/****************************************************************************
 *
 *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file board_config.h
 *
 * PX4FMU-v5 internal definitions
 */

#pragma once

/****************************************************************************************************
 * Included Files
 ****************************************************************************************************/

#include <px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>

#include <stm32_gpio.h>

/****************************************************************************************************
 * Definitions
 ****************************************************************************************************/

/* PX4IO connection configuration */

#define BOARD_USES_PX4IO_VERSION       2
#define PX4IO_SERIAL_DEVICE     "/dev/ttyS6"
#define PX4IO_SERIAL_TX_GPIO    GPIO_UART8_TX
#define PX4IO_SERIAL_RX_GPIO    GPIO_UART8_RX
#define PX4IO_SERIAL_BASE       STM32_UART8_BASE	/* hardwired on the board */
#define PX4IO_SERIAL_VECTOR     STM32_IRQ_UART8
#define PX4IO_SERIAL_TX_DMAMAP  DMAMAP_UART8_TX
#define PX4IO_SERIAL_RX_DMAMAP  DMAMAP_UART8_RX
#define PX4IO_SERIAL_RCC_REG	STM32_RCC_APB1ENR
#define PX4IO_SERIAL_RCC_EN	RCC_APB1ENR_UART8EN
#define PX4IO_SERIAL_CLOCK      STM32_PCLK1_FREQUENCY
#define PX4IO_SERIAL_BITRATE    1500000			/* 1.5Mbps -> max rate for IO */

/* Configuration ************************************************************************************/

/* Un-comment to support some RC00 polarities inversions
 * on test HW as well as R and G LEDs on UI LED are swapped
 */
//#define PX4_FMUV5_RC00

#define PX4_FMUV5_RC01
#define BOARD_HAS_LTC4417

#if defined(BOARD_HAS_LTC4417)
#  define BOARD_HAS_LTC44XX_VALIDS      2 // No LTC or N Bricks
#  define BOARD_HAS_USB_VALID           1 // LTC Has No USB valid
#  define BOARD_HAS_NBAT_V              2 // Only one Vbat to ADC
#  define BOARD_HAS_NBAT_I              2 // No Ibat ADC
#else
#  define BOARD_HAS_LTC44XX_VALIDS      0 // No LTC or N Bricks
#  define BOARD_HAS_USB_VALID           0 // LTC Has No USB valid
#  define BOARD_HAS_NBAT_V              1 // Only one Vbat to ADC
#  define BOARD_HAS_NBAT_I              0 // No Ibat ADC
#endif

/* PX4FMU GPIOs ***********************************************************************************/

/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */

#define GPIO_nLED_RED        /* PB1 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_nLED_GREEN      /* PC6 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
#define GPIO_nLED_BLUE       /* PC7 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)


/* SENSORS are on SPI1, 5, 6
 * MEMORY is on bus SPI2
 * MS5611 is on bus SPI4
 */

#define PX4_SPI_BUS_SENSORS   1
#define PX4_SPI_BUS_MEMORY    2
#define PX4_SPI_BUS_BARO      4
#define PX4_SPI_BUS_EXTERNAL1 5
#define PX4_SPI_BUS_EXTERNAL2 6

/*  Define the Chip Selects, Data Ready and Control signals per SPI bus */

/* SPI 1 CS */

#define GPIO_SPI1_CS1_ICM20689    /* PF2 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN2)
#define GPIO_SPI1_CS2_ICM20602    /* PF3 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN3)
#define GPIO_SPI1_CS3_BMI055_GYRO /* PF4 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
#define GPIO_SPI1_CS4_BMI055_ACC  /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)

/*  Define the SPI1 Data Ready interrupts */

#define GPIO_SPI1_DRDY1_ICM20689    /* PB4 */   (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
#define GPIO_SPI1_DRDY2_BMI055_GYRO /* PB14 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN14)
#define GPIO_SPI1_DRDY3_BMI055_ACC  /* PB15 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN15)
#define GPIO_SPI1_DRDY4_ICM20602    /* PC5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN5)
#define GPIO_SPI1_DRDY5_BMI055_GYRO /* PC13 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPI1_DRDY6_BMI055_ACC  /* PD10 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN10)

/* SPI1 off */

#define GPIO_SPI1_SCK_OFF	_PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF	_PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF	_PIN_OFF(GPIO_SPI1_MOSI)

#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689    _PIN_OFF(GPIO_SPI1_DRDY1_ICM20689)
#define GPIO_DRDY_OFF_SPI1_DRDY2_BMI055_GYRO _PIN_OFF(GPIO_SPI1_DRDY2_BMI055_GYRO)
#define GPIO_DRDY_OFF_SPI1_DRDY3_BMI055_ACC  _PIN_OFF(GPIO_SPI1_DRDY3_BMI055_ACC)
#define GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602    _PIN_OFF(GPIO_SPI1_DRDY4_ICM20602)
#define GPIO_DRDY_OFF_SPI1_DRDY5_BMI055_GYRO _PIN_OFF(GPIO_SPI1_DRDY5_BMI055_GYRO)
#define GPIO_DRDY_OFF_SPI1_DRDY6_BMI055_ACC  _PIN_OFF(GPIO_SPI1_DRDY6_BMI055_ACC)

/* SPI 2 CS */

#define GPIO_SPI2_CS_FRAM         /* PF5 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN5)

/* SPI 4 CS */

#define GPIO_SPI4_CS1_MS5611      /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
#define GPIO_SPI4_CS2             /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN11)

/* SPI 5 CS */

#define SPI5_CS1_EXTERNAL1     /* PI4  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN4)
#define SPI5_CS2_EXTERNAL1     /* PI10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
#define SPI5_CS3_EXTERNAL1     /* PI11 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN11)

/*  Define the SPI1 Data Ready and Control signals */

#define GPIO_SPI5_DRDY7_EXTERNAL1   /* PD15 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
#define GPIO_nSPI5_RESET_EXTERNAL1  /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
#define GPIO_SPI5_SYNC_EXTERNAL1    /* PH15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|PORTH|PIN15)

/* SPI 6 */

#define SPI6_CS1_EXTERNAL2     /* PI6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6)
#define SPI6_CS2_EXTERNAL2     /* PI7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7)
#define SPI6_CS3_EXTERNAL2     /* PI8  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN8)
#define SPIAUX_CS_MEM          /* PH5  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)


/*
 *  Define the ability to shut off off the sensor signals
 *  by changing the signals to inputs
 */

#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))


#define GPIO_DRDY_OFF_SPI5_DRDY7_EXTERNAL1   _PIN_OFF(GPIO_SPI5_DRDY7_EXTERNAL1)


/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
#define PX4_SPI_BUS_RAMTRON  PX4_SPI_BUS_MEMORY
#define PX4_SPIDEV_BMA 0
#define PX4_SPIDEV_BMI 0
/* ^ END Legacy SPI defines TODO: fix this with enumeration */


#define PX4_SPIDEV_ICM_20689      PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
#define PX4_SPIDEV_ICM_20602      PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
#define PX4_SPIDEV_BMI055_GYR     PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
#define PX4_SPIDEV_BMI055_ACC     PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3)

#define PX4_SENSOR_BUS_CS_GPIO    {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS2_ICM20602, GPIO_SPI1_CS3_BMI055_GYRO, GPIO_SPI1_CS4_BMI055_ACC}
#define PX4_SENSORS_BUS_FIRST_CS  PX4_SPIDEV_ICM_20689
#define PX4_SENSORS_BUS_LAST_CS   PX4_SPIDEV_BMI055_ACC

#define PX4_SPIDEV_MEMORY         PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
#define PX4_MEMORY_BUS_CS_GPIO    {GPIO_SPI2_CS_FRAM}
#define PX4_MEMORY_BUS_FIRST_CS   PX4_SPIDEV_MEMORY
#define PX4_MEMORY_BUS_LAST_CS    PX4_SPIDEV_MEMORY

#define PX4_SPIDEV_BARO           PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,0)
#define PX4_SPIDEV_SPI4_CS2       PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,1)
#define PX4_BARO_BUS_CS_GPIO      {GPIO_SPI4_CS1_MS5611, GPIO_SPI4_CS2}
#define PX4_BARO_BUS_FIRST_CS     PX4_SPIDEV_BARO
#define PX4_BARO_BUS_LAST_CS      PX4_SPIDEV_SPI4_CS2

#define PX4_SPIDEV_EXTERNAL1_1      PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0)
#define PX4_SPIDEV_EXTERNAL1_2      PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,1)
#define PX4_SPIDEV_EXTERNAL1_3      PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,2)
#define PX4_EXTERNAL1_BUS_CS_GPIO  {SPI5_CS1_EXTERNAL1, SPI5_CS2_EXTERNAL1, SPI5_CS3_EXTERNAL1}
#define PX4_EXTERNAL1_BUS_FIRST_CS  PX4_SPIDEV_EXTERNAL1_1
#define PX4_EXTERNAL1_BUS_LAST_CS   PX4_SPIDEV_EXTERNAL1_3

#define PX4_SPIDEV_EXTERNAL2_1      PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,0)
#define PX4_SPIDEV_EXTERNAL2_2      PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,1)
#define PX4_SPIDEV_EXTERNAL2_3      PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,2)
#define PX4_SPIDEV_AUX_MEM          PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,3)
#define PX4_EXTERNAL2_BUS_CS_GPIO  {SPI6_CS1_EXTERNAL2, SPI6_CS2_EXTERNAL2, SPI6_CS3_EXTERNAL2, SPIAUX_CS_MEM}
#define PX4_EXTERNAL2_BUS_FIRST_CS  PX4_SPIDEV_EXTERNAL2_1
#define PX4_EXTERNAL2_BUS_LAST_CS   PX4_SPIDEV_AUX_MEM


/* I2C busses */

#define PX4_I2C_BUS_EXPANSION	1
#define PX4_I2C_BUS_EXPANSION1	2
#define PX4_I2C_BUS_EXPANSION2	3
#define PX4_I2C_BUS_EXPANSION3	4
#define PX4_I2C_BUS_LED			PX4_I2C_BUS_EXPANSION
#define PX4_I2C_BUS_ONBOARD	PX4_I2C_BUS_EXPANSION2

#define BOARD_NUMBER_I2C_BUSES  4
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}

/*
 * ADC channels
 *
 * These are the channel numbers of the ADCs of the microcontroller that
 * can be used by the Px4 Firmware in the adc driver
 */

/* ADC defines to be used in sensors.cpp to read from a particular channel */

#define ADC1_CH(n)                      (n)
#define ADC1_GPIO(n)                    GPIO_ADC1_IN##n

/* Define GPIO pins used as ADC N.B. Channel numbers must match below */

#define PX4_ADC_GPIO  \
	/* PA0 */  ADC1_GPIO(0),  \
	/* PA1 */  ADC1_GPIO(1),  \
	/* PA2 */  ADC1_GPIO(2),  \
	/* PA3 */  ADC1_GPIO(3),  \
	/* PA4 */  ADC1_GPIO(4),  \
	/* PB8 */  ADC1_GPIO(8),  \
	/* PC0 */  ADC1_GPIO(10), \
	/* PC1 */  ADC1_GPIO(11), \
	/* PC2 */  ADC1_GPIO(12), \
	/* PC3 */  ADC1_GPIO(13), \
	/* PC4 */  ADC1_GPIO(14)

/* Define Channel numbers must match above GPIO pin IN(n)*/

#define ADC_BATTERY1_VOLTAGE_CHANNEL        /* PA0 */  ADC1_CH(0)
#define ADC_BATTERY1_CURRENT_CHANNEL        /* PA1 */  ADC1_CH(1)
#define ADC_BATTERY2_VOLTAGE_CHANNEL        /* PA2 */  ADC1_CH(2)
#define ADC_BATTERY2_CURRENT_CHANNEL        /* PA3 */  ADC1_CH(3)
#define ADC1_SPARE_2_CHANNEL                /* PA4 */  ADC1_CH(4)
#define ADC_RSSI_IN_CHANNEL                 /* PB0 */  ADC1_CH(8)
#define ADC_SCALED_V5_CHANNEL               /* PC0 */  ADC1_CH(10)
#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL  /* PC1 */  ADC1_CH(11)
#define ADC_HW_VER_SENSE_CHANNEL            /* PC2 */  ADC1_CH(12)
#define ADC_HW_REV_SENSE_CHANNEL            /* PC3 */  ADC1_CH(13)
#define ADC1_SPARE_1_CHANNEL                /* PC4 */  ADC1_CH(14)

#if BOARD_HAS_NBAT_V == 2 && BOARD_HAS_NBAT_I == 2
#define ADC_CHANNELS \
	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL)       | \
	 (1 << ADC_BATTERY1_CURRENT_CHANNEL)       | \
	 (1 << ADC_BATTERY2_VOLTAGE_CHANNEL)       | \
	 (1 << ADC_BATTERY2_CURRENT_CHANNEL)       | \
	 (1 << ADC1_SPARE_2_CHANNEL)               | \
	 (1 << ADC_RSSI_IN_CHANNEL)                | \
	 (1 << ADC_SCALED_V5_CHANNEL)              | \
	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
	 (1 << ADC1_SPARE_1_CHANNEL))
#elif BOARD_HAS_NBAT_V == 1 && BOARD_HAS_NBAT_I == 1
#define ADC_CHANNELS \
	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL)       | \
	 (1 << ADC_BATTERY1_CURRENT_CHANNEL)       | \
	 (1 << ADC1_SPARE_2_CHANNEL)               | \
	 (1 << ADC_RSSI_IN_CHANNEL)                | \
	 (1 << ADC_SCALED_V5_CHANNEL)              | \
	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
	 (1 << ADC1_SPARE_1_CHANNEL))
#elif BOARD_HAS_NBAT_V == 1 && BOARD_HAS_NBAT_I == 0
#define ADC_CHANNELS \
	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL)       | \
	 (1 << ADC1_SPARE_2_CHANNEL)               | \
	 (1 << ADC_RSSI_IN_CHANNEL)                | \
	 (1 << ADC_SCALED_V5_CHANNEL)              | \
	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
	 (1 << ADC1_SPARE_1_CHANNEL))
#endif

/* Define Battery 1 Voltage Divider and A per V
 */

#define BOARD_BATTERY1_V_DIV         (10.133333333f)
#define BOARD_BATTERY1_A_PER_V       (36.367515152f)

/* HW has to large of R termination on ADC todo:change when HW value is chosen */

#define BOARD_ADC_OPEN_CIRCUIT_V               (5.6f)

/* HW Version and Revision drive signals Default to 1 to detect */

#define BOARD_HAS_HW_VERSIONING

#define GPIO_HW_REV_DRIVE    /* PH14  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14)
#define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
#define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
#define HW_INFO_INIT {'V','5','x', 'x',0}
#define HW_INFO_INIT_REV       2
#define HW_INFO_INIT_VER            3
/* CAN Silence
 *
 * Silent mode control \ ESC Mux select
 */

#define GPIO_CAN1_SILENT_S0  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
#define GPIO_CAN2_SILENT_S1  /* PH3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
#define GPIO_CAN3_SILENT_S2  /* PH4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN4)

/* HEATER
 * PWM in future
 */
#define GPIO_HEATER        /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)

/* PWM Capture
 *
 * 3  PWM Capture inputs are configured.
 *
 * Pins:
 *
 * FMU_CAP1 : PA5  : TIM2_CH1
 * FMU_CAP2 : PB3  : TIM2_CH2
 * FMU_CAP3 : PB11 : TIM2_CH4
 */
#define GPIO_TIM2_CH1_IN     /* PA5   T22C1  FMU_CAP1 */ GPIO_TIM2_CH1IN_3
#define GPIO_TIM2_CH2_IN     /* PB3   T22C2  FMU_CAP2 */ GPIO_TIM2_CH2IN_2
#define GPIO_TIM2_CH4_IN     /* PB11  T22C4  FMU_CAP3 */ GPIO_TIM2_CH4IN_2

#define DIRECT_PWM_CAPTURE_CHANNELS  3

/* TIM5_CH4 SPARE PIN */
#define GPIO_TIM5_CH4IN    /* PI0   T5C4  TIM5_SPARE_4 */	GPIO_TIM5_CH4IN_2
#define GPIO_TIM5_CH4OUT   /* PI0   T5C4  TIM5_SPARE_4 */   GPIO_TIM5_CH4OUT_2

/* PWM
 *
 * 8  PWM outputs are configured.
 *
 * Pins:
 *
 * FMU_CH1 : PE14 : TIM1_CH4
 * FMU_CH2 : PA10 : TIM1_CH3
 * FMU_CH3 : PE11 : TIM1_CH2
 * FMU_CH4 : PE9  : TIM1_CH1
 * FMU_CH5 : PD13 : TIM4_CH2
 * FMU_CH6 : PD14 : TIM4_CH3
 * FMU_CH7 : PH6  : TIM12_CH1
 * FMU_CH8 : PH9  : TIM12_CH2
 *
 */
#define GPIO_TIM12_CH2OUT     /* PH9   T12C2  FMU8 */ GPIO_TIM12_CH2OUT_2
#define GPIO_TIM12_CH1OUT     /* PH6   T12C1  FMU7 */ GPIO_TIM12_CH1OUT_2
#define GPIO_TIM4_CH3OUT      /* PD14  T4C3   FMU6 */ GPIO_TIM4_CH3OUT_2
#define GPIO_TIM4_CH2OUT      /* PD13  T4C2   FMU5 */ GPIO_TIM4_CH2OUT_2
#define GPIO_TIM1_CH1OUT      /* PE9   T1C1   FMU4 */ GPIO_TIM1_CH1OUT_2
#define GPIO_TIM1_CH2OUT      /* PE11  T1C2   FMU3 */ GPIO_TIM1_CH2OUT_2
#define GPIO_TIM1_CH3OUT      /* PA10  T1C3   FMU2 */ GPIO_TIM1_CH3OUT_1
#define GPIO_TIM1_CH4OUT      /* PE14  T1C4   FMU1 */ GPIO_TIM1_CH4OUT_2

#define DIRECT_PWM_OUTPUT_CHANNELS  8

#define GPIO_TIM12_CH2IN      /* PH9   T12C2  FMU8 */ GPIO_TIM12_CH2IN_2
#define GPIO_TIM12_CH1IN      /* PH6   T12C1  FMU7 */ GPIO_TIM12_CH1IN_2
#define GPIO_TIM4_CH3IN       /* PD14  T4C3   FMU6 */ GPIO_TIM4_CH3IN_2
#define GPIO_TIM4_CH2IN       /* PD13  T4C2   FMU5 */ GPIO_TIM4_CH2IN_2
#define GPIO_TIM1_CH1IN       /* PE9   T1C1   FMU4 */ GPIO_TIM1_CH1IN_2
#define GPIO_TIM1_CH2IN       /* PE11  T1C2   FMU3 */ GPIO_TIM1_CH2IN_2
#define GPIO_TIM1_CH3IN       /* PA10  T1C3   FMU2 */ GPIO_TIM1_CH3IN_1
#define GPIO_TIM1_CH4IN       /* PE14  T1C4   FMU1 */ GPIO_TIM1_CH4IN_2

#define DIRECT_INPUT_TIMER_CHANNELS  8

#define BOARD_HAS_LED_PWM              1
#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1

#define LED_TIM3_CH1OUT   /* PC6   T3C1  GREEN */ GPIO_TIM3_CH1OUT_3
#define LED_TIM3_CH2OUT   /* PC7   T3C2  BLUE  */ GPIO_TIM3_CH2OUT_3
#define LED_TIM3_CH4OUT   /* PB1   T3C4  RED   */ GPIO_TIM3_CH4OUT_1

#define BOARD_HAS_UI_LED_PWM            1
#if defined(PX4_FMUV5_RC00)
# define BOARD_UI_LED_SWAP_RG           1
#else
#  define BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW 1
#endif
#define UI_LED_TIM5_CH1OUT /* PH10  T5C1  RED   */ GPIO_TIM5_CH1OUT_2
#define UI_LED_TIM5_CH2OUT /* PH11  T5C2  GREEN */ GPIO_TIM5_CH2OUT_2
#define UI_LED_TIM5_CH3OUT /* PH12  T5C3  BLUE  */ GPIO_TIM5_CH3OUT_2


/* User GPIOs
 *
 * GPIO0-5 are the PWM servo outputs.
 */

#define _MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))

#define GPIO_GPIO7_INPUT        /* PH9   T12C2  FMU8 */ _MK_GPIO_INPUT(GPIO_TIM12_CH2IN)
#define GPIO_GPIO6_INPUT        /* PH6   T12C1  FMU7 */ _MK_GPIO_INPUT(GPIO_TIM12_CH1IN)
#define GPIO_GPIO5_INPUT        /* PD14  T4C3   FMU6 */ _MK_GPIO_INPUT(GPIO_TIM4_CH3IN)
#define GPIO_GPIO4_INPUT        /* PD13  T4C2   FMU5 */ _MK_GPIO_INPUT(GPIO_TIM4_CH2IN)
#define GPIO_GPIO3_INPUT        /* PE9   T1C1   FMU4 */ _MK_GPIO_INPUT(GPIO_TIM1_CH1IN)
#define GPIO_GPIO2_INPUT        /* PE11  T1C2   FMU3 */ _MK_GPIO_INPUT(GPIO_TIM1_CH2IN)
#define GPIO_GPIO1_INPUT        /* PA10  T1C3   FMU2 */ _MK_GPIO_INPUT(GPIO_TIM1_CH3IN)
#define GPIO_GPIO0_INPUT        /* PE14  T1C4   FMU1 */ _MK_GPIO_INPUT(GPIO_TIM1_CH4IN)

#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))

#define GPIO_GPIO7_OUTPUT        /* PH9   T12C2  FMU8 */ _MK_GPIO_OUTPUT(GPIO_TIM12_CH2OUT)
#define GPIO_GPIO6_OUTPUT        /* PH6   T12C1  FMU7 */ _MK_GPIO_OUTPUT(GPIO_TIM12_CH1OUT)
#define GPIO_GPIO5_OUTPUT        /* PD14  T4C3   FMU6 */ _MK_GPIO_OUTPUT(GPIO_TIM4_CH3OUT)
#define GPIO_GPIO4_OUTPUT        /* PD13  T4C2   FMU5 */ _MK_GPIO_OUTPUT(GPIO_TIM4_CH2OUT)
#define GPIO_GPIO3_OUTPUT        /* PE9   T1C1   FMU4 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
#define GPIO_GPIO2_OUTPUT        /* PE11  T1C2   FMU3 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH2OUT)
#define GPIO_GPIO1_OUTPUT        /* PA10  T1C3   FMU2 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH3OUT)
#define GPIO_GPIO0_OUTPUT        /* PE14  T1C4   FMU1 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH4OUT)


/* Power supply control and monitoring GPIOs */

#define GPIO_nPOWER_IN_A                /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
#define GPIO_nPOWER_IN_B                /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
#define GPIO_nPOWER_IN_C                /* PG3  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3)

#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
#define BOARD_NUMBER_BRICKS             2
#define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */

#if defined(PX4_FMUV5_RC00)
#  define GPIO_VDD_5V_PERIPH_EN         /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN4)
#  define GPIO_xVDD_5V_PERIPH_EN                   GPIO_VDD_5V_PERIPH_EN
#endif
#if defined(PX4_FMUV5_RC01)
#  define GPIO_nVDD_5V_PERIPH_EN         /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
#  define GPIO_xVDD_5V_PERIPH_EN                    GPIO_nVDD_5V_PERIPH_EN
#endif
#define GPIO_nVDD_5V_PERIPH_OC          /* PE15 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
#define GPIO_nVDD_5V_HIPOWER_EN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
#define GPIO_nVDD_5V_HIPOWER_OC         /* PG13 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTF|GPIO_PIN13)
#define GPIO_VDD_3V3_SENSORS_EN         /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
#define GPIO_VDD_5V_RC_EN               /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
#define GPIO_VDD_5V_WIFI_EN             /* PG6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
#define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)


/* Define True logic Power Control in arch agnostic form */

#if defined(PX4_FMUV5_RC00)
#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_EN, (on_true))
#endif
#if defined(PX4_FMUV5_RC01)
#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
#endif
#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(on_true))
#define VDD_3V3_SENSORS_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
#define VDD_5V_RC_EN(on_true)              px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
#define VDD_5V_WIFI_EN(on_true)            px4_arch_gpiowrite(GPIO_VDD_5V_WIFI_EN, (on_true))
#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))

/* Tone alarm output */

#define TONE_ALARM_TIMER      9 /* timer 9 */
#define TONE_ALARM_CHANNEL      /* PE5 TIM9_CH1 */ 1	/* channel 1 */

#define GPIO_BUZZER_1           /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5)

#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
#define GPIO_TONE_ALARM         GPIO_TIM9_CH1OUT_2

/* USB OTG FS
 *
 * PA9  OTG_FS_VBUS VBUS sensing
 */
#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)

/* High-resolution timer */
#define HRT_TIMER		     8  /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL    3  /* use capture/compare channel 3 */

#define HRT_PPM_CHANNEL         /* T8C1 */  1	/* use capture/compare channel 1 */
#define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

#define RC_UXART_BASE        STM32_USART6_BASE /* NOT FMUv5 test HW ONLY*/

#define GPS_DEFAULT_UART_PORT "/dev/ttyS0" /* UART1 on FMUv5 */

/* Input Capture Channels. */
#define INPUT_CAP1_TIMER          		  2
#define INPUT_CAP1_CHANNEL     /* T4C1 */ 1
#define GPIO_INPUT_CAP1        /*  PA5 */ GPIO_TIM2_CH1_IN

#define INPUT_CAP2_TIMER          		  2
#define INPUT_CAP2_CHANNEL     /* T4C2 */ 2
#define GPIO_INPUT_CAP2        /*  PB3 */ GPIO_TIM2_CH2_IN

#define INPUT_CAP3_TIMER          		  2
#define INPUT_CAP3_CHANNEL     /* T4C4 */ 4
#define GPIO_INPUT_CAP3        /* PB11 */ GPIO_TIM2_CH4_IN

/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
#define PWMIN_TIMER          4
#define PWMIN_TIMER_CHANNEL     /* T4C2 */ 2
#define GPIO_PWM_IN             /* PD13 */ GPIO_TIM4_CH2IN

/* Shared pins Both FMU and PX4IO control/monitor
 * FMU Initializes these pins to passive input until it is known
 * if we have and PX4IO on board
 */

#define GPIO_RSSI_IN                       /* PB0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
#define GPIO_RSSI_IN_INIT                  /* PB0  */ 0 /* Leave as ADC RSSI_IN */
#define GPIO_nSAFETY_SWITCH_LED_OUT        /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT   /* PE12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN12)
#define GPIO_SAFETY_SWITCH_IN              /* PE10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)

#define INVERT_RC_INPUT(_invert_true)      board_rc_input(_invert_true);


/* Power switch controls ******************************************************/

#define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)

/*
 * FMUv5 has a separate RC_IN
 *
 * GPIO PPM_IN on PI5 T8CH1
 * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PG9 (NOT FMUv5 test HW ONLY)
 *   In version is possible in the UART
 * and can drive  GPIO PPM_IN as an output
 */

#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
#define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

#define SDIO_SLOTNO                    0  /* Only one slot */
#define SDIO_MINOR                     0

/* SD card bringup does not work if performed on the IDLE thread because it
 * will cause waiting.  Use either:
 *
 *  CONFIG_LIB_BOARDCTL=y, OR
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
#  warning SDIO initialization cannot be perfomed on the IDLE thread
#endif

#define	BOARD_NAME "PX4FMU_V5"

/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
 * this board support the ADC system_power interface, and therefore
 * provides the true logic GPIO BOARD_ADC_xxxx macros.
 */
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))

#if BOARD_HAS_USB_VALID == 1
#  define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
#else
#  define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
#endif

/* FMUv5 never powers odd the Servo rail */

#define BOARD_ADC_SERVO_VALID     (1)

#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0
#  define BOARD_ADC_BRICK1_VALID  (1)
#  define BOARD_ADC_BRICK2_VALID  (0)
#elif BOARD_HAS_LTC44XX_VALIDS == 1
#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
#  define BOARD_ADC_BRICK2_VALID  (0)
#elif BOARD_HAS_LTC44XX_VALIDS == 2
#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
#elif BOARD_HAS_LTC44XX_VALIDS == 3
#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
#  define BOARD_ADC_BRICK3_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
#elif BOARD_HAS_LTC44XX_VALIDS == 4
#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
#  define BOARD_ADC_BRICK3_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
#  define BOARD_ADC_BRICK4_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
#else
#  error Unsupported BOARD_HAS_LTC44XX_VALIDS value
#endif

#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))

#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

#define BOARD_FMU_GPIO_TAB { \
		{GPIO_GPIO0_INPUT,       GPIO_GPIO0_OUTPUT,              0}, \
		{GPIO_GPIO1_INPUT,       GPIO_GPIO1_OUTPUT,              0}, \
		{GPIO_GPIO2_INPUT,       GPIO_GPIO2_OUTPUT,              0}, \
		{GPIO_GPIO3_INPUT,       GPIO_GPIO3_OUTPUT,              0}, \
		{GPIO_GPIO4_INPUT,       GPIO_GPIO4_OUTPUT,              0}, \
		{GPIO_GPIO5_INPUT,       GPIO_GPIO5_OUTPUT,              0}, \
		{GPIO_GPIO6_INPUT,       GPIO_GPIO6_OUTPUT,              0}, \
		{GPIO_GPIO7_INPUT,       GPIO_GPIO7_OUTPUT,              0}, \
		{GPIO_nPOWER_IN_A,       0,                              0}, \
		{GPIO_nPOWER_IN_B,       0,                              0}, \
		{GPIO_nPOWER_IN_C,       0,                              0}, \
		{0,                      GPIO_xVDD_5V_PERIPH_EN,         0}, \
		{GPIO_nVDD_5V_PERIPH_OC, 0,                              0}, \
		{0,                      GPIO_nVDD_5V_HIPOWER_EN,        0}, \
		{GPIO_nVDD_5V_HIPOWER_OC,0,                              0}, \
		{0,                      GPIO_VDD_3V3_SENSORS_EN,        0}, \
		{0,                      GPIO_VDD_3V3_SPEKTRUM_POWER_EN, 0}, \
		{0,                      GPIO_VDD_5V_RC_EN,              0}, \
		{0,                      GPIO_VDD_5V_WIFI_EN,            0}, \
		{0,                      GPIO_VDD_3V3_SD_CARD_EN,        0}, \
		{0,                      GPIO_HW_REV_DRIVE,              0}, \
		{0,                      GPIO_HW_VER_DRIVE,              0}, \
	}

/*
 * GPIO numbers.
 *
 * There are no alternate functions on this board.
 */
#define GPIO_SERVO_1                (1<<0)   /**< servo 1 output */
#define GPIO_SERVO_2                (1<<1)   /**< servo 2 output */
#define GPIO_SERVO_3                (1<<2)   /**< servo 3 output */
#define GPIO_SERVO_4                (1<<3)   /**< servo 4 output */
#define GPIO_SERVO_5                (1<<4)   /**< servo 5 output */
#define GPIO_SERVO_6                (1<<5)   /**< servo 6 output */
#define GPIO_SERVO_7                (1<<6)   /**< servo 7 output */
#define GPIO_SERVO_8                (1<<7)   /**< servo 8 output */

#define GPIO_nPOWER_INPUT_A         (1<<8)   /**<PG1 GPIO_nPOWER_IN_A */
#define GPIO_nPOWER_INPUT_B         (1<<9)   /**<PG2 GPIO_nPOWER_IN_B */
#define GPIO_nPOWER_INPUT_C         (1<<10)  /**<PG3 GPIO_nPOWER_IN_C */

#define GPIO_PERIPH_5V_POWER_EN     (1<<11)  /**< PG4  - GPIO_nVDD_5V_PERIPH_EN */
#define GPIO_PERIPH_5V_POWER_OC     (1<<12)  /**< PE15 - GPIO_nVDD_5V_PERIPH_OC */
#define GPIO_PERIPH_5V_HIPOWER_EN   (1<<13)  /**< PF12 - GPIO_nVDD_5V_HIPOWER_EN */
#define GPIO_PERIPH_5V_HIPOWER_OC   (1<<14)  /**< PG13 - GPIO_nVDD_5V_HIPOWER_OC */
#define GPIO_3V3_SENSORS_EN         (1<<15)  /**< PE3  - VDD_3V3_SENSORS_EN */
#define GPIO_SPEKTRUM_POWER         (1<<16)  /**< PE4  - GPIO_VDD_3V3_SPEKTRUM_POWER_EN */
#define GPIO_RC_POWER_EN            (1<<17)  /**< PG5  - GPIO_VDD_5V_RC_EN        */
#define GPIO_WIFI_POWER_EN          (1<<18)  /**< PG6  - GPIO_VDD_5V_WIFI_EN      */
#define GPIO_SD_CARD_POWER_EN       (1<<19)  /**< PG7  - GPIO_VDD_3V3_SD_CARD_EN */
#define GPIO_HW_REV_DRIVE_EN        (1<<20)  /**< PH14 - GPIO_HW_REV_DRIVE */
#define GPIO_HW_VER_DRIVE_EN        (1<<21)  /**< PG0  - GPIO_HW_VER_DRIVE */

/* This board provides a DMA pool and APIs */

#define BOARD_DMA_ALLOC_POOL_SIZE 5120

/* This board provides the board_on_reset interface */

#define BOARD_HAS_ON_RESET 1

/* The list of GPIO that will be initialized */

#define PX4_GPIO_PWM_INIT_LIST { \
		GPIO_GPIO7_INPUT, \
		GPIO_GPIO6_INPUT, \
		GPIO_GPIO5_INPUT, \
		GPIO_GPIO4_INPUT, \
		GPIO_GPIO3_INPUT, \
		GPIO_GPIO2_INPUT, \
		GPIO_GPIO1_INPUT, \
		GPIO_GPIO0_INPUT, \
	}

#define PX4_GPIO_INIT_LIST { \
		PX4_ADC_GPIO,                     \
		GPIO_HW_REV_DRIVE,                \
		GPIO_HW_VER_DRIVE,                \
		GPIO_CAN1_SILENT_S0,              \
		GPIO_CAN2_SILENT_S1,              \
		GPIO_CAN3_SILENT_S2,              \
		GPIO_HEATER,                      \
		GPIO_nPOWER_IN_A,                 \
		GPIO_nPOWER_IN_B,                 \
		GPIO_nPOWER_IN_C,                 \
		GPIO_xVDD_5V_PERIPH_EN,           \
		GPIO_nVDD_5V_PERIPH_OC,           \
		GPIO_nVDD_5V_HIPOWER_EN,          \
		GPIO_nVDD_5V_HIPOWER_OC,          \
		GPIO_VDD_3V3_SENSORS_EN,          \
		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
		GPIO_VDD_5V_RC_EN,                \
		GPIO_VDD_5V_WIFI_EN,              \
		GPIO_VDD_3V3_SD_CARD_EN,          \
		GPIO_TONE_ALARM_IDLE,             \
		GPIO_RSSI_IN_INIT,                \
		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
		GPIO_SAFETY_SWITCH_IN             \
	}

__BEGIN_DECLS

/****************************************************************************************************
 * Public Types
 ****************************************************************************************************/

/****************************************************************************************************
 * Public data
 ****************************************************************************************************/

#ifndef __ASSEMBLY__

/****************************************************************************************************
 * Public Functions
 ****************************************************************************************************/

/****************************************************************************
 * Name: stm32_sdio_initialize
 *
 * Description:
 *   Initialize SDIO-based MMC/SD card support
 *
 ****************************************************************************/

int stm32_sdio_initialize(void);

/****************************************************************************************************
 * Name: stm32_spiinitialize
 *
 * Description:
 *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
 *
 ****************************************************************************************************/

extern void stm32_spiinitialize(void);

/************************************************************************************
 * Name: stm32_spi_bus_initialize
 *
 * Description:
 *   Called to configure SPI Buses.
 *
 ************************************************************************************/

extern int stm32_spi_bus_initialize(void);

void board_spi_reset(int ms);

extern void stm32_usbinitialize(void);

extern void board_peripheral_reset(int ms);


/****************************************************************************
 * Name: nsh_archinitialize
 *
 * Description:
 *   Perform architecture specific initialization for NSH.
 *
 *   CONFIG_NSH_ARCHINIT=y :
 *     Called from the NSH library
 *
 *   CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
 *   CONFIG_NSH_ARCHINIT=n :
 *     Called from board_initialize().
 *
 ****************************************************************************/

#ifdef CONFIG_NSH_LIBRARY
int nsh_archinitialize(void);
#endif

#include "../common/board_common.h"

#endif /* __ASSEMBLY__ */

__END_DECLS
