LibrePilot/flight/CopterControl/System/pios_board.c

/**
 ******************************************************************************
 * @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>

#if defined(PIOS_INCLUDE_SPI)

#include <pios_spi_priv.h>

/* Flash/Accel 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_flash_accel_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler")));
static const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
  .regs   = 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_2, 
  },
  .use_crc = FALSE,
  .dma = {
    .ahb_clk  = RCC_AHBPeriph_DMA1,
    
    .irq = {
      .flags   = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
      .init    = {
	.NVIC_IRQChannel                   = DMA1_Channel4_IRQn,
	.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
	.NVIC_IRQChannelSubPriority        = 0,
	.NVIC_IRQChannelCmd                = ENABLE,
      },
    },

    .rx = {
      .channel = DMA1_Channel4,
      .init    = {
	.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->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_High,
	.DMA_M2M                = DMA_M2M_Disable,
      },
    },
    .tx = {
      .channel = DMA1_Channel5,
      .init    = {
	.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->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_High,
	.DMA_M2M                = DMA_M2M_Disable,
      },
    },
  },
  .ssel = {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_12,
      .GPIO_Speed = GPIO_Speed_10MHz,
      .GPIO_Mode  = GPIO_Mode_Out_PP,
    },
  },
  .sclk = {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_13,
      .GPIO_Speed = GPIO_Speed_10MHz,
      .GPIO_Mode  = GPIO_Mode_AF_PP,
    },
  },
  .miso = {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_14,
      .GPIO_Speed = GPIO_Speed_10MHz,
      .GPIO_Mode  = GPIO_Mode_IN_FLOATING,
    },
  },
  .mosi = {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_15,
      .GPIO_Speed = GPIO_Speed_10MHz,
      .GPIO_Mode  = GPIO_Mode_AF_PP,
    },
  },
};

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

#endif	/* PIOS_INCLUDE_SPI */

/*
 * 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();
}

#if defined(PIOS_INCLUDE_USART)

#include "pios_usart_priv.h"

#if defined(PIOS_INCLUDE_TELEMETRY_RF)
/*
 * 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_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_TELEMETRY_RF */

#if defined(PIOS_INCLUDE_GPS)
/*
 * GPS USART
 */
static const struct pios_usart_cfg pios_usart_gps_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_gps_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_GPS */

#if defined(PIOS_INCLUDE_SPEKTRUM)
/*
 * SPEKTRUM USART
 */
#include <pios_spektrum_priv.h>

static const struct pios_usart_cfg pios_usart_spektrum_main_cfg = {
	.regs = USART1,
	.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                   = USART1_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
			.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_IN_FLOATING,
		},
	},
};

static const struct pios_spektrum_cfg pios_spektrum_main_cfg = {
	.bind = {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin   = GPIO_Pin_10,
			.GPIO_Speed = GPIO_Speed_2MHz,
			.GPIO_Mode  = GPIO_Mode_Out_PP,
		},
	},
	.remap = 0,
};

static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = {
	.regs = 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_IPU,
		},
	},
	.tx = {
		.gpio = GPIOB,
		.init = {
			.GPIO_Pin   = GPIO_Pin_10,
			.GPIO_Speed = GPIO_Speed_2MHz,
			.GPIO_Mode  = GPIO_Mode_IN_FLOATING,
		},
	},
};

static const struct pios_spektrum_cfg pios_spektrum_flexi_cfg = {
	.bind = {
		.gpio = GPIOB,
		.init = {
			.GPIO_Pin   = GPIO_Pin_11,
			.GPIO_Speed = GPIO_Speed_2MHz,
			.GPIO_Mode  = GPIO_Mode_Out_PP,
		},
	},
	.remap = 0,
};

#endif	/* PIOS_INCLUDE_SPEKTRUM */

#if defined(PIOS_INCLUDE_SBUS)
/*
 * SBUS USART
 */
#include <pios_sbus_priv.h>

static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
	.regs = USART1,
	.init = {
		.USART_BaudRate            = 100000,
		.USART_WordLength          = USART_WordLength_8b,
		.USART_Parity              = USART_Parity_Even,
		.USART_StopBits            = USART_StopBits_2,
		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
		.USART_Mode                = USART_Mode_Rx,
	},
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = USART1_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
			.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_IN_FLOATING,
		},
	},
};

static const struct pios_sbus_cfg pios_sbus_cfg = {
	/* Inverter configuration */
	.inv = {
		.gpio = GPIOB,
		.init = {
			.GPIO_Pin = GPIO_Pin_2,
			.GPIO_Mode = GPIO_Mode_Out_PP,
			.GPIO_Speed = GPIO_Speed_2MHz,
		},
	},
	.gpio_clk_func = RCC_APB2PeriphClockCmd,
	.gpio_clk_periph = RCC_APB2Periph_GPIOB,
	.gpio_inv_enable = Bit_SET,
};

#endif	/* PIOS_INCLUDE_SBUS */

#endif  /* PIOS_INCLUDE_USART */

#if defined(PIOS_INCLUDE_COM)

#include "pios_com_priv.h"

#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

#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_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

/* 
 * Servo outputs 
 */
#include <pios_servo_priv.h>
static const struct pios_servo_channel pios_servo_channels[] = {
	{
		.timer = TIM4,
		.port = GPIOB,
		.channel = TIM_Channel_4,
		.pin = GPIO_Pin_9,
	}, 
	{
		.timer = TIM4,
		.port = GPIOB,
		.channel = TIM_Channel_3,
		.pin = GPIO_Pin_8,
	}, 
	{
		.timer = TIM4,
		.port = GPIOB,
		.channel = TIM_Channel_2,
		.pin = GPIO_Pin_7,
	}, 
	{
		.timer = TIM1,
		.port = GPIOA,
		.channel = TIM_Channel_1,
		.pin = GPIO_Pin_8,
	}, 
	{ /* needs to remap to alternative function */
		.timer = TIM3,
		.port = GPIOB,
		.channel = TIM_Channel_1,
		.pin = GPIO_Pin_4,
	},  	
	{
		.timer = TIM2,
		.port = GPIOA,
		.channel = TIM_Channel_3,
		.pin = GPIO_Pin_2,
	},	
};

const struct pios_servo_cfg pios_servo_cfg = {
	.tim_base_init = {
		.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,
	},
	.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,
	},
	.gpio_init = {
		.GPIO_Mode = GPIO_Mode_AF_PP,
		.GPIO_Speed = GPIO_Speed_2MHz,
	},
	.remap = GPIO_PartialRemap_TIM3,
	.channels = pios_servo_channels,
	.num_channels = NELEMENTS(pios_servo_channels),
};

#if defined(PIOS_INCLUDE_PWM) && defined(PIOS_INCLUDE_PPM)
#error Cannot define both PIOS_INCLUDE_PWM and PIOS_INCLUDE_PPM at the same time (yet)
#endif

/*
 * PPM Inputs
 */
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>

void TIM4_IRQHandler();
void TIM4_IRQHandler() __attribute__ ((alias ("PIOS_TIM4_irq_handler")));
const struct pios_ppm_cfg pios_ppm_cfg = {
	.tim_base_init = {
		.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,	/* For 1 uS accuracy */
		.TIM_ClockDivision = TIM_CKD_DIV1,
		.TIM_CounterMode = TIM_CounterMode_Up,
		.TIM_Period = 0xFFFF, /* shared timer, make sure init correctly in outputs */
		.TIM_RepetitionCounter = 0x0000,
	},
	.tim_ic_init = {
		.TIM_Channel = TIM_Channel_1,
		.TIM_ICPolarity = TIM_ICPolarity_Rising,
		.TIM_ICSelection = TIM_ICSelection_DirectTI,
		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
		.TIM_ICFilter = 0x0,
	},
	.gpio_init = {
		.GPIO_Pin = GPIO_Pin_6,
		.GPIO_Mode = GPIO_Mode_IPD,
		.GPIO_Speed = GPIO_Speed_2MHz,
	},
	.remap = 0,
	.irq = {
		.init    = {
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
	.timer = TIM4,
	.port = GPIOB,
	.ccr = TIM_IT_CC1,
};

void PIOS_TIM4_irq_handler()
{
	PIOS_PPM_irq_handler();
}
#endif	/* PIOS_INCLUDE_PPM */

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

static const struct pios_pwm_channel pios_pwm_channels[] = {
	{
		.timer = TIM4,
		.port = GPIOB,
		.ccr = TIM_IT_CC1,
		.channel = TIM_Channel_1,
		.pin = GPIO_Pin_6,
	}, 
	{
		.timer = TIM3,
		.port = GPIOB,
		.ccr = TIM_IT_CC2,
		.channel = TIM_Channel_2,
		.pin = GPIO_Pin_5,
	}, 
	{
		.timer = TIM3,
		.port = GPIOB,
		.ccr = TIM_IT_CC3,
		.channel = TIM_Channel_3,
		.pin = GPIO_Pin_0
	}, 
	{
		.timer = TIM3,
		.port = GPIOB,
		.ccr = TIM_IT_CC4,
		.channel = TIM_Channel_4,
		.pin = GPIO_Pin_1,
	}, 
	{ 
		.timer = TIM2,
		.port = GPIOA,
		.ccr = TIM_IT_CC1,
		.channel = TIM_Channel_1,
		.pin = GPIO_Pin_0,
	},  	
	{
		.timer = TIM2,
		.port = GPIOA,
		.ccr = TIM_IT_CC2,
		.channel = TIM_Channel_2,
		.pin = GPIO_Pin_1,
	}, 		
};

void TIM2_IRQHandler();
void TIM3_IRQHandler();
void TIM4_IRQHandler();
void TIM2_IRQHandler() __attribute__ ((alias ("PIOS_TIM2_irq_handler")));
void TIM3_IRQHandler() __attribute__ ((alias ("PIOS_TIM3_irq_handler")));
void TIM4_IRQHandler() __attribute__ ((alias ("PIOS_TIM4_irq_handler")));
const struct pios_pwm_cfg pios_pwm_cfg = {
	.tim_base_init = {
		.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
		.TIM_ClockDivision = TIM_CKD_DIV1,
		.TIM_CounterMode = TIM_CounterMode_Up,
		.TIM_Period = 0xFFFF,
		.TIM_RepetitionCounter = 0x0000,
	},
	.tim_ic_init = {
		.TIM_ICPolarity = TIM_ICPolarity_Rising,
		.TIM_ICSelection = TIM_ICSelection_DirectTI,
		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
		.TIM_ICFilter = 0x0,		
	},
	.gpio_init = {
		.GPIO_Mode = GPIO_Mode_IPD,
		.GPIO_Speed = GPIO_Speed_2MHz,
	},
	.remap = 0,
	.irq = {
		.init    = {
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
	.channels = pios_pwm_channels,
	.num_channels = NELEMENTS(pios_pwm_channels),
};
void PIOS_TIM2_irq_handler()
{
	PIOS_PWM_irq_handler(TIM2);
}
void PIOS_TIM3_irq_handler()
{
	PIOS_PWM_irq_handler(TIM3);
}
void PIOS_TIM4_irq_handler()
{
	PIOS_PWM_irq_handler(TIM4);
}
#endif

#if defined(PIOS_INCLUDE_I2C)

#include <pios_i2c_priv.h>

/*
 * I2C Adapters
 */

void PIOS_I2C_main_adapter_ev_irq_handler(void);
void PIOS_I2C_main_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
  .regs = 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_Speed = GPIO_Speed_10MHz,
      .GPIO_Mode  = GPIO_Mode_AF_OD,
    },
  },
  .sda = {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_11,
      .GPIO_Speed = GPIO_Speed_10MHz,
      .GPIO_Mode  = GPIO_Mode_AF_OD,
    },
  },
  .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_main_adapter_id;
void PIOS_I2C_main_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_main_adapter_id);
}

void PIOS_I2C_main_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_main_adapter_id);
}

#endif /* PIOS_INCLUDE_I2C */

#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"

struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
uint32_t pios_rcvr_max_channel;
#endif /* PIOS_INCLUDE_RCVR */

#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"

static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
  .irq = {
    .init    = {
      .NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
      .NVIC_IRQChannelSubPriority        = 0,
      .NVIC_IRQChannelCmd                = ENABLE,
    },
  },
};
#endif	/* PIOS_INCLUDE_USB_HID */

extern const struct pios_com_driver pios_usb_com_driver;

uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_gps_id;

/**
 * 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_flash_accel_id, &pios_spi_flash_accel_cfg)) {
		PIOS_Assert(0);
	}

	PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);	
	PIOS_ADXL345_Attach(pios_spi_flash_accel_id);

	PIOS_FLASHFS_Init();

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

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

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

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

	/* Configure the main IO port */
	uint8_t hwsettings_cc_mainport;
	HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);

	switch (hwsettings_cc_mainport) {
	case HWSETTINGS_CC_MAINPORT_DISABLED:
		break;
	case HWSETTINGS_CC_MAINPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
		{
			uint32_t pios_usart_telem_rf_id;
			if (PIOS_USART_Init(&pios_usart_telem_rf_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_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);
			}
		}
#endif	/* PIOS_INCLUDE_TELEMETRY_RF */
		break;
	case HWSETTINGS_CC_MAINPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
		{
			uint32_t pios_usart_sbus_id;
			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
				PIOS_Assert(0);
			}

			uint32_t pios_sbus_id;
			if (PIOS_SBUS_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
				PIOS_Assert(0);
			}

			uint32_t pios_rcvr_id;
			if (PIOS_RCVR_Init(&pios_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_SBUS */
		break;
	case HWSETTINGS_CC_MAINPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
		{
			uint32_t pios_usart_gps_id;
			if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_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 */
		break;
	case HWSETTINGS_CC_MAINPORT_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
		{
			uint32_t pios_usart_spektrum_id;
			if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_main_cfg)) {
				PIOS_Assert(0);
			}

			uint32_t pios_spektrum_id;
			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
				PIOS_Assert(0);
			}

			uint32_t pios_rcvr_id;
			if (PIOS_RCVR_Init(&pios_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_SPEKTRUM */
		break;
	case HWSETTINGS_CC_MAINPORT_COMAUX:
		break;
	}

	/* Configure the flexi port */
	uint8_t hwsettings_cc_flexiport;
	HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport);

	switch (hwsettings_cc_flexiport) {
	case HWSETTINGS_CC_FLEXIPORT_DISABLED:
		break;
	case HWSETTINGS_CC_FLEXIPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
		{
			uint32_t pios_usart_telem_rf_id;
			if (PIOS_USART_Init(&pios_usart_telem_rf_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_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);
			}
		}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
		break;
	case HWSETTINGS_CC_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
		{
			uint32_t pios_usart_gps_id;
			if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_flexi_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 */
		break;
	case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
		{
			uint32_t pios_usart_spektrum_id;
			if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_flexi_cfg)) {
				PIOS_Assert(0);
			}

			uint32_t pios_spektrum_id;
			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
				PIOS_Assert(0);
			}

			uint32_t pios_rcvr_id;
			if (PIOS_RCVR_Init(&pios_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_SPEKTRUM */
		break;
	case HWSETTINGS_CC_FLEXIPORT_COMAUX:
		break;
	case HWSETTINGS_CC_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
		{
			if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_I2C */
		break;
	}

	/* Configure the selected receiver */
	uint8_t manualcontrolsettings_inputmode;
	ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);

	switch (manualcontrolsettings_inputmode) {
	case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
#if defined(PIOS_INCLUDE_PWM)
		PIOS_PWM_Init();
		uint32_t pios_pwm_rcvr_id;
		if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
			PIOS_Assert(0);
		}
		for (uint8_t i = 0;
		     i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
		     i++) {
			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
			pios_rcvr_max_channel++;
		}
#endif	/* PIOS_INCLUDE_PWM */
		break;
	case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
#if defined(PIOS_INCLUDE_PPM)
		PIOS_PPM_Init();
		uint32_t pios_ppm_rcvr_id;
		if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
			PIOS_Assert(0);
		}
		for (uint8_t i = 0;
		     i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
		     i++) {
			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
			pios_rcvr_max_channel++;
		}
#endif	/* PIOS_INCLUDE_PPM */
		break;
	case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
		if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM ||
		    hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) {
			uint32_t pios_spektrum_rcvr_id;
			if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
				PIOS_Assert(0);
			}
			for (uint8_t i = 0;
			     i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
			     i++) {
				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
				pios_rcvr_max_channel++;
			}
		}
#endif	/* PIOS_INCLUDE_SPEKTRUM */
		break;
	case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
		if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) {
			uint32_t pios_sbus_rcvr_id;
			if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, 0)) {
				PIOS_Assert(0);
			}
			for (uint8_t i = 0;
			     i < SBUS_NUMBER_OF_CHANNELS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
			     i++) {
				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_sbus_rcvr_id;
				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
				pios_rcvr_max_channel++;
			}
		}
#endif  /* PIOS_INCLUDE_SBUS */
		break;
	}

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

#if defined(PIOS_INCLUDE_USB_HID)
	uint32_t pios_usb_hid_id;
	PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
	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_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 */

	PIOS_IAP_Init();
	PIOS_WDG_Init();
}

/**
 * @}
 */