/****************************************************************************
 *
 *   Copyright (c) 2013, 2014 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
 *
 * PX4IOV2 internal definitions
 */

#pragma once

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

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

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

/******************************************************************************
 * Definitions
 ******************************************************************************/
/* Configuration **************************************************************/

/******************************************************************************
 * Serial
 ******************************************************************************/
#define PX4FMU_SERIAL_BASE	STM32_USART2_BASE
#define PX4FMU_SERIAL_VECTOR	STM32_IRQ_USART2
#define PX4FMU_SERIAL_TX_GPIO	GPIO_USART2_TX
#define PX4FMU_SERIAL_RX_GPIO	GPIO_USART2_RX
#define PX4FMU_SERIAL_TX_DMA	DMACHAN_USART2_TX
#define PX4FMU_SERIAL_RX_DMA	DMACHAN_USART2_RX
#define PX4FMU_SERIAL_CLOCK	STM32_PCLK1_FREQUENCY
#define PX4FMU_SERIAL_BITRATE	1500000

/******************************************************************************
 * GPIOS
 ******************************************************************************/

/* LEDS  **********************************************************************/

#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)

#define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)

/* Safety switch button *******************************************************/

#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)

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

#define GPIO_SPEKTRUM_PWR_EN         (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define SPEKTRUM_POWER(_on_true)     px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_on_true))

#define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true))
#define SPEKTRUM_RX_AS_UART()        px4_arch_configgpio(GPIO_USART1_RX)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)

#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)

/* Analog inputs **************************************************************/

#define GPIO_ADC_VSERVO (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)

/* the same rssi signal goes to both an adc and a timer input */
#define GPIO_ADC_RSSI   (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
#define GPIO_TIM_RSSI   (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN12)

/* PWM pins  **************************************************************/

#define GPIO_PPM (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN8)

#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)

/* SBUS pins  *************************************************************/

/* XXX these should be UART pins */
#define GPIO_SBUS_INPUT   (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11)
#define GPIO_SBUS_OUTPUT  (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)

/*
 * High-resolution timer
 */
#define HRT_TIMER		1	/* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
#define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 PA8 */
#define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)

/* LED definitions ******************************************************************/
/* PX4 has two LEDs that we will encode as: */

#define LED_STARTED       0  /* LED? */
#define LED_HEAPALLOCATE  1  /* LED? */
#define LED_IRQSENABLED   2  /* LED? + LED? */
#define LED_STACKCREATED  3  /* LED? */
#define LED_INIRQ         4  /* LED? + LED? */
#define LED_SIGNAL        5  /* LED? + LED? */
#define LED_ASSERTION     6  /* LED? + LED? + LED? */
#define LED_PANIC         7  /* N/C  + N/C  + N/C + LED? */
