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LibrePilot/flight/OpenPilot/System/inc/pios_board.h

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/**
******************************************************************************
*
* @file pios_board.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
* @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
*/
#ifndef PIOS_BOARD_H
#define PIOS_BOARD_H
//------------------------
// Timers and Channels Used
//------------------------
/*
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
------+-----------+-----------+-----------+----------
TIM1 | RC In 3 | RC In 6 | RC In 5 |
TIM2 | --------------- PIOS_DELAY -----------------
TIM3 | RC In 7 | RC In 8 | RC In 1 | RC In 2
TIM4 | Servo 1 | Servo 2 | Servo 3 | Servo 4
TIM5 | RC In 4 | | |
TIM6 | ----------- PIOS_PWM (Supervisor) ----------
TIM7 | | | |
TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
------+-----------+-----------+-----------+----------
*/
//------------------------
// DMA Channels Used
//------------------------
/* Channel 1 - ADC */
/* Channel 2 - SPI1 RX */
/* Channel 3 - SPI1 TX */
/* Channel 4 - SPI2 RX */
/* Channel 5 - SPI2 TX */
/* Channel 6 - */
/* Channel 7 - */
/* Channel 8 - */
/* Channel 9 - */
/* Channel 10 - */
/* Channel 11 - */
/* Channel 12 - */
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_LED1_GPIO_PORT GPIOC
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_LED_LED2_GPIO_PORT GPIOC
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_LED_NUM 2
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
//------------------------
// PIOS_I2C
//------------------------
#define PIOS_I2C_PORT I2C2
#define PIOS_I2C_CLK RCC_APB1Periph_I2C2
#define PIOS_I2C_GPIO_PORT GPIOB
#define PIOS_I2C_SDA_PIN GPIO_Pin_11
#define PIOS_I2C_SCL_PIN GPIO_Pin_10
#define PIOS_I2C_DUTY_CYCLE I2C_DutyCycle_2
#define PIOS_I2C_BUS_FREQ 400000 // bit/s
#define PIOS_I2C_TIMEOUT_VALUE 50 // ms
#define PIOS_I2C_IRQ_EV_HANDLER void I2C2_EV_IRQHandler(void)
#define PIOS_I2C_IRQ_ER_HANDLER void I2C2_ER_IRQHandler(void)
#define PIOS_I2C_IRQ_EV_CHANNEL I2C2_EV_IRQn
#define PIOS_I2C_IRQ_ER_CHANNEL I2C2_ER_IRQn
freertos: fix RTOS API calls from interrupt level FreeRTOS has a strict requirement that even interrupt-safe API calls (ie. those ending in "FromISR") can only be called from ISRs that are at lesser or equal priorities to configMAX_SYSCALL_INTERRUPT_PRIORITY. See the "configKERNEL_INTERRUPT_PRIORITY and configMAX_SYSCALL_INTERRUPT_PRIORITY" section at: http://www.freertos.org/a00110.html The interrupt numbers used on the Cortex-M3 CPU has a somewhat backward representation of the interrupt numbers so 255 = lowest priority and 0 = highest priority. The calculation is further complicated by the STM32 implementation only using the upper 4 bits of the priority value. Only 0x00, 0x10, 0x20, ..., 0xE0, 0xF0 represent useful interrupt priorities. FreeRTOS requires that MAX_SYSCALL and KERNEL interrupt priorities are expressed as raw unshifted 8-bit values to be programmed directly into the BASEPRI register. The priority values passed to the NVIC initialization, however, are expected to be 4-bit values and are shifted up by 4 within NVIC_Init() for you. The end result is that we need this arrangement: [highest priority] NVIC_0 (Non-maskable-interrupt) NVIC_1 NVIC_2 [Must NOT call FreeRTOS APIs above here] configMAX_SYSCALL_INTERRUPT_PRIORITY (now at 48 = 0x30 = NVIC_3) PIOS_IRQ_PRIO_HIGHEST (cur. NVIC_4) PIOS_IRQ_PRIO_HIGH (cur. NVIC_5) PIOS_IRQ_PRIO_MID (cur. NVIC_8) PIOS_IRQ_PRIO_LOW (cur. NVIC_12) configKERNEL_INTERRUPT_PRIORITY (240 = 0xF0 = NVIC_15) [lowest priority] The previous config had configMAX_SYSCALL_INTERRUPT_PRIORITY set at 191 (0xBF) which is effectively NVIC_11. This was allowing all of the MID, HIGH and HIGHEST interrupt handlers to preempt the OS in its critical sections. Since some of these ISRs were calling FreeRTOS APIs, this would result in corrupting internal data structures within the OS. It should be ok to move the configKERNEL_INTERRUPT_PRIORITY to a higher priority as long as it is less than configMAX_SYSCALL_INTERRUPT_PRIORITY. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@637 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-18 06:50:38 +02:00
#define PIOS_I2C_IRQ_EV_PRIORITY PIOS_IRQ_PRIO_HIGH
#define PIOS_I2C_IRQ_ER_PRIORITY PIOS_IRQ_PRIO_HIGH
//------------------------
// PIOS_BMP085
//------------------------
#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15
#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOG
#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource8
#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line15
#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_HIGH
#define PIOS_BMP085_OVERSAMPLING 2
//-------------------------
// USART
//
// See also pios_board.c
//-------------------------
#define PIOS_USART_RX_BUFFER_SIZE 1024
#define PIOS_USART_TX_BUFFER_SIZE 256
#define PIOS_COM_TELEM_RF 0
#define PIOS_COM_GPS 1
#define PIOS_COM_TELEM_USB 2
#ifdef PIOS_ENABLE_AUX_UART
#define PIOS_COM_AUX 3
#define PIOS_COM_DEBUG PIOS_COM_AUX
#endif
//-------------------------
// SPI
//
// See also pios_board.c
//-------------------------
#define PIOS_SDCARD_SPI 0
#define PIOS_OPAHRS_SPI 1
//-------------------------
// Delay Timer
//-------------------------
#define PIOS_DELAY_TIMER TIM2
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
//-------------------------
// System Settings
//-------------------------
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#if defined(USE_BOOTLOADER)
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08006000)
#else
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
#endif
//-------------------------
// Interrupt Priorities
//-------------------------
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
//-------------------------
// Receiver PWM inputs
//-------------------------
#define PIOS_PWM_CH1_GPIO_PORT GPIOA
#define PIOS_PWM_CH1_PIN GPIO_Pin_9
#define PIOS_PWM_CH1_TIM_PORT TIM1
#define PIOS_PWM_CH1_CH TIM_Channel_2
#define PIOS_PWM_CH1_CCR TIM_IT_CC2
#define PIOS_PWM_CH2_GPIO_PORT GPIOA
#define PIOS_PWM_CH2_PIN GPIO_Pin_10
#define PIOS_PWM_CH2_TIM_PORT TIM1
#define PIOS_PWM_CH2_CH TIM_Channel_3
#define PIOS_PWM_CH2_CCR TIM_IT_CC3
#define PIOS_PWM_CH3_GPIO_PORT GPIOA
#define PIOS_PWM_CH3_PIN GPIO_Pin_0
#define PIOS_PWM_CH3_TIM_PORT TIM5
#define PIOS_PWM_CH3_CH TIM_Channel_1
#define PIOS_PWM_CH3_CCR TIM_IT_CC1
#define PIOS_PWM_CH4_GPIO_PORT GPIOA
#define PIOS_PWM_CH4_PIN GPIO_Pin_8
#define PIOS_PWM_CH4_TIM_PORT TIM1
#define PIOS_PWM_CH4_CH TIM_Channel_1
#define PIOS_PWM_CH4_CCR TIM_IT_CC1
#define PIOS_PWM_CH5_GPIO_PORT GPIOB
#define PIOS_PWM_CH5_PIN GPIO_Pin_1
#define PIOS_PWM_CH5_TIM_PORT TIM3
#define PIOS_PWM_CH5_CH TIM_Channel_4
#define PIOS_PWM_CH5_CCR TIM_IT_CC4
#define PIOS_PWM_CH6_GPIO_PORT GPIOB
#define PIOS_PWM_CH6_PIN GPIO_Pin_0
#define PIOS_PWM_CH6_TIM_PORT TIM3
#define PIOS_PWM_CH6_CH TIM_Channel_3
#define PIOS_PWM_CH6_CCR TIM_IT_CC3
#define PIOS_PWM_CH7_GPIO_PORT GPIOB
#define PIOS_PWM_CH7_PIN GPIO_Pin_4
#define PIOS_PWM_CH7_TIM_PORT TIM3
#define PIOS_PWM_CH7_CH TIM_Channel_1
#define PIOS_PWM_CH7_CCR TIM_IT_CC1
#define PIOS_PWM_CH8_GPIO_PORT GPIOB
#define PIOS_PWM_CH8_PIN GPIO_Pin_5
#define PIOS_PWM_CH8_TIM_PORT TIM3
#define PIOS_PWM_CH8_CH TIM_Channel_2
#define PIOS_PWM_CH8_CCR TIM_IT_CC2
#define PIOS_PWM_GPIO_PORTS { PIOS_PWM_CH1_GPIO_PORT, PIOS_PWM_CH2_GPIO_PORT, PIOS_PWM_CH3_GPIO_PORT, PIOS_PWM_CH4_GPIO_PORT, PIOS_PWM_CH5_GPIO_PORT, PIOS_PWM_CH6_GPIO_PORT, PIOS_PWM_CH7_GPIO_PORT, PIOS_PWM_CH8_GPIO_PORT }
#define PIOS_PWM_GPIO_PINS { PIOS_PWM_CH1_PIN, PIOS_PWM_CH2_PIN, PIOS_PWM_CH3_PIN, PIOS_PWM_CH4_PIN, PIOS_PWM_CH5_PIN, PIOS_PWM_CH6_PIN, PIOS_PWM_CH7_PIN, PIOS_PWM_CH8_PIN }
#define PIOS_PWM_TIM_PORTS { PIOS_PWM_CH1_TIM_PORT, PIOS_PWM_CH2_TIM_PORT, PIOS_PWM_CH3_TIM_PORT, PIOS_PWM_CH4_TIM_PORT, PIOS_PWM_CH5_TIM_PORT, PIOS_PWM_CH6_TIM_PORT, PIOS_PWM_CH7_TIM_PORT, PIOS_PWM_CH8_TIM_PORT }
#define PIOS_PWM_TIM_CHANNELS { PIOS_PWM_CH1_CH, PIOS_PWM_CH2_CH, PIOS_PWM_CH3_CH, PIOS_PWM_CH4_CH, PIOS_PWM_CH5_CH, PIOS_PWM_CH6_CH, PIOS_PWM_CH7_CH, PIOS_PWM_CH8_CH }
#define PIOS_PWM_TIM_CCRS { PIOS_PWM_CH1_CCR, PIOS_PWM_CH2_CCR, PIOS_PWM_CH3_CCR, PIOS_PWM_CH4_CCR, PIOS_PWM_CH5_CCR, PIOS_PWM_CH6_CCR, PIOS_PWM_CH7_CCR, PIOS_PWM_CH8_CCR }
#define PIOS_PWM_TIMS { TIM1, TIM3, TIM5 }
#define PIOS_PWM_TIM_IRQS { TIM1_CC_IRQn, TIM3_IRQn, TIM5_IRQn }
#define PIOS_PWM_NUM_INPUTS 8
#define PIOS_PWM_NUM_TIMS 3
#define PIOS_PWM_SUPV_ENABLED 1
#define PIOS_PWM_SUPV_TIMER TIM6
#define PIOS_PWM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
#define PIOS_PWM_SUPV_HZ 25
#define PIOS_PWM_SUPV_IRQ_CHANNEL TIM6_IRQn
#define PIOS_PWM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
//-------------------------
// Receiver PPM input
//-------------------------
#define PIOS_PPM_GPIO_PORT PIOS_PWM_CH1_GPIO_PORT
#define PIOS_PPM_GPIO_PIN PIOS_PWM_CH1_PIN
#define PIOS_PPM_TIM_PORT PIOS_PWM_CH1_TIM_PORT
#define PIOS_PPM_TIM_CHANNEL PIOS_PWM_CH1_CH
#define PIOS_PPM_TIM_CCR PIOS_PWM_CH1_CCR
#define PIOS_PPM_TIM TIM1
#define PIOS_PPM_TIM_IRQ TIM1_CC_IRQn
#define PIOS_PPM_NUM_INPUTS 8 //Could be more if needed
#define PIOS_PPM_SUPV_ENABLED 1
#define PIOS_PPM_SUPV_TIMER TIM6
#define PIOS_PPM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
#define PIOS_PPM_SUPV_HZ 25
#define PIOS_PPM_SUPV_IRQ_CHANNEL TIM6_IRQn
#define PIOS_PPM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
//-------------------------
// Servo outputs
//-------------------------
#define PIOS_SERVO_GPIO_PORT_1TO4 GPIOB
#define PIOS_SERVO_GPIO_PIN_1 GPIO_Pin_6
#define PIOS_SERVO_GPIO_PIN_2 GPIO_Pin_7
#define PIOS_SERVO_GPIO_PIN_3 GPIO_Pin_8
#define PIOS_SERVO_GPIO_PIN_4 GPIO_Pin_9
#define PIOS_SERVO_GPIO_PORT_5TO8 GPIOC
#define PIOS_SERVO_GPIO_PIN_5 GPIO_Pin_6
#define PIOS_SERVO_GPIO_PIN_6 GPIO_Pin_7
#define PIOS_SERVO_GPIO_PIN_7 GPIO_Pin_8
#define PIOS_SERVO_GPIO_PIN_8 GPIO_Pin_9
#define PIOS_SERVO_NUM_OUTPUTS 8
#define PIOS_SERVO_NUM_TIMERS PIOS_SERVO_NUM_OUTPUTS
#define PIOS_SERVO_UPDATE_HZ 50
#define PIOS_SERVOS_INITIAL_POSITION 1500
//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
// PIOS_ADC_PinGet(1) = Power Sensor (Current)
// PIOS_ADC_PinGet(2) = Power Sensor (Voltage)
// PIOS_ADC_PinGet(3) = On-board 5v Rail Sensor
// PIOS_ADC_PinGet(4) = Auxiliary Input 1
// PIOS_ADC_PinGet(5) = Auxiliary Input 2
// PIOS_ADC_PinGet(6) = Auxiliary Input 3
//-------------------------
//#define PIOS_ADC_OVERSAMPLING_RATE 1
#define PIOS_ADC_USE_TEMP_SENSOR 1
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA1 (Power Sense - Voltage)
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_1
#define PIOS_ADC_PIN1_ADC ADC1
#define PIOS_ADC_PIN1_ADC_NUMBER 2
#define PIOS_ADC_PIN2_GPIO_PORT GPIOC // PC3 (Power Sense - Current)
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_3 // ADC123_IN13
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_13
#define PIOS_ADC_PIN2_ADC ADC2
#define PIOS_ADC_PIN2_ADC_NUMBER 1
#define PIOS_ADC_PIN3_GPIO_PORT GPIOC // PC5 (Onboard 5v Sensor) PC5
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_5 // ADC12_IN15
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_15
#define PIOS_ADC_PIN3_ADC ADC2
#define PIOS_ADC_PIN3_ADC_NUMBER 2
#define PIOS_ADC_PIN4_GPIO_PORT GPIOC // PC0 (AUX 1)
#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_0 // ADC123_IN10
#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_10
#define PIOS_ADC_PIN4_ADC ADC1
#define PIOS_ADC_PIN4_ADC_NUMBER 3
#define PIOS_ADC_PIN5_GPIO_PORT GPIOC // PC1 (AUX 2)
#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_1 // ADC123_IN11
#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_11
#define PIOS_ADC_PIN5_ADC ADC2
#define PIOS_ADC_PIN5_ADC_NUMBER 3
#define PIOS_ADC_PIN6_GPIO_PORT GPIOC // PC2 (AUX 3)
#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_2 // ADC123_IN12
#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_12
#define PIOS_ADC_PIN6_ADC ADC1
#define PIOS_ADC_PIN6_ADC_NUMBER 4
#define PIOS_ADC_NUM_PINS 6
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT }
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN }
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL }
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC }
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER }
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
#define PIOS_ADC_NUM_ADC_CHANNELS 2
#define PIOS_ADC_USE_ADC2 1
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
/* Sample time: */
/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
//-------------------------
// GPIO
//-------------------------
#define PIOS_GPIO_1_PORT GPIOC
#define PIOS_GPIO_1_PIN GPIO_Pin_0
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_GPIO_2_PORT GPIOC
#define PIOS_GPIO_2_PIN GPIO_Pin_1
#define PIOS_GPIO_2_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_GPIO_3_PORT GPIOC
#define PIOS_GPIO_3_PIN GPIO_Pin_2
#define PIOS_GPIO_3_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_GPIO_4_PORT GPIOD
#define PIOS_GPIO_4_PIN GPIO_Pin_2
#define PIOS_GPIO_4_GPIO_CLK RCC_APB2Periph_GPIOD
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT }
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN }
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK }
#define PIOS_GPIO_NUM 4
//-------------------------
// USB
//-------------------------
#define PIOS_USB_ENABLED 1
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
/**
* glue macros for file IO
* STM32 uses DOSFS for file IO
*/
#define PIOS_FOPEN_READ(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_READ, PIOS_SDCARD_Sector, &file) != DFS_OK
#define PIOS_FOPEN_WRITE(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK
#define PIOS_FREAD(file,bufferadr,length,resultadr) DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) != DFS_OK
#define PIOS_FWRITE(file,bufferadr,length,resultadr) DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length)
#define PIOS_FCLOSE(file) DFS_Close(&file)
#define PIOS_FUNLINK(filename) DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector)
#endif /* PIOS_BOARD_H */