#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 = GPIOC,
			.init = {
				.GPIO_Pin   = GPIO_Pin_12,
				.GPIO_Mode  = GPIO_Mode_Out_PP,
				.GPIO_Speed = GPIO_Speed_50MHz,
			},
		},
	},
	[PIOS_LED_ALARM] = {
		.pin = {
			.gpio = GPIOC,
			.init = {
				.GPIO_Pin   = GPIO_Pin_13,
				.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>

/* MicroSD 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_sdcard_irq_handler(void);
void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
static const struct pios_spi_cfg pios_spi_sdcard_cfg = {
  .regs   = SPI1,
  .init   = {
    .SPI_Mode              = SPI_Mode_Master,
    .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
    .SPI_DataSize          = SPI_DataSize_8b,
    .SPI_NSS               = SPI_NSS_Soft,
    .SPI_FirstBit          = SPI_FirstBit_MSB,
    .SPI_CRCPolynomial     = 7,
    .SPI_CPOL              = SPI_CPOL_High,
    .SPI_CPHA              = SPI_CPHA_2Edge,
    .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, /* Maximum divider (ie. slowest clock rate) */
  },
  .dma = {
    .ahb_clk  = RCC_AHBPeriph_DMA1,
    
    .irq = {
      .flags   = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
      .init    = {
	.NVIC_IRQChannel                   = DMA1_Channel2_IRQn,
	.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
	.NVIC_IRQChannelSubPriority        = 0,
	.NVIC_IRQChannelCmd                = ENABLE,
      },
    },
    
    .rx = {
      .channel = DMA1_Channel2,
      .init    = {
	.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
	.DMA_DIR                = DMA_DIR_PeripheralSRC,
	.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
	.DMA_MemoryInc          = DMA_MemoryInc_Enable,
	.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
	.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
	.DMA_Mode               = DMA_Mode_Normal,
	.DMA_Priority           = DMA_Priority_Medium,
	.DMA_M2M                = DMA_M2M_Disable,
      },
    },
    .tx = {
      .channel = DMA1_Channel3,
      .init    = {
	.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
	.DMA_DIR                = DMA_DIR_PeripheralDST,
	.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
	.DMA_MemoryInc          = DMA_MemoryInc_Enable,
	.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
	.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
	.DMA_Mode               = DMA_Mode_Normal,
	.DMA_Priority           = DMA_Priority_Medium,
	.DMA_M2M                = DMA_M2M_Disable,
      },
    },
  },
  .ssel = {
    .gpio = GPIOA,
    .init = {
      .GPIO_Pin   = GPIO_Pin_4,
      .GPIO_Speed = GPIO_Speed_50MHz,
      .GPIO_Mode  = GPIO_Mode_Out_PP,
    },
  },
  .sclk = {
    .gpio = GPIOA,
    .init = {
      .GPIO_Pin   = GPIO_Pin_5,
      .GPIO_Speed = GPIO_Speed_50MHz,
      .GPIO_Mode  = GPIO_Mode_AF_PP,
    },
  },
  .miso = {
    .gpio = GPIOA,
    .init = {
      .GPIO_Pin   = GPIO_Pin_6,
      .GPIO_Speed = GPIO_Speed_50MHz,
      .GPIO_Mode  = GPIO_Mode_IPU,
    },
  },
  .mosi = {
    .gpio = GPIOA,
    .init = {
      .GPIO_Pin   = GPIO_Pin_7,
      .GPIO_Speed = GPIO_Speed_50MHz,
      .GPIO_Mode  = GPIO_Mode_AF_PP,
    },
  },
};

/* AHRS 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_ahrs_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
static const struct pios_spi_cfg pios_spi_ahrs_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_16, 
  },
  .use_crc = TRUE,
  .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_sdcard_id;
void PIOS_SPI_sdcard_irq_handler(void)
{
  /* Call into the generic code to handle the IRQ for this specific device */
	PIOS_SPI_IRQ_Handler(pios_spi_sdcard_id);
}

uint32_t pios_spi_ahrs_id;
void PIOS_SPI_ahrs_irq_handler(void)
{
  /* Call into the generic code to handle the IRQ for this specific device */
	PIOS_SPI_IRQ_Handler(pios_spi_ahrs_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_LOW,
				.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_Low,
				.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_4_8_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_4_cfg = {
	.timer = TIM4,
	.time_base_init = &tim_4_8_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_clock_cfg tim_8_cfg = {
	.timer = TIM8,
	.time_base_init = &tim_4_8_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM8_CC_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

static const TIM_TimeBaseInitTypeDef tim_1_3_5_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_3_5_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_3_cfg = {
	.timer = TIM3,
	.time_base_init = &tim_1_3_5_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_1_3_5_time_base,
	.irq = {
		.init = {
			.NVIC_IRQChannel                   = TIM5_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
			.NVIC_IRQChannelSubPriority        = 0,
			.NVIC_IRQChannelCmd                = ENABLE,
		},
	},
};

#endif	/* PIOS_INCLUDE_TIM */

#if defined(PIOS_INCLUDE_USART)

#include "pios_usart_priv.h"

/*
 * Telemetry USART
 */
static const struct pios_usart_cfg pios_usart_telem_cfg = {
  .regs  = USART2,
  .init = {
    .USART_BaudRate            = 57600,
    .USART_WordLength          = USART_WordLength_8b,
    .USART_Parity              = USART_Parity_No,
    .USART_StopBits            = USART_StopBits_1,
    .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
    .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
  },
  .irq = {
    .init    = {
      .NVIC_IRQChannel                   = USART2_IRQn,
      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
      .NVIC_IRQChannelSubPriority        = 0,
      .NVIC_IRQChannelCmd                = ENABLE,
    },
  },
  .rx   = {
    .gpio = GPIOA,
    .init = {
      .GPIO_Pin   = GPIO_Pin_3,
      .GPIO_Speed = GPIO_Speed_2MHz,
      .GPIO_Mode  = GPIO_Mode_IPU,
    },
  },
  .tx   = {
    .gpio = GPIOA,
    .init = {
      .GPIO_Pin   = GPIO_Pin_2,
      .GPIO_Speed = GPIO_Speed_2MHz,
      .GPIO_Mode  = GPIO_Mode_AF_PP,
    },
  },
};

/*
 * GPS USART
 */
static const struct pios_usart_cfg pios_usart_gps_cfg = {
  .regs = USART3,
  .remap = GPIO_PartialRemap_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 = GPIOC,
    .init = {
      .GPIO_Pin   = GPIO_Pin_11,
      .GPIO_Speed = GPIO_Speed_2MHz,
      .GPIO_Mode  = GPIO_Mode_IPU,
    },
  },
  .tx   = {
    .gpio = GPIOC,
    .init = {
      .GPIO_Pin   = GPIO_Pin_10,
      .GPIO_Speed = GPIO_Speed_2MHz,
      .GPIO_Mode  = GPIO_Mode_AF_PP,
    },
  },
};

#ifdef PIOS_COM_AUX
/*
 * AUX USART
 */
static const struct pios_usart_cfg pios_usart_aux_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,
    },
  },
  .remap = GPIO_Remap_USART1,
  .rx   = {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_7,
      .GPIO_Speed = GPIO_Speed_2MHz,
      .GPIO_Mode  = GPIO_Mode_IPU,
    },
  },
  .tx   = {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_6,
      .GPIO_Speed = GPIO_Speed_2MHz,
      .GPIO_Mode  = GPIO_Mode_AF_PP,
    },
  },
};
#endif

#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_DSM)
/*
 * Spektrum/JR DSM USART
 */
#include <pios_dsm_priv.h>

static const struct pios_usart_cfg pios_usart_dsm_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_cfg = {
	.bind = {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin   = GPIO_Pin_10,
			.GPIO_Speed = GPIO_Speed_2MHz,
			.GPIO_Mode  = GPIO_Mode_Out_PP,
		},
	},
};

#endif	/* PIOS_COM_DSM */

#if defined(PIOS_INCLUDE_SBUS)
#error PIOS_INCLUDE_SBUS not implemented
#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_SERVO) && defined(PIOS_INCLUDE_TIM)

/**
 * Pios servo configuration structures
 */
#include <pios_servo_priv.h>
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
	{
		.timer = TIM4,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin = GPIO_Pin_6,
				.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 = 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_4,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin = GPIO_Pin_9,
				.GPIO_Mode = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 
	{
		.timer = TIM8,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOC,
			.init = {
				.GPIO_Pin = GPIO_Pin_6,
				.GPIO_Mode = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 
	{
		.timer = TIM8,
		.timer_chan = TIM_Channel_2,
		.pin = {
			.gpio = GPIOC,
			.init = {
				.GPIO_Pin = GPIO_Pin_7,
				.GPIO_Mode = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 
	{
		.timer = TIM8,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOC,
			.init = {
				.GPIO_Pin = GPIO_Pin_8,
				.GPIO_Mode = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 
	{
		.timer = TIM8,
		.timer_chan = TIM_Channel_4,
		.pin = {
			.gpio = GPIOC,
			.init = {
				.GPIO_Pin = GPIO_Pin_9,
				.GPIO_Mode = GPIO_Mode_AF_PP,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 	
};

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),
};

#endif	/* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */

/* 
 * 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 = TIM1,
		.timer_chan = TIM_Channel_2,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin = GPIO_Pin_9,
				.GPIO_Mode = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	},
	{
		.timer = TIM1,
		.timer_chan = TIM_Channel_3,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin = GPIO_Pin_10,
				.GPIO_Mode = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
	}, 
	{
		.timer = TIM5,
		.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 = TIM1,
		.timer_chan = TIM_Channel_1,
		.pin = {
			.gpio = GPIOA,
			.init = {
				.GPIO_Pin = GPIO_Pin_8,
				.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 = 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_1,
		.pin = {
			.gpio = GPIOB,
			.init = {
				.GPIO_Pin = GPIO_Pin_4,
				.GPIO_Mode = GPIO_Mode_IPD,
				.GPIO_Speed = GPIO_Speed_2MHz,
			},
		},
		.remap = GPIO_PartialRemap_TIM3,
	}, 		
	{
		.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,
	}, 		
};

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_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)
{
#ifdef I2C_DEBUG_PIN
	PIOS_DEBUG_PinHigh(I2C_DEBUG_PIN);
#endif
	/* Call into the generic code to handle the IRQ for this specific device */
	PIOS_I2C_EV_IRQ_Handler(pios_i2c_main_adapter_id);
#ifdef I2C_DEBUG_PIN
	PIOS_DEBUG_PinLow(I2C_DEBUG_PIN);
#endif
}

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_ENABLE_DEBUG_PINS)

static const struct stm32_gpio pios_debug_pins[] = {
  #define PIOS_DEBUG_PIN_SERVO_1 0
  {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_6,
      .GPIO_Speed = GPIO_Speed_50MHz,
      .GPIO_Mode  = GPIO_Mode_Out_PP,
    },
  },
  #define PIOS_DEBUG_PIN_SERVO_2 1
  {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_7,
      .GPIO_Speed = GPIO_Speed_50MHz,
      .GPIO_Mode  = GPIO_Mode_Out_PP,
    },
  },
  #define PIOS_DEBUG_PIN_SERVO_3 2
  {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_8,
      .GPIO_Speed = GPIO_Speed_50MHz,
      .GPIO_Mode  = GPIO_Mode_Out_PP,
    },
  },
  #define PIOS_DEBUG_PIN_SERVO_4 3
  {
    .gpio = GPIOB,
    .init = {
      .GPIO_Pin   = GPIO_Pin_9,
      .GPIO_Speed = GPIO_Speed_50MHz,
      .GPIO_Mode  = GPIO_Mode_Out_PP,
    },
  },
  #define PIOS_DEBUG_PIN_SERVO_5 4
  {
    .gpio = GPIOC,
    .init = {
      .GPIO_Pin   = GPIO_Pin_6,
      .GPIO_Speed = GPIO_Speed_50MHz,
      .GPIO_Mode  = GPIO_Mode_Out_PP,
    },
  },
  #define PIOS_DEBUG_PIN_SERVO_6 5
  {
    .gpio = GPIOC,
    .init = {
      .GPIO_Pin   = GPIO_Pin_7,
      .GPIO_Speed = GPIO_Speed_50MHz,
      .GPIO_Mode  = GPIO_Mode_Out_PP,
    },
  },
  #define PIOS_DEBUG_PIN_SERVO_7 6
  {
    .gpio = GPIOC,
    .init = {
      .GPIO_Pin   = GPIO_Pin_8,
      .GPIO_Speed = GPIO_Speed_50MHz,
      .GPIO_Mode  = GPIO_Mode_Out_PP,
    },
  },
  #define PIOS_DEBUG_PIN_SERVO_8 7
  {
    .gpio = GPIOC,
    .init = {
      .GPIO_Pin   = GPIO_Pin_9,
      .GPIO_Speed = GPIO_Speed_50MHz,
      .GPIO_Mode  = GPIO_Mode_Out_PP,
    },
  },
};

#endif /* PIOS_ENABLE_DEBUG_PINS */

#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 = 0,
	.data_rx_ep = 1,
	.data_tx_ep = 1,
};

#endif	/* PIOS_INCLUDE_USB_HID */

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

const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
	.ctrl_if = 1,
	.ctrl_tx_ep = 2,

	.data_if = 2,
	.data_rx_ep = 3,
	.data_tx_ep = 3,
};
#endif	/* PIOS_INCLUDE_USB_CDC */