text: /****************************************************************************
   *
   *   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
  #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)
  
  #define BOARD_HAS_CONTROL_STATUS_LEDS      1
  #define BOARD_OVERLOAD_LED     LED_RED
  #define BOARD_ARMED_STATE_LED  LED_BLUE
  
  /* 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_ONBOARD         3
  #define PX4_I2C_BUS_EXPANSION2      4
  #define PX4_I2C_BUS_LED             PX4_I2C_BUS_EXPANSION
  
  #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         (18.1f)     /* measured with the provided PM board */
  #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_VER     2
  #define HW_INFO_INIT_REV     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_OUTPUT   /* 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      1  /* PE5 TIM9_CH1 */
  
  #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
  #define RC_SERIAL_PORT                     "/dev/ttyS4"
  #define BOARD_HAS_SINGLE_WIRE              1 /* HW is capable of Single Wire */
  #define BOARD_HAS_SINGLE_WIRE_ON_TX        1 /* HW default is wired as Single Wire On TX pin */
  #define BOARD_HAS_RX_TX_SWAP               1 /* HW Can swap TX and RX */
  #define RC_SERIAL_PORT_IS_SWAPED           0 /* Board wired with RC's TX is on cpu RX */
  
  /* 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 */
  
  /* Safety Switch is HW version dependent on having an PX4IO
   * So we init to a benign state with the _INIT definition
   * and provide the the non _INIT one for the driver to make a run time
   * decision to use it.
   */
  #define GPIO_nSAFETY_SWITCH_LED_OUT_INIT   /* PE12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN12)
  #define GPIO_nSAFETY_SWITCH_LED_OUT        /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
  
  /* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
  #define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
  #define GPIO_SAFETY_SWITCH_IN              /* PE10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
  /* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
  #define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
  
  /* 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
  
  /* 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
  
  /* 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_TX,                     \
  		GPIO_CAN1_RX,                     \
  		GPIO_CAN2_TX,                     \
  		GPIO_CAN2_RX,                     \
  		GPIO_CAN3_TX,                     \
  		GPIO_CAN3_RX,                     \
  		GPIO_CAN1_SILENT_S0,              \
  		GPIO_CAN2_SILENT_S1,              \
  		GPIO_CAN3_SILENT_S2,              \
  		GPIO_HEATER_OUTPUT,               \
  		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 <drivers/boards/common/board_common.h>
  
  #endif /* __ASSEMBLY__ */
  
  __END_DECLS
  