ENABLE,
 441         },
 442     },
 443 };
 444
 445 const struct pios_usb_cfg *PIOS_BOARD_HW_DEFS_GetUsbCfg(__attribute__((unused)) uint32_t board_revision)
 446 {
 447     return &pios_usb_main_cfg;
 448 }
 449 #endif /* PIOS_INCLUDE_USB */
 450
 451 #if defined(PIOS_INCLUDE_WS2811)
 452 #include "pios_ws2811_cfg.h"
 453
 454 static const struct pios_ws2811_cfg pios_ws2811_cfg = PIOS_WS2811_CONFIG(TIM16, 1, B, 8);
 455
 456 void DMA1_Channel2_IRQHandler()
 457 {
 458     PIOS_WS2811_DMA_irq_handler();
 459 }
 460
 461 #endif /* PIOS_INCLUDE_WS2811 */
 462
 463 #if defined(PIOS_INCLUDE_ADC)
 464 #include "pios_adc_priv.h"
 465 void PIOS_ADC_DMC_irq_handler(void);
 466 void DMA2_Channel1_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
 467
 468 struct pios_adc_cfg pios_adc_cfg = {
 469     .adc_dev = ADC2,
 470     .dma     = {
 471         .irq                                       = {
 472             .flags = (DMA2_FLAG_TC1 | DMA2_FLAG_TE1 | DMA2_FLAG_HT1),
 473             .init  = {
 474                 .NVIC_IRQChannel    = DMA2_Channel1_IRQn,
 475                 .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
 476                 .NVIC_IRQChannelSubPriority        = 0,
 477                 .NVIC_IRQChannelCmd = ENABLE,
 478             },
 479         },
 480         .rx                                        = {
 481             .channel                               = DMA2_Channel1,
 482         }
 483     },
 484     .half_flag = DMA2_FLAG_HT1,
 485     .full_flag = DMA2_FLAG_TC1,
 486 };
 487
 488 void PIOS_ADC_DMC_irq_handler(void)
 489 {
 490     /* Call into the generic code to handle the IRQ for this specific device */
 491     PIOS_ADC_DMA_Handler();
 492 }
 493 const struct pios_adc_cfg *PIOS_BOARD_HW_DEFS_GetAdcCfg(__attribute__((unused)) uint32_t board_revision)
 494 {
 495     return &pios_adc_cfg;
 496 }
 497 #endif /* if defined(PIOS_INCLUDE_ADC) */
 498
 499 /**
 500  * Configuration for MPU6000 chip
 501  */
 502 #if defined(PIOS_INCLUDE_MPU6000)
 503 #include "pios_mpu6000.h"
 504 static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 505     .vector = PIOS_MPU6000_IRQHandler,
 506     .line   = EXTI_Line15,
 507     .pin    = {
 508         .gpio = GPIOA,
 509         .init = {
 510             .GPIO_Pin   = GPIO_Pin_15,
 511             .GPIO_Speed = GPIO_Speed_10MHz,
 512             .GPIO_Mode  = GPIO_Mode_IN,
 513             .GPIO_OType = GPIO_OType_OD,
 514             .GPIO_PuPd  = GPIO_PuPd_NOPULL,
 515         },
 516     },
 517     .irq                                       = {
 518         .init                                  = {
 519             .NVIC_IRQChannel    = EXTI15_10_IRQn,
 520             .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
 521             .NVIC_IRQChannelSubPriority        = 0,
 522             .NVIC_IRQChannelCmd = ENABLE,
 523         },
 524     },
 525     .exti                                      = {
 526         .init                                  = {
 527             .EXTI_Line    = EXTI_Line15, // matches above GPIO pin
 528             .EXTI_Mode    = EXTI_Mode_Interrupt,
 529             .EXTI_Trigger = EXTI_Trigger_Rising,
 530             .EXTI_LineCmd = ENABLE,
 531         },
 532     },
 533 };
 534
 535 static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 536     .exti_cfg   = &pios_exti_mpu6000_cfg,
 537     .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
 538     // Clock at 8 khz, downsampled by 8 for 1000 Hz
 539     .Smpl_rate_div_no_dlp = 7,
 540     // Clock at 1 khz, downsampled by 1 for 1000 Hz
 541     .Smpl_rate_div_dlp    = 0,
 542     .interrupt_cfg  = PIOS_MPU6000_INT_CLR_ANYRD,
 543     .interrupt_en   = PIOS_MPU6000_INTEN_DATA_RDY,
 544     .User_ctl             = PIOS_MPU6000_USERCTL_DIS_I2C,
 545     .Pwr_mgmt_clk   = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
 546     .accel_range    = PIOS_MPU6000_ACCEL_8G,
 547     .gyro_range     = PIOS_MPU6000_SCALE_2000_DEG,
 548     .filter               = PIOS_MPU6000_LOWPASS_256_HZ,
 549     .orientation    = PIOS_MPU6000_TOP_270DEG,
 550 #ifdef PIOS_INCLUDE_SPI
 551     .fast_prescaler = PIOS_SPI_PRESCALER_4,
 552     .std_prescaler  = PIOS_SPI_PRESCALER_64,
 553 #endif /* PIOS_INCLUDE_SPI */
 554     .max_downsample = 2
 555 };
 556
 557 const struct pios_mpu6000_cfg *PIOS_BOARD_HW_DEFS_GetMPU6000Cfg(__attribute__((unused)) uint32_t board_revision)
 558 {
 559     return &pios_mpu6000_cfg;
 560 }
 561 #endif /* PIOS_INCLUDE_MPU6000 */