LibrePilot/flight/PipXtreme/System/pios_board.c

/* -*- Mode: c; c-basic-offset: 2; tab-width: 2; indent-tabs-mode: t -*- */
/**
 ******************************************************************************
 * @addtogroup OpenPilotSystem OpenPilot System
 * @{
 * @addtogroup OpenPilotCore OpenPilot Core
 * @{
 *
 * @file       pios_board.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Defines board specific static initializers for hardware for the OpenPilot board.
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/* 
 * 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, write to the Free Software Foundation, Inc., 
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include <pios.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <gcsreceiver.h>

#if defined(PIOS_INCLUDE_LED)

#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
	[PIOS_LED_USB] = {
		.pin = {
			//.gpio = GPIOA,
			.gpio = GPIOC,
			.init = {
				//.GPIO_Pin   = GPIO_Pin_3,
				.GPIO_Pin   = GPIO_Pin_13,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_LINK] = {
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_5,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_RX] = {
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_6,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_TX] = {
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_7,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
};

static const struct pios_led_cfg pios_led_cfg = {
	.leds     = pios_leds,
	.num_leds = NELEMENTS(pios_leds),
};

#endif	/* PIOS_INCLUDE_LED */

#if defined(PIOS_INCLUDE_SPI)

#include <pios_spi_priv.h>

/* OP Interface
 *
 * NOTE: Leave this declared as const data so that it ends up in the
 * .rodata section (ie. Flash) rather than in the .bss section (RAM).
 */
void PIOS_SPI_port_irq_handler(void);
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));

static const struct pios_spi_cfg pios_spi_port_cfg =
{
	.regs = SPI1,

	.init =
	{
		.SPI_Mode = SPI_Mode_Master,
		.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
		.SPI_DataSize = SPI_DataSize_8b,
		.SPI_NSS = SPI_NSS_Soft,
		.SPI_FirstBit = SPI_FirstBit_MSB,
		.SPI_CRCPolynomial = 0,
		.SPI_CPOL = SPI_CPOL_Low,
		.SPI_CPHA = SPI_CPHA_1Edge,
		.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256,		// slowest SCLK
	},
	.use_crc = FALSE,

	.dma =
	{
		.ahb_clk = RCC_AHBPeriph_DMA1,
		.irq =
		{
		      .flags   = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
		      .init    = {
			.NVIC_IRQChannel                   = DMA1_Channel2_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		      },
		    },

		    .rx = {
		      .channel = DMA1_Channel2,
		      .init    = {
			.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
			.DMA_DIR                = DMA_DIR_PeripheralSRC,
			.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
			.DMA_MemoryInc          = DMA_MemoryInc_Enable,
			.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
			.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
			.DMA_Mode               = DMA_Mode_Normal,
			.DMA_Priority           = DMA_Priority_Medium,
			.DMA_M2M                = DMA_M2M_Disable,
		      },
		    },
		    .tx = {
		      .channel = DMA1_Channel3,
		      .init    = {
			.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
			.DMA_DIR                = DMA_DIR_PeripheralDST,
			.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
			.DMA_MemoryInc          = DMA_MemoryInc_Enable,
			.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
			.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
			.DMA_Mode               = DMA_Mode_Normal,
			.DMA_Priority           = DMA_Priority_Medium,
			.DMA_M2M                = DMA_M2M_Disable,
		      },
		    },
	},

	.ssel =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_4,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode = GPIO_Mode_Out_PP,
		},
	},
	.sclk =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_5,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode = GPIO_Mode_AF_PP,
		},
	},
	.miso =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_6,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode  = GPIO_Mode_IN_FLOATING,
		},
	},
	.mosi =
	{
		.gpio = GPIOA,
		.init =
		{
			.GPIO_Pin = GPIO_Pin_7,
			.GPIO_Speed = GPIO_Speed_10MHz,
			.GPIO_Mode = GPIO_Mode_AF_PP,
		},
	},
};

uint32_t pios_spi_port_id;
void PIOS_SPI_port_irq_handler(void)
{
	/* Call into the generic code to handle the IRQ for this specific device */
	PIOS_SPI_IRQ_Handler(pios_spi_port_id);
}

#endif /* PIOS_INCLUDE_SPI */

#if defined(PIOS_INCLUDE_ADC)

/*
 * ADC system
 */
#include "pios_adc_priv.h"
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
static const struct pios_adc_cfg pios_adc_cfg = {
	.dma = {
		.ahb_clk  = RCC_AHBPeriph_DMA1,
		.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_PeripheralBaseAddr = (uint32_t) & ADC1->DR,
				.DMA_DIR                = DMA_DIR_PeripheralSRC,
				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word,
				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Word,
				.DMA_Mode               = DMA_Mode_Circular,
				.DMA_Priority           = DMA_Priority_High,
				.DMA_M2M                = DMA_M2M_Disable,
			},
		}
	}, 
	.half_flag = DMA1_IT_HT1,
	.full_flag = DMA1_IT_TC1,
};

struct pios_adc_dev pios_adc_devs[] = {
	{
		.cfg = &pios_adc_cfg,
		.callback_function = NULL,
	},
};

uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);

void PIOS_ADC_handler() {
	PIOS_ADC_DMA_Handler();
}

#endif	/* PIOS_INCLUDE_ADC */

#if defined(PIOS_INCLUDE_COM)

#include "pios_com_priv.h"

#endif	/* PIOS_INCLUDE_COM */

#if defined(PIOS_INCLUDE_USART)

#include "pios_usart_priv.h"

/*
 * Telemetry USART
 */
static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
  .regs  = USART1,
  .init = {
    .USART_BaudRate            = 57600,
    .USART_WordLength          = USART_WordLength_8b,
    .USART_Parity              = USART_Parity_No,
    .USART_StopBits            = USART_StopBits_1,
    .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
    .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
  },
  .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_IPU,
    },
  },
  .tx   = {
    .gpio = GPIOA,
    .init = {
      .GPIO_Pin   = GPIO_Pin_9,
      .GPIO_Speed = GPIO_Speed_2MHz,
      .GPIO_Mode  = GPIO_Mode_AF_PP,
    },
  },
};

static const struct pios_usart_cfg pios_usart_usart2_cfg = {
  .regs  = USART2,
  .init = {
    .USART_BaudRate            = 57600,
    .USART_WordLength          = USART_WordLength_8b,
    .USART_Parity              = USART_Parity_No,
    .USART_StopBits            = USART_StopBits_1,
    .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
    .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
  },
  .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_IPU,
    },
  },
  .tx   = {
    .gpio = GPIOA,
    .init = {
      .GPIO_Pin   = GPIO_Pin_2,
      .GPIO_Speed = GPIO_Speed_2MHz,
      .GPIO_Mode  = GPIO_Mode_AF_PP,
    },
  },
};

static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
  .regs  = USART3,
  .init = {
    .USART_BaudRate            = 57600,
    .USART_WordLength          = USART_WordLength_8b,
    .USART_Parity              = USART_Parity_No,
    .USART_StopBits            = USART_StopBits_1,
    .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
    .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
  },
  .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_IPU,
    },
  },
  .tx   = {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_10,
      .GPIO_Speed = GPIO_Speed_2MHz,
      .GPIO_Mode  = GPIO_Mode_AF_PP,
    },
  },
};

#endif  /* PIOS_INCLUDE_USART */

#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192

#define PIOS_COM_GPS_RX_BUF_LEN 96

#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192

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

void PIOS_RTC_IRQ_Handler (void);
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
	.clksrc = RCC_RTCCLKSource_HSE_Div128,
	.prescaler = 100,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = RTC_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_2_3_4_time_base = {
	.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
	.TIM_ClockDivision = TIM_CKD_DIV1,
	.TIM_CounterMode = TIM_CounterMode_Up,
	.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
	.TIM_RepetitionCounter = 0x0000,
};

static const struct pios_tim_clock_cfg tim_1_cfg = {
	.timer = TIM1,
	.time_base_init = &tim_1_2_3_4_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_2_cfg = {
	.timer = TIM2,
	.time_base_init = &tim_1_2_3_4_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_1_2_3_4_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_1_2_3_4_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_channel pios_tim_rcvrport_all_channels[] = {
#ifdef MOVE_CONTROLLER
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOE,
			.init = {
				.GPIO_Pin   = GPIO_Pin_12,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
#else
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_6,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
#endif
	{
		.timer = TIM3,
		.timer_chan = TIM_Channel_2,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_5,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
		.remap = GPIO_PartialRemap_TIM3,
	},
	{
		.timer = TIM3,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_0,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 
	{
		.timer = TIM3,
		.timer_chan = TIM_Channel_4,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_1,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 
	{ 
		.timer = TIM2,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_0,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},  	
	{
		.timer = TIM2,
		.timer_chan = TIM_Channel_2,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_1,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 		
};

/* PPM */
#include <pios_ppm_priv.h>

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

#include "pios_rcvr_priv.h"

/* One slot per selectable receiver group.
 *  eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
 * NOTE: No slot in this map for NONE.
 */
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];

uint32_t pios_com_telem_usb_id;
uint32_t pios_com_usart1_id;
uint32_t pios_com_usart2_id;
uint32_t pios_com_usart3_id;

#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,
    },
  },
};

#include "pios_usb_board_data_priv.h"
#include "pios_usb_desc_hid_cdc_priv.h"
#include "pios_usb_desc_hid_only_priv.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 */

/**
 * PIOS_Board_Init()
 * initializes all the core subsystems on this specific hardware
 * called from System/openpilot.c
 */
void PIOS_Board_Init(void) {

	/* Delay system */
	PIOS_DELAY_Init();

	/* Set up the SPI interface to the serial flash */
	if (PIOS_SPI_Init(&pios_spi_port_id, &pios_spi_port_cfg)) {
		PIOS_Assert(0);
	}

	/* Initialize UAVObject libraries */
	EventDispatcherInitialize();
	UAVObjInitialize();

	HwSettingsInitialize();

#ifndef ERASE_FLASH
	/* Initialize watchdog as early as possible to catch faults during init */
	PIOS_WDG_Init();
#endif

	/* Initialize the alarms library */
	AlarmsInitialize();

	/* Initialize IAP */
	PIOS_IAP_Init();

#if defined(PIOS_INCLUDE_RTC)
	/* Initialize the real-time clock and its associated tick */
	PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif

#if defined(PIOS_INCLUDE_LED)
	PIOS_LED_Init(&pios_led_cfg);
#endif	/* PIOS_INCLUDE_LED */

	/* Initialize the task monitor library */
	TaskMonitorInitialize();

	/* Set up pulse timers */
	PIOS_TIM_InitClock(&tim_1_cfg);
	PIOS_TIM_InitClock(&tim_2_cfg);
	PIOS_TIM_InitClock(&tim_3_cfg);
	PIOS_TIM_InitClock(&tim_4_cfg);

#if defined(PIOS_INCLUDE_USB)
	/* Initialize board specific USB data */
	PIOS_USB_BOARD_DATA_Init();

#if defined(PIOS_INCLUDE_USB_CDC)
	if (PIOS_USB_DESC_HID_CDC_Init()) {
		PIOS_Assert(0);
	}
#else
	if (PIOS_USB_DESC_HID_ONLY_Init()) {
		PIOS_Assert(0);
	}
#endif

	uint32_t pios_usb_id;
	PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);

#if defined(PIOS_INCLUDE_USB_CDC)

#if defined(PIOS_INCLUDE_COM)
	{
		uint32_t pios_usb_cdc_id;
		if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
			PIOS_Assert(0);
		}
		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
		PIOS_Assert(rx_buffer);
		PIOS_Assert(tx_buffer);
		if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
											rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
											tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
			PIOS_Assert(0);
		}
	}
#endif	/* PIOS_INCLUDE_COM */

#ifdef COMBRIDGE
#if defined(PIOS_INCLUDE_COM)
	{
		uint32_t pios_usb_cdc_id;
		if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
			PIOS_Assert(0);
		}
		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
		PIOS_Assert(rx_buffer);
		PIOS_Assert(tx_buffer);
		if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
											rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
											tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
			PIOS_Assert(0);
		}
	}
#endif	/* PIOS_INCLUDE_COM */
#endif

#endif	/* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_USB_HID)

	/* Configure the usb HID port */
#if defined(PIOS_INCLUDE_COM)
	{
		uint32_t pios_usb_hid_id;
		if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
			PIOS_Assert(0);
		}
		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
		PIOS_Assert(rx_buffer);
		PIOS_Assert(tx_buffer);
		if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
											rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
											tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
			PIOS_Assert(0);
		}
	}
#endif	/* PIOS_INCLUDE_COM */

#endif	/* PIOS_INCLUDE_USB_HID */

#endif	/* PIOS_INCLUDE_USB */

#ifdef TRANSMITTER_BOX
	/* Configure the rcvr port */
	{
		uint32_t pios_ppm_id;
		PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);

		uint32_t pios_ppm_rcvr_id;
		if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
			PIOS_Assert(0);
		}
		pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
	}
#endif

	/* Configure USART1 */
	{
		uint32_t pios_usart1_id;
		if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_telem_main_cfg)) {
			PIOS_Assert(0);
		}

		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
		PIOS_Assert(rx_buffer);
		PIOS_Assert(tx_buffer);
		if (PIOS_COM_Init(&pios_com_usart1_id, &pios_usart_com_driver, pios_usart1_id,
											rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
											tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
			PIOS_Assert(0);
		}
	}

	/* Configure USART2 */
	{
		uint32_t pios_usart2_id;
		if (PIOS_USART_Init(&pios_usart2_id, &pios_usart_usart2_cfg)) {
			PIOS_Assert(0);
		}

		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
		PIOS_Assert(rx_buffer);
		PIOS_Assert(tx_buffer);
		if (PIOS_COM_Init(&pios_com_usart2_id, &pios_usart_com_driver, pios_usart2_id,
											rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
											tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
			PIOS_Assert(0);
		}
	}

	/* Configure USART3 */
	{
		uint32_t pios_usart3_id;
		if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) {
			PIOS_Assert(0);
		}
		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
		PIOS_Assert(rx_buffer);
		PIOS_Assert(tx_buffer);
		if (PIOS_COM_Init(&pios_com_usart3_id, &pios_usart_com_driver, pios_usart3_id,
											rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
											tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
			PIOS_Assert(0);
		}
	}
	PIOS_COM_SendString(PIOS_COM_TELEM_SERIAL, "Hello Telem\n\r");
	PIOS_COM_SendString(PIOS_COM_DEBUG, "Hello Debug\n\r");
	PIOS_COM_SendString(PIOS_COM_FLEXI, "Hello Flexi\n\r");

	/* Remap AFIO pin */
	GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);

	PIOS_GPIO_Init();
}

/**
 * @}
 */