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 = GPIOD,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_2,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_DOWN
                        },
                },
                .remap = 0,
                .active_high = false,
        },
        [PIOS_LED_ALARM] = {
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_12,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_DOWN
                        },
                },
                .remap = 0,
                .active_high = false,
        }
};

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>

/* SPI3 Interface
 *      - Used for flash communications
 */
static const struct pios_spi_cfg pios_spi_flash_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_2,       //@ APB1 PCLK1 42MHz / 2 == 21MHz
        },
        .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_50MHz,
                        .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_50MHz,
                        .GPIO_Mode = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource12,
        },
        .slave_count = 1,
        .ssel = { {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin = GPIO_Pin_15,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource15,
        } },
};

pios_spi_t pios_spi_flash_id;

#endif  /* PIOS_INCLUDE_SPI */

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

static const struct flashfs_logfs_cfg flashfs_settings_cfg = {
        .fs_magic      = 0x3bb141cf,
        .arena_size    = 0x00004000, /* 64 * slot size */
        .slot_size     = 0x00000100, /* 256 bytes */
};

#if defined(PIOS_INCLUDE_FLASH_JEDEC)
#include "pios_flash_jedec_priv.h"

static const struct pios_flash_jedec_cfg flash_mx25_cfg = {
        .expect_manufacturer = JEDEC_MANUFACTURER_MACRONIX,
        .expect_memorytype   = 0x20,
        .expect_capacity     = 0x17,
        .sector_erase        = 0x20,
};
#endif  /* PIOS_INCLUDE_FLASH_JEDEC */

#if defined(PIOS_INCLUDE_FLASH_INTERNAL)
#include "pios_flash_internal_priv.h"

static const struct pios_flash_internal_cfg flash_internal_cfg = {
};
#endif  /* PIOS_INCLUDE_FLASH_INTERNAL */

#include "pios_flash_priv.h"

#if defined(PIOS_INCLUDE_FLASH_INTERNAL)
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),
};
#endif  /* PIOS_INCLUDE_FLASH_INTERNAL */

#if defined(PIOS_INCLUDE_FLASH_JEDEC)
static const struct pios_flash_sector_range mx25_sectors[] = {
        {
                .base_sector = 0,
                .last_sector = 2047,
                .sector_size = FLASH_SECTOR_4KB,
        },
};

uintptr_t pios_external_flash_id;
static const struct pios_flash_chip pios_flash_chip_external = {
        .driver        = &pios_jedec_flash_driver,
        .chip_id       = &pios_external_flash_id,
        .page_size     = 256,
        .sector_blocks = mx25_sectors,
        .num_blocks    = NELEMENTS(mx25_sectors),
};
#endif /* PIOS_INCLUDE_FLASH_JEDEC */

static const struct pios_flash_partition pios_flash_partition_table[] = {
#if defined(PIOS_INCLUDE_FLASH_INTERNAL)
        {
                .label        = FLASH_PARTITION_LABEL_BL,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 0,
                .last_sector  = 1,
                .chip_offset  = 0,
                .size         = (1 - 0 + 1) * FLASH_SECTOR_16KB,
        },

        /* NOTE: sectors 2-4 of the internal flash are currently unallocated */

        {
                .label        = FLASH_PARTITION_LABEL_FW,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 5,
                .last_sector  = 11,
                .chip_offset  = (4 * FLASH_SECTOR_16KB) + (1 * FLASH_SECTOR_64KB),
                .size         = (11 - 5 + 1) * FLASH_SECTOR_128KB,
        },

#endif /* PIOS_INCLUDE_FLASH_INTERNAL */

#if defined(PIOS_INCLUDE_FLASH_JEDEC)
        {
                .label        = FLASH_PARTITION_LABEL_SETTINGS,
                .chip_desc    = &pios_flash_chip_external,
                .first_sector = 0,
                .last_sector  = 15,
                .chip_offset  = 0,
                .size         = (15 - 0 + 1) * FLASH_SECTOR_4KB,
        },

        {
                .label        = FLASH_PARTITION_LABEL_AUTOTUNE,
                .chip_desc    = &pios_flash_chip_external,
                .first_sector = 16,
                .last_sector  = 31,
                .chip_offset  = (16 * FLASH_SECTOR_4KB),
                .size         = (31 - 16 + 1) * FLASH_SECTOR_4KB,
        },

        {
                .label        = FLASH_PARTITION_LABEL_LOG,
                .chip_desc    = &pios_flash_chip_external,
                .first_sector = 32,
                .last_sector  = 2047,
                .chip_offset  = (32 * FLASH_SECTOR_4KB),
                .size         = (2047 - 32 + 1) * FLASH_SECTOR_4KB,
        },
#endif  /* PIOS_INCLUDE_FLASH_JEDEC */
};

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_I2C)

#include <pios_i2c_priv.h>

/*
 * I2C Adapters
 */
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_8,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL,
                },
                .pin_source = GPIO_PinSource8,
        },
        .sda = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin = GPIO_Pin_9,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL,
                },
                .pin_source = GPIO_PinSource9,
        },
        .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_flexi_ev_irq_handler(void);
void PIOS_I2C_flexi_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexi_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexi_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_flexi_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_NOPULL,
                },
                .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_NOPULL,
                },
                .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_flexi_id;
void PIOS_I2C_flexi_ev_irq_handler(void)
{
        /* Call into the generic code to handle the IRQ for this specific device */
        PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexi_id);
}

void PIOS_I2C_flexi_er_irq_handler(void)
{
        /* Call into the generic code to handle the IRQ for this specific device */
        PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexi_id);
}

#endif /* PIOS_INCLUDE_I2C */


#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_mainport_dsm_aux_cfg = {
        .bind = {
                .gpio = GPIOB,
                .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
                },
        },
};

static const struct pios_dsm_cfg pios_flxport_dsm_aux_cfg = {
        .bind = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_11,
                        .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_rxportusart_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_mainport_sbus_aux_cfg = {
        /* Inverter configuration */
        .inv = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin = GPIO_Pin_14,
                        .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,
};

#endif  /* PIOS_INCLUDE_SBUS */

static const struct pios_usart_cfg pios_mainport_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 = GPIOB,
                .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 = GPIOB,
                .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,
        },
};

static const struct pios_usart_cfg pios_flxport_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 = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_11,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource11,
        },
        .tx = {
                .gpio = GPIOB,
                .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,
        },
};

static const struct pios_usart_cfg pios_rxportusart_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,
        },
};

/* uart 4 and 5 are RX only and available */

#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 = {
    // FIXME for real board the clock is 16MHz
        .clksrc = RCC_RTCCLKSource_HSE_Div16, // Divide 8 Mhz crystal down to 1
        // For some reason it's acting like crystal is 16 Mhz.  This 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 (8, 12)

static const TIM_TimeBaseInitTypeDef tim_8_time_base = {
        .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 1000000) - 1,
    .TIM_ClockDivision = TIM_CKD_DIV1,
    .TIM_CounterMode = TIM_CounterMode_Up,
    .TIM_Period = 0xFFFF,
    .TIM_RepetitionCounter = 0x0000,
};

static const TIM_TimeBaseInitTypeDef tim_12_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_8_cfg = {
        .timer = TIM8,
        .time_base_init = &tim_8_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM8_CC_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_12_cfg = {
        .timer = TIM12,
        .time_base_init = &tim_12_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM8_BRK_TIM12_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

// Timers used for outputs (5))

// Set up timers that only have inputs 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 = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
        .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,
                },
        },
};

/*
 *      OUTPUTS
        1: TIM5_CH1 (PA0)
        2: TIM5_CH2 (PA1)
        3: TIM5_CH3 (PA2)
        4: TIM5_CH4 (PA3)
 */

static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
        {
                .timer = TIM5,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_TIM5,
                .pin = {
                        .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,
                },
        },
        {
                .timer = TIM5,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_TIM5,
                .pin = {
                        .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,
                },
        },
        {
                .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,
                },
        },
        {
                .timer = TIM5,
                .timer_chan = TIM_Channel_4,
                .remap = GPIO_AF_TIM5,
                .pin = {
                        .gpio = GPIOA,
                        .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_UP
                        },
                        .pin_source = GPIO_PinSource3,
                },
        }
};

/*
 *      OUTPUTS with extra outputs on recieverport
 *  1: TIM5_CH1 (PA0)
    2: TIM5_CH2 (PA1)
    3: TIM5_CH3 (PA2)
    4: TIM5_CH4 (PA3)
    5: TIM8_CH1 (PC6)
    6: TIM8_CH2 (PC7)
    7: TIM8_CH3 (PC8)
    8: TIM8_CH4 (PC9)
 */

static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = {
        { // output 1
                .timer = TIM5,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_TIM5,
                .pin = {
                        .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,
                },
        },
        { // output 2
                .timer = TIM5,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_TIM5,
                .pin = {
                        .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,
                },
        },
        { // output 3
                .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,
                },
        },
        { // output 4
                .timer = TIM5,
                .timer_chan = TIM_Channel_4,
                .remap = GPIO_AF_TIM5,
                .pin = {
                        .gpio = GPIOA,
                        .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_UP
                        },
                        .pin_source = GPIO_PinSource3,
                },
        },
        { // output 5
                .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_UP
                        },
                        .pin_source = GPIO_PinSource8,
                },
        },
        { // output 6
                .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_UP
                        },
                        .pin_source = GPIO_PinSource9,
                },
        },
        { // ouput 7
                .timer = TIM8,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_TIM8,
                .pin = {
                        .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,
                },
        },
        { // output 8
                .timer = TIM8,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_TIM8,
                .pin = {
                        .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,
                },
        },
        { // output 9
                .timer = TIM12,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_TIM12,
                .pin = {
                        .gpio = GPIOB,
                        .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_UP
                        },
                        .pin_source = GPIO_PinSource14,
                },
        },
        { // output 10
                .timer = TIM12,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_TIM12,
                .pin = {
                        .gpio = GPIOB,
                        .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_UP
                        },
                        .pin_source = GPIO_PinSource15,
                },
        }
};

#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_servoport_all_pins,
        .num_channels = NELEMENTS(pios_tim_servoport_all_pins),
};

const struct pios_servo_cfg pios_servo_rcvr_ppm_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_servoport_rcvrport_pins,
        .num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins) - 2,
};

const struct pios_servo_cfg pios_servo_rcvr_ppm_uart_out_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_servoport_rcvrport_pins,
        .num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins) - 4,
};

const struct pios_servo_cfg pios_servo_rcvr_all_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_servoport_rcvrport_pins,
        .num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins),
};

#if defined(PIOS_INCLUDE_DMASHOT)

#include <pios_dmashot.h>

// Enable pins 1-8 for DMA.
// Pins 9 & 10 on TIM12 should fall back onto GPIO DShot.
// Unlikely that these find use configured as such.

static const struct pios_dmashot_timer_cfg dmashot_tim_cfg[] = {
        {
                .timer = TIM5,
                .stream = DMA1_Stream6,
                .channel = DMA_Channel_6,
                .tcif = DMA_FLAG_TCIF6
        },
        {
                .timer = TIM8,
                .stream = DMA2_Stream1,
                .channel = DMA_Channel_7,
                .tcif = DMA_FLAG_TCIF1
        }
};

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)

#endif  /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */

/*
 *      INPUTS
        1: TIM12_CH1 (PB14)
        2: TIM12_CH2 (PB15)
        3: TIM8_CH1 (PC6)
        4: TIM8_CH2 (PC7)
        5: TIM8_CH3 (PC8)
        6: TIM8_CH4 (PC9)
 */
static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
        {
                .timer = TIM12,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_TIM12,
                .pin = {
                        .gpio = GPIOB,
                        .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_UP
                        },
                        .pin_source = GPIO_PinSource14,
                },
        },
        {
                .timer = TIM12,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_TIM12,
                .pin = {
                        .gpio = GPIOB,
                        .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_UP
                        },
                        .pin_source = GPIO_PinSource15,
                },
        },
        {
                .timer = TIM8,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_TIM8,
                .pin = {
                        .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,
                },
        },
        {
                .timer = TIM8,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_TIM8,
                .pin = {
                        .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,
                },
        },
        {
                .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_UP
                        },
                        .pin_source = GPIO_PinSource8,
                },
        },
        {
                .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_UP
                        },
                        .pin_source = GPIO_PinSource9,
                },
        }
};

/*
 * PWM Inputs
 */
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
#include <pios_pwm_priv.h>

const struct pios_pwm_cfg pios_pwm_cfg = {
        .tim_ic_init = {
                .TIM_ICPolarity = TIM_ICPolarity_Rising,
                .TIM_ICSelection = TIM_ICSelection_DirectTI,
                .TIM_ICPrescaler = TIM_ICPSC_DIV1,
                .TIM_ICFilter = 0x0,
        },
        .channels = pios_tim_rcvrport_all_channels,
        .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
};

const struct pios_pwm_cfg pios_pwm_with_ppm_cfg = {
        .tim_ic_init = {
                .TIM_ICPolarity = TIM_ICPolarity_Rising,
                .TIM_ICSelection = TIM_ICSelection_DirectTI,
                .TIM_ICPrescaler = TIM_ICPSC_DIV1,
                .TIM_ICFilter = 0x0,
        },
        /* Leave the first channel for PPM use and use the rest for PWM */
        .channels = &pios_tim_rcvrport_all_channels[1],
        .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1,
};


#endif

/*
 * PPM Input
 */
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>
static 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,
        },
        /* Use only the first channel for ppm */
        .channels = &pios_tim_rcvrport_all_channels[0],
        .num_channels = 1,
};

#endif //PPM

#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 = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_9,
                        .GPIO_Speed = GPIO_Speed_25MHz,
                        .GPIO_Mode  = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL,
                },
        }
};

#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_Stream4_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_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4),
            .init = {
                .NVIC_IRQChannel = DMA2_Stream4_IRQn,
                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                .NVIC_IRQChannelSubPriority = 0,
                .NVIC_IRQChannelCmd = ENABLE,
            },
        },
        .rx = {
            .channel = DMA2_Stream4,
            .init = {
                .DMA_Channel = DMA_Channel_0,
                .DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR
            },
        }
    },
    .half_flag = DMA_IT_HTIF4,
    .full_flag = DMA_IT_TCIF4,
    .adc_pins = {
            { GPIOC, GPIO_Pin_0, ADC_Channel_10 },
            { GPIOC, GPIO_Pin_1, ADC_Channel_11 },
            { GPIOC, GPIO_Pin_3, ADC_Channel_13 },
            { NULL, 0, ADC_Channel_Vrefint },   /* Voltage reference */
            { NULL, 0, ADC_Channel_TempSensor } /* Temperature sensor */
    },
    .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_VIDEO)
#include <pios_video.h>

void set_bw_levels(uint8_t black, uint8_t white)
{
        TIM1->CCR1 = black;
        TIM1->CCR3 = white;
}

static const struct pios_exti_cfg pios_exti_vsync_cfg __exti_config = {
        .vector = PIOS_Vsync_ISR,
        .line   = EXTI_Line7,
        .pin    = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_7,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL,
                },
        },
        .irq                                       = {
                .init                                  = {
                        .NVIC_IRQChannel    =  EXTI9_5_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .exti                                      = {
                .init                                  = {
                        .EXTI_Line    = EXTI_Line7, // matches above GPIO pin
                        .EXTI_Mode    = EXTI_Mode_Interrupt,
                        .EXTI_Trigger = EXTI_Trigger_Falling,
                        .EXTI_LineCmd = ENABLE,
                },
        },
};

const struct pios_video_cfg pios_video_cfg = {
        .mask_dma = DMA2,
        .mask                                              = {
                .regs  = SPI1,
                .remap = GPIO_AF_SPI1,
                .init  = {
                        .SPI_Mode              = SPI_Mode_Slave,
                        .SPI_Direction         = SPI_Direction_1Line_Tx,
                        .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_2Edge,
                        .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
                },
                .dma     = {
                        .irq                                       = {
                                .flags = (DMA_IT_TCIF3),
                                .init  = {
                                        .NVIC_IRQChannel    = DMA2_Stream3_IRQn,
                                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                                        .NVIC_IRQChannelSubPriority        = 0,
                                        .NVIC_IRQChannelCmd = ENABLE,
                                },
                        },
                        /*.rx = {},*/
                        .tx                                        = {
                                .channel = DMA2_Stream3,
                                .init    = {
                                        .DMA_Channel            = DMA_Channel_3,
                                        .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
                                        .DMA_DIR                = DMA_DIR_MemoryToPeripheral,
                                        .DMA_BufferSize         = BUFFER_WIDTH,
                                        .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
                                        .DMA_MemoryInc          = DMA_MemoryInc_Enable,
                                        .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
                                        .DMA_MemoryDataSize     = DMA_MemoryDataSize_Word,
                                        .DMA_Mode               = DMA_Mode_Normal,
                                        .DMA_Priority           = DMA_Priority_VeryHigh,
                                        .DMA_FIFOMode           = DMA_FIFOMode_Enable,
                                        .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
                                        .DMA_MemoryBurst        = DMA_MemoryBurst_INC4,
                                        .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
                                },
                        },
                },
                .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
                        },
                },
                .miso                                          = {
                        .gpio = GPIOA,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_6,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                },
                .slave_count                                   = 1,
        },
        .level_dma = DMA1,
        .level                                             = {
                .regs  = SPI2,
                .remap = GPIO_AF_SPI2,
                .init  = {
                        .SPI_Mode              = SPI_Mode_Slave,
                        .SPI_Direction         = SPI_Direction_1Line_Tx,
                        .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_2Edge,
                        .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
                },
                .dma     = {
                        .irq                                       = {
                                .flags = (DMA_IT_TCIF4),
                                .init  = {
                                        .NVIC_IRQChannel    = DMA1_Stream4_IRQn,
                                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                                        .NVIC_IRQChannelSubPriority        = 0,
                                        .NVIC_IRQChannelCmd = ENABLE,
                                },
                        },
                        /*.rx = {},*/
                        .tx                                        = {
                                .channel = DMA1_Stream4,
                                .init    = {
                                        .DMA_Channel            = DMA_Channel_0,
                                        .DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
                                        .DMA_DIR                = DMA_DIR_MemoryToPeripheral,
                                        .DMA_BufferSize         = BUFFER_WIDTH,
                                        .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
                                        .DMA_MemoryInc          = DMA_MemoryInc_Enable,
                                        .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
                                        .DMA_MemoryDataSize     = DMA_MemoryDataSize_Word,
                                        .DMA_Mode               = DMA_Mode_Normal,
                                        .DMA_Priority           = DMA_Priority_VeryHigh,
                                        .DMA_FIFOMode           = DMA_FIFOMode_Enable,
                                        .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
                                        .DMA_MemoryBurst        = DMA_MemoryBurst_INC4,
                                        .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
                                },
                        },
                },
                .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_UP
                        },
                },
                .miso                                          = {
                        .gpio = GPIOC,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_2,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                },
                .slave_count                                   = 1,
        },

        .vsync = &pios_exti_vsync_cfg,

        .hsync_capture                                     = {
                .timer = TIM2,
                .timer_chan                                    = TIM_Channel_2,
                .pin   = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_3,
                                .GPIO_Speed = GPIO_Speed_100MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                        .pin_source                                = GPIO_PinSource3,
                },
                .remap                                         = GPIO_AF_TIM2,
        },

        .pixel_timer                                       = {
                .timer = TIM3,
                .timer_chan                                    = TIM_Channel_1,
                .pin   = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_4,
                                .GPIO_Speed = GPIO_Speed_100MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                        .pin_source                                = GPIO_PinSource4,
                },
                .remap                                         = GPIO_AF_TIM3,
        },

        .tim_oc_init                                       = {
                .TIM_OCMode       = TIM_OCMode_PWM1,
                .TIM_OutputState  = TIM_OutputState_Enable,
                .TIM_OutputNState = TIM_OutputNState_Disable,
                .TIM_Pulse        = 1,
                .TIM_OCPolarity   = TIM_OCPolarity_High,
                .TIM_OCNPolarity  = TIM_OCPolarity_High,
                .TIM_OCIdleState  = TIM_OCIdleState_Reset,
                .TIM_OCNIdleState = TIM_OCNIdleState_Reset,
        },
        .set_bw_levels = set_bw_levels,
};

#endif /* if defined(PIOS_INCLUDE_VIDEO) */

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

dac_dev_t pios_dac;

/* DAC 1 is the DAC output on Seppuku; 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_Line13,
        .pin = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin = GPIO_Pin_13,
                        .GPIO_Speed = GPIO_Speed_2MHz,  // XXXX
                        .GPIO_Mode = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd = GPIO_PuPd_NOPULL,
                },
        },
        .irq = {
                .init = {
                        .NVIC_IRQChannel = EXTI15_10_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .exti = {
                .init = {
                        .EXTI_Line = EXTI_Line13, // 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,  // Note: has to be generated by dividing 1kHz
        .orientation = PIOS_MPU_TOP_0DEG,
        .use_internal_mag = true,
};
#endif /* PIOS_INCLUDE_MPU9250 */

#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,
};
#endif /* PIOS_INCLUDE_MS5611 */