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_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 = 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_UP
                        },
                },
        },
};

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

static const struct pios_annunc pios_annuncs_v2[] = {
        [PIOS_LED_HEARTBEAT] = {
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_5,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_UP
                        },
                },
        },
        [PIOS_LED_ALARM] = {
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_4,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_UP
                        },
                },
        },
};

static const struct pios_annunc_cfg pios_annunc_v2_cfg = {
        .annunciators     = pios_annuncs_v2,
        .num_annunciators = NELEMENTS(pios_annuncs_v2),
};

static const struct pios_annunc pios_annuncs_omnibus[] = {
        [PIOS_LED_HEARTBEAT] = {
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_5,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_UP
                        },
                },
        },
        [PIOS_ANNUNCIATOR_BUZZER] = {
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_4,
                                .GPIO_Speed = GPIO_Speed_50MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_UP
                        },
                },
                .active_high = true,
        },
};

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

const struct pios_annunc_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (uint32_t board_revision)
{
        switch(board_revision) {
                case 2:
                        return &pios_annunc_cfg;
                        break;
                case 3:
                        return &pios_annunc_v2_cfg;
                        break;
                default:
                        PIOS_DEBUG_Assert(0);
        }
        return NULL;
}

#endif  /* PIOS_INCLUDE_ANNUNC */

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

/*
 * SPI1 Interface
 * Used for MPU6000 gyro and 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,
        },
        .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 = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_4,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd = GPIO_PuPd_UP
                } }
        }
};

/*
 * SPI3 Interface
 * Used for Flash and the RFM22B
 */
static const struct pios_spi_cfg pios_spi_telem_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_Low,
                .SPI_CPHA              = SPI_CPHA_1Edge,
                .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
        },
        .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
                },
        },
        .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
                },
        },
        .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
                },
        },
        .slave_count = 2,
        .ssel = {
                {      // RFM22b
                .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
                } },
                { // Flash
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin = GPIO_Pin_3,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd = GPIO_PuPd_UP
                } },
        },
};

#ifdef PIOS_INCLUDE_BMP280_SPI
#include "pios_bmp280_priv.h"

static const struct pios_bmp280_cfg pios_bmp280_cfg = {
        .oversampling = BMP280_HIGH_RESOLUTION,
};
#endif

pios_spi_t pios_spi_telem_flash_id;

#if defined(PIOS_INCLUDE_OPENLRS)

#include <pios_openlrs_priv.h>

pios_openlrs_t openlrs_handle;

static bool openlrs_int(void) {
        return PIOS_OpenLRS_EXT_Int(openlrs_handle);
}

static const struct pios_exti_cfg pios_exti_openlrs_cfg __exti_config = {
        .vector = openlrs_int,
        .line = EXTI_Line2,
        .pin = {
                .gpio = GPIOD,
                .init = {
                        .GPIO_Pin = GPIO_Pin_2,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd = GPIO_PuPd_NOPULL,
                },
        },
        .irq = {
                .init = {
                        .NVIC_IRQChannel = EXTI2_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .exti = {
                .init = {
                        .EXTI_Line = EXTI_Line2, // matches above GPIO pin
                        .EXTI_Mode = EXTI_Mode_Interrupt,
                        .EXTI_Trigger = EXTI_Trigger_Falling,
                        .EXTI_LineCmd = ENABLE,
                },
        },
};

const struct pios_openlrs_cfg pios_openlrs_rm1_cfg = {
        .spi_cfg = &pios_spi_telem_flash_cfg,
        .exti_cfg = &pios_exti_openlrs_cfg,
        .gpio_direction = GPIO0_RX_GPIO1_TX,
};

const struct pios_openlrs_cfg pios_openlrs_rm2_cfg = {
        .spi_cfg = &pios_spi_telem_flash_cfg,
        .exti_cfg = &pios_exti_openlrs_cfg,
        .gpio_direction = GPIO0_TX_GPIO1_RX,
};

const struct pios_openlrs_cfg * PIOS_BOARD_HW_DEFS_GetOpenLRSCfg (uint32_t board_revision)
{
        switch(board_revision) {
                case 2:
                        return &pios_openlrs_rm1_cfg;
                        break;
                case 3:
                        return &pios_openlrs_rm2_cfg;
                        break;
                default:
                        PIOS_DEBUG_Assert(0);
        }
        return NULL;
}

#endif /* PIOS_INCLUDE_OPENLRS */

#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      = 0x99abcedf,
        /* This was increased from 0x10000 in order to accomodate the
         * 0x20000 settings sector size on F4 internal flash.  It's a win
         * for external flash, though, as it allows more settings to be
         * stored.  The upgrader will fix this automatically.
         */
        .arena_size    = 0x00020000, /* 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_chip_cfgs[] = {
        {
                /* M25P 2MByte chip used in original revo design */
                .expect_manufacturer = JEDEC_MANUFACTURER_ANY,
                .expect_memorytype   = 0x20,
                .expect_capacity     = 0x15,
                .sector_erase        = 0xD8,
        },
        {
                /* Larger NOR flash has been shipping on some clone Revolution boards
                 * without full sensor suite.  Tolerate any 128mbit NOR flash, and assume
                 * it has 64k blocks with an erase command of 0xD8.
                 */
                .expect_manufacturer = JEDEC_MANUFACTURER_ANY,
                .expect_memorytype   = JEDEC_MEMORYTYPE_ANY,
                .expect_capacity     = 0x18,
                .sector_erase        = 0xD8,
        },
        {
                /* And some with 8MByte chips too */
                .expect_manufacturer = JEDEC_MANUFACTURER_ANY,
                .expect_memorytype   = JEDEC_MEMORYTYPE_ANY,
                .expect_capacity     = 0x17,
                .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 = 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 struct pios_flash_sector_range m25p16_sectors[] = {
        {
                .base_sector = 0,
                .last_sector = 31,
                .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 = m25p16_sectors,
        .num_blocks    = NELEMENTS(m25p16_sectors),
};
#endif /* PIOS_INCLUDE_FLASH_JEDEC */

static const struct pios_flash_partition pios_flash_partition_table_nojedec[] = {
#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,
        },
        {
                .label        = FLASH_PARTITION_LABEL_AUTOTUNE,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 2,
                .last_sector  = 3,
                .chip_offset  = (2 * FLASH_SECTOR_16KB),
                .size         = (3 - 2 + 1) * FLASH_SECTOR_16KB,
        },
        /* NOTE: sectors 4 of the internal flash is 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,
        },
        {
                .label        = FLASH_PARTITION_LABEL_SETTINGS,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 8,
                .last_sector  = 9,
                .chip_offset  = (4 * FLASH_SECTOR_16KB) + (1 * FLASH_SECTOR_64KB) + (3 * FLASH_SECTOR_128KB),
                .size         = (9 - 8  + 1) * FLASH_SECTOR_128KB,
        },
        {
                .label        = FLASH_PARTITION_LABEL_LOADABLE_EXTENSION,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 10,
                .last_sector  = 10,
                .chip_offset  = (4 * FLASH_SECTOR_16KB) + (1 * FLASH_SECTOR_64KB) + (5 * FLASH_SECTOR_128KB),
                .size         = (10 - 10 + 1) * FLASH_SECTOR_128KB,
        },
        /* NOTE: sector 11 of the internal flash are currently unallocated */
#endif /* PIOS_INCLUDE_FLASH_INTERNAL */
};

#if defined(PIOS_INCLUDE_FLASH_JEDEC)
static 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,
        },

        {
                .label        = FLASH_PARTITION_LABEL_LOADABLE_EXTENSION,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 10,
                .last_sector  = 10,
                .chip_offset  = (4 * FLASH_SECTOR_16KB) + (1 * FLASH_SECTOR_64KB) + (5 * FLASH_SECTOR_128KB),
                .size         = (10 - 10 + 1) * FLASH_SECTOR_128KB,
        },

        /* NOTE: sectors 8-9, 11 of the internal flash are currently unallocated */

#endif /* PIOS_INCLUDE_FLASH_INTERNAL */

        {
                .label        = FLASH_PARTITION_LABEL_SETTINGS,
                .chip_desc    = &pios_flash_chip_external,
                .first_sector = 0,
                .last_sector  = 5,
                .chip_offset  = 0,
                .size         = (5 - 0 + 1) * FLASH_SECTOR_64KB,
        },

        {
                .label        = FLASH_PARTITION_LABEL_AUTOTUNE,
                .chip_desc    = &pios_flash_chip_external,
                .first_sector = 6,
                .last_sector  = 10,
                .chip_offset  = (6 * FLASH_SECTOR_64KB),
                .size         = (10 - 6 + 1) * FLASH_SECTOR_64KB,
        },

        {
                .label        = FLASH_PARTITION_LABEL_LOG,
                .chip_desc    = &pios_flash_chip_external,
                .first_sector = 16,
                .last_sector  = 31,
                .chip_offset  = (16 * FLASH_SECTOR_64KB),
                .size         = (31 - 16 + 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);

#ifdef PIOS_INCLUDE_FLASH_JEDEC
        if (pios_external_flash_id) {
                *num_partitions = NELEMENTS(pios_flash_partition_table);

                uint32_t capacity = PIOS_Flash_Jedec_GetCapacity(pios_external_flash_id);

                PIOS_FLASH_fixup_partitions_for_capacity(pios_flash_partition_table,
                                NELEMENTS(pios_flash_partition_table),
                                &pios_flash_chip_external,
                                m25p16_sectors,
                                capacity);

                return pios_flash_partition_table;
        }
#endif

        *num_partitions = NELEMENTS(pios_flash_partition_table_nojedec);
        /* Fall back to the no-SPI-FLASH partition table */
        return pios_flash_partition_table_nojedec;
}
#endif  /* PIOS_INCLUDE_FLASH */

#ifdef PIOS_INCLUDE_USART

#include <pios_usart_priv.h>
/*
 * MAIN USART
 */
static const struct pios_usart_cfg pios_usart_main_cfg = {
        .regs = USART1,
        .remap = GPIO_AF_USART1,
        .irq = {
                .init = {
                        .NVIC_IRQChannel = USART1_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .rx = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_10,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource10,
        },
        .tx = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_9,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource9,
        },
};

#include <pios_sbus_priv.h>

// Need this defined regardless to be able to hardware sbus inverter off
static const struct pios_sbus_cfg pios_sbus_cfg = {
        /* Inverter configuration */
        .inv = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_0,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
        },
        .gpio_inv_enable  = Bit_SET,
        .gpio_inv_disable = Bit_RESET,
        .gpio_clk_func    = RCC_AHB1PeriphClockCmd,
        .gpio_clk_periph  = RCC_AHB1Periph_GPIOC,
};

/*
 * FLEXI PORT
 */
static const struct pios_usart_cfg pios_usart_flexi_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,
        },
};

/*
 * FLEXI-IO PORT
 */
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,
        },
};

#if defined(PIOS_INCLUDE_DSM)

/*
 * Spektrum/JR DSM USART
 */
#include <pios_dsm_priv.h>

// Because of the inverter on the main port this will not
// work.  Notice the mode is set to IN to maintain API
// compatibility but protect the pins
static const struct pios_dsm_cfg pios_dsm_main_cfg = {
        .bind = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_10,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        },
};

static const struct pios_dsm_cfg pios_dsm_flexi_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 */

#endif /* PIOS_INCLUDE_USART */



#if defined(PIOS_INCLUDE_COM)

#include <pios_com_priv.h>

#endif /* PIOS_INCLUDE_COM */

#if defined(PIOS_INCLUDE_I2C)

#include <pios_i2c_priv.h>

/*
 * I2C Adapters
 */
void PIOS_I2C_mag_pressure_adapter_ev_irq_handler(void);
void PIOS_I2C_mag_pressureadapter_er_irq_handler(void);
void I2C1_EV_IRQHandler()
    __attribute__ ((alias("PIOS_I2C_mag_pressure_adapter_ev_irq_handler")));
void I2C1_ER_IRQHandler()
    __attribute__ ((alias("PIOS_I2C_mag_pressure_adapter_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_mag_pressure_adapter_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_UP,
                },
        },
        .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_UP,
                },
        },
        .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_mag_pressure_adapter_id;
void PIOS_I2C_mag_pressure_adapter_ev_irq_handler(void)
{
        /* Call into the generic code to handle the IRQ for this specific device */
        PIOS_I2C_EV_IRQ_Handler(pios_i2c_mag_pressure_adapter_id);
}

void PIOS_I2C_mag_pressure_adapter_er_irq_handler(void)
{
        /* Call into the generic code to handle the IRQ for this specific device */
        PIOS_I2C_ER_IRQ_Handler(pios_i2c_mag_pressure_adapter_id);
}


void PIOS_I2C_flexiport_adapter_ev_irq_handler(void);
void PIOS_I2C_flexiport_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
        .regs = I2C2,
        .remap = GPIO_AF_I2C2,
        .init = {
                .I2C_Mode                = I2C_Mode_I2C,
                .I2C_OwnAddress1         = 0,
                .I2C_Ack                 = I2C_Ack_Enable,
                .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
                .I2C_DutyCycle           = I2C_DutyCycle_2,
                .I2C_ClockSpeed          = 400000,      /* bits/s */
        },
        .transfer_timeout_ms = 50,
        .scl = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_10,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_UP,
                },
        },
        .sda = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_11,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_UP,
                },
        },
        .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_flexiport_adapter_id;
void PIOS_I2C_flexiport_adapter_ev_irq_handler(void)
{
        /* Call into the generic code to handle the IRQ for this specific device */
        PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexiport_adapter_id);
}

void PIOS_I2C_flexiport_adapter_er_irq_handler(void)
{
        /* Call into the generic code to handle the IRQ for this specific device */
        PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexiport_adapter_id);
}


void PIOS_I2C_pressure_adapter_ev_irq_handler(void);
void PIOS_I2C_pressure_adapter_er_irq_handler(void);

#endif /* PIOS_INCLUDE_I2C */

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

void PIOS_RTC_IRQ_Handler (void);
void RTC_WKUP_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
        .clksrc = RCC_RTCCLKSource_HSE_Div8, // Divide 8 Mhz crystal down to 1
        .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"

static const TIM_TimeBaseInitTypeDef tim_3_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 TIM_TimeBaseInitTypeDef tim_9_10_11_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_3_cfg = {
        .timer = TIM3,
        .time_base_init = &tim_3_5_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM3_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_5_cfg = {
        .timer = TIM5,
        .time_base_init = &tim_3_5_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_9_cfg = {
        .timer = TIM9,
        .time_base_init = &tim_9_10_11_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_BRK_TIM9_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_10_cfg = {
        .timer = TIM10,
        .time_base_init = &tim_9_10_11_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_UP_TIM10_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_11_cfg = {
        .timer = TIM11,
        .time_base_init = &tim_9_10_11_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_TRG_COM_TIM11_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

// Set up timers that only have inputs on APB1
// TIM2,3,4,5,6,7,12,13,14
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 = 0xFFFF,
        .TIM_RepetitionCounter = 0x0000,
};


// Set up timers that only have inputs on APB2
// TIM1,8,9,10,11
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 = 0xFFFF,
        .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_CC_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_4_cfg = {
        .timer = TIM4,
        .time_base_init = &tim_apb1_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM4_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};
static const struct pios_tim_clock_cfg tim_8_cfg = {
        .timer = TIM8,
        .time_base_init = &tim_apb2_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_apb1_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM8_BRK_TIM12_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};


/*
 * Pios servo configuration structures
 * Outputs
 * 1: TIM3_CH3 (PB0)
 * 2: TIM3_CH4 (PB1)
 * 3: TIM9_CH2 (PA3)
 * 4: TIM2_CH3 (PA2)
 * 5: TIM5_CH2 (PA1)
 * 6: TIM5_CH1 (PA0)
 */

#include <pios_servo_priv.h>

static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
        {
                .timer = TIM3,
                .timer_chan = TIM_Channel_3,
                .pin = {
                        .gpio = GPIOB,
                        .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,
                },
                .remap = GPIO_AF_TIM3,
        },
        {
                .timer = TIM3,
                .timer_chan = TIM_Channel_4,
                .pin = {
                        .gpio = GPIOB,
                        .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,
                },
                .remap = GPIO_AF_TIM3,
        },
        {
                .timer = TIM9,
                .timer_chan = TIM_Channel_2,
                .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,
                },
                .remap = GPIO_AF_TIM9,
        },
        {
                .timer = TIM2,
                .timer_chan = TIM_Channel_3,
                .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,
                },
                .remap = GPIO_AF_TIM2,
        },
        {
                .timer = TIM5,
                .timer_chan = TIM_Channel_2,
                .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,
                },
                .remap = GPIO_AF_TIM5,
        },
        {
                .timer = TIM5,
                .timer_chan = TIM_Channel_1,
                .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,
                },
                .remap = GPIO_AF_TIM5,
        }
};

/*
 *      OUTPUTS with extra outputs on recieverport
        1: TIM3_CH3 (PB0)
        2: TIM3_CH4 (PB1)
        3: TIM9_CH2 (PA3)
        4: TIM2_CH3 (PA2)
        5: TIM5_CH2 (PA1)
        6: TIM5_CH1 (PA0)
        7: TIM12_CH2 (PB15)
        8: TIM8_CH1 (PC6) UART
        9: TIM8_CH2 (PC7) UART
        10: TIM8_CH3 (PC8)
        11: TIM8_CH4 (PC9)
        12: TIM12_CH1 (PB14) PPM
 */

static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = {
        { // output 1
                .timer = TIM3,
                .timer_chan = TIM_Channel_3,
                .pin = {
                        .gpio = GPIOB,
                        .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,
                },
                .remap = GPIO_AF_TIM3,
        },
        { // output 2
                .timer = TIM3,
                .timer_chan = TIM_Channel_4,
                .pin = {
                        .gpio = GPIOB,
                        .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,
                },
                .remap = GPIO_AF_TIM3,
        },
        { // output 3
                .timer = TIM9,
                .timer_chan = TIM_Channel_2,
                .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,
                },
                .remap = GPIO_AF_TIM9,
        },
        { // output 4
                .timer = TIM2,
                .timer_chan = TIM_Channel_3,
                .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,
                },
                .remap = GPIO_AF_TIM2,
        },
        { // output 5
                .timer = TIM5,
                .timer_chan = TIM_Channel_2,
                .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,
                },
                .remap = GPIO_AF_TIM5,
        },
        { // output 6
                .timer = TIM5,
                .timer_chan = TIM_Channel_1,
                .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,
                },
                .remap = GPIO_AF_TIM5,
        },
        { // output 7
                .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,
                },
        },
        { // output 8
                .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 9
                .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 10
                .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 11
                .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,
                },
        },
        { // output 12
                .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,
                },
        },
};

#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM)
/*
 * Servo outputs
 */

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) - 1,
};

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),
};

#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)
 */
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
#include <pios_pwm_priv.h>
static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
        {
                .timer = TIM12,
                .timer_chan = TIM_Channel_1,
                .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,
                },
                .remap = GPIO_AF_TIM12,
        },
        {
                .timer = TIM12,
                .timer_chan = TIM_Channel_2,
                .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,
                },
                .remap = GPIO_AF_TIM12,
        },
        {
                .timer = TIM8,
                .timer_chan = TIM_Channel_1,
                .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,
                },
                .remap = GPIO_AF_TIM8,
        },
        {
                .timer = TIM8,
                .timer_chan = TIM_Channel_2,
                .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,
                },
                .remap = GPIO_AF_TIM8,
        },
        {
                .timer = TIM8,
                .timer_chan = TIM_Channel_3,
                .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,
                },
                .remap = GPIO_AF_TIM8,
        },
        {
                .timer = TIM8,
                .timer_chan = TIM_Channel_4,
                .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,
                },
                .remap = GPIO_AF_TIM8,
        },
};

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_2, //FIXME Why is this Channel 2 and Brain 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_rm1_cfg = {
        .irq = {
                .init    = {
                        .NVIC_IRQChannel                   = OTG_FS_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority        = 3,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .vsense = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_13,
                        .GPIO_Speed = GPIO_Speed_25MHz,
                        .GPIO_Mode  = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_OD,
                },
        }
};

static const struct pios_usb_cfg pios_usb_main_rm2_cfg = {
        .irq = {
                .init    = {
                        .NVIC_IRQChannel                   = OTG_FS_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority        = 3,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .vsense = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_5,
                        .GPIO_Speed = GPIO_Speed_25MHz,
                        .GPIO_Mode  = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_OD,
                },
        }
};

static const struct pios_usb_cfg pios_usb_main_novsense_cfg = {
        .irq = {
                .init    = {
                        .NVIC_IRQChannel                   = OTG_FS_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority        = 3,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

const struct pios_usb_cfg * PIOS_BOARD_HW_DEFS_GetUsbCfg (uint32_t board_revision)
{
        /* Crummy revolution -- omnibus variants -- with no flash often have no
         * vsense line connected.
         */
        if (!pios_external_flash_id) {
                return &pios_usb_main_novsense_cfg;
        }

        switch(board_revision) {
                case 2:
                        return &pios_usb_main_rm1_cfg;
                        break;
                case 3:
                        return &pios_usb_main_rm2_cfg;
                        break;
                default:
                        PIOS_DEBUG_Assert(0);
        }
        return NULL;
}

#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"

static void PIOS_ADC_DMA_irq_handler(void);
void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMA_irq_handler")));
struct pios_internal_adc_cfg pios_adc_cfg = {
        .adc_dev_master = ADC1,
        .dma = {
                .irq = {
                        .flags   = (DMA_FLAG_TCIF0 | DMA_FLAG_TEIF0 | DMA_FLAG_HTIF0),
                        .init    = {
                                .NVIC_IRQChannel                   = DMA2_Stream0_IRQn,
                                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                                .NVIC_IRQChannelSubPriority        = 0,
                                .NVIC_IRQChannelCmd                = ENABLE,
                        },
                },
                .rx = {
                        .channel = DMA2_Stream0,
                        .init    = {
                                .DMA_Channel                    = DMA_Channel_0,
                                .DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR
                        },
                }
        },
        .half_flag = DMA_IT_HTIF0,
        .full_flag = DMA_IT_TCIF0,
        .adc_pins = {                                                                                           \
                {GPIOC, GPIO_Pin_1,     ADC_Channel_11},                                                \
                {GPIOC, GPIO_Pin_2,     ADC_Channel_12},                                                \
                {NULL,  0,              ADC_Channel_Vrefint},           /* Voltage reference */         \
                {NULL,  0,              ADC_Channel_TempSensor},        /* Temperature sensor */        \
        },
        .adc_pin_count = 4,
};

struct stm32_gpio pios_current_sonar_pin = {
    .gpio = GPIOA,
                        .init = {
                                .GPIO_Pin = GPIO_Pin_8,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_IN,
                                .GPIO_OType = GPIO_OType_OD,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                        .pin_source = GPIO_PinSource8,
};

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

#endif /* PIOS_INCLUDE_ADC */

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

ws2811_dev_t pios_ws2811;

void DMA2_Stream6_IRQHandler() {
        PIOS_WS2811_dma_interrupt_handler(pios_ws2811);
}

static const struct pios_ws2811_cfg pios_ws2811_cfg_pb12 = {
        .timer = TIM1,
        .clock_cfg = {
                .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 12000000) - 1,
                .TIM_ClockDivision = TIM_CKD_DIV1,
                .TIM_CounterMode = TIM_CounterMode_Up,
                .TIM_Period = 25,       /* 2.083us/bit */
        },
        .interrupt = {
                .NVIC_IRQChannel = DMA2_Stream6_IRQn,
                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                .NVIC_IRQChannelSubPriority = 0,
                .NVIC_IRQChannelCmd = ENABLE,
        },
        .bit_clear_dma_tcif = DMA_IT_TCIF6,
        .fall_time_l = 5,                       /* 333ns */
        .fall_time_h = 11,                      /* 833ns */
        .led_gpio = GPIOB,
        .gpio_pin = GPIO_Pin_12,
        .bit_set_dma_stream = DMA2_Stream4,
        .bit_set_dma_channel = DMA_Channel_6,   /* 2/S4/C6: TIM1 CH4|TRIG|COM */
        .bit_clear_dma_stream = DMA2_Stream6,
        .bit_clear_dma_channel = DMA_Channel_0, /* 0/S6/C0: TIM1 CH1|CH2|CH3 */
};

static const struct pios_ws2811_cfg pios_ws2811_cfg_pd2 = {
        .timer = TIM1,
        .clock_cfg = {
                .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 12000000) - 1,
                .TIM_ClockDivision = TIM_CKD_DIV1,
                .TIM_CounterMode = TIM_CounterMode_Up,
                .TIM_Period = 25,       /* 2.083us/bit */
        },
        .interrupt = {
                .NVIC_IRQChannel = DMA2_Stream6_IRQn,
                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                .NVIC_IRQChannelSubPriority = 0,
                .NVIC_IRQChannelCmd = ENABLE,
        },
        .bit_clear_dma_tcif = DMA_IT_TCIF6,
        .fall_time_l = 5,                       /* 333ns */
        .fall_time_h = 11,                      /* 833ns */
        .led_gpio = GPIOD,
        .gpio_pin = GPIO_Pin_2,
        .bit_set_dma_stream = DMA2_Stream4,
        .bit_set_dma_channel = DMA_Channel_6,   /* 2/S4/C6: TIM1 CH4|TRIG|COM */
        .bit_clear_dma_stream = DMA2_Stream6,
        .bit_clear_dma_channel = DMA_Channel_0, /* 0/S6/C0: TIM1 CH1|CH2|CH3 */
};

static const struct pios_ws2811_cfg pios_ws2811_cfg_pa0 = {
        .timer = TIM1,
        .clock_cfg = {
                .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 12000000) - 1,
                .TIM_ClockDivision = TIM_CKD_DIV1,
                .TIM_CounterMode = TIM_CounterMode_Up,
                .TIM_Period = 25,       /* 2.083us/bit */
        },
        .interrupt = {
                .NVIC_IRQChannel = DMA2_Stream6_IRQn,
                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                .NVIC_IRQChannelSubPriority = 0,
                .NVIC_IRQChannelCmd = ENABLE,
        },
        .bit_clear_dma_tcif = DMA_IT_TCIF6,
        .fall_time_l = 5,                       /* 333ns */
        .fall_time_h = 11,                      /* 833ns */
        .led_gpio = GPIOA,
        .gpio_pin = GPIO_Pin_0,
        .bit_set_dma_stream = DMA2_Stream4,
        .bit_set_dma_channel = DMA_Channel_6,   /* 2/S4/C6: TIM1 CH4|TRIG|COM */
        .bit_clear_dma_stream = DMA2_Stream6,
        .bit_clear_dma_channel = DMA_Channel_0, /* 0/S6/C0: TIM1 CH1|CH2|CH3 */
};

static const struct pios_ws2811_cfg pios_ws2811_cfg_pb6 = {
        .timer = TIM1,
        .clock_cfg = {
                .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 12000000) - 1,
                .TIM_ClockDivision = TIM_CKD_DIV1,
                .TIM_CounterMode = TIM_CounterMode_Up,
                .TIM_Period = 25,       /* 2.083us/bit */
        },
        .interrupt = {
                .NVIC_IRQChannel = DMA2_Stream6_IRQn,
                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                .NVIC_IRQChannelSubPriority = 0,
                .NVIC_IRQChannelCmd = ENABLE,
        },
        .bit_clear_dma_tcif = DMA_IT_TCIF6,
        .fall_time_l = 5,                       /* 333ns */
        .fall_time_h = 11,                      /* 833ns */
        .led_gpio = GPIOB,
        .gpio_pin = GPIO_Pin_6,
        .bit_set_dma_stream = DMA2_Stream4,
        .bit_set_dma_channel = DMA_Channel_6,   /* 2/S4/C6: TIM1 CH4|TRIG|COM */
        .bit_clear_dma_stream = DMA2_Stream6,
        .bit_clear_dma_channel = DMA_Channel_0, /* 0/S6/C0: TIM1 CH1|CH2|CH3 */
};
#endif

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

static const struct pios_mpu_cfg pios_mpu_cfg = {
        .exti_cfg           = &pios_exti_mpu_cfg,
        .default_samplerate = 1000,
        .orientation        = PIOS_MPU_TOP_180DEG,
};
#endif /* PIOS_INCLUDE_MPU */

#if defined(PIOS_INCLUDE_HMC5883)
#include "pios_hmc5883_priv.h"
static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
        .vector = PIOS_HMC5883_IRQHandler,
        .line = EXTI_Line7,
        .pin = {
                .gpio = GPIOB,
                .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_LOW,
                        .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_Rising,
                        .EXTI_LineCmd = ENABLE,
                },
        },
};

static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
        .exti_cfg = &pios_exti_hmc5883_cfg,
        .M_ODR = PIOS_HMC5883_ODR_75,
        .Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
        .Gain = PIOS_HMC5883_GAIN_1_9,
        .Mode = PIOS_HMC5883_MODE_CONTINUOUS,
        .Default_Orientation = PIOS_HMC5883_TOP_270DEG,
};
#endif /* PIOS_INCLUDE_HMC5883 */

#if defined(PIOS_INCLUDE_MS5611)
#include "pios_ms5611_priv.h"
static const struct pios_ms5611_cfg pios_ms5611_cfg = {
        .oversampling = MS5611_OSR_1024,
        .temperature_interleaving = 1,
};
#endif /* PIOS_INCLUDE_MS5611 */