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>
  
  __BEGIN_DECLS
  
  /* these headers are not C++ safe */
  #include <chip.h>
  #include <stm32_gpio.h>
  #include <arch/board/board.h>
  
  /****************************************************************************************************
   * Definitions
   ****************************************************************************************************/
  /* Configuration ************************************************************************************/
  
  /* PX4FMU GPIOs ***********************************************************************************/
  /* LEDs */
  #define GPIO_LED1              /* PB1 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
  #define GPIO_LED2              /* PC6 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
  #define GPIO_LED3              /* PC7 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
  
  #define GPIO_LED_RED 	GPIO_LED1
  #define GPIO_LED_GREEN 	GPIO_LED2
  #define GPIO_LED_BLUE   GPIO_LED3
  
  /*  Define the Chip Selects */
  
  #define GPIO_SPI_CS_ICM20689    /* PF2 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN2)
  #define GPIO_SPI_CS_ICM20602    /* PF3 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN3)
  #define GPIO_SPI_CS_BMI055_GYR  /* PF4 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
  #define GPIO_SPI_CS_MEMORY      /* PF5 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN5)
  #define GPIO_SPI_CS_MS5611      /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
  #define GPIO_SPI_CS_BMI055_ACC  /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
  
  #define SPI6_EXTERNAL1_CS1     /* PI4  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN4)
  #define SPI6_EXTERNAL1_CS2     /* PI10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
  #define SPI6_EXTERNAL1_CS3     /* PI11 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN11)
  #define SPI6_EXTERNAL2_CS1     /* PI6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6)
  #define SPI6_EXTERNAL2_CS2     /* PI7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7)
  #define SPI6_EXTERNAL2_CS3     /* PI8  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN8)
  
  /*  Define the Ready interrupts */ /* NOT FMUv5 test HW ONLY*/
  
  #define GPIO_ICM20689_DRDY1    /* PB4 */   (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
  #define GPIO_BMI055_DRDY2_GYRO /* PB14 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN14)
  #define GPIO_BMI055_DRDY3_ACC  /* PB15 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN15)
  #define GPIO_ICM20602_DRDY4    /* PC5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN5)
  #define GPIO_BMI055_DRDY5_GYRO /* PC13 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
  #define GPIO_BMI055_DRDY6_ACC  /* PD10 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN10)
  
  /*
   *  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_ICM20689_DRDY1    _PIN_OFF(GPIO_ICM20689_DRDY1)
  #define GPIO_DRDY_OFF_BMI055_DRDY2_GYRO _PIN_OFF(GPIO_BMI055_DRDY2_GYRO)
  #define GPIO_DRDY_OFF_BMI055_DRDY3_ACC  _PIN_OFF(GPIO_BMI055_DRDY3_ACC)
  #define GPIO_DRDY_OFF_ICM20602_DRDY4    _PIN_OFF(GPIO_ICM20602_DRDY4)
  #define GPIO_DRDY_OFF_BMI055_DRDY5_GYRO _PIN_OFF(GPIO_BMI055_DRDY5_GYRO)
  #define GPIO_DRDY_OFF_BMI055_DRDY6_ACC  _PIN_OFF(GPIO_BMI055_DRDY6_ACC)
  
  
  /* 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)
  
  /* SENSORS are on SPI1
   * 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_EXTERNAL 6
  
  /* 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_SPI_CS_ICM20689, GPIO_SPI_CS_ICM20602, GPIO_SPI_CS_BMI055_GYR, GPIO_SPI_CS_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_SPI_CS_MEMORY}
  #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_BARO_BUS_CS_GPIO      {GPIO_SPI_CS_MS5611}
  #define PX4_BARO_BUS_FIRST_CS     PX4_SPIDEV_BARO
  #define PX4_BARO_BUS_LAST_CS      PX4_SPIDEV_BARO
  
  #define PX4_SPIDEV_EXTERNAL1      PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,0)
  #define PX4_SPIDEV_EXTERNAL2      PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,1)
  #define PX4_SPIDEV_EXTERNAL3      PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,2)
  #define PX4_SPIDEV_EXTERNAL4      PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,3)
  #define PX4_SPIDEV_EXTERNAL5      PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,4)
  #define PX4_SPIDEV_EXTERNAL6      PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,5)
  #define PX4_EXTERNAL_BUS_CS_GPIO  {SPI6_EXTERNAL1_CS1, SPI6_EXTERNAL1_CS2, \
  		SPI6_EXTERNAL1_CS3, \
  		SPI6_EXTERNAL2_CS1, SPI6_EXTERNAL2_CS2, \
  		SPI6_EXTERNAL2_CS3}
  #define PX4_EXTERNAL_BUS_FIRST_CS  PX4_SPIDEV_EXTERNAL1
  #define PX4_EXTERNAL_BUS_LAST_CS   PX4_SPIDEV_EXTERNAL6
  
  
  /* I2C busses */
  #define PX4_I2C_BUS_EXPANSION	1
  #define PX4_I2C_BUS_EXPANSION1	2
  #define PX4_I2C_BUS_EXPANSION2	4
  #define PX4_I2C_BUS_LED			PX4_I2C_BUS_EXPANSION
  
  /* Devices on the external bus.
   *
   * Note that these are unshifted addresses.
   */
  #define PX4_I2C_OBDEV_LED	    0x55
  #define PX4_I2C_OBDEV_HMC5883	0x1e
  #define PX4_I2C_OBDEV_LIS3MDL	0x1e
  
  /*
   * 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
   */
  #define ADC_CHANNELS (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | \
  	(1 << 8) | \
  	(1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14)
  
  // ADC defines to be used in sensors.cpp to read from a particular channel
  
  #define ADC_BATTERY_VOLTAGE_CHANNEL     0
  #define ADC_BATTERY_CURRENT_CHANNEL     1
  #define ADC_BATTERY1_VOLTAGE_CHANNEL    2
  #define ADC_BATTERY1_CURRENT_CHANNEL    3
  #define ADC_5V_RAIL_SENSE               4 /* NOT to FMUv5 spec on test HW ONLY - delete this on when running on FMUv5 spec-ed HW */
  #define ADC_RC_RSSI_CHANNEL             8
  #define ADC_SCALED_V5                   10
  #define ADC_SCALED_V3V3                 11
  #define ADC_INT_3                       12
  #define ADC_INT_4                       13
  #define ADC_INT_5                       14
  
  /* CAN Silence
   *
   * Silent mode control
   */
  
  #define GPIO_CAN1_SILENCE  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
  #define GPIO_CAN2_SILENCE  /* PH3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
  #define GPIO_CAN3_SILENCE  /* PH4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN4)
  
  /* HEATER
   * PWM in future
   */
  #define GPIO_HEATER        /* PA7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
  
  /* PWM
   *
   * 4  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
   *
   */
  #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  6
  
  
  #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  6
  
  #define BOARD_HAS_LED_PWM
  #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 LED_TIM5_CH1OUT  /* PH10  T5C1  RED   */ GPIO_TIM5_CH1OUT_2
  #define LED_TIM5_CH2OUT  /* PH11  T5C2  GREEN */ GPIO_TIM5_CH2OUT_2
  #define 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_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_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_POWER_IN_A           /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
  #define GPIO_POWER_IN_B           /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
  #define GPIO_POWER_IN_C           /* PG3  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3)
  
  #define GPIO_VDD_BRICK_VALID      /* PB10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN10)
  #define GPIO_VDD_3V3_SENSORS_EN   /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
  #define GPIO_SPEKTRUM_POWER_EN    /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
  #define GPIO_PERIPH_5V_EN         /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
  #define GPIO_VDD_5V_RC_EN         /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN5)
  #define GPIO_VDD_5V_WIFI_EN       /* PG6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN5)
  #define GPIO_VDD_3V3V_SD_CARD_EN  /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
  
  /* Active Low SD Card Power enable */
  
  #define SD_CARD_POWER_CTRL(on_true)    px4_arch_gpiowrite(GPIO_VDD_3V3V_SD_CARD_EN, !(on_true))
  
  #define GPIO_VDD_5V_PERIPH_OC     /* PE15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
  
  /* Tone alarm output */
  #define TONE_ALARM_TIMER		12	/* timer 12 */
  #define TONE_ALARM_CHANNEL      /* PH6 TIM12_CH1 */ 1	/* channel 1 */
  #define GPIO_TONE_ALARM_IDLE    /* PH6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6)
  #define GPIO_TONE_ALARM         /* PH6 */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTH|GPIO_PIN6)
  
  /* USB OTG FS
   *
   * PA9  OTG_FS_VBUS VBUS sensing
   */
  #define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_FLOAT|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 RC_SERIAL_PORT       "/dev/ttyS4"      /* NOT FMUv5 test HW ONLY*/
  
  #define GPS_DEFAULT_UART_PORT "/dev/ttyS0" /* UART1 on FMUv5 */
  
  /* 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
  
  #define GPIO_RSSI_IN            /* PB0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
  
  #define GPIO_LED_SAFETY         /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
  #define GPIO_BTN_SAFETY         /* 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)           px4_arch_gpiowrite(GPIO_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))
  #define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK_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 (0)
  
  #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_POWER_IN_A,        0,                        0}, \
  		{GPIO_POWER_IN_B,        0,                        0}, \
  		{GPIO_POWER_IN_C,        0,                        0}, \
  		{0,                      GPIO_VDD_3V3_SENSORS_EN,  0}, \
  		{GPIO_VDD_BRICK_VALID,   0,                        0}, \
  		{0,                      GPIO_SPEKTRUM_POWER_EN,   0}, \
  		{0,                      GPIO_PERIPH_5V_EN,        0}, \
  		{0,                      GPIO_VDD_5V_RC_EN,        0}, \
  		{0,                      GPIO_VDD_5V_WIFI_EN,      0}, \
  		{0,                      GPIO_VDD_3V3V_SD_CARD_EN, 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_POWER_INPUT_A       (1<<6)   /**<PG1 GPIO_POWER_IN_A */
  #define GPIO_POWER_INPUT_B       (1<<7)   /**<PG2 GPIO_POWER_IN_B */
  #define GPIO_POWER_INPUT_C       (1<<8)   /**<PG3 GPIO_POWER_IN_C */
  
  #define GPIO_3V3_SENSORS_EN      (1<<9)   /**< PE3  - VDD_3V3_SENSORS_EN */
  #define GPIO_BRICK_VALID         (1<<10)  /**< PB10 - !VDD_BRICK_VALID */
  #define GPIO_SPEKTRUM_POWER      (1<<11)  /**< PE4  - GPIO_SPEKTRUM_POWER_EN */
  
  #define GPIO_PERIPH_5V_POWER_EN  (1<<12)  /**< PG4  - GPIO_PERIPH_5V_EN        */
  #define GPIO_RC_POWER_EN         (1<<13)  /**< PG5  - GPIO_VDD_5V_RC_EN        */
  #define GPIO_WIFI_POWER_EN       (1<<14)  /**< PG6  - GPIO_VDD_5V_WIFI_EN      */
  #define GPIO_SD_CARD_POWER_EN    (1<<15)  /**< PG7  - GPIO_VDD_3V3V_SD_CARD_EN */
  
  /* This board provides a DMA pool and APIs */
  
  #define BOARD_DMA_ALLOC_POOL_SIZE 5120
  
  /****************************************************************************************************
   * 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
  