board_hw_defs.c

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/*
 * 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/>
 */

#include <pios_config.h>
#include <pios_board_info.h>

#if defined(PIOS_INCLUDE_ANNUNC)

#include <pios_annunc_priv.h>
static const struct pios_annunc pios_annuncs[] = {
        [PIOS_LED_HEARTBEAT] = {
                .pin = {
                        .gpio = GPIOE,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_5,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL,
                        },
                },
                .remap = 0,
                .active_high = true,
        },
        [PIOS_LED_ALARM] = {
                .pin = {
                        .gpio = GPIOE,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_6,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL,
                        },
                },
                .remap = 0,
                .active_high = true,
        },
        [PIOS_ANNUNCIATOR_BUZZER] = {
                .pin = {
                        .gpio = GPIOD,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_7,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_NOPULL
                        },
                },
                .active_high = true,
        },
};

static const struct pios_annunc_cfg pios_annunc_cfg = {
        .annunciators     = pios_annuncs,
        .num_annunciators = NELEMENTS(pios_annuncs),
};

const struct pios_annunc_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (uint32_t board_revision)
{
        return &pios_annunc_cfg;
}

#endif  /* PIOS_INCLUDE_ANNUNC */

#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>

/* SPI1 Interface
 *      - Used for micro sd card communications
 */

static const struct pios_spi_cfg pios_spi_sdCard_cfg = {
        .regs = SPI1,
        .remap = GPIO_AF_SPI1,
        .init = {
                .SPI_Mode              = SPI_Mode_Master,
                .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
                .SPI_DataSize          = SPI_DataSize_8b,
                .SPI_NSS               = SPI_NSS_Soft,
                .SPI_FirstBit          = SPI_FirstBit_MSB,
                .SPI_CRCPolynomial     = 7,
                .SPI_CPOL              = SPI_CPOL_High,
                .SPI_CPHA              = SPI_CPHA_2Edge,
                .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32,
        },
        .sclk = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_5,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource5,
        },
        .miso = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_6,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource6,
        },
        .mosi = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_7,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource7,
        },
        .slave_count = 1,
        .ssel = { {
                .gpio = GPIOE,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_10,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        } },
};

pios_spi_t pios_spi_sdCard_id;

/* SPI2 Interface
 *      - Used for external communications
 */

static const struct pios_spi_cfg pios_spi_external_cfg = {
        .regs = SPI2,
        .remap = GPIO_AF_SPI2,
        .init = {
                .SPI_Mode              = SPI_Mode_Master,
                .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
                .SPI_DataSize          = SPI_DataSize_8b,
                .SPI_NSS               = SPI_NSS_Soft,
                .SPI_FirstBit          = SPI_FirstBit_MSB,
                .SPI_CRCPolynomial     = 7,
                .SPI_CPOL              = SPI_CPOL_Low,
                .SPI_CPHA              = SPI_CPHA_1Edge,
                .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
        },
        .sclk = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_13,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource13,
        },
        .miso = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_14,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource14,
        },
        .mosi = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_15,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource15,
        },
        .slave_count = 1,
        .ssel = { {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_3,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        } },
};

pios_spi_t pios_spi_external_id;

/* SPI3 Interface
 *      - Used for gyro communications
 */

static const struct pios_spi_cfg pios_spi_internal_cfg = {
        .regs = SPI3,
        .remap = GPIO_AF_SPI3,
        .init = {
                .SPI_Mode              = SPI_Mode_Master,
                .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
                .SPI_DataSize          = SPI_DataSize_8b,
                .SPI_NSS               = SPI_NSS_Soft,
                .SPI_FirstBit          = SPI_FirstBit_MSB,
                .SPI_CRCPolynomial     = 7,
                .SPI_CPOL              = SPI_CPOL_High,
                .SPI_CPHA              = SPI_CPHA_2Edge,
                .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32,              //@ APB2 PCLK1 82MHz / 32 == 2.6MHz
        },
        .sclk = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_10,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource10,
        },
        .miso = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_11,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource11,
        },
        .mosi = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_12,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource12,
        },
        .slave_count = 1,
        .ssel = { {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_8,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        } },
};

pios_spi_t pios_spi_internal_id;

#endif  /* PIOS_INCLUDE_SPI */

#if defined(PIOS_INCLUDE_I2C)

#include <pios_i2c_priv.h>

void PIOS_I2C_internal_ev_irq_handler(void);
void PIOS_I2C_internal_er_irq_handler(void);

void I2C1_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_internal_ev_irq_handler")));
void I2C1_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_internal_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_internal_cfg = {
        .regs = I2C1,
        .remap = GPIO_AF_I2C1,
        .init = {
                .I2C_Mode                = I2C_Mode_I2C,
                .I2C_OwnAddress1         = 0,
                .I2C_Ack                 = I2C_Ack_Enable,
                .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
                .I2C_DutyCycle           = I2C_DutyCycle_2,
                .I2C_ClockSpeed          = 400000,      /* bits/s */
        },
        .transfer_timeout_ms = 50,
        .scl = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_6,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_UP,
                },
        .pin_source = GPIO_PinSource6,
        },
        .sda = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_7,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_UP,
                },
        .pin_source = GPIO_PinSource7,
        },
        .event = {
                .flags = 0,             /* FIXME: check this */
                .init = {
                        .NVIC_IRQChannel                   = I2C1_EV_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .error = {
    .flags   = 0,               /* FIXME: check this */
    .init = {
                        .NVIC_IRQChannel                   = I2C1_ER_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

pios_i2c_t pios_i2c_internal_id;
void PIOS_I2C_internal_ev_irq_handler(void)
{
  /* Call into the generic code to handle the IRQ for this specific device */
  PIOS_I2C_EV_IRQ_Handler(pios_i2c_internal_id);
}

void PIOS_I2C_internal_er_irq_handler(void)
{
        /* Call into the generic code to handle the IRQ for this specific device */
        PIOS_I2C_ER_IRQ_Handler(pios_i2c_internal_id);
}

void PIOS_I2C_external_ev_irq_handler(void);
void PIOS_I2C_external_er_irq_handler(void);

void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_external_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_external_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_external_cfg = {
        .regs = I2C2,
        .remap = GPIO_AF_I2C2,
        .init = {
                .I2C_Mode                = I2C_Mode_I2C,
                .I2C_OwnAddress1         = 0,
                .I2C_Ack                 = I2C_Ack_Enable,
                .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
                .I2C_DutyCycle           = I2C_DutyCycle_2,
                .I2C_ClockSpeed          = 400000,      /* bits/s */
        },
        .transfer_timeout_ms = 50,
        .scl = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_10,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_UP,
                },
        .pin_source = GPIO_PinSource10,
        },
        .sda = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_11,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_UP,
        },
        .pin_source = GPIO_PinSource11,
        },
        .event = {
                .flags = 0,             /* FIXME: check this */
        .       init = {
                        .NVIC_IRQChannel                   = I2C2_EV_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .error = {
                .flags   = 0,           /* FIXME: check this */
                .init = {
                        .NVIC_IRQChannel                   = I2C2_ER_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

pios_i2c_t pios_i2c_external_id;
void PIOS_I2C_external_ev_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_EV_IRQ_Handler(pios_i2c_external_id);
}

void PIOS_I2C_external_er_irq_handler(void)
{
        /* Call into the generic code to handle the IRQ for this specific device */
        PIOS_I2C_ER_IRQ_Handler(pios_i2c_external_id);
}

#endif /* PIOS_INCLUDE_I2C */

#if defined(PIOS_INCLUDE_FLASH)
#include "pios_flashfs_logfs_priv.h"

static const struct flashfs_logfs_cfg flashfs_settings_cfg = {
        .fs_magic      = 0x3b1b14cf,
        .arena_size    = 0x00004000, /* 64 * slot size = 16K bytes = 1 sector */
        .slot_size     = 0x00000100, /* 256 bytes */
};

#include "pios_flash_internal_priv.h"

static const struct pios_flash_internal_cfg flash_internal_cfg = {
};

#include "pios_flash_priv.h"

static const struct pios_flash_sector_range stm32f4_sectors[] = {
        {
                .base_sector = 0,
                .last_sector = 3,
                .sector_size = FLASH_SECTOR_16KB,
        },
        {
                .base_sector = 4,
                .last_sector = 4,
                .sector_size = FLASH_SECTOR_64KB,
        },
        {
                .base_sector = 5,
                .last_sector = 11,
                .sector_size = FLASH_SECTOR_128KB,
        },

};

uintptr_t pios_internal_flash_id;
static const struct pios_flash_chip pios_flash_chip_internal = {
        .driver        = &pios_internal_flash_driver,
        .chip_id       = &pios_internal_flash_id,
        .page_size     = 16, /* 128-bit rows */
        .sector_blocks = stm32f4_sectors,
        .num_blocks    = NELEMENTS(stm32f4_sectors),
};

static const struct pios_flash_partition pios_flash_partition_table[] = {
        {
                .label        = FLASH_PARTITION_LABEL_BL,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 0,
                .last_sector  = 1,
                .chip_offset  = 0,                               // 0x0800 0000
                .size         = (1 - 0 + 1) * FLASH_SECTOR_16KB, // 32KB
        },

        {
                .label        = FLASH_PARTITION_LABEL_SETTINGS,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 2,
                .last_sector  = 3,
                .chip_offset  = (2 * FLASH_SECTOR_16KB),         // 0x0800 8000
                .size         = (3 - 2 + 1) * FLASH_SECTOR_16KB, // 32KB
        },

        /* NOTE: sector 4 of internal flash is currently unallocated */

        {
                .label        = FLASH_PARTITION_LABEL_FW,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 5,
                .last_sector  = 7,
                .chip_offset  = (4 * FLASH_SECTOR_16KB) + (1 * FLASH_SECTOR_64KB), // 0x0802 0000
                .size         = (7 - 5 + 1) * FLASH_SECTOR_128KB,                  // 384KB
        },

        /* NOTE: sectors 8-9 of the internal flash are currently unallocated */

        {
                .label        = FLASH_PARTITION_LABEL_AUTOTUNE,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 10,
                .last_sector  = 10,
                .chip_offset  = (4 * FLASH_SECTOR_16KB) + (1 * FLASH_SECTOR_64KB) + (5 * FLASH_SECTOR_128KB), // 0x080C 0000
                .size         = (10 - 10 + 1) * FLASH_SECTOR_128KB,                                           // 128KB
        },

        /* Sector 11 is unallocated, but in old bootloaders was allocated to
         * waypoints/autotune.
         */
};

const struct pios_flash_partition * PIOS_BOARD_HW_DEFS_GetPartitionTable (uint32_t board_revision, uint32_t * num_partitions)
{
        PIOS_Assert(num_partitions);

        *num_partitions = NELEMENTS(pios_flash_partition_table);
        return pios_flash_partition_table;
}

#endif  /* PIOS_INCLUDE_FLASH */

#if defined(PIOS_INCLUDE_USART)

#include "pios_usart_priv.h"

#if defined(PIOS_INCLUDE_DSM)
/*
 * Spektrum/JR DSM USART
 */
#include <pios_dsm_priv.h>

static const struct pios_dsm_cfg pios_usart4_dsm_aux_cfg = {
        .bind = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_1,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        },
};

static const struct pios_dsm_cfg pios_usart6_dsm_aux_cfg = {
        .bind = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_7,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        },
};

#endif  /* PIOS_INCLUDE_DSM */

#if defined(PIOS_INCLUDE_SBUS)

#include <pios_sbus_priv.h>

static const struct pios_sbus_cfg pios_usart3_sbus_aux_cfg = {
        /* Inverter configuration */
        .inv = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_12,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        },
        .gpio_inv_enable = Bit_SET,
        .gpio_inv_disable = Bit_RESET,
};

#endif  /* PIOS_INCLUDE_SBUS */

static const struct pios_usart_cfg pios_usart1_cfg = {
        .regs = USART1,
        .remap = GPIO_AF_USART1,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = USART1_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .rx = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_10,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource10,
        },
        .tx = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_9,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource9,
        },
};

static const struct pios_usart_cfg pios_usart2_cfg = {
        .regs = USART2,
        .remap = GPIO_AF_USART2,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = USART2_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .rx = {
                .gpio = GPIOD,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_6,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource6,
        },
        .tx = {
                .gpio = GPIOD,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_5,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource5,
        },
};

static const struct pios_usart_cfg pios_usart3_cfg = {
        .regs = USART3,
        .remap = GPIO_AF_USART3,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = USART3_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .rx = {
                .gpio = GPIOD,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_9,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource9,
        },
        .tx = {
                .gpio = GPIOD,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_8,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource8,
        },
};

static const struct pios_usart_cfg pios_usart4_cfg = {
        .regs = UART4,
        .remap = GPIO_AF_UART4,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = UART4_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .rx = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_1,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource1,
        },
        .tx = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_0,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource0,
        },
};

static const struct pios_usart_cfg pios_usart6_cfg = {
        .regs = USART6,
        .remap = GPIO_AF_USART6,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = USART6_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .rx = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_7,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource7,
        },
        .tx = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_6,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource6,
        },
};

#endif  /* PIOS_INCLUDE_USART */

#if defined(PIOS_INCLUDE_COM)

#include "pios_com_priv.h"

#endif  /* PIOS_INCLUDE_COM */

#if defined(PIOS_INCLUDE_RTC)
/*
 * Realtime Clock (RTC)
 */
#include <pios_rtc_priv.h>

void PIOS_RTC_IRQ_Handler (void);
void RTC_WKUP_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
        .clksrc = RCC_RTCCLKSource_HSE_Div8, // Divide 8 MHz HSE by 8 = 1 MHz
        // 1 MHz resulting clock is then divided
        // by another 16 to give a nominal 62.5 kHz clock
        .prescaler = 100, // Every 100 cycles gives 625 Hz
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = RTC_WKUP_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

void PIOS_RTC_IRQ_Handler (void)
{
        PIOS_RTC_irq_handler ();
}

#endif

#include "pios_tim_priv.h"

//Timers used for inputs (5)

// Set up timers that only have outputs on APB1
static const TIM_TimeBaseInitTypeDef tim_5_time_base = {
        .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_COUNTER_CLOCK / 1000000) - 1,
        .TIM_ClockDivision = TIM_CKD_DIV1,
        .TIM_CounterMode = TIM_CounterMode_Up,
        .TIM_Period = 0xFFFF,
        .TIM_RepetitionCounter = 0x0000,
};

static const struct pios_tim_clock_cfg tim_5_cfg = {
        .timer = TIM5,
        .time_base_init = &tim_5_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM5_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

// Timers used for outputs (1,2,3,4,8)

// Set up timers that only have outputs on APB1
static const TIM_TimeBaseInitTypeDef tim_2_3_4_time_base = {
        .TIM_Prescaler         = (PIOS_PERIPHERAL_APB1_COUNTER_CLOCK / 1000000) - 1,
        .TIM_ClockDivision     = TIM_CKD_DIV1,
        .TIM_CounterMode       = TIM_CounterMode_Up,
        .TIM_Period            = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
        .TIM_RepetitionCounter = 0x0000,
};

// Set up timers that only have outputs on APB2
static const TIM_TimeBaseInitTypeDef tim_1_8_time_base = {
        .TIM_Prescaler         = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 1000000) - 1,
        .TIM_ClockDivision     = TIM_CKD_DIV1,
        .TIM_CounterMode       = TIM_CounterMode_Up,
        .TIM_Period            = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
        .TIM_RepetitionCounter = 0x0000,
};

static const struct pios_tim_clock_cfg tim_2_cfg = {
        .timer = TIM2,
        .time_base_init = &tim_2_3_4_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM2_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_3_cfg = {
        .timer = TIM3,
        .time_base_init = &tim_2_3_4_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM3_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_4_cfg = {
        .timer = TIM4,
        .time_base_init = &tim_2_3_4_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM4_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_8_cfg = {
        .timer = TIM8,
        .time_base_init = &tim_1_8_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM8_CC_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

/*
 * Outputs
        1:  TIM8_CH4 (PC9)        DMA2 Stream 1 Channel 7
        2:  TIM8_CH3 (PC8)
        3:  TIM2_CH1 (PA15)       DMA1 Stream 7 Channel 3
        4:  TIM2_CH2 (PB3)
        5:  TIM3_CH1 (PB4)        DMA1 Stream 2 Channel 5
        6:  TIM3_CH2 (PB5)
        7:  TIM4_CH1 (PD12)  RX1  DMA1 Stream 6 Channel 2
        8:  TIM4_CH2 (PD13)  RX2
        9:  TIM4_CH3 (PD14)  RX3
        10: TIM4_CH4 (PD15)  RX4
 */
static const struct pios_tim_channel pios_tim_outputs_pins[] = {
        {
                .timer = TIM8,
                .timer_chan = TIM_Channel_4,
                .remap = GPIO_AF_TIM8,
                .pin = {
                        .gpio = GPIOC,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_9,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                        .pin_source = GPIO_PinSource9,
                },
        },
        {
                .timer = TIM8,
                .timer_chan = TIM_Channel_3,
                .remap = GPIO_AF_TIM8,
                .pin = {
                        .gpio = GPIOC,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_8,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                        .pin_source = GPIO_PinSource8,
                },
        },
        {
                .timer = TIM2,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_TIM2,
                .pin = {
                        .gpio = GPIOA,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_15,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                        .pin_source = GPIO_PinSource15,
                },
        },
        {
                .timer = TIM2,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_TIM2,
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_3,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                        .pin_source = GPIO_PinSource3,
                },
        },
        {
                .timer = TIM3,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_TIM3,
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_4,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                        .pin_source = GPIO_PinSource4,
                },
        },
        {
                .timer = TIM3,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_TIM3,
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_5,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                        .pin_source = GPIO_PinSource5,
                },
        },
        {
                .timer = TIM4,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_TIM4,
                .pin = {
                        .gpio = GPIOD,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_12,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                        .pin_source = GPIO_PinSource12,
                },
        },
        {
                .timer = TIM4,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_TIM4,
                .pin = {
                        .gpio = GPIOD,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_13,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                        .pin_source = GPIO_PinSource13,
                },
        },
        {
                .timer = TIM4,
                .timer_chan = TIM_Channel_3,
                .remap = GPIO_AF_TIM4,
                .pin = {
                        .gpio = GPIOD,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_14,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                        .pin_source = GPIO_PinSource14,
                },
        },
        {
                .timer = TIM4,
                .timer_chan = TIM_Channel_4,
                .remap = GPIO_AF_TIM4,
                .pin = {
                        .gpio = GPIOD,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_15,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                        .pin_source = GPIO_PinSource15,
                },
        },
};

#if defined(PIOS_INCLUDE_DMASHOT)

#include <pios_dmashot.h>

// Enable pins 1-10 for DMA1

static const struct pios_dmashot_timer_cfg dmashot_tim_cfg[] = {
        {
                .timer   = TIM8,
                .stream  = DMA2_Stream1,
                .channel = DMA_Channel_7,
                .tcif    = DMA_FLAG_TCIF1
        },
        {
                .timer   = TIM2,
                .stream  = DMA1_Stream7,
                .channel = DMA_Channel_3,
                .tcif    = DMA_FLAG_TCIF7
        },
        {
                .timer   = TIM3,
                .stream  = DMA1_Stream2,
                .channel = DMA_Channel_5,
                .tcif    = DMA_FLAG_TCIF2
        },
        {
                .timer   = TIM4,
                .stream  = DMA1_Stream6,
                .channel = DMA_Channel_2,
                .tcif    = DMA_FLAG_TCIF6
        }
};

static const struct pios_dmashot_cfg dmashot_config = {
        .timer_cfg =  &dmashot_tim_cfg[0],
        .num_timers = NELEMENTS(dmashot_tim_cfg)
};

#endif // defined(PIOS_INCLUDE_DMASHOT)

#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM)
/*
 * Servo outputs
 */
#include <pios_servo_priv.h>

const struct pios_servo_cfg pios_servo_cfg = {
        .tim_oc_init = {
                .TIM_OCMode       = TIM_OCMode_PWM1,
                .TIM_OutputState  = TIM_OutputState_Enable,
                .TIM_OutputNState = TIM_OutputNState_Disable,
                .TIM_Pulse        = PIOS_SERVOS_INITIAL_POSITION,
                .TIM_OCPolarity   = TIM_OCPolarity_High,
                .TIM_OCNPolarity  = TIM_OCPolarity_High,
                .TIM_OCIdleState  = TIM_OCIdleState_Reset,
                .TIM_OCNIdleState = TIM_OCNIdleState_Reset,
        },
        .channels = pios_tim_outputs_pins,
        .num_channels = NELEMENTS(pios_tim_outputs_pins),
};

#endif  /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */

/*
 *      PPM INPUT
        1: TIM5_CH3 (PA2)
 */
static const struct pios_tim_channel pios_tim_rcvrport_ppm[] = {
        {
                .timer = TIM5,
                .timer_chan = TIM_Channel_3,
                .remap = GPIO_AF_TIM5,
                .pin = {
                        .gpio = GPIOA,
                        .init = {
                                .GPIO_Pin = GPIO_Pin_2,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                        .pin_source = GPIO_PinSource2,
                },
        },
};

/*
 * PPM Input
 */
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>

/*
 * PPM Input
 */
const struct pios_ppm_cfg pios_ppm_cfg = {
        .tim_ic_init = {
                .TIM_ICPolarity = TIM_ICPolarity_Rising,
                .TIM_ICSelection = TIM_ICSelection_DirectTI,
                .TIM_ICPrescaler = TIM_ICPSC_DIV1,
                .TIM_ICFilter = 0x0,
                .TIM_Channel = TIM_Channel_3,
        },
        /* Servo Out 3 for PPM Input */
        .channels = &pios_tim_rcvrport_ppm[0],
        .num_channels = 1,
};

#endif

#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
#endif /* PIOS_INCLUDE_RCVR */

#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"

static const struct pios_usb_cfg pios_usb_main_cfg = {
        .irq = {
                .init    = {
                        .NVIC_IRQChannel                   = OTG_FS_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .vsense = {
                .gpio = NULL,
        },
        .disconnect = {
                .gpio = GPIOD,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_11,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL,
                },
        }
};

const struct pios_usb_cfg * PIOS_BOARD_HW_DEFS_GetUsbCfg (uint32_t board_revision)
{
        return &pios_usb_main_cfg;
}

#include "pios_usb_board_data_priv.h"
#include "pios_usb_desc_hid_cdc_priv.h"
#include "pios_usb_desc_hid_only_priv.h"
#include "pios_usbhook.h"

#endif  /* PIOS_INCLUDE_USB */

#if defined(PIOS_INCLUDE_COM_MSG)

#include <pios_com_msg_priv.h>

#endif /* PIOS_INCLUDE_COM_MSG */

#if defined(PIOS_INCLUDE_USB_HID) && !defined(PIOS_INCLUDE_USB_CDC)
#include <pios_usb_hid_priv.h>

const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
        .data_if = 0,
        .data_rx_ep = 1,
        .data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_HID && !PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_USB_CDC)
#include <pios_usb_cdc_priv.h>

const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
        .ctrl_if = 0,
        .ctrl_tx_ep = 2,

        .data_if = 1,
        .data_rx_ep = 3,
        .data_tx_ep = 3,
};

#include <pios_usb_hid_priv.h>

const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
        .data_if = 2,
        .data_rx_ep = 1,
        .data_tx_ep = 1,
};
#endif  /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_ADC)
#include "pios_adc_priv.h"
#include "pios_internal_adc_priv.h"

void PIOS_ADC_DMA_irq_handler(void);
void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMA_irq_handler")));
struct pios_internal_adc_cfg pios_adc_cfg = {
        .adc_dev_master = ADC1,
        .dma = {
                .irq = {
                        .flags = (DMA_FLAG_TCIF0 | DMA_FLAG_TEIF0 | DMA_FLAG_HTIF0),
                        .init = {
                                .NVIC_IRQChannel = DMA2_Stream0_IRQn,
                                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                                .NVIC_IRQChannelSubPriority = 0,
                                .NVIC_IRQChannelCmd = ENABLE,
                        },
                },
                .rx = {
                        .channel = DMA2_Stream0,
                        .init = {
                                .DMA_Channel = DMA_Channel_0,
                                .DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR
                        },
                }
        },
        .half_flag = DMA_IT_HTIF0,
        .full_flag = DMA_IT_TCIF0,
        .adc_pins =  {                                                              \
                { GPIOC, GPIO_Pin_4, ADC_Channel_14 },  /* AI2                      */  \
                { GPIOC, GPIO_Pin_0, ADC_Channel_10 },  /* Internal Voltage Monitor */  \
                { GPIOB, GPIO_Pin_1, ADC_Channel_9  },  /* AI3                      */  \
                { GPIOC, GPIO_Pin_5, ADC_Channel_15 },  /* AI4                      */  \
                { GPIOC, GPIO_Pin_2, ADC_Channel_12 },  /* AI5                      */  \
        },
        .adc_pin_count = 5,
};

void PIOS_ADC_DMA_irq_handler(void)
{
        /* Call into the generic code to handle the IRQ for this specific device */
        PIOS_INTERNAL_ADC_DMA_Handler();
}

#endif /* PIOS_INCLUDE_ADC */

#if defined(PIOS_INCLUDE_WS2811)
#include "pios_ws2811.h"

ws2811_dev_t pios_ws2811;

void DMA2_Stream6_IRQHandler() {
        PIOS_WS2811_dma_interrupt_handler(pios_ws2811);
}

static const struct pios_ws2811_cfg pios_ws2811_cfg = {
        .timer = TIM1,
        .clock_cfg = {
                .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 12000000) - 1,
                .TIM_ClockDivision = TIM_CKD_DIV1,
                .TIM_CounterMode = TIM_CounterMode_Up,
                .TIM_Period = 25,       /* 2.083us/bit */
        },
        .interrupt = {
                .NVIC_IRQChannel = DMA2_Stream6_IRQn,
                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                .NVIC_IRQChannelSubPriority = 0,
                .NVIC_IRQChannelCmd = ENABLE,
        },
        .bit_clear_dma_tcif = DMA_IT_TCIF6,
        .fall_time_l = 5,                       /* 333ns */
        .fall_time_h = 11,                      /* 833ns */
        .led_gpio = GPIOB,
        .gpio_pin = GPIO_Pin_0,                 /* PB0 / RNG */
        .bit_set_dma_stream = DMA2_Stream4,
        .bit_set_dma_channel = DMA_Channel_6,   /* 2/S4/C6: TIM1 CH4|TRIG|COM */
        .bit_clear_dma_stream = DMA2_Stream6,
        .bit_clear_dma_channel = DMA_Channel_0, /* 0/S6/C0: TIM1 CH1|CH2|CH3 */
};
#endif

#if defined(PIOS_INCLUDE_DAC)
#include "pios_dac.h"

dac_dev_t pios_dac;

/* DAC 1 is the DAC output on AQ32; DMA1 Stream 5 Ch7 */

void DMA1_Stream5_IRQHandler() {
        PIOS_DAC_dma_interrupt_handler(pios_dac);
}

typedef struct dac_dev_s *dac_dev_t;

struct pios_dac_cfg pios_dac_cfg = {
        .timer = TIM6,
        .clock_cfg = {
                .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_COUNTER_CLOCK / 600000) - 1,
                .TIM_ClockDivision = TIM_CKD_DIV1,
                .TIM_CounterMode = TIM_CounterMode_Up,
                .TIM_Period = 25-1,     /* 600000 / 25 = 24000 samples per sec */
        },
        .interrupt = {
                .NVIC_IRQChannel = DMA1_Stream5_IRQn,
                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                .NVIC_IRQChannelSubPriority = 0,
                .NVIC_IRQChannelCmd = ENABLE,
        },
        .gpio = GPIOA,
        .gpio_pin = GPIO_Pin_4,
        .dma_stream = DMA1_Stream5,
        .dma_channel = DMA_Channel_7,
        .dac_channel = DAC_Channel_1,
        .dac_trigger = DAC_Trigger_T6_TRGO,
        .dac_outreg = (uintptr_t) (&DAC->DHR12L1),
        .dma_tcif = DMA_IT_TCIF5,
};

#endif /* PIOS_INCLUDE_DAC */

#if defined(PIOS_INCLUDE_MPU)
#include "pios_mpu.h"
static const struct pios_exti_cfg pios_exti_mpu_cfg __exti_config = {
        .vector = PIOS_MPU_IRQHandler,
        .line = EXTI_Line4,
                .pin = {
                .gpio = GPIOE,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_4,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL,
                },
        },
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = EXTI4_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .exti = {
                .init = {
                        .EXTI_Line    = EXTI_Line4, // matches above GPIO pin
                        .EXTI_Mode    = EXTI_Mode_Interrupt,
                        .EXTI_Trigger = EXTI_Trigger_Rising,
                        .EXTI_LineCmd = ENABLE,
                },
        },
};

static struct pios_mpu_cfg pios_mpu_cfg = {
        .exti_cfg            = &pios_exti_mpu_cfg,
        .default_samplerate  = 1000,
        .orientation         = PIOS_MPU_TOP_270DEG
};
#endif /* PIOS_INCLUDE_MPU */


#if defined(PIOS_INCLUDE_HMC5883)
#include "pios_hmc5883_priv.h"
static const struct pios_exti_cfg pios_exti_hmc5883_internal_cfg __exti_config = {
    .vector = PIOS_HMC5883_IRQHandler,
    .line = EXTI_Line2,
    .pin = {
        .gpio = GPIOE,
        .init = {
            .GPIO_Pin   = GPIO_Pin_2,
            .GPIO_Speed = GPIO_Speed_100MHz,
            .GPIO_Mode  = GPIO_Mode_IN,
            .GPIO_OType = GPIO_OType_OD,
            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
        },
    },
    .irq = {
        .init = {
            .NVIC_IRQChannel                   = EXTI2_IRQn,
            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
            .NVIC_IRQChannelSubPriority        = 0,
            .NVIC_IRQChannelCmd                = ENABLE,
        },
    },
    .exti = {
        .init = {
            .EXTI_Line    = EXTI_Line2, // matches above GPIO pin
            .EXTI_Mode    = EXTI_Mode_Interrupt,
            .EXTI_Trigger = EXTI_Trigger_Rising,
            .EXTI_LineCmd = ENABLE,
        },
    },
};

static const struct pios_hmc5883_cfg pios_hmc5883_internal_cfg = {
    .exti_cfg            = &pios_exti_hmc5883_internal_cfg,
    .M_ODR               = PIOS_HMC5883_ODR_75,
    .Meas_Conf           = PIOS_HMC5883_MEASCONF_NORMAL,
    .Gain                = PIOS_HMC5883_GAIN_1_9,
    .Mode                = PIOS_HMC5883_MODE_CONTINUOUS,
    .Default_Orientation = PIOS_HMC5883_TOP_270DEG,
};
#endif /* PIOS_INCLUDE_HMC5883 */

#if defined(PIOS_INCLUDE_MS5611)
#include "pios_ms5611_priv.h"
static const struct pios_ms5611_cfg pios_ms5611_cfg = {
    .oversampling             = MS5611_OSR_4096,
    .temperature_interleaving = 1,
    .use_0x76_address         = true,
};
#endif /* PIOS_INCLUDE_MS5611 */