board_hw_defs.c

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 */

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

#if defined(PIOS_INCLUDE_ANNUNC)

#include <pios_annunc_priv.h>
static const struct pios_annunc pios_annuncs[] = {
        [PIOS_LED_HEARTBEAT] = {
                .pin = {
                        .gpio = 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_NOPULL
                        },
                },
                .active_high = false,
        },
        [PIOS_LED_ALARM] = {
                .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_NOPULL
                        },
                },
                .active_high = false,
        },
};

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

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

#endif  /* PIOS_INCLUDE_ANNUNC */


#if defined(PIOS_INCLUDE_I2C)

#include <pios_i2c_priv.h>

/*
 * I2C Adapters
 */
void PIOS_I2C_internal_ev_irq_handler(void);
void PIOS_I2C_internal_er_irq_handler(void);
void I2C2_EV_EXTI24_IRQHandler() __attribute__ ((alias ("PIOS_I2C_internal_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_internal_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_internal_cfg = {
  .regs = I2C2,
  .remap = GPIO_AF_4,
  .init = {
    .I2C_Mode                = I2C_Mode_I2C,
    .I2C_OwnAddress1         = 0,
    .I2C_Ack                 = I2C_Ack_Enable,
    .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
    .I2C_DigitalFilter       = 0x00,
    .I2C_AnalogFilter        = I2C_AnalogFilter_Enable,
    .I2C_Timing              = 0x00310309,                      //400kHz I2C @ 8MHz input -> PRESC=0x0, SCLDEL=0x3, SDADEL=0x1, SCLH=0x03, SCLL=0x09
  },
  .transfer_timeout_ms = 50,
  .scl = {
    .gpio = GPIOA,
    .init = {
                        .GPIO_Pin = GPIO_Pin_9,
            .GPIO_Mode  = GPIO_Mode_AF,
            .GPIO_Speed = GPIO_Speed_50MHz,
            .GPIO_OType = GPIO_OType_PP,
            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
    },
        .pin_source = GPIO_PinSource9,
  },
  .sda = {
    .gpio = GPIOA,
    .init = {
                        .GPIO_Pin = GPIO_Pin_10,
            .GPIO_Mode  = GPIO_Mode_AF,
            .GPIO_Speed = GPIO_Speed_50MHz,
            .GPIO_OType = GPIO_OType_PP,
            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
    },
        .pin_source = GPIO_PinSource10,
  },
  .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_internal_id;
void PIOS_I2C_internal_ev_irq_handler(void)
{
  /* Call into the generic code to handle the IRQ for this specific device */
  PIOS_I2C_EV_IRQ_Handler(pios_i2c_internal_id);
}

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



void PIOS_I2C_flexi_ev_irq_handler(void);
void PIOS_I2C_flexi_er_irq_handler(void);
void I2C1_EV_EXTI23_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexi_ev_irq_handler")));
void I2C1_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexi_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_flexi_cfg = {
  .regs = I2C1,
  .remap = GPIO_AF_4,
  .init = {
    .I2C_Mode                = I2C_Mode_I2C,
    .I2C_OwnAddress1         = 0,
    .I2C_Ack                 = I2C_Ack_Enable,
    .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
    .I2C_DigitalFilter       = 0x00,
    .I2C_AnalogFilter        = I2C_AnalogFilter_Enable,
    .I2C_Timing              = 0x70310309,                      //50kHz I2C @ 8MHz input -> PRESC=0x7, SCLDEL=0x3, SDADEL=0x1, SCLH=0x03, SCLL=0x09
  },
  .transfer_timeout_ms = 50,
  .scl = {
    .gpio = GPIOB,
    .init = {
                        .GPIO_Pin = GPIO_Pin_6,
            .GPIO_Mode  = GPIO_Mode_AF,
            .GPIO_Speed = GPIO_Speed_50MHz,
            .GPIO_OType = GPIO_OType_PP,
            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
    },
        .pin_source = GPIO_PinSource6,
  },
  .sda = {
    .gpio = GPIOB,
    .init = {
                        .GPIO_Pin = GPIO_Pin_7,
            .GPIO_Mode  = GPIO_Mode_AF,
            .GPIO_Speed = GPIO_Speed_50MHz,
            .GPIO_OType = GPIO_OType_PP,
            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
    },
        .pin_source = GPIO_PinSource7,
  },
  .event = {
    .flags   = 0,               /* FIXME: check this */
    .init = {
                        .NVIC_IRQChannel = I2C1_EV_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
    },
  },
  .error = {
    .flags   = 0,               /* FIXME: check this */
    .init = {
                        .NVIC_IRQChannel = I2C1_ER_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
    },
  },
};

pios_i2c_t pios_i2c_flexi_id;
void PIOS_I2C_flexi_ev_irq_handler(void)
{
  /* Call into the generic code to handle the IRQ for this specific device */
  PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexi_id);
}

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

#endif /* PIOS_INCLUDE_I2C */

#if defined(PIOS_INCLUDE_CAN)
#include "pios_can_priv.h"
static const struct pios_can_cfg pios_can_cfg = {
        .regs = CAN1,
        .init = {
                // To make it easy to use both F3 and F4 use the other APB1 bus rate
                // divided by 2. This matches the baud rate across devices
                .CAN_Prescaler = 18-1,   
                .CAN_Mode = CAN_Mode_Normal,         
                .CAN_SJW = CAN_SJW_1tq,          
                .CAN_BS1 = CAN_BS1_9tq,          
                .CAN_BS2 = CAN_BS2_8tq,          
                .CAN_TTCM = DISABLE, 
                .CAN_ABOM = DISABLE,  
                .CAN_AWUM = DISABLE,  
                .CAN_NART = ENABLE,  
                .CAN_RFLM = DISABLE,  
                .CAN_TXFP = DISABLE,  
        },
        .remap = GPIO_AF_9,
        .tx = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_9,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource9,
        },
        .rx = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_8,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource8,
        },
        .rx_irq = {
                .init = {
                        .NVIC_IRQChannel = CAN1_RX1_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .tx_irq = {
                .init = {
                        .NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
};
#endif /* PIOS_INCLUDE_CAN */

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

static const struct flashfs_logfs_cfg flashfs_internal_settings_cfg = {
        .fs_magic      = 0x9ae1ee11,
        .arena_size    = 0x00002000,       /* 32 * slot size = 8K bytes = 4 sectors */
        .slot_size     = 0x00000100,       /* 256 bytes */
};

#include "pios_flash_internal_priv.h"

static const struct pios_flash_internal_cfg flash_internal_cfg = {
};

#include "pios_flash_priv.h"

static const struct pios_flash_sector_range stm32f3_sectors[] = {
        {
                .base_sector = 0,
                .last_sector = 127,
                .sector_size = FLASH_SECTOR_2KB,
        },
};

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 = stm32f3_sectors,
        .num_blocks    = NELEMENTS(stm32f3_sectors),
};

static const struct pios_flash_partition pios_flash_partition_table[] = {
        {
                .label        = FLASH_PARTITION_LABEL_BL,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 0,
                .last_sector  = 7,
                .chip_offset  = 0,
                .size         = (7 - 0 + 1) * FLASH_SECTOR_2KB,
        },

        {
                .label        = FLASH_PARTITION_LABEL_SETTINGS,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 8,
                .last_sector  = 15,
                .chip_offset  = (8 * FLASH_SECTOR_2KB),
                .size         = (15 - 8 + 1) * FLASH_SECTOR_2KB,
        },

        {
                .label        = FLASH_PARTITION_LABEL_AUTOTUNE,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 16,
                .last_sector  = 23,
                .chip_offset  = (16 * FLASH_SECTOR_2KB),
                .size         = (23 - 16 + 1) * FLASH_SECTOR_2KB,
        },

        {
                .label        = FLASH_PARTITION_LABEL_FW,
                .chip_desc    = &pios_flash_chip_internal,
                .first_sector = 24,
                .last_sector  = 127,
                .chip_offset  = (24 * FLASH_SECTOR_2KB),
                .size         = (127 - 24 + 1) * FLASH_SECTOR_2KB,
        },
};

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_rcvr_dsm_aux_cfg = {
        .bind = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_3,
                        .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_flexi_dsm_aux_cfg = {
        .bind = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_7,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_OUT,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_NOPULL
                },
        },
};

static const struct pios_dsm_cfg pios_main_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
                },
        },
};

#endif  /* PIOS_INCLUDE_DSM */

static const struct pios_usart_cfg pios_flexi_usart_cfg = {
        .regs = USART1,
        .remap = GPIO_AF_7,
        .irq = {
                .init = {
                        .NVIC_IRQChannel = USART1_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .rx = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_7,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_UP
                },
                .pin_source = GPIO_PinSource7,
        },
        .tx = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_6,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_AF,
                        .GPIO_OType = GPIO_OType_PP,
                        .GPIO_PuPd  = GPIO_PuPd_DOWN
                },
                .pin_source = GPIO_PinSource6,
        },
};

static const struct pios_usart_cfg pios_main_usart_cfg = {
        .regs = USART3,
        .remap = GPIO_AF_7,
        .irq = {
                .init = {
                        .NVIC_IRQChannel = USART3_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .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_DOWN
                },
                .pin_source = GPIO_PinSource10,
        },
};

static const struct pios_usart_cfg pios_rcvr_usart_cfg = {
        .regs = USART2,
        .remap = GPIO_AF_7,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = USART2_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
                        .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,
        },
};

#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_Div32,
        .prescaler = 25 - 1, // 8MHz / 32 / 16 / 25 == 625Hz
        .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_1_15_16_17_time_base = {
        .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_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_2_3_time_base = {
        .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000 * 2) - 1,
        .TIM_ClockDivision = TIM_CKD_DIV1,
        .TIM_CounterMode = TIM_CounterMode_Up,
        .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
        .TIM_RepetitionCounter = 0x0000,
};

static const struct pios_tim_clock_cfg tim_2_cfg = {
        .timer = TIM2,
        .time_base_init = &tim_2_3_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM2_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_3_cfg = {
        .timer = TIM3,
        .time_base_init = &tim_2_3_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_1_cfg = {
        .timer = TIM1,
        .time_base_init = &tim_1_15_16_17_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_15_cfg = {
        .timer = TIM15,
        .time_base_init = &tim_1_15_16_17_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_BRK_TIM15_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

static const struct pios_tim_clock_cfg tim_16_cfg = {
        .timer = TIM16,
        .time_base_init = &tim_1_15_16_17_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_UP_TIM16_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};
static const struct pios_tim_clock_cfg tim_17_cfg = {
        .timer = TIM17,
        .time_base_init = &tim_1_15_16_17_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_TRG_COM_TIM17_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
};

 /*     OUTPUTS
        1:  TIM15_CH2 (PB15)
        2:  TIM15_CH1 (PB14)
        3:  TIM1_CH1  (PA8)
        4:  TIM3_CH3  (PB0)
        5:  TIM16_CH1 (PA6)
        6:  TIM2_CH3  (PA2)
        7:  TIM3_CH4  (PB1)
        8:  TIM17_CH1 (PA7)
        9:  TIM3_CH2  (PA4)
        10: TIM2_CH2  (PA1)
 */

static const struct pios_tim_channel pios_tim_servoport_v02_pins[] = {
        { // Ch1 TIM15_CH2 (PB15)
                .timer = TIM15,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_1,
                .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,
                },
        },
        { // Ch2 TIM15_CH1 (PB14)
                .timer = TIM15,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_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,
                },
        },
        { // Ch3 TIM1_CH1  (PA8)
                .timer = TIM1,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_6,
                .pin = {
                        .gpio = GPIOA,
                        .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,
                },
        },
        { // Ch4 TIM3_CH3  (PB0)
                .timer = TIM3,
                .timer_chan = TIM_Channel_3,
                .remap = GPIO_AF_2,
                .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,
                },
        },
        { // Ch5 TIM16_CH1 (PA6)
                .timer = TIM16,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_1,
                .pin = {
                        .gpio = GPIOA,
                        .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,
                },
        },
        { // Ch6 TIM2_CH3  (PA2)
                .timer = TIM2,
                .timer_chan = TIM_Channel_3,
                .remap = GPIO_AF_1,
                .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,
                },
        },
        { // Ch7 TIM3_CH4  (PB1)
                .timer = TIM3,
                .timer_chan = TIM_Channel_4,
                .remap = GPIO_AF_2,
                .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,
                },
        },
        { // Ch8 TIM17_CH1 (PA7)
                .timer = TIM17,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_1,
                .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,
                },
        },
        { // Ch9 TIM3_CH2  (PA4)
                .timer = TIM3,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_2,
                .pin = {
                        .gpio = GPIOA,
                        .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,
                },
        },
        { // Ch10 TIM2_CH2  (PA1)
                .timer = TIM2,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_1,
                .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)
/*
 * Servo outputs
 */
#include <pios_servo_priv.h>

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_v02_pins,
        .num_channels = NELEMENTS(pios_tim_servoport_v02_pins),
};

struct pios_servo_cfg pios_servo_slow_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,
        },
        .force_1MHz = true,
        .channels = pios_tim_servoport_v02_pins,
        .num_channels = NELEMENTS(pios_tim_servoport_v02_pins),
};

#endif  /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */



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

/*
 *      INPUTS
        1:  TIM2_CH4  (PA3)
 */
static const struct pios_tim_channel pios_tim_rcvrport_ppm[] = {
        {
                .timer = TIM2,
                .timer_chan = TIM_Channel_4,
                .remap = GPIO_AF_1,
                .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,
                },
        },
};
static const struct pios_tim_channel pios_tim_rcvrport_pwm[] = {
        { // Ch10 TIM2_CH2  (PA1)
                .timer = TIM2,
                .timer_chan = TIM_Channel_2,
                .remap = GPIO_AF_1,
                .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,
                },
        },
        { // Ch8 TIM17_CH1 (PA7)
                .timer = TIM17,
                .timer_chan = TIM_Channel_1,
                .remap = GPIO_AF_1,
                .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,
                },
        },
};

#endif
/*
 * PWM Inputs
 */
#if defined(PIOS_INCLUDE_PWM)

static 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_pwm,
        .num_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_4,
        },
        /* Use only the first channel for ppm */
        .channels = pios_tim_rcvrport_ppm,
        .num_channels = 1,
};

#endif //PPM

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

uintptr_t pios_internal_adc_id;

void DMA1_Channel1_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMA_irq_handler")));

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(pios_internal_adc_id);
}

static struct pios_internal_adc_cfg internal_adc_cfg = {
        .dma = {
                .irq = {
                        .flags   = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
                        .init    = {
                                .NVIC_IRQChannel                   = DMA1_Channel1_IRQn,
                                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
                                .NVIC_IRQChannelSubPriority        = 0,
                                .NVIC_IRQChannelCmd                = ENABLE,
                        },
                },
                .rx = {
                        .channel = DMA1_Channel1,
                        .init    = {
                                .DMA_Priority           = DMA_Priority_High,
                        },
                }
        },
        .half_flag = DMA1_IT_HT1,
        .full_flag = DMA1_IT_TC1,
        .oversampling = 32,
        .adc_pins = {
                {GPIOA,GPIO_Pin_1,ADC_Channel_2,true},
                {GPIOA,GPIO_Pin_4,ADC_Channel_1,false},
                {GPIOA,GPIO_Pin_7,ADC_Channel_4,false},
        },
        .adc_pin_count = 3,
        .adc_dev_master = ADC1,
        .adc_dev_slave = ADC2,
};

#endif /* PIOS_INCLUDE_ADC */

#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                   = USB_LP_CAN1_RX0_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .vsense = {
                .gpio = GPIOB,
                .init = {
                        .GPIO_Pin   = GPIO_Pin_3,
                        .GPIO_Speed = GPIO_Speed_2MHz,
                        .GPIO_Mode  = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd  = GPIO_PuPd_DOWN,
                },
        }       
};

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)
#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 */

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

const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
        .ctrl_if = 1,
        .ctrl_tx_ep = 2,

        .data_if = 2,
        .data_rx_ep = 3,
        .data_tx_ep = 3,
};
#endif  /* PIOS_INCLUDE_USB_CDC */


#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 */

#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_Line15,
        .pin = {
                .gpio = GPIOA,
                .init = {
                        .GPIO_Pin = GPIO_Pin_15,
                        .GPIO_Speed = GPIO_Speed_50MHz,
                        .GPIO_Mode = GPIO_Mode_IN,
                        .GPIO_OType = GPIO_OType_OD,
                        .GPIO_PuPd = GPIO_PuPd_NOPULL,
                },
        },
        .irq = {
                .init = {
                        .NVIC_IRQChannel = EXTI15_10_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority = 0,
                        .NVIC_IRQChannelCmd = ENABLE,
                },
        },
        .exti = {
                .init = {
                        .EXTI_Line = EXTI_Line15, // matches above GPIO pin
                        .EXTI_Mode = EXTI_Mode_Interrupt,
                        .EXTI_Trigger = EXTI_Trigger_Rising,
                        .EXTI_LineCmd = ENABLE,
                },
        },
};

static struct pios_mpu_cfg pios_mpu_cfg = {
        .exti_cfg = &pios_exti_mpu_cfg,
        .default_samplerate = 500,
        .orientation = PIOS_MPU_TOP_180DEG,
        .use_internal_mag = true,
};
#endif /* PIOS_INCLUDE_MPU */