text: /****************************************************************************
   *
   *   Copyright (c) 2013-2016 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
   *
   * PX4FMUv4Pro internal definitions
   */
  
  #pragma once
  
  /****************************************************************************************************
   * Included Files
   ****************************************************************************************************/
  
  #include <px4_platform_common/px4_config.h>
  #include <nuttx/compiler.h>
  #include <stdint.h>
  
  /****************************************************************************************************
   * Definitions
   ****************************************************************************************************/
  
  /* PX4IO connection configuration */
  #define BOARD_USES_PX4IO_VERSION       2
  #define PX4IO_SERIAL_DEVICE     "/dev/ttyS4"
  #define PX4IO_SERIAL_TX_GPIO    GPIO_USART6_TX
  #define PX4IO_SERIAL_RX_GPIO    GPIO_USART6_RX
  #define PX4IO_SERIAL_BASE       STM32_USART6_BASE	/* hardwired on the board */
  #define PX4IO_SERIAL_VECTOR     STM32_IRQ_USART6
  #define PX4IO_SERIAL_TX_DMAMAP  DMAMAP_USART6_TX_2
  #define PX4IO_SERIAL_RX_DMAMAP  DMAMAP_USART6_RX_2
  #define PX4IO_SERIAL_RCC_REG	STM32_RCC_APB2ENR
  #define PX4IO_SERIAL_RCC_EN	RCC_APB2ENR_USART6EN
  #define PX4IO_SERIAL_CLOCK      STM32_PCLK2_FREQUENCY
  #define PX4IO_SERIAL_BITRATE    1500000			/* 1.5Mbps -> max rate for IO */
  
  /* Configuration ************************************************************************************/
  //{GPIO_RSSI_IN,           0,                       0}, - pio Analog used as PWM
  //{0,                      GPIO_LED_SAFETY,         0},	pio replacement
  //{GPIO_SAFETY_SWITCH_IN,  0,                       0},   pio replacement
  //{0,                      GPIO_PERIPH_3V3_EN,      0},	Owned by the 8266 driver
  //{0,                      GPIO_SBUS_INV,           0},	https://github.com/PX4/Firmware/blob/master/src/modules/px4iofirmware/sbus.c
  //{GPIO_8266_GPIO0,        0,                       0},   Owned by the 8266 driver
  //{0,                      GPIO_SPEKTRUM_PWR_EN,     0},	Owned Spektum driver input to auto pilot
  //{0,                      GPIO_8266_PD,            0},	Owned by the 8266 driver
  //{0,                      GPIO_8266_RST,           0},	Owned by the 8266 driver
  
  /* PX4FMU GPIOs ***********************************************************************************/
  /* LEDs */
  
  #define GPIO_LED1		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
  #define GPIO_LED2		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
  #define GPIO_LED3		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
  
  #define GPIO_LED_RED 	GPIO_LED1
  #define GPIO_LED_GREEN 	GPIO_LED2
  #define GPIO_LED_BLUE   GPIO_LED3
  
  #define BOARD_HAS_CONTROL_STATUS_LEDS 1
  #define BOARD_OVERLOAD_LED     LED_RED
  #define BOARD_ARMED_LED        LED_BLUE
  #define BOARD_ARMED_STATE_LED  LED_GREEN
  
  /*  Define the Chip Selects */
  
  /* SPI Bus 1 Internal Sensors */
  
  #define GPIO_SPI_CS_MPU9250		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
  #define GPIO_SPI_CS_LIS3MDL		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
  #define GPIO_SPI_CS_MS5611		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
  #define GPIO_SPI_CS_ICM_2060X		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
  #define GPIO_SPI_CS_TEMPCAL_EEPROM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
  
  /* SPI Bus 2 Memory */
  
  #define GPIO_SPI_CS_FRAM        (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
  
  /* Aux Chip selects (not pined out on RC0 HW) */
  
  #define GPIO_AUX_CS0            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
  #define GPIO_AUX_CS1            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN11)
  #define GPIO_AUX_CS2            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
  #define GPIO_AUX_CS3            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN13)
  #define GPIO_AUX_CS4            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN14)
  #define GPIO_AUX_CS5            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN15)
  
  
  /* External Chip selects on Connectors ahead PAD3 */
  
  #define GPIO_SPI5_CS            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN6)
  #define GPIO_SPI6_CS            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN11)
  
  /*  Define the Ready interrupts */
  
  #define GPIO_DRDY_MPU9250       (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
  #define GPIO_DRDY_LIS3MDL       (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
  #define GPIO_DRDY_ICM_2060X   (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
  
  
  /*
   *  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_SPI_CS_OFF_MPU9250		_PIN_OFF(GPIO_SPI_CS_MPU9250)
  #define GPIO_SPI_CS_OFF_LIS3MDL		_PIN_OFF(GPIO_SPI_CS_LIS3MDL)
  #define GPIO_SPI_CS_OFF_MS5611		_PIN_OFF(GPIO_SPI_CS_MS5611)
  #define GPIO_SPI_CS_OFF_ICM_2060X	_PIN_OFF(GPIO_SPI_CS_ICM_2060X)
  #define GPIO_SPI_CS_OFF_TEMPCAL_EEPROM	_PIN_OFF(GPIO_SPI_CS_OFF_TEMPCAL_EEPROM)
  
  #define GPIO_DRDY_OFF_MPU9250       _PIN_OFF(GPIO_DRDY_MPU9250)
  #define GPIO_DRDY_OFF_LIS3MDL       _PIN_OFF(GPIO_DRDY_LIS3MDL)
  #define GPIO_DRDY_OFF_ICM_2060X   _PIN_OFF(GPIO_DRDY_ICM_2060X)
  
  
  /* 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 PX4_SPI_BUS_SENSORS    1
  #define PX4_SPI_BUS_RAMTRON    2
  #define PX4_SPI_BUS_BARO       PX4_SPI_BUS_SENSORS
  #define PX4_SPI_BUS_EXT0       5
  #define PX4_SPI_BUS_EXT1       6
  
  #define PX4_SPI_BUS_EXT		PX4_SPI_BUS_EXT0
  
  /* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
  
  #define PX4_SPIDEV_BARO         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
  #define PX4_SPIDEV_MPU          PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
  #define PX4_SPIDEV_HMC          PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
  #define PX4_SPIDEV_LIS          PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
  #define PX4_SPIDEV_EEPROM       PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 5)
  #define PX4_SPIDEV_ICM_20608    PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 6)
  #define PX4_SPIDEV_ICM_20602    PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 7)
  
  #define PX4_SPIDEV_EXT0         PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT0, 1)
  #define PX4_SPIDEV_EXT1         PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT1, 1)
  
  #define PX4_SPIDEV_RM_EXT	PX4_SPIDEV_EXT0
  
  /* I2C busses */
  #define PX4_I2C_BUS_ONBOARD     1
  #define PX4_I2C_BUS_EXPANSION   2
  #define PX4_I2C_BUS_LED         PX4_I2C_BUS_ONBOARD
  
  /*
   * 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 ADC_BATTERY1_VOLTAGE_CHANNEL	2   // PA2
  #define ADC_BATTERY1_CURRENT_CHANNEL	3   // PA3
  #define ADC_5V_RAIL_SENSE				4   // PA4
  #define ADC_BATTERY2_VOLTAGE_CHANNEL	11  // PC1
  #define ADC_BATTERY2_CURRENT_CHANNEL	13  // PC3
  
  #define ADC_CHANNELS (1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | (1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
  	(1 << ADC_5V_RAIL_SENSE) | \
  	(1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | (1 << ADC_BATTERY2_CURRENT_CHANNEL)
  
  /* Define Battery 1 Voltage Divider and A per V
   */
  
  #define BOARD_BATTERY1_V_DIV (6.490196078f)
  #define BOARD_BATTERY1_A_PER_V (26.4f)
  
  /* Define Battery 2 Voltage Divider and A per V
   */
  
  #define BOARD_BATTERY2_V_DIV (6.490196078f)
  #define BOARD_BATTERY2_A_PER_V (26.4f)
  
  /* Define LTC4417 UV set by resistors on the board that are different than FMUv2 3.7V */
  
  #define BOARD_VALID_UV (4.01f)
  
  /* User GPIOs
   *
   * GPIO0-5 are the PWM servo outputs.
   */
  #define GPIO_GPIO0_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
  #define GPIO_GPIO1_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
  #define GPIO_GPIO2_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
  #define GPIO_GPIO3_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
  #define GPIO_GPIO4_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
  #define GPIO_GPIO5_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
  
  #define GPIO_GPIO0_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
  #define GPIO_GPIO1_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
  #define GPIO_GPIO2_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
  #define GPIO_GPIO3_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
  #define GPIO_GPIO4_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
  #define GPIO_GPIO5_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
  
  /* Power supply control and monitoring GPIOs */
  #define GPIO_nVDD_BRICK1_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
  #define GPIO_nVDD_BRICK2_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN5)
  #define BOARD_NUMBER_BRICKS     2
  #define GPIO_nVDD_USB_VALID		(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
  #define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
  #define GPIO_VDD_3V3_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
  #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN10)
  #define GPIO_VDD_5V_HIPOWER_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN4)
  #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_FLOAT|GPIO_PORTG|GPIO_PIN4)
  #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_FLOAT|GPIO_PORTF|GPIO_PIN3)
  
  /* Tone alarm output */
  #define TONE_ALARM_TIMER	2	/* timer 2 */
  #define TONE_ALARM_CHANNEL	1	/* channel 1 */
  #define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
  #define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
  
  /* PWM
   *
   * Six PWM outputs are configured.
   *
   * Pins:
   *
   * CH1 : PE14 : TIM1_CH4
   * CH2 : PE13 : TIM1_CH3
   * CH3 : PE11 : TIM1_CH2
   * CH4 : PE9  : TIM1_CH1
   * CH5 : PD13 : TIM4_CH2
   * CH6 : PD14 : TIM4_CH3
   */
  #define GPIO_TIM1_CH1OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9)
  #define GPIO_TIM1_CH2OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11)
  #define GPIO_TIM1_CH3OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13)
  #define GPIO_TIM1_CH4OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14)
  #define GPIO_TIM4_CH2OUT	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13)
  #define GPIO_TIM4_CH3OUT	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14)
  #define DIRECT_PWM_OUTPUT_CHANNELS	6
  
  #define GPIO_TIM1_CH1IN		GPIO_TIM1_CH1IN_2
  #define GPIO_TIM1_CH2IN		GPIO_TIM1_CH2IN_2
  #define GPIO_TIM1_CH3IN		GPIO_TIM1_CH3IN_2
  #define GPIO_TIM1_CH4IN		GPIO_TIM1_CH4IN_2
  #define GPIO_TIM4_CH2IN		GPIO_TIM4_CH2IN_2
  #define GPIO_TIM4_CH3IN		GPIO_TIM4_CH3IN_2
  #define DIRECT_INPUT_TIMER_CHANNELS  6
  
  /* USB OTG FS
   *
   * PA9  OTG_FS_VBUS VBUS sensing
   */
  #define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
  
  /* High-resolution timer */
  #define HRT_TIMER           3 /* use timer 3 for the HRT */
  #define HRT_TIMER_CHANNEL   4 /* use capture/compare channel 4 */
  
  #define HRT_PPM_CHANNEL     3	/* use capture/compare channel 3 */
  #define GPIO_PPM_IN         (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
  
  /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
  #define PWMIN_TIMER         4
  #define PWMIN_TIMER_CHANNEL 2
  #define GPIO_PWM_IN			GPIO_TIM4_CH2IN_2
  
  /* N.B. By the virtue of not being named GPIO_BTN_SAFETY, this pin is
   * initialized but not used (compiled for) in the FMU module
   */
  #define GPIO_BTN_SAFETY_FMU		(GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN4)
  #define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
  
  #define GPIO_8266_GPIO0			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
  //TODO: fo not see on schematic #define GPIO_SPEKTRUM_PWR_EN		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
  #define GPIO_8266_PD			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
  #define GPIO_8266_RST			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)
  
  /* No Power switch controls or binding control *********************************************
   * V4 Pro does not have control to bind SPEKTRUM - there is only 5V VCC on
   * the connector interface and Spektrum requires VDD 3v3 to be controllable
   */
  
  /* 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))
  #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_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
  #define BOARD_ADC_SERVO_VALID   (1)
  #define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC))
  #define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC))
  
  #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
  
  /* This board provides a DMA pool and APIs */
  
  #define BOARD_DMA_ALLOC_POOL_SIZE 5120
  
  #define BOARD_HAS_ON_RESET 1
  
  #define BOARD_HAS_STATIC_MANIFEST 1
  
  __BEGIN_DECLS
  
  /****************************************************************************************************
   * Public Types
   ****************************************************************************************************/
  
  /****************************************************************************************************
   * Public data
   ****************************************************************************************************/
  
  #ifndef __ASSEMBLY__
  
  /****************************************************************************************************
   * Public Functions
   ****************************************************************************************************/
  
  /****************************************************************************************************
   * Name: stm32_spiinitialize
   *
   * Description:
   *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
   *
   ****************************************************************************************************/
  
  extern void stm32_spiinitialize(void);
  void board_spi_reset(int ms);
  
  extern void stm32_usbinitialize(void);
  
  extern void board_peripheral_reset(int ms);
  
  #include <px4_platform_common/board_common.h>
  
  #endif /* __ASSEMBLY__ */
  
  __END_DECLS
  