From 2ad78c55717b307a4ba4d35d5ee0f0054b6e09f7 Mon Sep 17 00:00:00 2001
From: mjs1441 <matthew_selby@yahoo.co.uk>
Date: Wed, 9 Jul 2025 18:18:58 +0100
Subject: [PATCH] accgyro_mpu initialise gyro->segments. (#14528)

---
 src/main/drivers/accgyro/accgyro_mpu.c | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index f2a43ca6b6..4da174f5c6 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -491,6 +491,12 @@ bool mpuDetect(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
 
 void mpuGyroInit(gyroDev_t *gyro)
 {
+    // Initialise both segments of gyro->segments.
+    // Gyro code only sets the first segment. The second segment stays as
+    // an end segment with negateCS false, which enforces DMA whenever possible.
+    busSegment_t nullSegment = {.u.link = {NULL, NULL}, 0, false, NULL};
+    gyro->segments[0] = nullSegment;
+    gyro->segments[1] = nullSegment;
     gyro->accDataReg = MPU_RA_ACCEL_XOUT_H;
     gyro->gyroDataReg = MPU_RA_GYRO_XOUT_H;
     mpuIntExtiInit(gyro);