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/>
 *
 * Additional note on redistribution: The copyright and license notices above
 * must be maintained in each individual source file that is a derivative work
 * of this source file; otherwise redistribution is prohibited.
 */

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

#include <fpga_drv.h>

#if defined(PIOS_INCLUDE_ANNUNC)

#include <pios_annunc_priv.h>
static const struct pios_annunc pios_annuncs[] = {
        [PIOS_LED_HEARTBEAT] = {
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_13,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_DOWN
                        },
                },
                .remap = 0,
                .active_high = true,
        },
        [PIOS_LED_ALARM] = {
                .pin = {
                        .gpio = GPIOC,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_8,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_DOWN
                        },
                },
                .remap = 0,
                .active_high = true,
        },
#if defined(PIOS_INCLUDE_RE1_FPGA)
        [PIOS_ANNUNCIATOR_BUZZER] = {
                .handler = PIOS_RE1FPGA_Buzzer
        },
#endif
};

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_FLASH)
#include "pios_flashfs_logfs_priv.h"

static const struct flashfs_logfs_cfg flashfs_settings_cfg = {
        .fs_magic      = 0x3bb141cf,
        .arena_size    = 0x00010000, /* 256 * 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_s25fl127_cfg = {
        .expect_manufacturer = JEDEC_MANUFACTURER_SPANSION,
        .expect_memorytype   = 0x20,
        .expect_capacity     = 0x18,
        .sector_erase        = 0xd8,
};
#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 = 7,
                .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 s25fl127_sectors[] = {
        {
                .base_sector = 0,
                .last_sector = 15,
                .sector_size = FLASH_SECTOR_4KB,
        },
        // NOTE: The 4kB sectors are currently unused, as they need a different erase command
        {
                .base_sector = 16,
                .last_sector = 270,
                .sector_size = FLASH_SECTOR_64KB,
        }
};

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 = s25fl127_sectors,
        .num_blocks    = NELEMENTS(s25fl127_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  = 7,
                .chip_offset  = (4 * FLASH_SECTOR_16KB) + (1 * FLASH_SECTOR_64KB),
                .size         = (7 - 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 = 16,
                .last_sector  = 18,
                .chip_offset  = (16 * FLASH_SECTOR_4KB),
                .size         = (18 - 16 + 1) * FLASH_SECTOR_64KB,
        },

        {
                .label        = FLASH_PARTITION_LABEL_AUTOTUNE,
                .chip_desc    = &pios_flash_chip_external,
                .first_sector = 19,
                .last_sector  = 20,
                .chip_offset  = (16 * FLASH_SECTOR_4KB) + (3 * FLASH_SECTOR_64KB),
                .size         = (20 - 19 + 1) * FLASH_SECTOR_64KB,
        },

        {
                .label        = FLASH_PARTITION_LABEL_LOG,
                .chip_desc    = &pios_flash_chip_external,
                .first_sector = 21,
                .last_sector  = 270,
                .chip_offset  = (16 * FLASH_SECTOR_4KB) + (5 * FLASH_SECTOR_64KB),
                .size         = (270 - 21 + 1) * FLASH_SECTOR_64KB,
        },
#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_SPI)
#include <pios_spi_priv.h>

/*
 * SPI1 Interface
 * Used for BMI160 gyro / accelerometer
 */
static const struct pios_spi_cfg pios_spi_gyro_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_16, // 90MHz / 16 = 5.6MHz
        },
        .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_UP
                },
        },
        .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_UP
                },
        },
        .mosi = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_7,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd = GPIO_PuPd_UP
                },
        },
        .slave_count = 1,
        .ssel = { {
                                  .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_UP
                                  } }
                        }
};

/* SPI3 Interface
 *      - Used for flash and RE1 FPGA communication
 */
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_8,       //@ APB1 PCLK1 45MHz / 8 == 5.6MHz
        },
        .sclk = {
                .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_NOPULL
                },
                .pin_source = GPIO_PinSource3,
        },
        .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 = 2,
        .ssel = {
                {
                        .gpio = GPIOB,
                        .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,
                },
                {
                        .gpio = GPIOC,
                        .init = {
                                .GPIO_Pin = GPIO_Pin_15,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .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_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_external_ev_irq_handler")));
void I2C1_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_external_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_external_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,
                .init = {
                        .NVIC_IRQChannel = I2C1_EV_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .error = {
                .flags   = 0,
                .init = {
                        .NVIC_IRQChannel = I2C1_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_COM)
#include "pios_com_priv.h"
#endif  /* PIOS_INCLUDE_COM */

#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_MID,
                                .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_1, ADC_Channel_11 },                                                \
                { GPIOC, GPIO_Pin_0, ADC_Channel_10 },                                                \
                { GPIOC, GPIO_Pin_3, ADC_Channel_13 }                                                 \
        },
        .adc_pin_count = 3
};

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_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 /* PIOS_INCLUDE_RTC */

#if defined(PIOS_INCLUDE_USART)

#include "pios_usart_priv.h"

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 = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_7,
                        .GPIO_Speed = GPIO_Speed_25MHz,
                        .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_25MHz,
                        .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_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 = GPIOC,
                .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_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_25MHz,
                        .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_25MHz,
                        .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_25MHz,
                        .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_25MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource6,
        },
};

#endif /* defined(PIOS_INCLUDE_USART) */

#if defined(PIOS_INCLUDE_PPM)
/*
 * PPM Input
 */
// Timer 12 used for PPM input
#include "pios_tim_priv.h"
#include <pios_ppm_priv.h>

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_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,
                },
        },
};

static const struct pios_tim_channel pios_tim_ppm_channel[] = {
        {
                .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,
                },
        },
};

#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,
        },
        .channels = &pios_tim_ppm_channel[0],
        .num_channels = 1,
};
#endif /* PIOS_INCLUDE_PPM */

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

static const struct pios_dsm_cfg pios_rxport_dsm_cfg = {
        .bind = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_14,  // same pin as PPM input
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        },
};
#endif /* defined(PIOS_INCLUDE_DSM) */

#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM)

// TIme base for timers on APB1 (45MHz)
static const TIM_TimeBaseInitTypeDef tim_apb1_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_apb1_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM5_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_apb1_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM8_UP_TIM13_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

// TIme base for timers on APB2 (90MHz)
static const TIM_TimeBaseInitTypeDef tim_apb2_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_1_cfg = {
        .timer = TIM1,
        .time_base_init = &tim_apb2_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_UP_TIM10_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)
        5: TIM1_CH3 (PA10)
        6: TIM2_CH1 (PA8)
        7: TIM8_CH1 (PC6)
        8: TIM8_CH2 (PC7)
 */

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,
                },
        },
        {
                .timer = TIM1,
                .timer_chan = TIM_Channel_3,
                .remap = GPIO_AF_TIM1,
                .pin = {
                        .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,
                },
        },
        {
                .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_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,
                },
        }
};

#if defined(PIOS_INCLUDE_DMASHOT)

#include <pios_dmashot.h>

static const struct pios_dmashot_timer_cfg dmashot_tim_cfg[] = {
        {
                .timer = TIM5,
                .stream = DMA1_Stream6,
                .channel = DMA_Channel_6,
                .tcif = DMA_FLAG_TCIF6
        },
        {
                .timer = TIM1,
                .stream = DMA2_Stream5,
                .channel = DMA_Channel_6,
                .tcif = DMA_FLAG_TCIF5
        },
        {
                .timer = TIM2,
                .stream = DMA1_Stream7,
                .channel = DMA_Channel_3,
                .tcif = DMA_FLAG_TCIF7
        },
        {
                .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) */

/*
 * Servo outputs
 */
#include <pios_servo_priv.h>

const struct pios_servo_cfg pios_servo_4_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[2],
        .num_channels = NELEMENTS(pios_tim_servoport_all_pins) - 4,
};

const struct pios_servo_cfg pios_servo_6_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) - 2,
};

const struct pios_servo_cfg pios_servo_8_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),
};
#endif /* defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM) */

#if defined(PIOS_INCLUDE_VIDEO_QUADSPI)
#include <pios_video.h>
#include "fpga_drv.h"

static const struct pios_exti_cfg pios_exti_vsync_cfg __exti_config = {
        .vector = PIOS_Vsync_ISR,
        .line   = EXTI_Line5,
        .pin    = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_5,
                        .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_Line5, // matches above GPIO pin
                        .EXTI_Mode    = EXTI_Mode_Interrupt,
                        .EXTI_Trigger = EXTI_Trigger_Falling,
                        .EXTI_LineCmd = ENABLE,
                },
        },
};

static const struct pios_exti_cfg pios_exti_hsync_cfg __exti_config = {
        .vector = PIOS_Hsync_ISR,
        .line   = EXTI_Line2,
        .pin    = {
                .gpio = GPIOC,
                .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_HIGHEST,
                        .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_Falling,
                        .EXTI_LineCmd = ENABLE,
                },
        },
};

const struct pios_video_cfg pios_video_cfg = {
        .qspi_init = {
                .QSPI_SShift     = QSPI_SShift_NoShift,
                .QSPI_Prescaler  = 12,  // 180MHz / 12 = 15MHz
                .QSPI_CKMode     = QSPI_CKMode_Mode0,
                .QSPI_CSHTime    = QSPI_CSHTime_1Cycle,
                .QSPI_FSize      = 0x1F,
                .QSPI_FSelect    = QSPI_FSelect_1,
                .QSPI_DFlash     = QSPI_DFlash_Disable,
        },
        .pixel_dma = DMA2,
        .dma     = {
                .irq                                       = {
                        .flags = (DMA_IT_TCIF7),
                        .init  = {
                                .NVIC_IRQChannel    = DMA2_Stream7_IRQn,
                                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                                .NVIC_IRQChannelSubPriority        = 0,
                                .NVIC_IRQChannelCmd = ENABLE,
                        },
                },
                /*.rx = {},*/
                .tx                                        = {
                        .channel = DMA2_Stream7,
                        .init    = {
                                .DMA_Channel            = DMA_Channel_3,
                                .DMA_PeripheralBaseAddr = (uint32_t)&(QUADSPI->DR),
                                .DMA_DIR                = DMA_DIR_MemoryToPeripheral,
                                .DMA_BufferSize         = 400,
                                .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_2,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        },
        .bk1_io0                                       = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_9,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        },
        .bk1_io1                                       = {
                .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
                },
        },

        .vsync = &pios_exti_vsync_cfg,
        .hsync = &pios_exti_hsync_cfg,
        .set_bw_levels = PIOS_RE1FPGA_SetBwLevels,
        .set_x_offset = PIOS_RE1FPGA_SetXOffset,
        .set_x_scale = PIOS_RE1FPGA_SetXScale,
        .set_3d_config = PIOS_RE1FPGA_Set3DConfig,
};
#endif /* if defined(PIOS_INCLUDE_VIDEO) */

#if defined(PIOS_INCLUDE_RE1_FPGA)
#include "fpga_drv.h"

const struct pios_re1fpga_cfg pios_re1fpga_cfg = {
        .mco_pin = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_8,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
        },
        .rst_pin = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_10,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_DOWN
                },
        },
        .cdone_pin = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_0,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
        },
        .cresetb_pin = {
                .gpio = GPIOB,
                .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_UP
                },
        },
};
#endif /* defined(PIOS_INCLUDE_RE1_FPGA) */


#if defined(PIOS_INCLUDE_BMI160)
#include "pios_bmi160.h"

static const struct pios_exti_cfg pios_exti_bmi160_cfg __exti_config = {
        .vector = PIOS_BMI160_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 const struct pios_bmi160_cfg pios_bmi160_cfg = {
        .exti_cfg = &pios_exti_bmi160_cfg,
        .orientation = PIOS_BMI160_TOP_0DEG,
        .odr = PIOS_BMI160_ODR_1600_Hz,
        .acc_range = PIOS_BMI160_RANGE_8G,
        .gyro_range = PIOS_BMI160_RANGE_2000DPS,
        .temperature_interleaving = 50
};
#endif /* PIOS_INCLUDE_BMI160 */