#include <pios_config.h>

#if defined(PIOS_INCLUDE_LED)

#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
	[PIOS_LED_HEARTBEAT] = {
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_6,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
};

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

#endif	/* PIOS_INCLUDE_LED */

#if defined(PIOS_INCLUDE_SPI)

#include <pios_spi_priv.h>

/* 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 */

#if defined(PIOS_INCLUDE_ADC)
/*
 * ADC system
 */
#include "pios_adc_priv.h"
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
static const struct pios_adc_cfg pios_adc_cfg = {
	.dma = {
		.ahb_clk  = RCC_AHBPeriph_DMA1,
		.irq = {
			.flags   = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
			.init    = {
				.NVIC_IRQChannel                   = DMA1_Channel1_IRQn,
				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
				.NVIC_IRQChannelSubPriority        = 0,
				.NVIC_IRQChannelCmd                = ENABLE,
			},
		},
		.rx = {
			.channel = DMA1_Channel1,
			.init    = {
				.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR,
				.DMA_DIR                = DMA_DIR_PeripheralSRC,
				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word,
				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Word,
				.DMA_Mode               = DMA_Mode_Circular,
				.DMA_Priority           = DMA_Priority_High,
				.DMA_M2M                = DMA_M2M_Disable,
			},
		}
	}, 
	.half_flag = DMA1_IT_HT1,
	.full_flag = DMA1_IT_TC1,
};

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

uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);

void PIOS_ADC_handler() {
	PIOS_ADC_DMA_Handler();
}

#endif	/* PIOS_INCLUDE_ADC */

#if defined(PIOS_INCLUDE_TIM)

#include "pios_tim_priv.h"

static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = {
	.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
	.TIM_ClockDivision = TIM_CKD_DIV1,
	.TIM_CounterMode = TIM_CounterMode_Up,
	.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
	.TIM_RepetitionCounter = 0x0000,
};

static const struct pios_tim_clock_cfg tim_1_cfg = {
	.timer = TIM1,
	.time_base_init = &tim_1_2_3_4_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM1_CC_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const struct pios_tim_clock_cfg tim_2_cfg = {
	.timer = TIM2,
	.time_base_init = &tim_1_2_3_4_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM2_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const struct pios_tim_clock_cfg tim_3_cfg = {
	.timer = TIM3,
	.time_base_init = &tim_1_2_3_4_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM3_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const struct pios_tim_clock_cfg tim_4_cfg = {
	.timer = TIM4,
	.time_base_init = &tim_1_2_3_4_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM4_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_6,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
	{
		.timer = TIM3,
		.timer_chan = TIM_Channel_2,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_5,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
		.remap = GPIO_PartialRemap_TIM3,
	},
	{
		.timer = TIM3,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_0,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 
	{
		.timer = TIM3,
		.timer_chan = TIM_Channel_4,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_1,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 
	{ 
		.timer = TIM2,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_0,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},  	
	{
		.timer = TIM2,
		.timer_chan = TIM_Channel_2,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_1,
				.GPIO_Mode  = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 		
};

static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_4,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_9,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_8,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_2,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_7,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 
	{
		.timer = TIM1,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_8,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 
	{
		.timer = TIM3,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_4,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
		.remap = GPIO_PartialRemap_TIM3,
	},  	
	{
		.timer = TIM2,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_2,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
};


static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = {
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_4,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_9,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_8,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_2,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_7,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
	{
		.timer = TIM1,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_8,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
	{
		.timer = TIM3,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_4,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
		.remap = GPIO_PartialRemap_TIM3,
	},
	{
		.timer = TIM2,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_2,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},

	// Receiver port pins
	// S3-S6 inputs are used as outputs in this case
	{
		.timer = TIM3,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_0,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
	{
		.timer = TIM3,
		.timer_chan = TIM_Channel_4,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin   = GPIO_Pin_1,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
	{
		.timer = TIM2,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_0,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
	{
		.timer = TIM2,
		.timer_chan = TIM_Channel_2,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin   = GPIO_Pin_1,
				.GPIO_Mode  = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
};

#endif	/* PIOS_INCLUDE_TIM */

#if defined(PIOS_INCLUDE_USART)

#include "pios_usart_priv.h"

static const struct pios_usart_cfg pios_usart_generic_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_generic_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,
    },
  },
};

#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 = 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_dsm_cfg pios_dsm_main_cfg = {
	.bind = {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin   = GPIO_Pin_10,
			.GPIO_Speed = GPIO_Speed_2MHz,
			.GPIO_Mode  = GPIO_Mode_Out_PP,
		},
	},
};

static const struct pios_usart_cfg pios_usart_dsm_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_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_PP,
		},
	},
};

#endif	/* PIOS_INCLUDE_DSM */

#if defined(PIOS_INCLUDE_SBUS)
/*
 * S.Bus 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"

#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

#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM)
/* 
 * Servo outputs 
 */
#include <pios_servo_priv.h>

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),
};

const struct pios_servo_cfg pios_servo_rcvr_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_rcvrport_pins,
	.num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins),
};

#endif	/* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */

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

const struct pios_ppm_cfg pios_ppm_cfg = {
	.tim_ic_init = {
		.TIM_ICPolarity = TIM_ICPolarity_Rising,
		.TIM_ICSelection = TIM_ICSelection_DirectTI,
		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
		.TIM_ICFilter = 0x0,
	},
	/* Use only the first channel for ppm */
	.channels = &pios_tim_rcvrport_all_channels[0],
	.num_channels = 1,
};

#endif	/* PIOS_INCLUDE_PPM */

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

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

#if defined(PIOS_INCLUDE_I2C)

#include <pios_i2c_priv.h>

/*
 * I2C Adapters
 */

void PIOS_I2C_flexi_adapter_ev_irq_handler(void);
void PIOS_I2C_flexi_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexi_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexi_adapter_er_irq_handler")));

static const struct pios_i2c_adapter_cfg pios_i2c_flexi_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_flexi_adapter_id;
void PIOS_I2C_flexi_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_flexi_adapter_id);
}

void PIOS_I2C_flexi_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_flexi_adapter_id);
}

#endif /* PIOS_INCLUDE_I2C */

#if defined(PIOS_INCLUDE_GCSRCVR)
#include "pios_gcsrcvr_priv.h"
#endif	/* PIOS_INCLUDE_GCSRCVR */

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

#endif /* PIOS_INCLUDE_RCVR */

#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"

static const struct pios_usb_cfg pios_usb_main_cfg = {
  .irq = {
    .init    = {
      .NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
      .NVIC_IRQChannelSubPriority        = 0,
      .NVIC_IRQChannelCmd                = ENABLE,
    },
  },
};

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

#endif	/* PIOS_INCLUDE_USB */

#if defined(PIOS_INCLUDE_COM_MSG)

#include <pios_com_msg_priv.h>

#endif /* PIOS_INCLUDE_COM_MSG */

#if defined(PIOS_INCLUDE_USB_HID)
#include <pios_usb_hid_priv.h>

const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
	.data_if = 2,
	.data_rx_ep = 1,
	.data_tx_ep = 1,
};

#endif /* PIOS_INCLUDE_USB_HID */

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

const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
	.ctrl_if = 0,
	.ctrl_tx_ep = 2,

	.data_if = 1,
	.data_rx_ep = 3,
	.data_tx_ep = 3,
};
#endif	/* PIOS_INCLUDE_USB_CDC */