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 = 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_DOWN
                        },
                },
                .remap = 0,
                .active_high = true,
        },
        [PIOS_ANNUNCIATOR_BUZZER] = {
                // Bipolar NPN low side, 1k base; 2.6mA base; hFE min 200
                .pin = {
                        .gpio = GPIOA,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_5,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_DOWN
                        },
                },
                .remap = 0,
                .active_high = true,
        },
};

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

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

#endif  /* PIOS_INCLUDE_ANNUNC */


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

pios_spi_t pios_spi_flash_id;

/* SPI3 Interface
 *      - Used for gyro communications
 */
static const struct pios_spi_cfg pios_spi_gyro_accel_cfg = {
        .regs = SPI3,
        .remap = GPIO_AF_SPI3,
        .init = {
                .SPI_Mode              = SPI_Mode_Master,
                .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
                .SPI_DataSize          = SPI_DataSize_8b,
                .SPI_NSS               = SPI_NSS_Soft,
                .SPI_FirstBit          = SPI_FirstBit_MSB,
                .SPI_CRCPolynomial     = 7,
                .SPI_CPOL              = SPI_CPOL_High,
                .SPI_CPHA              = SPI_CPHA_2Edge,
                .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32,              //@ APB2 PCLK1 82MHz / 32 == 2.6MHz
        },
        .sclk = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin = GPIO_Pin_10,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource10,
        },
        .miso = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin = GPIO_Pin_11,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource11,
        },
        .mosi = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin = GPIO_Pin_12,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd = GPIO_PuPd_NOPULL
                },
                .pin_source = GPIO_PinSource12,
        },
        .slave_count = 3,
        .ssel = {
                {
                        // BMI160 / gyro & accel
                        .gpio = GPIOD,
                        .init = {
                                .GPIO_Pin = GPIO_Pin_2,
                                .GPIO_Speed = GPIO_Speed_100MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_UP
                        },
                },
                {
                        // BMP280 / baro
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin = GPIO_Pin_7,
                                .GPIO_Speed = GPIO_Speed_100MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_UP
                        },
                },
                {
                        // LIS3MDL / mag
                        .gpio = GPIOC,
                        .init = {
                                .GPIO_Pin = GPIO_Pin_13,
                                .GPIO_Speed = GPIO_Speed_100MHz,
                                .GPIO_Mode  = GPIO_Mode_OUT,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd = GPIO_PuPd_UP
                        },
                },
        },
};

pios_spi_t pios_spi_gyro_accel_id;

#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_Line4,
        .pin = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin = GPIO_Pin_4,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd = GPIO_PuPd_DOWN,    // hold in inactive state
                },
        },
        .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_bmi160_cfg pios_bmi160_cfg = {
        .exti_cfg = &pios_exti_bmi160_cfg,
        .orientation = PIOS_BMI160_TOP_90DEG,
        .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 */

#ifdef PIOS_INCLUDE_LIS3MDL
#include <pios_lis3mdl.h>

static const struct pios_lis3mdl_cfg pios_lis3mdl_cfg = {
        .orientation = PIOS_LIS_TOP_0DEG
};

#endif /* PIOS_INCLUDE_LIS3MDL */

#ifdef PIOS_INCLUDE_BMP280_SPI
#include "pios_bmp280_priv.h"

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

#endif /* PIOS_INCLUDE_SPI */


#if defined(PIOS_INCLUDE_I2C)

#include <pios_i2c_priv.h>

/*
 * I2C Adapters
 */

void PIOS_I2C_usart3_ev_irq_handler(void);
void PIOS_I2C_usart3_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_usart3_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_usart3_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_usart3_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_NOPULL,
                },
                .pin_source = GPIO_PinSource10,
        },
        .sda = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin = GPIO_Pin_11,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL,
                },
                .pin_source = GPIO_PinSource11,
        },
        .event = {
                .flags   = 0,           /* FIXME: check this */
                .init = {
                        .NVIC_IRQChannel = I2C2_EV_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .error = {
                .flags   = 0,           /* FIXME: check this */
                .init = {
                        .NVIC_IRQChannel = I2C2_ER_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
};

pios_i2c_t pios_i2c_usart3_adapter_id;
void PIOS_I2C_usart3_ev_irq_handler(void)
{
  /* Call into the generic code to handle the IRQ for this specific device */
  PIOS_I2C_EV_IRQ_Handler(pios_i2c_usart3_adapter_id);
}

void PIOS_I2C_usart3_er_irq_handler(void)
{
  /* Call into the generic code to handle the IRQ for this specific device */
  PIOS_I2C_ER_IRQ_Handler(pios_i2c_usart3_adapter_id);
}
#endif /* PIOS_INCLUDE_I2C */

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

static const struct flashfs_logfs_cfg flashfs_settings_cfg = {
        .fs_magic = 0x3b1b14cf,
        .arena_size = 0x00020000,
        .slot_size = 0x00000100,        /* 256 bytes */
};

#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 */

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,
        },
        {
                .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,
        },
        /* Sector 4 -- 64k -- 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: sectors 11 of internal flash (128K) unallocated */
#endif /* PIOS_INCLUDE_FLASH_INTERNAL */
};

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

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

#endif  /* PIOS_INCLUDE_FLASH */

#if defined(PIOS_INCLUDE_USART)

#include "pios_usart_priv.h"

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

static const struct pios_dsm_cfg pios_usart1_dsm_aux_cfg = {
        .bind = {
                .gpio = GPIOA,
                .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_NOPULL
                },
        },
};

/* This is not the actual RX pin, but it is connected to the receiver
 * port input
 */
static const struct pios_dsm_cfg pios_usart2_dsm_aux_cfg = {
        .bind = {
                .gpio = GPIOC,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_5,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        },
};

static const struct pios_dsm_cfg pios_usart3_dsm_aux_cfg = {
        .bind = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_11,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        },
};

static const struct pios_dsm_cfg pios_uart4_dsm_aux_cfg = {
        .bind = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_1,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        },
};

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

#endif  /* PIOS_INCLUDE_DSM */

#if defined(PIOS_INCLUDE_SBUS)

#include <pios_sbus_priv.h>

static const struct pios_sbus_cfg pios_usart2_sbus_aux_cfg = {
        /* Inverter configuration */
        .inv = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin = GPIO_Pin_8,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        },
        .gpio_inv_enable = Bit_SET,
};

#endif  /* PIOS_INCLUDE_SBUS */

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

static const struct pios_usart_cfg pios_usart2_cfg = {
        .regs = USART2,
        .remap = GPIO_AF_USART2,
        .irq = {
                .init = {
                        .NVIC_IRQChannel = USART2_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .rx = {
                .gpio = 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,
        },
};

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 = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_11,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource11,
        },
        .tx = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_10,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource10,
        },
};

static const struct pios_usart_cfg pios_uart4_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_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,
        },
        .tx = {
                .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,
        },
};

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

#endif  /* PIOS_INCLUDE_USART */

#if defined(PIOS_INCLUDE_COM)

#include "pios_com_priv.h"

#endif  /* PIOS_INCLUDE_COM */

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

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

/* Timers used for outputs (8, 14, 3, 5) */

// Set up timers that only have inputs on APB1 - 3, 5, 14
static const TIM_TimeBaseInitTypeDef tim_3_4_5_14_time_base = {
        .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_COUNTER_CLOCK / 1000000) - 1,
        .TIM_ClockDivision = TIM_CKD_DIV1,
        .TIM_CounterMode = TIM_CounterMode_Up,
        .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
        .TIM_RepetitionCounter = 0x0000,
};

// Set up timers that only have inputs on APB2 - 8
static const TIM_TimeBaseInitTypeDef tim_8_time_base = {
        .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 1000000) - 1,
        .TIM_ClockDivision = TIM_CKD_DIV1,
        .TIM_CounterMode = TIM_CounterMode_Up,
        .TIM_Period = ((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_4_5_14_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM3_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_4_cfg = {
        .timer = TIM4,
        .time_base_init = &tim_3_4_5_14_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_5_cfg = {
        .timer = TIM5,
        .time_base_init = &tim_3_4_5_14_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_14_cfg = {
        .timer = TIM14,
        .time_base_init = &tim_3_4_5_14_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM8_TRG_COM_TIM14_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_8_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM8_UP_TIM13_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

/*
 *      OUTPUTS
 *   TIM8
 *      PWM1: PC9 / TIM8-CH4
 *      PWM2: PC8 / TIM8-CH3
 *   TIM14
 *      PWM3: PA7 / TIM14-CH1
 *   TIM3
 *      PWM4: PB4 / TIM3-CH1
 *      PWM5: PB0 / TIM3-CH3
 *      PWM6: PB1 / TIM3-CH4
 *   TIM5
 *      PWM7: PA0 / TIM5-CH1 OR UART4-TX
 *      PWM8: PA1 / TIM5-CH2 OR UART4-RX
 */
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
        {
                .timer = TIM8,
                .timer_chan = TIM_Channel_4,
                .remap = GPIO_AF_TIM8,
                .pin = {
                        .gpio = GPIOC,
                        .init = {
                                .GPIO_Pin = GPIO_Pin_9,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                        .pin_source = GPIO_PinSource9,
                },
        },
        {
                .timer = TIM8,
                .timer_chan = TIM_Channel_3,
                .remap = GPIO_AF_TIM8,
                .pin = {
                        .gpio = GPIOC,
                        .init = {
                                .GPIO_Pin = GPIO_Pin_8,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                        .pin_source = GPIO_PinSource8,
                },
        },
        {
                .timer = TIM14,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_TIM14,
                .pin = {
                        .gpio = GPIOA,
                        .init = {
                                .GPIO_Pin = GPIO_Pin_7,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                        .pin_source = GPIO_PinSource7,
                },
        },
        {
                .timer = TIM3,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_TIM3,
                .pin = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin = GPIO_Pin_4,
                                .GPIO_Speed = GPIO_Speed_2MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                        .pin_source = GPIO_PinSource4,
                },
        },
        {
                .timer = TIM3,
                .timer_chan = TIM_Channel_3,
                .remap = GPIO_AF_TIM3,
                .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,
                },
        },
        {
                .timer = TIM3,
                .timer_chan = TIM_Channel_4,
                .remap = GPIO_AF_TIM3,
                .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,
                },
        },
        {
                .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,
                },
        },
};

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

#if defined(PIOS_INCLUDE_DMASHOT)

#include <pios_dmashot.h>

/*
TIM8 C4, C3
TIM14 C1
TIM3 C1, C3, C4
TIM5 C1, C2
*/

static const struct pios_dmashot_timer_cfg dmashot_tim_cfg[] = {
        {
                .timer = TIM8,
                .stream = DMA2_Stream1,
                .channel = DMA_Channel_7,
                .tcif = DMA_FLAG_TCIF1,
        },
        {
                .timer = TIM14,
                .master_timer = TIM4,
                .master_config = TIM_DMA_Update | TIM_DMABase_CCR1,

                .stream = DMA1_Stream6,
                .channel = DMA_Channel_2,
                .tcif = DMA_FLAG_TCIF6,
        },
        {
                .timer = TIM3,
                .stream = DMA1_Stream2,
                .channel = DMA_Channel_5,
                .tcif = DMA_FLAG_TCIF2,
        },
        {
                .timer = TIM5,
                .stream = DMA1_Stream0,
                .channel = DMA_Channel_6,
                .tcif = DMA_FLAG_TCIF0,
        }
};

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_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_with_uart_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,
        },
        /* Leave the last two for UART4 use */
        .channels = pios_tim_servoport_all_pins,
        .num_channels = NELEMENTS(pios_tim_servoport_all_pins) - 2,
};

#endif  /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */

/* PPM in, PA3, TIM5_CH4.  MUST disable inverter explicitly first */
static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
        {
                .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,
                },
        },
};

/*
 * 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,
        },
        /* Use only the first channel for ppm */
        .channels = &pios_tim_rcvrport_all_channels[0],
        .num_channels = 1,
};
#endif //PPM

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


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

static const struct pios_usb_cfg pios_usb_main_cfg = {
        .irq = {
                .init    = {
                        .NVIC_IRQChannel                   = OTG_FS_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
#ifdef BOOTLOADER_VERSION
        // Only use vsense in loader.
        .vsense = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_8,
                        .GPIO_Speed = GPIO_Speed_25MHz,
                        .GPIO_Mode  = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_DOWN,
                },
        }
#endif
};

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

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

#endif  /* PIOS_INCLUDE_USB */

#if defined(PIOS_INCLUDE_COM_MSG)

#include <pios_com_msg_priv.h>

#endif /* PIOS_INCLUDE_COM_MSG */

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

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

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

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

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

#include <pios_usb_hid_priv.h>

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

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

void PIOS_ADC_DMA_irq_handler(void);
void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMA_irq_handler")));
struct pios_internal_adc_cfg pios_adc_cfg = {
        .adc_dev_master = ADC1,
        .dma = {
                .irq = {
                        .flags = (DMA_FLAG_TCIF0 | DMA_FLAG_TEIF0 | DMA_FLAG_HTIF0),
                        .init = {
                                .NVIC_IRQChannel = DMA2_Stream0_IRQn,
                                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                                .NVIC_IRQChannelSubPriority = 0,
                                .NVIC_IRQChannelCmd = ENABLE,
                        },
                },
                .rx = {
                        .channel = DMA2_Stream0,
                        .init = {
                                .DMA_Channel = DMA_Channel_0,
                                .DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR
                        },
                }
        },
        .half_flag = DMA_IT_HTIF0,
        .full_flag = DMA_IT_TCIF0,
        .adc_pins = {                                                                                 \
                { GPIOC, GPIO_Pin_0,     ADC_Channel_10 },                                                 \
                { GPIOC, GPIO_Pin_1,     ADC_Channel_11 },                                                 \
                { GPIOC, GPIO_Pin_2,     ADC_Channel_12 },                                                 \
                { GPIOC, GPIO_Pin_3,     ADC_Channel_13 },                                                 \
                { NULL,  0,              ADC_Channel_Vrefint },           /* Voltage reference */         \
                { NULL,  0,              ADC_Channel_TempSensor },        /* Temperature sensor */        \
        },
        .adc_pin_count = 4
};

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 */

const struct stm32_gpio video_mask_pin = {
        .gpio = GPIOA,
        .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_NOPULL
        }
};

#if defined(PIOS_INCLUDE_VIDEO)
#include <pios_video.h>

void set_bw_levels(uint8_t black, uint8_t white)
{
        uint16_t black_calc = black + 82;

        if (black_calc > 191) {
                black_calc = 191;
        }

        uint16_t white_calc = white + 82;

        if (white_calc > 191) {
                white_calc = 191;
        }

        TIM12->CCR2 = black_calc;
        TIM11->CCR1 = white_calc;
}

static const struct pios_exti_cfg pios_exti_vsync_cfg __exti_config = {
        .vector = PIOS_Vsync_ISR,
        .line = EXTI_Line12,
        .pin = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_12,
                        .GPIO_Speed = GPIO_Speed_100MHz,
                        .GPIO_Mode  = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_DOWN,   // if video is unpowered
                                                        // may be held down
                },
        },
        .irq = {
                .init                                  = {
                        .NVIC_IRQChannel    =  EXTI15_10_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .exti = {
                .init                                  = {
                        .EXTI_Line    = EXTI_Line12,
                        .EXTI_Mode    = EXTI_Mode_Interrupt,
                        .EXTI_Trigger = EXTI_Trigger_Falling,
                        .EXTI_LineCmd = ENABLE,
                },
        },
};

const struct pios_video_cfg pios_video_cfg = {
        .mask_dma = DMA2,
        .mask = {
                .regs = SPI1,
                .remap = GPIO_AF_SPI1,
                .init = {
                        .SPI_Mode              = SPI_Mode_Slave,
                        .SPI_Direction         = SPI_Direction_1Line_Tx,
                        .SPI_DataSize          = SPI_DataSize_8b,
                        .SPI_NSS               = SPI_NSS_Soft,
                        .SPI_FirstBit          = SPI_FirstBit_MSB,
                        .SPI_CRCPolynomial     = 7,
                        .SPI_CPOL              = SPI_CPOL_Low,
                        .SPI_CPHA              = SPI_CPHA_2Edge,
                        .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
                },
                .dma = {
                        .irq = {
                                .flags = (DMA_IT_TCIF3),
                                .init  = {
                                        .NVIC_IRQChannel = DMA2_Stream3_IRQn,
                                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                                        .NVIC_IRQChannelSubPriority = 0,
                                        .NVIC_IRQChannelCmd = ENABLE,
                                },
                        },
                        /*.rx = {},*/
                        .tx                                        = {
                                .channel = DMA2_Stream3,
                                .init    = {
                                        .DMA_Channel = DMA_Channel_3,
                                        .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
                                        .DMA_DIR = DMA_DIR_MemoryToPeripheral,
                                        .DMA_BufferSize = BUFFER_WIDTH,
                                        .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
                                        .DMA_MemoryInc = DMA_MemoryInc_Enable,
                                        .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
                                        .DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
                                        .DMA_Mode = DMA_Mode_Normal,
                                        .DMA_Priority = DMA_Priority_VeryHigh,
                                        .DMA_FIFOMode = DMA_FIFOMode_Enable,
                                        .DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
                                        .DMA_MemoryBurst = DMA_MemoryBurst_INC4,
                                        .DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
                                },
                        },
                },
                .sclk                                          = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_3,
                                .GPIO_Speed = GPIO_Speed_25MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                },
                .miso                                          = {
                        .gpio = GPIOA,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_6,
                                .GPIO_Speed = GPIO_Speed_25MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_NOPULL
                        },
                },
        },
        .level_dma = DMA1,
        .level                                             = {
                .regs  = SPI2,
                .remap = GPIO_AF_SPI2,
                .init  = {
                        .SPI_Mode              = SPI_Mode_Slave,
                        .SPI_Direction         = SPI_Direction_1Line_Tx,
                        .SPI_DataSize          = SPI_DataSize_8b,
                        .SPI_NSS               = SPI_NSS_Soft,
                        .SPI_FirstBit          = SPI_FirstBit_MSB,
                        .SPI_CRCPolynomial     = 7,
                        .SPI_CPOL              = SPI_CPOL_Low,
                        .SPI_CPHA              = SPI_CPHA_2Edge,
                        .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
                },
                .dma = {
                        .irq = {
                                .flags = (DMA_IT_TCIF4),
                                .init  = {
                                        .NVIC_IRQChannel = DMA1_Stream4_IRQn,
                                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                                        .NVIC_IRQChannelSubPriority = 0,
                                        .NVIC_IRQChannelCmd = ENABLE,
                                },
                        },
                        /*.rx = {},*/
                        .tx                                        = {
                                .channel = DMA1_Stream4,
                                .init    = {
                                        .DMA_Channel = DMA_Channel_0,
                                        .DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
                                        .DMA_DIR = DMA_DIR_MemoryToPeripheral,
                                        .DMA_BufferSize = BUFFER_WIDTH,
                                        .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
                                        .DMA_MemoryInc = DMA_MemoryInc_Enable,
                                        .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
                                        .DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
                                        .DMA_Mode = DMA_Mode_Normal,
                                        .DMA_Priority = DMA_Priority_VeryHigh,
                                        .DMA_FIFOMode = DMA_FIFOMode_Enable,
                                        .DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
                                        .DMA_MemoryBurst = DMA_MemoryBurst_INC4,
                                        .DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
                                },
                        },
                },
                .sclk                                          = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_13,
                                .GPIO_Speed = GPIO_Speed_25MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                },
                .miso                                          = {
                        .gpio = GPIOB,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_14,
                                .GPIO_Speed = GPIO_Speed_25MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                },
        },
        .vsync = &pios_exti_vsync_cfg,

        .hsync_capture                                     = {
                .timer = TIM2,
                .timer_chan = TIM_Channel_1,
                .pin   = {
                        .gpio = GPIOA,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_15,
                                .GPIO_Speed = GPIO_Speed_100MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                        .pin_source = GPIO_PinSource15,
                },
                .remap                                         = GPIO_AF_TIM2,
        },
        .pixel_timer                                       = {
                .timer = TIM9,
                .timer_chan = TIM_Channel_1,
                .pin   = {
                        .gpio = GPIOA,
                        .init = {
                                .GPIO_Pin   = GPIO_Pin_2,
                                .GPIO_Speed = GPIO_Speed_25MHz,
                                .GPIO_Mode  = GPIO_Mode_AF,
                                .GPIO_OType = GPIO_OType_PP,
                                .GPIO_PuPd  = GPIO_PuPd_UP
                        },
                        .pin_source                                = GPIO_PinSource2,
                },
                .remap                                         = GPIO_AF_TIM9,
        },

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

#endif /* PIOS_INCLUDE_VIDEO */

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

ws2811_dev_t pios_ws2811;

void DMA2_Stream6_IRQHandler() {
        PIOS_WS2811_dma_interrupt_handler(pios_ws2811);
}

static const struct pios_ws2811_cfg pios_ws2811_cfg = {
        .timer = TIM1,
        .clock_cfg = {
                .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 12000000) - 1,
                .TIM_ClockDivision = TIM_CKD_DIV1,
                .TIM_CounterMode = TIM_CounterMode_Up,
                .TIM_Period = 25,       /* 2.083us/bit */
        },
        .interrupt = {
                .NVIC_IRQChannel = DMA2_Stream6_IRQn,
                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                .NVIC_IRQChannelSubPriority = 0,
                .NVIC_IRQChannelCmd = ENABLE,
        },
        .bit_clear_dma_tcif = DMA_IT_TCIF6,
        .fall_time_l = 5,                       /* 333ns */
        .fall_time_h = 11,                      /* 750ns */
        .led_gpio = GPIOC,
        .gpio_pin = GPIO_Pin_15,                /* PC15 */
        .bit_set_dma_stream = DMA2_Stream4,
        .bit_set_dma_channel = DMA_Channel_6,   /* 2/S4/C6: TIM1 CH4|TRIG|COM */
        .bit_clear_dma_stream = DMA2_Stream6,
        .bit_clear_dma_channel = DMA_Channel_0, /* 0/S6/C0: TIM1 CH1|CH2|CH3 */
};
#endif

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

dac_dev_t pios_dac;

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

void DMA1_Stream5_IRQHandler() {
        PIOS_DAC_dma_interrupt_handler(pios_dac);
}

typedef struct dac_dev_s *dac_dev_t;

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

#endif /* PIOS_INCLUDE_DAC */