LibrePilot/flight/Revolution/System/pios_board.c

/**
 ******************************************************************************
 * @addtogroup Revolution Revolution configuration files
 * @{
 * @brief Configures the revolution board
 * @{
 *
 * @file       pios_board.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
 * @brief      Defines board specific static initializers for hardware for the Revolution 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 <pios_spi_priv.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include "manualcontrolsettings.h"

#if defined(PIOS_INCLUDE_SPI)

#define PIOS_FLASH_ON_ACCEL

/* SPI1 Interface
 *    - Used for BMA180 accelerometer
 */
void PIOS_SPI_accel_irq_handler(void);
void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
static const struct pios_spi_cfg pios_spi_accel_cfg = {
	.regs = SPI1,
	.remap = GPIO_AF_SPI1,
	.init   = {
		.SPI_Mode              = SPI_Mode_Master,
		.SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
		.SPI_DataSize          = SPI_DataSize_8b,
		.SPI_NSS               = SPI_NSS_Soft,
		.SPI_FirstBit          = SPI_FirstBit_MSB,
		.SPI_CRCPolynomial     = 7,
		.SPI_CPOL              = SPI_CPOL_High,
		.SPI_CPHA              = SPI_CPHA_2Edge,
		.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
	},
	.use_crc = false,
	.dma = {
		.irq = {
			.flags   = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
			.init    = {
				.NVIC_IRQChannel                   = DMA2_Stream0_IRQn,
				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
				.NVIC_IRQChannelSubPriority        = 0,
				.NVIC_IRQChannelCmd                = ENABLE,
			},
		},
		
		.rx = {
			.channel = DMA2_Stream0,
			.init    = {
                .DMA_Channel            = DMA_Channel_3,
				.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
				.DMA_DIR                = DMA_DIR_PeripheralToMemory,
				.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_FIFOMode           = DMA_FIFOMode_Disable,
                /* .DMA_FIFOThreshold */
                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
			},
		},
		.tx = {
			.channel = DMA2_Stream3,
			.init    = {
                .DMA_Channel            = DMA_Channel_3,
				.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
				.DMA_DIR                = DMA_DIR_MemoryToPeripheral,
				.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_High,
				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
                /* .DMA_FIFOThreshold */
                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
			},
		},
	},
	.sclk = {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin   = GPIO_Pin_5,
			.GPIO_Speed = GPIO_Speed_100MHz,
			.GPIO_Mode  = GPIO_Mode_AF,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_UP
		},
	},
	.miso = {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin   = GPIO_Pin_6,
			.GPIO_Speed = GPIO_Speed_50MHz,
			.GPIO_Mode  = GPIO_Mode_AF,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_UP
		},
	},
	.mosi = {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin   = GPIO_Pin_7,
			.GPIO_Speed = GPIO_Speed_50MHz,
			.GPIO_Mode  = GPIO_Mode_AF,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_UP
		},
	},
	.slave_count = 2,
	.ssel = { {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin   = GPIO_Pin_4,
			.GPIO_Speed = GPIO_Speed_50MHz,
			.GPIO_Mode  = GPIO_Mode_OUT,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_UP
		} },
		{
		.gpio = GPIOC,
		.init = {
			.GPIO_Pin   = GPIO_Pin_5,
			.GPIO_Speed = GPIO_Speed_50MHz,
			.GPIO_Mode  = GPIO_Mode_OUT,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_UP
		} },
	}
};

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


/* SPI2 Interface
 *      - Used for gyro communications
 */
void PIOS_SPI_GYRO_irq_handler(void);
void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
static const struct pios_spi_cfg pios_spi_gyro_cfg = {
	.regs = SPI2,
	.remap = GPIO_AF_SPI2,
	.init = {
		.SPI_Mode              = SPI_Mode_Master,
		.SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
		.SPI_DataSize          = SPI_DataSize_8b,
		.SPI_NSS               = SPI_NSS_Soft,
		.SPI_FirstBit          = SPI_FirstBit_MSB,
		.SPI_CRCPolynomial     = 7,
		.SPI_CPOL              = SPI_CPOL_High,
		.SPI_CPHA              = SPI_CPHA_2Edge,
		.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
	},
	.use_crc = false,
	.dma = {
		.irq = {
			// Note this is the stream ID that triggers interrupts (in this case RX)
			.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
			.init = {
				.NVIC_IRQChannel = DMA1_Stream3_IRQn,
				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
				.NVIC_IRQChannelSubPriority = 0,
				.NVIC_IRQChannelCmd = ENABLE,
			},
		},
		
		.rx = {
			.channel = DMA1_Stream3,
			.init = {
				.DMA_Channel            = DMA_Channel_0,
				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
				.DMA_DIR                = DMA_DIR_PeripheralToMemory,
				.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,
				//TODO: Enable FIFO
				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
                .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
			},
		},
		.tx = {
			.channel = DMA1_Stream4,
			.init = {
				.DMA_Channel            = DMA_Channel_0,
				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
				.DMA_DIR                = DMA_DIR_MemoryToPeripheral,
				.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_FIFOMode           = DMA_FIFOMode_Disable,
                .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
			},
		},
	},
	.sclk = {
		.gpio = GPIOB,
		.init = {
			.GPIO_Pin = GPIO_Pin_13,
			.GPIO_Speed = GPIO_Speed_100MHz,
			.GPIO_Mode = GPIO_Mode_AF,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_NOPULL
		},
	},
	.miso = {
		.gpio = GPIOB,
		.init = {
			.GPIO_Pin = GPIO_Pin_14,
			.GPIO_Speed = GPIO_Speed_50MHz,
			.GPIO_Mode = GPIO_Mode_AF,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_NOPULL
		},
	},
	.mosi = {
		.gpio = GPIOB,
		.init = {
			.GPIO_Pin = GPIO_Pin_15,
			.GPIO_Speed = GPIO_Speed_50MHz,
			.GPIO_Mode = GPIO_Mode_AF,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_NOPULL
		},
	},
	.slave_count = 1,
	.ssel = { {
		.gpio = GPIOB,
		.init = {
			.GPIO_Pin = GPIO_Pin_12,
			.GPIO_Speed = GPIO_Speed_50MHz,
			.GPIO_Mode  = GPIO_Mode_OUT,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_UP
		},
	} },
};

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


#if !defined(PIOS_FLASH_ON_ACCEL)
/* SPI3 Interface
 *      - Used for flash communications
 */
void PIOS_SPI_flash_irq_handler(void);
void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
void DMA1_Stream2_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
static const struct pios_spi_cfg pios_spi_flash_cfg = {
	.regs = SPI3,
	.remap = GPIO_AF_SPI3,
	.init = {
		.SPI_Mode              = SPI_Mode_Master,
		.SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
		.SPI_DataSize          = SPI_DataSize_8b,
		.SPI_NSS               = SPI_NSS_Soft,
		.SPI_FirstBit          = SPI_FirstBit_MSB,
		.SPI_CRCPolynomial     = 7,
		.SPI_CPOL              = SPI_CPOL_High,
		.SPI_CPHA              = SPI_CPHA_2Edge,
		.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
	},
	.use_crc = false,
	.dma = {
		.irq = {
			// Note this is the stream ID that triggers interrupts (in this case RX)
			.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
			.init = {
				.NVIC_IRQChannel = DMA1_Stream0_IRQn,
				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
				.NVIC_IRQChannelSubPriority = 0,
				.NVIC_IRQChannelCmd = ENABLE,
			},
		},
		
		.rx = {
			.channel = DMA1_Stream0,
			.init = {
				.DMA_Channel            = DMA_Channel_0,
				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
				.DMA_DIR                = DMA_DIR_PeripheralToMemory,
				.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,
				//TODO: Enable FIFO
				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
                .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
			},
		},
		.tx = {
			.channel = DMA1_Stream2,
			.init = {
				.DMA_Channel            = DMA_Channel_0,
				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
				.DMA_DIR                = DMA_DIR_MemoryToPeripheral,
				.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_FIFOMode           = DMA_FIFOMode_Disable,
                .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
			},
		},
	},
	.sclk = {
		.gpio = GPIOC,
		.init = {
			.GPIO_Pin = GPIO_Pin_10,
			.GPIO_Speed = GPIO_Speed_100MHz,
			.GPIO_Mode = GPIO_Mode_AF,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_NOPULL
		},
	},
	.miso = {
		.gpio = GPIOC,
		.init = {
			.GPIO_Pin = GPIO_Pin_11,
			.GPIO_Speed = GPIO_Speed_50MHz,
			.GPIO_Mode = GPIO_Mode_AF,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_NOPULL
		},
	},
	.mosi = {
		.gpio = GPIOC,
		.init = {
			.GPIO_Pin = GPIO_Pin_12,
			.GPIO_Speed = GPIO_Speed_50MHz,
			.GPIO_Mode = GPIO_Mode_AF,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_NOPULL
		},
	},
	.slave_count = 1,
	.ssel = { {
		.gpio = GPIOD,
		.init = {
			.GPIO_Pin = GPIO_Pin_2,
			.GPIO_Speed = GPIO_Speed_50MHz,
			.GPIO_Mode  = GPIO_Mode_OUT,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd = GPIO_PuPd_UP
		},
	} },
};

uint32_t pios_spi_flash_id;
void PIOS_SPI_flash_irq_handler(void)
{
	/* Call into the generic code to handle the IRQ for this specific device */
	PIOS_SPI_IRQ_Handler(pios_spi_flash_id);
}
#endif /* PIOS_FLASH_ON_ACCEL */
#endif /* PIOS_INCLUDE_SPI */



#include <pios_usart_priv.h>

#if defined(PIOS_INCLUDE_GPS)
/*
 * GPS USART
 */
static const struct pios_usart_cfg pios_usart_gps_cfg = {
	.regs = USART1,
	.remap = GPIO_AF_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_AF,
			.GPIO_OType = GPIO_OType_PP,
			.GPIO_PuPd  = GPIO_PuPd_UP
		},
	},
	.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
		},
	},
};

#define PIOS_COM_GPS_RX_BUF_LEN 192

#endif /* PIOS_INCLUDE_GPS */

#ifdef PIOS_INCLUDE_COM_AUX
/*
 * AUX USART
 */
static const struct pios_usart_cfg pios_usart_aux_cfg = {
	.regs = USART6,
	.remap = GPIO_AF_USART6,
	.init = {
		.USART_BaudRate = 230400,
		.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 = 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
		},
	},
	.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
		},
	},
};

#endif /* PIOS_COM_AUX */

#ifdef PIOS_INCLUDE_COM_TELEM
/*
 * Telemetry on main USART
 */
static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
	.regs = USART6,
	.remap = GPIO_AF_USART6,
	.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 = 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
		},
	},
	.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
		},
	},
};

#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512

#endif /* PIOS_COM_TELEM */

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

static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
	.regs = USART3,
	.remap = GPIO_AF_USART3,
	.init = {
		.USART_BaudRate            = 115200,
		.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,
	},
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = USART3_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
			.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
		},
	},
	.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
		},
	},
};

static const struct pios_dsm_cfg pios_dsm_main_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_usart_cfg pios_usart_dsm_flexi_cfg = {
	.regs = USART3,
	.remap = GPIO_AF_USART3,
	.init = {
		.USART_BaudRate            = 115200,
		.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,
	},
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = USART3_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
			.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
		},
	},
	.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
		},
	},
};

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


#endif	/* PIOS_INCLUDE_DSM */


#if defined(PIOS_INCLUDE_COM)

#include <pios_com_priv.h>

#endif /* PIOS_INCLUDE_COM */

#if defined(PIOS_INCLUDE_I2C)

#include <pios_i2c_priv.h>

/*
 * I2C Adapters
 */
void PIOS_I2C_mag_adapter_ev_irq_handler(void);
void PIOS_I2C_mag_adapter_er_irq_handler(void);
void I2C1_EV_IRQHandler()
__attribute__ ((alias("PIOS_I2C_mag_adapter_ev_irq_handler")));
void I2C1_ER_IRQHandler()
__attribute__ ((alias("PIOS_I2C_mag_adapter_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_mag_adapter_cfg = {
	.regs = I2C1,
	.remap = GPIO_AF_I2C1,
	.init = {
		.I2C_Mode = I2C_Mode_I2C,
		.I2C_OwnAddress1 = 0,
		.I2C_Ack = I2C_Ack_Enable,
		.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
		.I2C_DutyCycle = I2C_DutyCycle_2,
		.I2C_ClockSpeed = 400000,	/* bits/s */
	},
	.transfer_timeout_ms = 50,
	.scl = {
		.gpio = GPIOB,
		.init = {
			.GPIO_Pin = GPIO_Pin_6,
            .GPIO_Mode  = GPIO_Mode_AF,
            .GPIO_Speed = GPIO_Speed_50MHz,
            .GPIO_OType = GPIO_OType_OD,
            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
		},
	},
	.sda = {
		.gpio = GPIOB,
		.init = {
			.GPIO_Pin = GPIO_Pin_7,
            .GPIO_Mode  = GPIO_Mode_AF,
            .GPIO_Speed = GPIO_Speed_50MHz,
            .GPIO_OType = GPIO_OType_OD,
            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
		},
	},
	.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,
		},
	},
};

uint32_t pios_i2c_mag_adapter_id;
void PIOS_I2C_mag_adapter_ev_irq_handler(void)
{
	/* Call into the generic code to handle the IRQ for this specific device */
	PIOS_I2C_EV_IRQ_Handler(pios_i2c_mag_adapter_id);
}

void PIOS_I2C_mag_adapter_er_irq_handler(void)
{
	/* Call into the generic code to handle the IRQ for this specific device */
	PIOS_I2C_ER_IRQ_Handler(pios_i2c_mag_adapter_id);
}


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

static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
	.regs = I2C2,
	.remap = GPIO_AF_I2C2,
	.init = {
		.I2C_Mode                = I2C_Mode_I2C,
		.I2C_OwnAddress1         = 0,
		.I2C_Ack                 = I2C_Ack_Enable,
		.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
		.I2C_DutyCycle           = I2C_DutyCycle_2,
		.I2C_ClockSpeed          = 400000,	/* bits/s */
	},
	.transfer_timeout_ms = 50,
	.scl = {
		.gpio = GPIOB,
		.init = {
			.GPIO_Pin   = GPIO_Pin_10,
            .GPIO_Mode  = GPIO_Mode_AF,
            .GPIO_Speed = GPIO_Speed_50MHz,
            .GPIO_OType = GPIO_OType_OD,
            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
		},
	},
	.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,
		},
	},
	.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,
		},
	},
};

uint32_t pios_i2c_flexiport_adapter_id;
void PIOS_I2C_flexiport_adapter_ev_irq_handler(void)
{
	/* Call into the generic code to handle the IRQ for this specific device */
	PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexiport_adapter_id);
}

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


void PIOS_I2C_pressure_adapter_ev_irq_handler(void);
void PIOS_I2C_pressure_adapter_er_irq_handler(void);
void I2C3_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_pressure_adapter_ev_irq_handler")));
void I2C3_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_pressure_adapter_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
	.regs = I2C3,
	.remap = GPIO_AF_I2C3,
	.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          = 40000,	/* bits/s */
	},
	.transfer_timeout_ms = 50,
	.scl = {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin   = GPIO_Pin_8,
            .GPIO_Mode  = GPIO_Mode_AF,
            .GPIO_Speed = GPIO_Speed_50MHz,
            .GPIO_OType = GPIO_OType_OD,
            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
		},
	},
	.sda = {
		.gpio = GPIOC,
		.init = {
			.GPIO_Pin   = GPIO_Pin_9,
            .GPIO_Mode  = GPIO_Mode_AF,
            .GPIO_Speed = GPIO_Speed_50MHz,
            .GPIO_OType = GPIO_OType_OD,
            .GPIO_PuPd  = GPIO_PuPd_NOPULL,
		},
	},
	.event = {
		.flags   = 0,		/* FIXME: check this */
		.init = {
			.NVIC_IRQChannel                   = I2C3_EV_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
	.error = {
		.flags   = 0,		/* FIXME: check this */
		.init = {
			.NVIC_IRQChannel                   = I2C3_ER_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

uint32_t pios_i2c_pressure_adapter_id;
void PIOS_I2C_pressure_adapter_ev_irq_handler(void)
{
	/* Call into the generic code to handle the IRQ for this specific device */
	PIOS_I2C_EV_IRQ_Handler(pios_i2c_pressure_adapter_id);
}

void PIOS_I2C_pressure_adapter_er_irq_handler(void)
{
	/* Call into the generic code to handle the IRQ for this specific device */
	PIOS_I2C_ER_IRQ_Handler(pios_i2c_pressure_adapter_id);
}
#endif /* PIOS_INCLUDE_I2C */

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

void PIOS_RTC_IRQ_Handler (void);
void RTC_WKUP_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
	.clksrc = RCC_RTCCLKSource_HSE_Div16, // Divide 8 Mhz crystal down to 1
	// For some reason it's acting like crystal is 16 Mhz.  This clock is then divided
	// by another 16 to give a nominal 62.5 khz clock
	.prescaler = 100, // Every 100 cycles gives 625 Hz
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = RTC_WKUP_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

void PIOS_RTC_IRQ_Handler (void)
{
	PIOS_RTC_irq_handler ();
}

#endif

#include "pios_tim_priv.h"

static const TIM_TimeBaseInitTypeDef tim_3_5_9_10_11_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_3_cfg = {
	.timer = TIM3,
	.time_base_init = &tim_3_5_9_10_11_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM3_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const struct pios_tim_clock_cfg tim_5_cfg = {
	.timer = TIM5,
	.time_base_init = &tim_3_5_9_10_11_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM5_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const struct pios_tim_clock_cfg tim_9_cfg = {
	.timer = TIM9,
	.time_base_init = &tim_3_5_9_10_11_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM1_BRK_TIM9_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const struct pios_tim_clock_cfg tim_10_cfg = {
	.timer = TIM10,
	.time_base_init = &tim_3_5_9_10_11_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM1_UP_TIM10_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const struct pios_tim_clock_cfg tim_11_cfg = {
	.timer = TIM11,
	.time_base_init = &tim_3_5_9_10_11_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM1_TRG_COM_TIM11_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

// Set up timers that only have inputs
static const TIM_TimeBaseInitTypeDef tim_1_4_time_base = {
	.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
	.TIM_ClockDivision = TIM_CKD_DIV1,
	.TIM_CounterMode = TIM_CounterMode_Up,
	.TIM_Period = 0xFFFF,
	.TIM_RepetitionCounter = 0x0000,
};

static const struct pios_tim_clock_cfg tim_1_cfg = {
	.timer = TIM1,
	.time_base_init = &tim_1_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_4_cfg = {
	.timer = TIM4,
	.time_base_init = &tim_1_4_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM4_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

/**
 * Pios servo configuration structures
 */
#include <pios_servo_priv.h>
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
	{
		.timer = TIM9,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOE,
			.init = {
				.GPIO_Pin = GPIO_Pin_5,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource5,
		},
		.remap = GPIO_AF_TIM9,
	},
	{
		.timer = TIM9,
		.timer_chan = TIM_Channel_2,
		.pin = {
			.gpio = GPIOE,
			.init = {
				.GPIO_Pin = GPIO_Pin_6,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource6,
		},
		.remap = GPIO_AF_TIM9,		
	},
	{
		.timer = TIM10,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin = GPIO_Pin_8,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource8,
		},
		.remap = GPIO_AF_TIM10,
	},
	{
		.timer = TIM11,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin = GPIO_Pin_9,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource9,
		},
		.remap = GPIO_AF_TIM11,
	},
	{
		.timer = TIM5,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin = GPIO_Pin_2,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource2,
		},
		.remap = GPIO_AF_TIM5,
	},
	{
		.timer = TIM5,
		.timer_chan = TIM_Channel_4,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin = GPIO_Pin_3,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource3,
		},
		.remap = GPIO_AF_TIM5,
	},
	{
		.timer = TIM3,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin = GPIO_Pin_0,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource0,
		},
		.remap = GPIO_AF_TIM3,
	},
	{
		.timer = TIM3,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin = GPIO_Pin_1,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource1,
		},
		.remap = GPIO_AF_TIM3,
	},
};

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),
};


/*
 * PWM Inputs
 */
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
#include <pios_pwm_priv.h>
static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_4,
		.pin = {
			.gpio = GPIOD,
			.init = {
				.GPIO_Pin = GPIO_Pin_15,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource15,
		},
		.remap = GPIO_AF_TIM4,
	},
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOD,
			.init = {
				.GPIO_Pin = GPIO_Pin_14,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource14,
		},
		.remap = GPIO_AF_TIM4,
	},
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_2,
		.pin = {
			.gpio = GPIOD,
			.init = {
				.GPIO_Pin = GPIO_Pin_13,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource13,
		},
		.remap = GPIO_AF_TIM4,
	},
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOD,
			.init = {
				.GPIO_Pin = GPIO_Pin_12,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource12,
		},
		.remap = GPIO_AF_TIM4,
	},
	{
		.timer = TIM1,
		.timer_chan = TIM_Channel_4,
		.pin = {
			.gpio = GPIOE,
			.init = {
				.GPIO_Pin = GPIO_Pin_14,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource14,
		},
		.remap = GPIO_AF_TIM1,
	},
	{
		.timer = TIM1,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOE,
			.init = {
				.GPIO_Pin = GPIO_Pin_13,
				.GPIO_Speed = GPIO_Speed_2MHz,
				.GPIO_Mode  = GPIO_Mode_AF,
				.GPIO_OType = GPIO_OType_PP,
				.GPIO_PuPd  = GPIO_PuPd_UP
			},
			.pin_source = GPIO_PinSource13,
		},
		.remap = GPIO_AF_TIM1,
	},
	{
		.timer = TIM1,
		.timer_chan = TIM_Channel_2,
		.pin = {
			.gpio = GPIOE,
			.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,
		},
		.remap = GPIO_AF_TIM1,
	},
	{
		.timer = TIM1,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOE,
			.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_PinSource1,
		},
		.remap = GPIO_AF_TIM1,
	},
};

const struct pios_pwm_cfg pios_pwm_cfg = {
	.tim_ic_init = {
		.TIM_ICPolarity = TIM_ICPolarity_Rising,
		.TIM_ICSelection = TIM_ICSelection_DirectTI,
		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
		.TIM_ICFilter = 0x0,
	},
	.channels = pios_tim_rcvrport_all_channels,
	.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
};
#endif

/*
 * PPM Input
 */
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>
static const struct pios_ppm_cfg pios_ppm_cfg = {
	.tim_ic_init = {
		.TIM_ICPolarity = TIM_ICPolarity_Rising,
		.TIM_ICSelection = TIM_ICSelection_DirectTI,
		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
		.TIM_ICFilter = 0x0,
		.TIM_Channel = TIM_Channel_2,
	},
	/* 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"

/* One slot per selectable receiver group.
 *  eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
 * NOTE: No slot in this map for NONE.
 */
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#endif

extern const struct pios_com_driver pios_usart_com_driver;

uint32_t pios_com_aux_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_telem_rf_id;


/**
 * Sensor configurations 
 */
#if defined(PIOS_INCLUDE_HMC5883)
#include "pios_hmc5883.h"
static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
	.vector = PIOS_HMC5883_IRQHandler,
	.line = EXTI_Line5,
	.pin = {
		.gpio = GPIOB,
		.init = {
			.GPIO_Pin = GPIO_Pin_5,
			.GPIO_Speed = GPIO_Speed_100MHz,
			.GPIO_Mode = GPIO_Mode_IN,
			.GPIO_OType = GPIO_OType_OD,
			.GPIO_PuPd = GPIO_PuPd_NOPULL,
		},
	},
	.irq = {
		.init = {
			.NVIC_IRQChannel = EXTI9_5_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
			.NVIC_IRQChannelSubPriority = 0,
			.NVIC_IRQChannelCmd = ENABLE,
		},
	},
	.exti = {
		.init = {
			.EXTI_Line = EXTI_Line5, // matches above GPIO pin
			.EXTI_Mode = EXTI_Mode_Interrupt,
			.EXTI_Trigger = EXTI_Trigger_Rising,
			.EXTI_LineCmd = ENABLE,
		},
	},
};

static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
	.exti_cfg = &pios_exti_hmc5883_cfg,
	.M_ODR = PIOS_HMC5883_ODR_75,
	.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
	.Gain = PIOS_HMC5883_GAIN_1_9,
	.Mode = PIOS_HMC5883_MODE_CONTINUOUS,

};
#endif /* PIOS_INCLUDE_HMC5883 */

/**
 * Configuration for the MS5611 chip
 */
#if defined(PIOS_INCLUDE_MS5611)
#include "pios_ms5611.h"
static const struct pios_ms5611_cfg pios_ms5611_cfg = {
	.oversampling = 1,
};
#endif /* PIOS_INCLUDE_MS5611 */

/**
 * Configuration for the BMA180 chip
 */
#if defined(PIOS_INCLUDE_BMA180)
#include "pios_bma180.h"
static const struct pios_exti_cfg pios_exti_bma180_cfg __exti_config = {
	.vector = PIOS_BMA180_IRQHandler,
	.line = EXTI_Line4,
	.pin = {
		.gpio = GPIOC,
		.init = {
			.GPIO_Pin = GPIO_Pin_4,
			.GPIO_Speed = GPIO_Speed_100MHz,
			.GPIO_Mode = GPIO_Mode_IN,
			.GPIO_OType = GPIO_OType_OD,
			.GPIO_PuPd = GPIO_PuPd_NOPULL,
		},
	},
	.irq = {
		.init = {
			.NVIC_IRQChannel = EXTI4_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
			.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_bma180_cfg pios_bma180_cfg = {
	.exti_cfg = &pios_exti_bma180_cfg,
};
#endif /* PIOS_INCLUDE_BMA180 */

/**
 * Configuration for the MPU6000 chip
 */
#if defined(PIOS_INCLUDE_MPU6000)
#include "pios_mpu6000.h"
static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
	.vector = PIOS_MPU6000_IRQHandler,
	.line = EXTI_Line8,
	.pin = {
		.gpio = GPIOD,
		.init = {
			.GPIO_Pin = GPIO_Pin_8,
			.GPIO_Speed = GPIO_Speed_100MHz,
			.GPIO_Mode = GPIO_Mode_IN,
			.GPIO_OType = GPIO_OType_OD,
			.GPIO_PuPd = GPIO_PuPd_NOPULL,
		},
	},
	.irq = {
		.init = {
			.NVIC_IRQChannel = EXTI9_5_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
			.NVIC_IRQChannelSubPriority = 0,
			.NVIC_IRQChannelCmd = ENABLE,
		},
	},
	.exti = {
		.init = {
			.EXTI_Line = EXTI_Line8, // matches above GPIO pin
			.EXTI_Mode = EXTI_Mode_Interrupt,
			.EXTI_Trigger = EXTI_Trigger_Rising,
			.EXTI_LineCmd = ENABLE,
		},
	},
};

static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
	.exti_cfg = &pios_exti_mpu6000_cfg,
	.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
	// Clock at 8 khz, downsampled by 8 for 1khz
	.Smpl_rate_div = 7, 
	.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
	.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
	.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN,
	.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
	.gyro_range = PIOS_MPU6000_SCALE_500_DEG,
	.filter = PIOS_MPU6000_LOWPASS_256_HZ
};
#endif /* PIOS_INCLUDE_MPU6000 */
/**
 * Configuration for L3GD20 chip
 */
#if defined(PIOS_INCLUDE_L3GD20)
#include "pios_l3gd20.h"
static const struct pios_exti_cfg pios_exti_l3gd20_cfg __exti_config = {
	.vector = PIOS_L3GD20_IRQHandler,
	.line = EXTI_Line8,
	.pin = {
		.gpio = GPIOD,
		.init = {
			.GPIO_Pin = GPIO_Pin_8,
			.GPIO_Speed = GPIO_Speed_100MHz,
			.GPIO_Mode = GPIO_Mode_IN,
			.GPIO_OType = GPIO_OType_OD,
			.GPIO_PuPd = GPIO_PuPd_NOPULL,
		},
	},
	.irq = {
		.init = {
			.NVIC_IRQChannel = EXTI9_5_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
			.NVIC_IRQChannelSubPriority = 0,
			.NVIC_IRQChannelCmd = ENABLE,
		},
	},
	.exti = {
		.init = {
			.EXTI_Line = EXTI_Line8, // matches above GPIO pin
			.EXTI_Mode = EXTI_Mode_Interrupt,
			.EXTI_Trigger = EXTI_Trigger_Rising,
			.EXTI_LineCmd = ENABLE,
		},
	},
};

static const struct pios_l3gd20_cfg pios_l3gd20_cfg = {
	.exti_cfg = &pios_exti_l3gd20_cfg,
	.gyro_range = PIOS_L3GD20_SCALE_500_DEG,
};
#endif /* PIOS_INCLUDE_L3GD20 */

/**
 * 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();

#ifdef PIOS_DEBUG_ENABLE_DEBUG_PINS
	PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif	/* PIOS_DEBUG_ENABLE_DEBUG_PINS */
	
	
	/* Set up the SPI interface to the accelerometer*/
	if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	
	PIOS_BMA180_Attach(pios_spi_accel_id);
	PIOS_BMA180_Init(&pios_bma180_cfg);

	/* Set up the SPI interface to the gyro */
	if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
#if !defined(PIOS_FLASH_ON_ACCEL)
	/* Set up the SPI interface to the flash */
	if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	PIOS_Flash_W25X_Init(pios_spi_flash_id, 0);
#else
	PIOS_Flash_W25X_Init(pios_spi_accel_id, 1);
#endif
	PIOS_FLASHFS_Init();
	
	/* Initialize UAVObject libraries */
	EventDispatcherInitialize();
	UAVObjInitialize();
	
	HwSettingsInitialize();
	
#if defined(PIOS_INCLUDE_RTC)
	PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif

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

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

	/* Set up pulse timers */
	PIOS_TIM_InitClock(&tim_1_cfg);
	PIOS_TIM_InitClock(&tim_3_cfg);
	PIOS_TIM_InitClock(&tim_4_cfg);
	PIOS_TIM_InitClock(&tim_4_cfg);
	PIOS_TIM_InitClock(&tim_5_cfg);
	PIOS_TIM_InitClock(&tim_9_cfg);
	PIOS_TIM_InitClock(&tim_10_cfg);
	PIOS_TIM_InitClock(&tim_11_cfg);

	/* IAP System Setup */
	//PIOS_IAP_Init();
	
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_GPS)

	uint32_t pios_usart_gps_id;
	if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_telem_main_cfg)) {
		PIOS_Assert(0);
	}
	
	uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
	PIOS_Assert(rx_buffer);
	if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
					  rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
					  NULL, 0)) {
		PIOS_Assert(0);
	}

#endif	/* PIOS_INCLUDE_GPS */
	
#if defined(PIOS_INCLUDE_COM_AUX)
	{
		uint32_t pios_usart_aux_id;
		
		if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
			PIOS_DEBUG_Assert(0);
		}
		
		const uint32_t BUF_SIZE = 512;
		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(BUF_SIZE);
		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(BUF_SIZE);
		PIOS_Assert(rx_buffer);
		PIOS_Assert(tx_buffer);
		
		if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
						  rx_buffer, BUF_SIZE,
						  tx_buffer, BUF_SIZE)) {
			PIOS_DEBUG_Assert(0);
		}
	}
#else
	pios_com_aux_id = 0;
#endif  /* PIOS_INCLUDE_COM_AUX */

#if defined(PIOS_INCLUDE_COM_TELEM)
	{ /* Eventually add switch for this port function */
		uint32_t pios_usart_telem_rf_id;
		if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_gps_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_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
						  rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
						  tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
			PIOS_Assert(0);
		}
	}
#else
	pios_com_telem_rf_id = 0;
#endif	/* PIOS_INCLUDE_COM_TELEM */

#endif	/* PIOS_INCLUDE_COM */
	
	// Set up spektrum receiver
	enum pios_dsm_proto proto;
	proto = PIOS_DSM_PROTO_DSM2;
	
	uint32_t pios_usart_dsm_id;
	if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_main_cfg)) {
		PIOS_Assert(0);
	}

	uint32_t pios_dsm_id;
	if (PIOS_DSM_Init(&pios_dsm_id,
					  &pios_dsm_main_cfg,
					  &pios_usart_com_driver,
					  pios_usart_dsm_id,
					  proto, 0)) {
		PIOS_Assert(0);
	}
	
	uint32_t pios_dsm_rcvr_id;
	if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
		PIOS_Assert(0);
	}
	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;

#if defined(PIOS_INCLUDE_PWM) && defined(PIOS_INCLUDE_RCVR)
	/* Set up the receiver port.  Later this should be optional */
	uint32_t pios_pwm_id;
	PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
	
	uint32_t pios_pwm_rcvr_id;
	if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
		PIOS_Assert(0);
	}
	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
#endif

	/* Set up the servo outputs */
	PIOS_Servo_Init(&pios_servo_cfg);

	if (PIOS_I2C_Init(&pios_i2c_mag_adapter_id, &pios_i2c_mag_adapter_cfg)) {
		PIOS_DEBUG_Assert(0);
	}

	if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	
	PIOS_DELAY_WaitmS(500);


#if defined(PIOS_INCLUDE_MPU6000)
	PIOS_MPU6000_Attach(pios_spi_gyro_id);
	PIOS_MPU6000_Init(&pios_mpu6000_cfg);
#elif defined(PIOS_INCLUDE_L3GD20)
	PIOS_L3GD20_Attach(pios_spi_gyro_id);
	PIOS_Assert(PIOS_L3GD20_Test() == 0);
	PIOS_L3GD20_Init(&pios_l3gd20_cfg);
#else
	PIOS_Assert(0);
#endif


	PIOS_HMC5883_Init(&pios_hmc5883_cfg);
	
	PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
}

/**
 * @}
 * @}
 */