Continuation of extracting peripheral configuration into drivers.

Makefile

@@ -242,8 +242,6 @@ STM32F30x_COMMON_SRC	 = startup_stm32f30x_md_gcc.S \
 		   vcp/usb_pwr.c
 
 NAZE32PRO_SRC	 = $(STM32F30x_COMMON_SRC) \
-		   drivers/accgyro_mpu6050.c \
-		   drivers/compass_hmc5883l.c \
 		   $(COMMON_SRC)
 
 STM32F3DISCOVERY_COMMON_SRC	 = $(STM32F30x_COMMON_SRC) \

src/main/config/config.c

@@ -376,13 +376,21 @@ void validateAndFixConfig(void)
         featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM
     }
 
+    if (feature(FEATURE_RX_PPM)) {
+        if (feature(FEATURE_RX_PARALLEL_PWM)) {
+            featureClear(FEATURE_RX_PARALLEL_PWM);
+        }
+    }
+
     if (feature(FEATURE_RX_PARALLEL_PWM)) {
+#if defined(NAZE) || defined(OLIMEXINO)
         if (feature(FEATURE_RSSI_ADC)) {
             featureClear(FEATURE_RSSI_ADC);
         }
         if (feature(FEATURE_CURRENT_METER)) {
             featureClear(FEATURE_CURRENT_METER);
         }
+#endif
     }
 
     if (feature(FEATURE_RX_MSP)) {
@@ -406,12 +414,6 @@ void validateAndFixConfig(void)
         }
     }
 
-    if (feature(FEATURE_RX_PPM)) {
-        if (feature(FEATURE_RX_PARALLEL_PWM)) {
-            featureClear(FEATURE_RX_PARALLEL_PWM);
-        }
-    }
-
 #ifdef SONAR
     if (feature(FEATURE_SONAR)) {
         // sonar needs a free PWM port

src/main/drivers/accgyro_mma845x.c

@@ -81,24 +81,37 @@ bool mma8452Detect(acc_t *acc)
     return true;
 }
 
-static void mma8452Init(void)
+static inline void mma8451ConfigureInterrupt(void)
 {
+#ifdef NAZE
+    // PA5 - ACC_INT2 output on NAZE rev3/4 hardware
+    // OLIMEXINO - The PA5 pin is wired up to LED1, if you need to use an mma8452 on an Olimexino use a different pin and provide support in code.
+
     gpio_config_t gpio;
 
-    // PA5 - ACC_INT2 output on rev3/4 hardware
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
-    // OLIMEXINO - The PA5 pin is wired up to LED1, if you need to use an mma8452 on an Olimexino use a different pin and provide support in code.
+
     gpio.pin = Pin_5;
     gpio.speed = Speed_2MHz;
     gpio.mode = Mode_IN_FLOATING;
     gpioInit(GPIOA, &gpio);
+#endif
+
+    i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG3, MMA8452_CTRL_REG3_IPOL); // Interrupt polarity (active HIGH)
+    i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
+    i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
+}
+
+static void mma8452Init(void)
+{
 
     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG1, 0); // Put device in standby to configure stuff
     i2cWrite(MMA8452_ADDRESS, MMA8452_XYZ_DATA_CFG, MMA8452_FS_RANGE_8G);
     i2cWrite(MMA8452_ADDRESS, MMA8452_HP_FILTER_CUTOFF, MMA8452_HPF_CUTOFF_LV4);
     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG2, MMA8452_CTRL_REG2_MODS_HR | MMA8452_CTRL_REG2_MODS_HR << 3); // High resolution measurement in both sleep and active modes
-    i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG3, MMA8452_CTRL_REG3_IPOL); // Interrupt polarity (active HIGH)
+
-    i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
+    mma8451ConfigureInterrupt();
-    i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
+
     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG1, MMA8452_CTRL_REG1_LNOISE | MMA8452_CTRL_REG1_ACTIVE); // Turn on measurements, low noise at max scale mode, Data Rate 800Hz. LNoise mode makes range +-4G.
 
     acc_1G = 256;

src/main/drivers/adc_stm32f10x.c

@@ -26,11 +26,17 @@ void adcInit(drv_adc_config_t *init)
 {
     ADC_InitTypeDef adc;
     DMA_InitTypeDef dma;
-    uint8_t i;
+    GPIO_InitTypeDef GPIO_InitStructure;
 
+    uint8_t i;
     uint8_t configuredAdcChannels = 0;
+
     memset(&adcConfig, 0, sizeof(adcConfig));
 
+    GPIO_StructInit(&GPIO_InitStructure);
+    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_4;
+    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AIN;
+
     // configure always-present battery index (ADC4)
     adcConfig[ADC_BATTERY].adcChannel = ADC_Channel_4;
     adcConfig[ADC_BATTERY].dmaIndex = configuredAdcChannels++;
@@ -38,6 +44,8 @@ void adcInit(drv_adc_config_t *init)
     adcConfig[ADC_BATTERY].sampleTime = ADC_SampleTime_239Cycles5;
 
     if (init->enableRSSI) {
+        GPIO_InitStructure.GPIO_Pin   |= GPIO_Pin_1;
+
         adcConfig[ADC_RSSI].adcChannel = ADC_Channel_1;
         adcConfig[ADC_RSSI].dmaIndex = configuredAdcChannels++;
         adcConfig[ADC_RSSI].enabled = true;
@@ -45,6 +53,8 @@ void adcInit(drv_adc_config_t *init)
     }
 
 #ifdef OLIMEXINO
+    GPIO_InitStructure.GPIO_Pin   |= GPIO_Pin_5;
+
     adcConfig[ADC_EXTERNAL1].adcChannel = ADC_Channel_5;
     adcConfig[ADC_EXTERNAL1].dmaIndex = configuredAdcChannels++;
     adcConfig[ADC_EXTERNAL1].enabled = true;
@@ -54,6 +64,8 @@ void adcInit(drv_adc_config_t *init)
 #ifdef NAZE
     // optional ADC5 input on rev.5 hardware
     if (hse_value == 12000000) {
+        GPIO_InitStructure.GPIO_Pin   |= GPIO_Pin_5;
+
         adcConfig[ADC_EXTERNAL1].adcChannel = ADC_Channel_5;
         adcConfig[ADC_EXTERNAL1].dmaIndex = configuredAdcChannels++;
         adcConfig[ADC_EXTERNAL1].enabled = true;
@@ -61,7 +73,12 @@ void adcInit(drv_adc_config_t *init)
     }
 #endif
 
+    GPIO_Init(GPIOA, &GPIO_InitStructure);
+
     if (init->enableCurrentMeter) {
+        GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_1;
+        GPIO_Init(GPIOB, &GPIO_InitStructure);
+
         adcConfig[ADC_CURRENT].adcChannel = ADC_Channel_9;
         adcConfig[ADC_CURRENT].dmaIndex = configuredAdcChannels++;
         adcConfig[ADC_CURRENT].enabled = true;

src/main/drivers/adc_stm32f30x.c

@@ -1,5 +1,6 @@
 #include <stdbool.h>
 #include <stdint.h>
+#include <string.h>
 
 #include "platform.h"
 #include "system.h"
@@ -14,7 +15,6 @@
 
 extern adc_config_t adcConfig[ADC_CHANNEL_COUNT];
 extern volatile uint16_t adcValues[ADC_CHANNEL_COUNT];
-uint8_t adcChannelCount;
 
 void adcInit(drv_adc_config_t *init)
 {
@@ -23,6 +23,14 @@ void adcInit(drv_adc_config_t *init)
     GPIO_InitTypeDef GPIO_InitStructure;
 
     uint8_t i;
+    uint8_t adcChannelCount = 0;
+
+    memset(&adcConfig, 0, sizeof(adcConfig));
+
+    GPIO_StructInit(&GPIO_InitStructure);
+    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_0 | GPIO_Pin_3;
+    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AN;
+    GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL ;
 
     adcConfig[ADC_BATTERY].adcChannel = ADC_Channel_6;
     adcConfig[ADC_BATTERY].dmaIndex = adcChannelCount;
@@ -31,14 +39,19 @@ void adcInit(drv_adc_config_t *init)
     adcChannelCount++;
 
     if (init->enableCurrentMeter) {
+        GPIO_InitStructure.GPIO_Pin |= GPIO_Pin_1;
+
         adcConfig[ADC_CURRENT].adcChannel = ADC_Channel_7;
         adcConfig[ADC_CURRENT].dmaIndex = adcChannelCount;
         adcConfig[ADC_CURRENT].sampleTime = ADC_SampleTime_601Cycles5;
         adcConfig[ADC_CURRENT].enabled = true;
         adcChannelCount++;
+
     }
 
     if (init->enableRSSI) {
+        GPIO_InitStructure.GPIO_Pin |= GPIO_Pin_2;
+
 		adcConfig[ADC_RSSI].adcChannel = ADC_Channel_8;
 		adcConfig[ADC_RSSI].dmaIndex = adcChannelCount;
 		adcConfig[ADC_RSSI].sampleTime = ADC_SampleTime_601Cycles5;
@@ -55,8 +68,6 @@ void adcInit(drv_adc_config_t *init)
     RCC_ADCCLKConfig(RCC_ADC12PLLCLK_Div256);  // 72 MHz divided by 256 = 281.25 kHz
     RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1 | RCC_AHBPeriph_ADC12, ENABLE);
 
-    // FIXME ADC driver assumes all the GPIO was already placed in 'AIN' mode
-
     DMA_DeInit(DMA1_Channel1);
 
     DMA_StructInit(&DMA_InitStructure);
@@ -76,11 +87,6 @@ void adcInit(drv_adc_config_t *init)
 
     DMA_Cmd(DMA1_Channel1, ENABLE);
 
-    GPIO_StructInit(&GPIO_InitStructure);
-    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3;
-    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AN;
-    GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL ;
-
     GPIO_Init(GPIOC, &GPIO_InitStructure);
 
     // calibrate

src/main/drivers/barometer_bmp085.c

@@ -106,6 +106,8 @@ bool bmp085Detect(baro_t *baro)
     if (bmp085InitDone)
         return true;
 
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
+
     // PC13, PC14 (Barometer XCLR reset output, EOC input)
     gpio.pin = Pin_13;
     gpio.speed = Speed_2MHz;

src/main/drivers/barometer_ms5611.c

@@ -50,6 +50,8 @@ bool ms5611Detect(baro_t *baro)
     int i;
 
     if (hse_value != 12000000) {
+        RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
+
         // PC13 (BMP085's XCLR reset input, which we use to disable it). Only needed when running at 8MHz
         gpio_config_t gpio;
         gpio.pin = Pin_13;

src/main/drivers/bus_i2c_stm32f30x.c

@@ -145,7 +145,7 @@ void i2cInitPort(I2C_TypeDef *I2Cx)
 
 void i2cInit(I2C_TypeDef *I2C)
 {
-    i2cInitPort(I2C1);
+    i2cInitPort(I2C1); // hard coded to use I2C1 for now
 }
 
 uint16_t i2cGetErrorCounter(void)

src/main/drivers/compass_hmc5883l.c

@@ -115,12 +115,14 @@ void hmc5883lInit(void)
     bool bret = true;           // Error indicator
 
     if (hse_value == 8000000) {
+        RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
         // PB12 - MAG_DRDY output on rev4 hardware
         gpio.pin = Pin_12;
         gpio.speed = Speed_2MHz;
         gpio.mode = Mode_IN_FLOATING;
         gpioInit(GPIOB, &gpio);
     } else if (hse_value == 12000000) {
+        RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
         // PC14 - MAG_DRDY output on rev5 hardware
         gpio.pin = Pin_14;
         gpioInit(GPIOC, &gpio);

src/main/drivers/system.c

@@ -65,8 +65,6 @@ void systemInit(bool overclock)
     SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
 #endif
 
-    gpio_config_t gpio;
-
 #ifdef STM32F303xC
     SetSysClock();
 #endif
@@ -79,59 +77,16 @@ void systemInit(bool overclock)
     // Configure NVIC preempt/priority groups
     NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
 
-    // Turn on clocks for stuff we use
 #ifdef STM32F10X_MD
-    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4, ENABLE);
+    // Turn on clocks for stuff we use
-    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_TIM1, ENABLE);
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
-#endif
-#ifdef STM32F303xC
-
-    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4, ENABLE);
-
-    RCC_APB2PeriphClockCmd(
-        RCC_APB2Periph_TIM1 |
-        RCC_APB2Periph_TIM8 |
-#ifdef CHEBUZZF3
-        RCC_APB2Periph_TIM15 |
-#endif
-        RCC_APB2Periph_TIM16 |
-        RCC_APB2Periph_TIM17,
-        ENABLE
-    );
-    RCC_AHBPeriphClockCmd(
-        RCC_AHBPeriph_GPIOA |
-        RCC_AHBPeriph_GPIOB |
-        RCC_AHBPeriph_GPIOC |
-        RCC_AHBPeriph_GPIOD |
-#ifdef CHEBUZZF3
-        RCC_AHBPeriph_GPIOF |
-#endif
-        RCC_AHBPeriph_GPIOE,
-        ENABLE
-    );
 #endif
 
     RCC_ClearFlag();
 
-    // Make all GPIO in by default to save power and reduce noise
+
-    gpio.mode = Mode_AIN;
+    enableGPIOPowerUsageAndNoiseReductions();
-    gpio.pin = Pin_All;
+
-#ifdef STM32F303xC
-    gpio.pin = Pin_All & ~(Pin_13|Pin_14|Pin_15);  // Leave JTAG pins alone
-    gpioInit(GPIOA, &gpio);
-    gpio.pin = Pin_All;
-#else
-    gpioInit(GPIOA, &gpio);
-#endif
-    gpioInit(GPIOB, &gpio);
-    gpioInit(GPIOC, &gpio);
-#ifdef STM32F303xC
-    gpioInit(GPIOD, &gpio);
-    gpioInit(GPIOE, &gpio);
-#ifdef CHEBUZZF3
-    gpioInit(GPIOF, &gpio);
-#endif
-#endif
 
 #ifdef STM32F10X_MD
     // Turn off JTAG port 'cause we're using the GPIO for leds
@@ -139,39 +94,6 @@ void systemInit(bool overclock)
     AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;
 #endif
 
-#ifdef STM32F303xC
-    GPIO_PinAFConfig(GPIOA, GPIO_PinSource8,  GPIO_AF_6);
-    GPIO_PinAFConfig(GPIOB, GPIO_PinSource8,  GPIO_AF_1);
-    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9,  GPIO_AF_1);
-    GPIO_PinAFConfig(GPIOC, GPIO_PinSource6,  GPIO_AF_4);
-    GPIO_PinAFConfig(GPIOC, GPIO_PinSource7,  GPIO_AF_4);
-    GPIO_PinAFConfig(GPIOC, GPIO_PinSource8,  GPIO_AF_4);
-#ifdef CHEBUZZF3
-    GPIO_PinAFConfig(GPIOF, GPIO_PinSource9,  GPIO_AF_3);
-    GPIO_PinAFConfig(GPIOF, GPIO_PinSource10, GPIO_AF_3);
-#endif
-    GPIO_PinAFConfig(GPIOD, GPIO_PinSource12, GPIO_AF_2);
-    GPIO_PinAFConfig(GPIOD, GPIO_PinSource13, GPIO_AF_2);
-    GPIO_PinAFConfig(GPIOD, GPIO_PinSource14, GPIO_AF_2);
-    GPIO_PinAFConfig(GPIOD, GPIO_PinSource15, GPIO_AF_2);
-    GPIO_PinAFConfig(GPIOA, GPIO_PinSource1,  GPIO_AF_1);
-    GPIO_PinAFConfig(GPIOA, GPIO_PinSource2,  GPIO_AF_1);
-
-    GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_2);
-    GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_2);
-    GPIO_PinAFConfig(GPIOA, GPIO_PinSource4, GPIO_AF_2);
-#endif
-
-#ifdef NAZE32PRO
-    GPIO_PinAFConfig(GPIOA, GPIO_PinSource9,  GPIO_AF_6);
-    GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_6);
-    GPIO_PinAFConfig(GPIOB, GPIO_PinSource4,  GPIO_AF_2);
-    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6,  GPIO_AF_2);
-    GPIO_PinAFConfig(GPIOB, GPIO_PinSource7,  GPIO_AF_2);
-    GPIO_PinAFConfig(GPIOB, GPIO_PinSource8,  GPIO_AF_2);
-    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9,  GPIO_AF_2);
-#endif
-
     ledInit();
     beeperInit();
 

src/main/drivers/system.h

@@ -13,5 +13,6 @@ void failureMode(uint8_t mode);
 // bootloader/IAP
 void systemReset(bool toBootloader);
 
+void enableGPIOPowerUsageAndNoiseReductions(void);
 // current crystal frequency - 8 or 12MHz
 extern uint32_t hse_value;

src/main/drivers/system_stm32f10x.c

@@ -4,6 +4,8 @@
 
 #include "platform.h"
 
+#include "gpio.h"
+
 #define AIRCR_VECTKEY_MASK    ((uint32_t)0x05FA0000)
 
 void systemReset(bool toBootloader)
@@ -18,3 +20,17 @@ void systemReset(bool toBootloader)
     // Generate system reset
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
+
+
+void enableGPIOPowerUsageAndNoiseReductions(void)
+{
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC, ENABLE);
+
+    gpio_config_t gpio;
+
+    gpio.mode = Mode_AIN;
+    gpio.pin = Pin_All;
+    gpioInit(GPIOA, &gpio);
+    gpioInit(GPIOB, &gpio);
+    gpioInit(GPIOC, &gpio);
+}

src/main/drivers/system_stm32f30x.c

@@ -5,6 +5,8 @@
 
 #include "platform.h"
 
+#include "gpio.h"
+
 #define AIRCR_VECTKEY_MASK    ((uint32_t)0x05FA0000)
 
 void systemReset(bool toBootloader)
@@ -19,3 +21,31 @@ void systemReset(bool toBootloader)
     // Generate system reset
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
+
+
+void enableGPIOPowerUsageAndNoiseReductions(void)
+{
+    RCC_AHBPeriphClockCmd(
+        RCC_AHBPeriph_GPIOA |
+        RCC_AHBPeriph_GPIOB |
+        RCC_AHBPeriph_GPIOC |
+        RCC_AHBPeriph_GPIOD |
+        RCC_AHBPeriph_GPIOE |
+        RCC_AHBPeriph_GPIOF,
+        ENABLE
+    );
+
+    gpio_config_t gpio;
+
+    gpio.mode = Mode_AIN;
+
+    gpio.pin = Pin_All & ~(Pin_13|Pin_14|Pin_15);  // Leave JTAG pins alone
+    gpioInit(GPIOA, &gpio);
+
+    gpio.pin = Pin_All;
+    gpioInit(GPIOB, &gpio);
+    gpioInit(GPIOC, &gpio);
+    gpioInit(GPIOD, &gpio);
+    gpioInit(GPIOE, &gpio);
+    gpioInit(GPIOF, &gpio);
+}

src/main/drivers/timer.c

@@ -75,6 +75,8 @@ static const TIM_TypeDef *timers[MAX_TIMERS] = {
     TIM1, TIM2, TIM3, TIM4
 };
 
+#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
+#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB)
 #endif
 
 #if (defined(STM32F303xC) || defined(STM32F3DISCOVERY)) && !(defined(CHEBUZZF3) || defined(NAZE32PRO))
@@ -100,6 +102,11 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 static const TIM_TypeDef *timers[MAX_TIMERS] = {
     TIM1, TIM2, TIM3, TIM4, TIM8, TIM16, TIM17
 };
+
+#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
+#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM8 | RCC_APB2Periph_TIM16 | RCC_APB2Periph_TIM17)
+#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB | RCC_AHBPeriph_GPIOC | RCC_AHBPeriph_GPIOD)
+
 #endif
 
 #if defined(CHEBUZZF3)
@@ -132,6 +139,11 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 static const TIM_TypeDef *timers[MAX_TIMERS] = {
     TIM1, TIM2, TIM3, TIM4, TIM8, TIM15, TIM16, TIM17
 };
+
+#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
+#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM8 | RCC_APB2Periph_TIM15 | RCC_APB2Periph_TIM16 | RCC_APB2Periph_TIM17)
+#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB | RCC_AHBPeriph_GPIOC | RCC_AHBPeriph_GPIOD | RCC_AHBPeriph_GPIOF)
+
 #endif
 
 #ifdef NAZE32PRO
@@ -158,6 +170,11 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 static const TIM_TypeDef *timers[MAX_TIMERS] = {
     TIM1, TIM2, TIM3, TIM4, TIM15, TIM16, TIM17
 };
+
+#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
+#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15 | RCC_APB2Periph_TIM16 | RCC_APB2Periph_TIM17)
+#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB)
+
 #endif
 
 
@@ -363,4 +380,51 @@ void TIM1_TRG_COM_TIM17_IRQHandler(void)
 void timerInit(void)
 {
     memset(timerConfig, 0, sizeof (timerConfig));
+
+#ifdef TIMER_APB1_PERIPHERALS
+    RCC_APB1PeriphClockCmd(TIMER_APB1_PERIPHERALS, ENABLE);
+#endif
+
+#ifdef TIMER_APB2_PERIPHERALS
+    RCC_APB2PeriphClockCmd(TIMER_APB2_PERIPHERALS, ENABLE);
+#endif
+
+#ifdef TIMER_AHB_PERIPHERALS
+    RCC_AHBPeriphClockCmd(TIMER_AHB_PERIPHERALS, ENABLE);
+#endif
+
+
+#ifdef STM32F303xC
+    GPIO_PinAFConfig(GPIOA, GPIO_PinSource8,  GPIO_AF_6);
+    GPIO_PinAFConfig(GPIOB, GPIO_PinSource8,  GPIO_AF_1);
+    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9,  GPIO_AF_1);
+    GPIO_PinAFConfig(GPIOC, GPIO_PinSource6,  GPIO_AF_4);
+    GPIO_PinAFConfig(GPIOC, GPIO_PinSource7,  GPIO_AF_4);
+    GPIO_PinAFConfig(GPIOC, GPIO_PinSource8,  GPIO_AF_4);
+#ifdef CHEBUZZF3
+    GPIO_PinAFConfig(GPIOF, GPIO_PinSource9,  GPIO_AF_3);
+    GPIO_PinAFConfig(GPIOF, GPIO_PinSource10, GPIO_AF_3);
+#endif
+    GPIO_PinAFConfig(GPIOD, GPIO_PinSource12, GPIO_AF_2);
+    GPIO_PinAFConfig(GPIOD, GPIO_PinSource13, GPIO_AF_2);
+    GPIO_PinAFConfig(GPIOD, GPIO_PinSource14, GPIO_AF_2);
+    GPIO_PinAFConfig(GPIOD, GPIO_PinSource15, GPIO_AF_2);
+    GPIO_PinAFConfig(GPIOA, GPIO_PinSource1,  GPIO_AF_1);
+    GPIO_PinAFConfig(GPIOA, GPIO_PinSource2,  GPIO_AF_1);
+
+    GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_2);
+    GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_2);
+    GPIO_PinAFConfig(GPIOA, GPIO_PinSource4, GPIO_AF_2);
+#endif
+
+#ifdef NAZE32PRO
+    GPIO_PinAFConfig(GPIOA, GPIO_PinSource9,  GPIO_AF_6);
+    GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_6);
+    GPIO_PinAFConfig(GPIOB, GPIO_PinSource4,  GPIO_AF_2);
+    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6,  GPIO_AF_2);
+    GPIO_PinAFConfig(GPIOB, GPIO_PinSource7,  GPIO_AF_2);
+    GPIO_PinAFConfig(GPIOB, GPIO_PinSource8,  GPIO_AF_2);
+    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9,  GPIO_AF_2);
+#endif
+
 }

src/main/platform.h

@@ -17,6 +17,7 @@
 #ifdef STM32F10X_MD
 
 #include "stm32f10x_conf.h"
+#include "stm32f10x_gpio.h"
 #include "core_cm3.h"
 
 // Chip Unique ID on F103

src/main/sensors/initialisation.c

@@ -61,9 +61,11 @@
 #undef USE_ACC_BMA280
 #undef USE_ACC_MMA8452
 #undef USE_ACC_LSM303DLHC
+#undef USE_ACC_MPU6050
 #undef USE_GYRO_L3G4200D
 #undef USE_GYRO_L3GD20
 #undef USE_GYRO_MPU3050
+#undef USE_GYRO_MPU6050
 #endif
 
 #if defined(OLIMEXINO)
@@ -244,6 +246,7 @@ retry:
                     break;
             }
 #endif
+            ;
     }
 
     // Found anything? Check if user fucked up or ACC is really missing.

src/main/target/NAZE32PRO/target.h

@@ -10,6 +10,5 @@
 
 #define GYRO
 #define ACC
-#define MAG
 
 #define SENSORS_SET (SENSOR_ACC)