v6.2/px4fmu_2chibios_2v5_80_2board_8h_source.html

 /*

     ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio


     Licensed under the Apache License, Version 2.0 (the "License");

     you may not use this file except in compliance with the License.

     You may obtain a copy of the License at


         http://www.apache.org/licenses/LICENSE-2.0


     Unless required by applicable law or agreed to in writing, software

     distributed under the License is distributed on an "AS IS" BASIS,

     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

     See the License for the specific language governing permissions and

     limitations under the License.

 */


 #pragma once


 /*

  * Board identifier.

  */

 #define BOARD_PX4FMU

 #define BOARD_NAME                  "Pixhawk PX4 FMU v5.0"


 /*

  * Board oscillators-related settings.

  */

 #if !defined(STM32_LSECLK)

 #define STM32_LSECLK                32768U

 #endif


 #define STM32_LSEDRV                (3U << 3U)


 #if !defined(STM32_HSECLK)

 #define STM32_HSECLK                16000000U

 #endif


 /*

  * Board voltages.

  * Required for performance limits calculation.

  */

 #define STM32_VDD                   330U


 /*

  * MCU type as defined in the ST header.

  */

 #define STM32F767xx


 /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/

 #ifndef ADC_CHANNEL_VSUPPLY

 #define ADC_CHANNEL_VSUPPLY ADC_1

 #endif


 /* allow to define ADC_CHANNEL_CURRENT in the airframe file*/

 #if !defined(ADC_CHANNEL_CURRENT) && !ADC_CURRENT_DISABLE

 #define ADC_CHANNEL_CURRENT ADC_2

 #endif


 /* Default powerbrick values */

 #define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f) * 10.3208191126f * adc)

 #define MilliAmpereOfAdc(adc) ((3.3f/4096.0f) * 24000.0f * adc)


 /* Battery monitoring for file closing */

 #define SDLOG_BAT_ADC ADCD1

 #define SDLOG_BAT_CHAN AD1_1_CHANNEL

 #define SDLOG_USB_LED 3


 /*

  * IO pins assignments.

  */

 #define PA00_ADC1                      0U

 #define PA01_ADC2                      1U

 #define PA02_ADC3                      2U

 #define PA03_ADC4                      3U

 #define PA04_ADC5                      4U

 #define PA05_FMU_CAP1                  5U

 #define PA06_SPI1_MISO                 6U

 #define PA07_IMU_HEATER                7U

 #define PA08_CAN3_RX                   8U

 #define PA09_USB_VBUS                  9U

 #define PA10_SERVO2                    10U

 #define PA11_USB_DM                    11U

 #define PA12_USB_DP                    12U

 #define PA13_SWDIO                     13U

 #define PA14_SWCLK                     14U

 #define PA15_CAN3_TX                   15U


 #define PB00_RSSI_IN                   0U

 #define PB01_LED1                      1U

 #define PB02                           2U

 #define PB03_FMU_CAP2                  3U

 #define PB04_DRDY1_ICM20689            4U

 #define PB05_SPI6_MOSI                 5U

 #define PB06_USART1_TX                 6U

 #define PB07_USART1_RX                 7U

 #define PB08_I2C1_SCL                  8U

 #define PB09_I2C1_SDA                  9U

 #define PB10_SPI5_RESET                10U

 #define PB11_FMU_CAP3                  11U

 #define PB12_CAN2_RX                   12U

 #define PB13_CAN2_TX                   13U

 #define PB14_DRDY2_BMI055_GYRO         14U

 #define PB15_DRDY2_BMI055_ACC          15U


 #define PC00_SCALED_V5                 0U

 #define PC01_SCALED_3V3_SENSORS        1U

 #define PC02_HW_VER_SENSE              2U

 #define PC03_HW_REV_SENSE              3U

 #define PC04_ADC6                      4U

 #define PC05_DRDY4_ICM20602            5U

 #define PC06_LED2                      6U

 #define PC07_LED3                      7U

 #define PC08_SDIO_D0                   8U

 #define PC09_SDIO_D1                   9U

 #define PC10_SDIO_D2                   10U

 #define PC11_SDIO_D3                   11U

 #define PC12_SDIO_CK                   12U

 #define PC13_DRDY5_BMI055_GYRO         13U

 #define PC14_OSC32_IN                  14U

 #define PC15_OSC32_OUT                 15U


 #define PD00_UART4_RX                  0U

 #define PD01_UART4_TX                  1U

 #define PD02_SDIO_CMD                  2U

 #define PD03_UART2_CTS                 3U

 #define PD04_UART2_RTS                 4U

 #define PD05_UART2_TX                  5U

 #define PD06_UART2_RX                  6U

 #define PD07_SPI1_MOSI                 7U

 #define PD08_UART3_TX                  8U

 #define PD09_UART3_RX                  9U

 #define PD10_DRDY6_BMI055_ACC          10U

 #define PD11_UART3_CTS                 11U

 #define PD12_UART3_RTS                 12U

 #define PD13_SERVO5                    13U

 #define PD14_SERVO6                    14U

 #define PD15_DRDY7_EXTERNAL1           15U


 #define PE00_UART8_RX                  0U

 #define PE01_UART8_TX                  1U

 #define PE02_SPI4_SCK                  2U

 #define PE03_V3V3_SENSORS_EN           3U

 #define PE04_V3V3_SPEKTRUM_EN          4U

 #define PE05_BUZZER                    5U

 #define PE06_SPI4_MOSI                 6U

 #define PE07_DRDY8                     7U

 #define PE08_UART7_TX                  8U

 #define PE09_SERVO4                    9U

 #define PE10_SAFETY_SWITCH_IN          10U

 #define PE11_SERVO3                    11U

 #define PE12_LED4                      12U

 #define PE13_SPI4_MISO                 13U

 #define PE14_SERVO1                    14U

 #define PE15_V5V_PERIPH_OC             15U


 #define PF00_I2C2_SDA                  0U

 #define PF01_I2C2_SCL                  1U

 #define PF02_SPI_SLAVE0                2U

 #define PF03_SPI_SLAVE1                3U

 #define PF04_SPI_SLAVE2                4U

 #define PF05_SPI_SLAVE3                5U

 #define PF06_UART7_RX                  6U

 #define PF07_SPI5_SCK                  7U

 #define PF08_SPI5_MISO                 8U

 #define PF09_SPI5_MOSI                 9U

 #define PF10_SPI_SLAVE4                10U

 #define PF11_SPI_SLAVE5                11U

 #define PF12_V5V_HIPOWER_EN            12U

 #define PF13_V5V_HIPOWER_OC            13U

 #define PF14_I2C4_SCL                  14U

 #define PF15_I2C4_SDA                  15U


 #define PG00_HW_VER_DRIVE              0U

 #define PG01_POWER_IN_A                1U

 #define PG02_POWER_IN_B                2U

 #define PG03_POWER_IN_C                3U

 #define PG04_V5V_PERIPH_EN             4U

 #define PG05_V5V_RC_EN                 5U

 #define PG06_V5V_WIFI_EN               6U

 #define PG07_V3V3_SD_CARD_EN           7U

 #define PG08_USART6_RTS                8U

 #define PG09_USART6_RX                 9U

 #define PG10_SPI_SLAVE6                10U

 #define PG11_SPI1_SCK                  11U

 #define PG12_SPI6_MISO                 12U

 #define PG13_SPI6_SCK                  13U

 #define PG14_USART6_TX                 14U

 #define PG15_USART6_CTS                15U


 #define PH00_OSC_IN                    0U

 #define PH01_OSC_OUT                   1U

 #define PH02_CAN1_SILENT_S0            2U

 #define PH03_CAN2_SILENT_S1            3U

 #define PH04_CAN3_SILENT_S2            4U

 #define PH05_SPI_SLAVE7                5U

 #define PH06_SERVO7                    6U

 #define PH07_I2C3_SCL                  7U

 #define PH08_I2C3_SDA                  8U

 #define PH09_SERVO8                    9U

 #define PH10_LED5                      10U

 #define PH11_LED6                      11U

 #define PH12_LED7                      12U

 #define PH13_CAN1_TX                   13U

 #define PH14_HW_REV_DRIVE              14U

 #define PH15_SPI5_SYNC                 15U


 #define PI00_ARMED                     0U

 #define PI01_SPI2_SCK                  1U

 #define PI02_SPI2_MISO                 2U

 #define PI03_SPI2_MOSI                 3U

 #define PI04_SPI_SLAVE8                4U

 #define PI05_PWM_INPUT1                5U

 #define PI06_SPI_SLAVE9                6U

 #define PI07_SPI_SLAVE10               7U

 #define PI08_SPI_SLAVE11               8U

 #define PI09_CAN1_RX                   9U

 #define PI10_SPI_SLAVE12               10U

 #define PI11_SPI_SLAVE13               11U

 #define PI12                           12U

 #define PI13                           13U

 #define PI14                           14U

 #define PI15                           15U


 #define PJ00                           0U

 #define PJ01                           1U

 #define PJ02                           2U

 #define PJ03                           3U

 #define PJ04                           4U

 #define PJ05                           5U

 #define PJ06                           6U

 #define PJ07                           7U

 #define PJ08                           8U

 #define PJ09                           9U

 #define PJ10                           10U

 #define PJ11                           11U

 #define PJ12                           12U

 #define PJ13                           13U

 #define PJ14                           14U

 #define PJ15                           15U


 #define PK00                           0U

 #define PK01                           1U

 #define PK02                           2U

 #define PK03                           3U

 #define PK04                           4U

 #define PK05                           5U

 #define PK06                           6U

 #define PK07                           7U

 #define PK08                           8U

 #define PK09                           9U

 #define PK10                           10U

 #define PK11                           11U

 #define PK12                           12U

 #define PK13                           13U

 #define PK14                           14U

 #define PK15                           15U


 /*

  * IO lines assignments.

  */

 #define LINE_ADC1                      PAL_LINE(GPIOA, 0U)

 #define LINE_ADC2                      PAL_LINE(GPIOA, 1U)

 #define LINE_ADC3                      PAL_LINE(GPIOA, 2U)

 #define LINE_ADC4                      PAL_LINE(GPIOA, 3U)

 #define LINE_ADC5                      PAL_LINE(GPIOA, 4U)

 #define LINE_FMU_CAP1                  PAL_LINE(GPIOA, 5U)

 #define LINE_SPI1_MISO                 PAL_LINE(GPIOA, 6U)

 #define LINE_IMU_HEATER                PAL_LINE(GPIOA, 7U)

 #define LINE_CAN3_RX                   PAL_LINE(GPIOA, 8U)

 #define LINE_USB_VBUS                  PAL_LINE(GPIOA, 9U)

 #define LINE_SERVO2                    PAL_LINE(GPIOA, 10U)

 #define LINE_USB_DM                    PAL_LINE(GPIOA, 11U)

 #define LINE_USB_DP                    PAL_LINE(GPIOA, 12U)

 #define LINE_SWDIO                     PAL_LINE(GPIOA, 13U)

 #define LINE_SWCLK                     PAL_LINE(GPIOA, 14U)

 #define LINE_CAN3_TX                   PAL_LINE(GPIOA, 15U)


 #define LINE_RSSI_IN                   PAL_LINE(GPIOB, 0U)

 #define LINE_LED1                      PAL_LINE(GPIOB, 1U)

 #define LINE_FMU_CAP2                  PAL_LINE(GPIOB, 3U)

 #define LINE_DRDY1_ICM20689            PAL_LINE(GPIOB, 4U)

 #define LINE_SPI6_MOSI                 PAL_LINE(GPIOB, 5U)

 #define LINE_USART1_TX                 PAL_LINE(GPIOB, 6U)

 #define LINE_USART1_RX                 PAL_LINE(GPIOB, 7U)

 #define LINE_I2C1_SCL                  PAL_LINE(GPIOB, 8U)

 #define LINE_I2C1_SDA                  PAL_LINE(GPIOB, 9U)

 #define LINE_SPI5_RESET                PAL_LINE(GPIOB, 10U)

 #define LINE_FMU_CAP3                  PAL_LINE(GPIOB, 11U)

 #define LINE_CAN2_RX                   PAL_LINE(GPIOB, 12U)

 #define LINE_CAN2_TX                   PAL_LINE(GPIOB, 13U)

 #define LINE_DRDY2_BMI055_GYRO         PAL_LINE(GPIOB, 14U)

 #define LINE_DRDY2_BMI055_ACC          PAL_LINE(GPIOB, 15U)


 #define LINE_SCALED_V5                 PAL_LINE(GPIOC, 0U)

 #define LINE_SCALED_3V3_SENSORS        PAL_LINE(GPIOC, 1U)

 #define LINE_HW_VER_SENSE              PAL_LINE(GPIOC, 2U)

 #define LINE_HW_REV_SENSE              PAL_LINE(GPIOC, 3U)

 #define LINE_ADC6                      PAL_LINE(GPIOC, 4U)

 #define LINE_DRDY4_ICM20602            PAL_LINE(GPIOC, 5U)

 #define LINE_LED2                      PAL_LINE(GPIOC, 6U)

 #define LINE_LED3                      PAL_LINE(GPIOC, 7U)

 #define LINE_SDIO_D0                   PAL_LINE(GPIOC, 8U)

 #define LINE_SDIO_D1                   PAL_LINE(GPIOC, 9U)

 #define LINE_SDIO_D2                   PAL_LINE(GPIOC, 10U)

 #define LINE_SDIO_D3                   PAL_LINE(GPIOC, 11U)

 #define LINE_SDIO_CK                   PAL_LINE(GPIOC, 12U)

 #define LINE_DRDY5_BMI055_GYRO         PAL_LINE(GPIOC, 13U)

 #define LINE_OSC32_IN                  PAL_LINE(GPIOC, 14U)

 #define LINE_OSC32_OUT                 PAL_LINE(GPIOC, 15U)


 #define LINE_UART4_RX                  PAL_LINE(GPIOD, 0U)

 #define LINE_UART4_TX                  PAL_LINE(GPIOD, 1U)

 #define LINE_SDIO_CMD                  PAL_LINE(GPIOD, 2U)

 #define LINE_UART2_CTS                 PAL_LINE(GPIOD, 3U)

 #define LINE_UART2_RTS                 PAL_LINE(GPIOD, 4U)

 #define LINE_UART2_TX                  PAL_LINE(GPIOD, 5U)

 #define LINE_UART2_RX                  PAL_LINE(GPIOD, 6U)

 #define LINE_SPI1_MOSI                 PAL_LINE(GPIOD, 7U)

 #define LINE_UART3_TX                  PAL_LINE(GPIOD, 8U)

 #define LINE_UART3_RX                  PAL_LINE(GPIOD, 9U)

 #define LINE_DRDY6_BMI055_ACC          PAL_LINE(GPIOD, 10U)

 #define LINE_UART3_CTS                 PAL_LINE(GPIOD, 11U)

 #define LINE_UART3_RTS                 PAL_LINE(GPIOD, 12U)

 #define LINE_SERVO5                    PAL_LINE(GPIOD, 13U)

 #define LINE_SERVO6                    PAL_LINE(GPIOD, 14U)

 #define LINE_DRDY7_EXTERNAL1           PAL_LINE(GPIOD, 15U)


 #define LINE_UART8_RX                  PAL_LINE(GPIOE, 0U)

 #define LINE_UART8_TX                  PAL_LINE(GPIOE, 1U)

 #define LINE_SPI4_SCK                  PAL_LINE(GPIOE, 2U)

 #define LINE_V3V3_SENSORS_EN           PAL_LINE(GPIOE, 3U)

 #define LINE_V3V3_SPEKTRUM_EN          PAL_LINE(GPIOE, 4U)

 #define LINE_BUZZER                    PAL_LINE(GPIOE, 5U)

 #define LINE_SPI4_MOSI                 PAL_LINE(GPIOE, 6U)

 #define LINE_DRDY8                     PAL_LINE(GPIOE, 7U)

 #define LINE_UART7_TX                  PAL_LINE(GPIOE, 8U)

 #define LINE_SERVO4                    PAL_LINE(GPIOE, 9U)

 #define LINE_SAFETY_SWITCH_IN          PAL_LINE(GPIOE, 10U)

 #define LINE_SERVO3                    PAL_LINE(GPIOE, 11U)

 #define LINE_LED4                      PAL_LINE(GPIOE, 12U)

 #define LINE_SPI4_MISO                 PAL_LINE(GPIOE, 13U)

 #define LINE_SERVO1                    PAL_LINE(GPIOE, 14U)

 #define LINE_V5V_PERIPH_OC             PAL_LINE(GPIOE, 15U)


 #define LINE_I2C2_SDA                  PAL_LINE(GPIOF, 0U)

 #define LINE_I2C2_SCL                  PAL_LINE(GPIOF, 1U)

 #define LINE_SPI_SLAVE0                PAL_LINE(GPIOF, 2U)

 #define LINE_SPI_SLAVE1                PAL_LINE(GPIOF, 3U)

 #define LINE_SPI_SLAVE2                PAL_LINE(GPIOF, 4U)

 #define LINE_SPI_SLAVE3                PAL_LINE(GPIOF, 5U)

 #define LINE_UART7_RX                  PAL_LINE(GPIOF, 6U)

 #define LINE_SPI5_SCK                  PAL_LINE(GPIOF, 7U)

 #define LINE_SPI5_MISO                 PAL_LINE(GPIOF, 8U)

 #define LINE_SPI5_MOSI                 PAL_LINE(GPIOF, 9U)

 #define LINE_SPI_SLAVE4                PAL_LINE(GPIOF, 10U)

 #define LINE_SPI_SLAVE5                PAL_LINE(GPIOF, 11U)

 #define LINE_V5V_HIPOWER_EN            PAL_LINE(GPIOF, 12U)

 #define LINE_V5V_HIPOWER_OC            PAL_LINE(GPIOF, 13U)

 #define LINE_I2C4_SCL                  PAL_LINE(GPIOF, 14U)

 #define LINE_I2C4_SDA                  PAL_LINE(GPIOF, 15U)


 #define LINE_HW_VER_DRIVE              PAL_LINE(GPIOG, 0U)

 #define LINE_POWER_IN_A                PAL_LINE(GPIOG, 1U)

 #define LINE_POWER_IN_B                PAL_LINE(GPIOG, 2U)

 #define LINE_POWER_IN_C                PAL_LINE(GPIOG, 3U)

 #define LINE_V5V_PERIPH_EN             PAL_LINE(GPIOG, 4U)

 #define LINE_V5V_RC_EN                 PAL_LINE(GPIOG, 5U)

 #define LINE_V5V_WIFI_EN               PAL_LINE(GPIOG, 6U)

 #define LINE_V3V3_SD_CARD_EN           PAL_LINE(GPIOG, 7U)

 #define LINE_USART6_RTS                PAL_LINE(GPIOG, 8U)

 #define LINE_USART6_RX                 PAL_LINE(GPIOG, 9U)

 #define LINE_SPI_SLAVE6                PAL_LINE(GPIOG, 10U)

 #define LINE_SPI1_SCK                  PAL_LINE(GPIOG, 11U)

 #define LINE_SPI6_MISO                 PAL_LINE(GPIOG, 12U)

 #define LINE_SPI6_SCK                  PAL_LINE(GPIOG, 13U)

 #define LINE_USART6_TX                 PAL_LINE(GPIOG, 14U)

 #define LINE_USART6_CTS                PAL_LINE(GPIOG, 15U)


 #define LINE_OSC_IN                    PAL_LINE(GPIOH, 0U)

 #define LINE_OSC_OUT                   PAL_LINE(GPIOH, 1U)

 #define LINE_CAN1_SILENT_S0            PAL_LINE(GPIOH, 2U)

 #define LINE_CAN2_SILENT_S1            PAL_LINE(GPIOH, 3U)

 #define LINE_CAN3_SILENT_S2            PAL_LINE(GPIOH, 4U)

 #define LINE_SPI_SLAVE7                PAL_LINE(GPIOH, 5U)

 #define LINE_SERVO7                    PAL_LINE(GPIOH, 6U)

 #define LINE_I2C3_SCL                  PAL_LINE(GPIOH, 7U)

 #define LINE_I2C3_SDA                  PAL_LINE(GPIOH, 8U)

 #define LINE_SERVO8                    PAL_LINE(GPIOH, 9U)

 #define LINE_LED5                      PAL_LINE(GPIOH, 10U)

 #define LINE_LED6                      PAL_LINE(GPIOH, 11U)

 #define LINE_LED7                      PAL_LINE(GPIOH, 12U)

 #define LINE_CAN1_TX                   PAL_LINE(GPIOH, 13U)

 #define LINE_HW_REV_DRIVE              PAL_LINE(GPIOH, 14U)

 #define LINE_SPI5_SYNC                 PAL_LINE(GPIOH, 15U)


 #define LINE_ARMED                     PAL_LINE(GPIOI, 0U)

 #define LINE_SPI2_SCK                  PAL_LINE(GPIOI, 1U)

 #define LINE_SPI2_MISO                 PAL_LINE(GPIOI, 2U)

 #define LINE_SPI2_MOSI                 PAL_LINE(GPIOI, 3U)

 #define LINE_SPI_SLAVE8                PAL_LINE(GPIOI, 4U)

 #define LINE_PWM_INPUT1                PAL_LINE(GPIOI, 5U)

 #define LINE_SPI_SLAVE9                PAL_LINE(GPIOI, 6U)

 #define LINE_SPI_SLAVE10               PAL_LINE(GPIOI, 7U)

 #define LINE_SPI_SLAVE11               PAL_LINE(GPIOI, 8U)

 #define LINE_CAN1_RX                   PAL_LINE(GPIOI, 9U)

 #define LINE_SPI_SLAVE12               PAL_LINE(GPIOI, 10U)

 #define LINE_SPI_SLAVE13               PAL_LINE(GPIOI, 11U)


 /*

  * I/O ports initial setup, this configuration is established soon after reset

  * in the initialization code.

  * Please refer to the STM32 Reference Manual for details.

  */

 #define PIN_MODE_INPUT(n)           (0U << ((n) * 2U))

 #define PIN_MODE_OUTPUT(n)          (1U << ((n) * 2U))

 #define PIN_MODE_ALTERNATE(n)       (2U << ((n) * 2U))

 #define PIN_MODE_ANALOG(n)          (3U << ((n) * 2U))

 #define PIN_ODR_LEVEL_LOW(n)        (0U << (n))

 #define PIN_ODR_LEVEL_HIGH(n)       (1U << (n))

 #define PIN_OTYPE_PUSHPULL(n)       (0U << (n))

 #define PIN_OTYPE_OPENDRAIN(n)      (1U << (n))

 #define PIN_OSPEED_SPEED_VERYLOW(n) (0U << ((n) * 2U))

 #define PIN_OSPEED_SPEED_LOW(n)     (1U << ((n) * 2U))

 #define PIN_OSPEED_SPEED_MEDIUM(n)  (2U << ((n) * 2U))

 #define PIN_OSPEED_SPEED_HIGH(n)    (3U << ((n) * 2U))

 #define PIN_PUPDR_FLOATING(n)       (0U << ((n) * 2U))

 #define PIN_PUPDR_PULLUP(n)         (1U << ((n) * 2U))

 #define PIN_PUPDR_PULLDOWN(n)       (2U << ((n) * 2U))

 #define PIN_AFIO_AF(n, v)           ((v) << (((n) % 8U) * 4U))


 #define VAL_GPIOA_MODER                 (PIN_MODE_ANALOG(PA00_ADC1) | \

            PIN_MODE_ANALOG(PA01_ADC2) | \

            PIN_MODE_ANALOG(PA02_ADC3) | \

            PIN_MODE_ANALOG(PA03_ADC4) | \

            PIN_MODE_ANALOG(PA04_ADC5) | \

            PIN_MODE_INPUT(PA05_FMU_CAP1) | \

            PIN_MODE_ALTERNATE(PA06_SPI1_MISO) | \

            PIN_MODE_OUTPUT(PA07_IMU_HEATER) | \

            PIN_MODE_ALTERNATE(PA08_CAN3_RX) | \

            PIN_MODE_INPUT(PA09_USB_VBUS) | \

            PIN_MODE_ALTERNATE(PA10_SERVO2) | \

            PIN_MODE_ALTERNATE(PA11_USB_DM) | \

            PIN_MODE_ALTERNATE(PA12_USB_DP) | \

            PIN_MODE_ALTERNATE(PA13_SWDIO) | \

            PIN_MODE_ALTERNATE(PA14_SWCLK) | \

            PIN_MODE_ALTERNATE(PA15_CAN3_TX))


 #define VAL_GPIOA_OTYPER                (PIN_OTYPE_PUSHPULL(PA00_ADC1) | \

            PIN_OTYPE_PUSHPULL(PA01_ADC2) | \

            PIN_OTYPE_PUSHPULL(PA02_ADC3) | \

            PIN_OTYPE_PUSHPULL(PA03_ADC4) | \

            PIN_OTYPE_PUSHPULL(PA04_ADC5) | \

            PIN_OTYPE_OPENDRAIN(PA05_FMU_CAP1) | \

            PIN_OTYPE_PUSHPULL(PA06_SPI1_MISO) | \

            PIN_OTYPE_PUSHPULL(PA07_IMU_HEATER) | \

            PIN_OTYPE_PUSHPULL(PA08_CAN3_RX) | \

            PIN_OTYPE_OPENDRAIN(PA09_USB_VBUS) | \

            PIN_OTYPE_PUSHPULL(PA10_SERVO2) | \

            PIN_OTYPE_PUSHPULL(PA11_USB_DM) | \

            PIN_OTYPE_PUSHPULL(PA12_USB_DP) | \

            PIN_OTYPE_PUSHPULL(PA13_SWDIO) | \

            PIN_OTYPE_PUSHPULL(PA14_SWCLK) | \

            PIN_OTYPE_PUSHPULL(PA15_CAN3_TX))


 #define VAL_GPIOA_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PA00_ADC1) | \

            PIN_OSPEED_SPEED_VERYLOW(PA01_ADC2) | \

            PIN_OSPEED_SPEED_VERYLOW(PA02_ADC3) | \

            PIN_OSPEED_SPEED_VERYLOW(PA03_ADC4) | \

            PIN_OSPEED_SPEED_VERYLOW(PA04_ADC5) | \

            PIN_OSPEED_SPEED_VERYLOW(PA05_FMU_CAP1) | \

            PIN_OSPEED_SPEED_HIGH(PA06_SPI1_MISO) | \

            PIN_OSPEED_SPEED_HIGH(PA07_IMU_HEATER) | \

            PIN_OSPEED_SPEED_HIGH(PA08_CAN3_RX) | \

            PIN_OSPEED_SPEED_VERYLOW(PA09_USB_VBUS) | \

            PIN_OSPEED_SPEED_HIGH(PA10_SERVO2) | \

            PIN_OSPEED_SPEED_HIGH(PA11_USB_DM) | \

            PIN_OSPEED_SPEED_HIGH(PA12_USB_DP) | \

            PIN_OSPEED_SPEED_HIGH(PA13_SWDIO) | \

            PIN_OSPEED_SPEED_HIGH(PA14_SWCLK) | \

            PIN_OSPEED_SPEED_HIGH(PA15_CAN3_TX))


 #define VAL_GPIOA_PUPDR                 (PIN_PUPDR_FLOATING(PA00_ADC1) | \

            PIN_PUPDR_FLOATING(PA01_ADC2) | \

            PIN_PUPDR_FLOATING(PA02_ADC3) | \

            PIN_PUPDR_FLOATING(PA03_ADC4) | \

            PIN_PUPDR_FLOATING(PA04_ADC5) | \

            PIN_PUPDR_PULLDOWN(PA05_FMU_CAP1) | \

            PIN_PUPDR_FLOATING(PA06_SPI1_MISO) | \

            PIN_PUPDR_FLOATING(PA07_IMU_HEATER) | \

            PIN_PUPDR_FLOATING(PA08_CAN3_RX) | \

            PIN_PUPDR_PULLDOWN(PA09_USB_VBUS) | \

            PIN_PUPDR_FLOATING(PA10_SERVO2) | \

            PIN_PUPDR_FLOATING(PA11_USB_DM) | \

            PIN_PUPDR_FLOATING(PA12_USB_DP) | \

            PIN_PUPDR_FLOATING(PA13_SWDIO) | \

            PIN_PUPDR_FLOATING(PA14_SWCLK) | \

            PIN_PUPDR_FLOATING(PA15_CAN3_TX))


 #define VAL_GPIOA_ODR                   (PIN_ODR_LEVEL_LOW(PA00_ADC1) | \

            PIN_ODR_LEVEL_LOW(PA01_ADC2) | \

            PIN_ODR_LEVEL_LOW(PA02_ADC3) | \

            PIN_ODR_LEVEL_LOW(PA03_ADC4) | \

            PIN_ODR_LEVEL_LOW(PA04_ADC5) | \

            PIN_ODR_LEVEL_HIGH(PA05_FMU_CAP1) | \

            PIN_ODR_LEVEL_HIGH(PA06_SPI1_MISO) | \

            PIN_ODR_LEVEL_LOW(PA07_IMU_HEATER) | \

            PIN_ODR_LEVEL_HIGH(PA08_CAN3_RX) | \

            PIN_ODR_LEVEL_LOW(PA09_USB_VBUS) | \

            PIN_ODR_LEVEL_LOW(PA10_SERVO2) | \

            PIN_ODR_LEVEL_HIGH(PA11_USB_DM) | \

            PIN_ODR_LEVEL_HIGH(PA12_USB_DP) | \

            PIN_ODR_LEVEL_HIGH(PA13_SWDIO) | \

            PIN_ODR_LEVEL_HIGH(PA14_SWCLK) | \

            PIN_ODR_LEVEL_HIGH(PA15_CAN3_TX))


 #define VAL_GPIOA_AFRL      (PIN_AFIO_AF(PA00_ADC1, 0) | \

            PIN_AFIO_AF(PA01_ADC2, 0) | \

            PIN_AFIO_AF(PA02_ADC3, 0) | \

            PIN_AFIO_AF(PA03_ADC4, 0) | \

            PIN_AFIO_AF(PA04_ADC5, 0) | \

            PIN_AFIO_AF(PA05_FMU_CAP1, 0) | \

            PIN_AFIO_AF(PA06_SPI1_MISO, 5) | \

            PIN_AFIO_AF(PA07_IMU_HEATER, 0))


 #define VAL_GPIOA_AFRH      (PIN_AFIO_AF(PA08_CAN3_RX, 11) | \

            PIN_AFIO_AF(PA09_USB_VBUS, 0) | \

            PIN_AFIO_AF(PA10_SERVO2, 1) | \

            PIN_AFIO_AF(PA11_USB_DM, 10) | \

            PIN_AFIO_AF(PA12_USB_DP, 10) | \

            PIN_AFIO_AF(PA13_SWDIO, 0) | \

            PIN_AFIO_AF(PA14_SWCLK, 0) | \

            PIN_AFIO_AF(PA15_CAN3_TX, 11))


 #define VAL_GPIOB_MODER                 (PIN_MODE_ANALOG(PB00_RSSI_IN) | \

            PIN_MODE_OUTPUT(PB01_LED1) | \

            PIN_MODE_INPUT(PB02) | \

            PIN_MODE_INPUT(PB03_FMU_CAP2) | \

            PIN_MODE_INPUT(PB04_DRDY1_ICM20689) | \

            PIN_MODE_ALTERNATE(PB05_SPI6_MOSI) | \

            PIN_MODE_ALTERNATE(PB06_USART1_TX) | \

            PIN_MODE_ALTERNATE(PB07_USART1_RX) | \

            PIN_MODE_ALTERNATE(PB08_I2C1_SCL) | \

            PIN_MODE_ALTERNATE(PB09_I2C1_SDA) | \

            PIN_MODE_INPUT(PB10_SPI5_RESET) | \

            PIN_MODE_INPUT(PB11_FMU_CAP3) | \

            PIN_MODE_ALTERNATE(PB12_CAN2_RX) | \

            PIN_MODE_ALTERNATE(PB13_CAN2_TX) | \

            PIN_MODE_INPUT(PB14_DRDY2_BMI055_GYRO) | \

            PIN_MODE_INPUT(PB15_DRDY2_BMI055_ACC))


 #define VAL_GPIOB_OTYPER                (PIN_OTYPE_PUSHPULL(PB00_RSSI_IN) | \

            PIN_OTYPE_PUSHPULL(PB01_LED1) | \

            PIN_OTYPE_PUSHPULL(PB02) | \

            PIN_OTYPE_OPENDRAIN(PB03_FMU_CAP2) | \

            PIN_OTYPE_OPENDRAIN(PB04_DRDY1_ICM20689) | \

            PIN_OTYPE_PUSHPULL(PB05_SPI6_MOSI) | \

            PIN_OTYPE_PUSHPULL(PB06_USART1_TX) | \

            PIN_OTYPE_PUSHPULL(PB07_USART1_RX) | \

            PIN_OTYPE_OPENDRAIN(PB08_I2C1_SCL) | \

            PIN_OTYPE_OPENDRAIN(PB09_I2C1_SDA) | \

            PIN_OTYPE_OPENDRAIN(PB10_SPI5_RESET) | \

            PIN_OTYPE_OPENDRAIN(PB11_FMU_CAP3) | \

            PIN_OTYPE_PUSHPULL(PB12_CAN2_RX) | \

            PIN_OTYPE_PUSHPULL(PB13_CAN2_TX) | \

            PIN_OTYPE_OPENDRAIN(PB14_DRDY2_BMI055_GYRO) | \

            PIN_OTYPE_OPENDRAIN(PB15_DRDY2_BMI055_ACC))


 #define VAL_GPIOB_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PB00_RSSI_IN) | \

            PIN_OSPEED_SPEED_VERYLOW(PB01_LED1) | \

            PIN_OSPEED_SPEED_VERYLOW(PB02) | \

            PIN_OSPEED_SPEED_VERYLOW(PB03_FMU_CAP2) | \

            PIN_OSPEED_SPEED_VERYLOW(PB04_DRDY1_ICM20689) | \

            PIN_OSPEED_SPEED_HIGH(PB05_SPI6_MOSI) | \

            PIN_OSPEED_SPEED_HIGH(PB06_USART1_TX) | \

            PIN_OSPEED_SPEED_HIGH(PB07_USART1_RX) | \

            PIN_OSPEED_SPEED_HIGH(PB08_I2C1_SCL) | \

            PIN_OSPEED_SPEED_HIGH(PB09_I2C1_SDA) | \

            PIN_OSPEED_SPEED_VERYLOW(PB10_SPI5_RESET) | \

            PIN_OSPEED_SPEED_VERYLOW(PB11_FMU_CAP3) | \

            PIN_OSPEED_SPEED_HIGH(PB12_CAN2_RX) | \

            PIN_OSPEED_SPEED_HIGH(PB13_CAN2_TX) | \

            PIN_OSPEED_SPEED_VERYLOW(PB14_DRDY2_BMI055_GYRO) | \

            PIN_OSPEED_SPEED_VERYLOW(PB15_DRDY2_BMI055_ACC))


 #define VAL_GPIOB_PUPDR                 (PIN_PUPDR_FLOATING(PB00_RSSI_IN) | \

            PIN_PUPDR_FLOATING(PB01_LED1) | \

            PIN_PUPDR_PULLDOWN(PB02) | \

            PIN_PUPDR_PULLDOWN(PB03_FMU_CAP2) | \

            PIN_PUPDR_PULLDOWN(PB04_DRDY1_ICM20689) | \

            PIN_PUPDR_FLOATING(PB05_SPI6_MOSI) | \

            PIN_PUPDR_FLOATING(PB06_USART1_TX) | \

            PIN_PUPDR_FLOATING(PB07_USART1_RX) | \

            PIN_PUPDR_PULLUP(PB08_I2C1_SCL) | \

            PIN_PUPDR_PULLUP(PB09_I2C1_SDA) | \

            PIN_PUPDR_PULLDOWN(PB10_SPI5_RESET) | \

            PIN_PUPDR_PULLDOWN(PB11_FMU_CAP3) | \

            PIN_PUPDR_FLOATING(PB12_CAN2_RX) | \

            PIN_PUPDR_FLOATING(PB13_CAN2_TX) | \

            PIN_PUPDR_PULLDOWN(PB14_DRDY2_BMI055_GYRO) | \

            PIN_PUPDR_PULLDOWN(PB15_DRDY2_BMI055_ACC))


 #define VAL_GPIOB_ODR                   (PIN_ODR_LEVEL_LOW(PB00_RSSI_IN) | \

            PIN_ODR_LEVEL_LOW(PB01_LED1) | \

            PIN_ODR_LEVEL_LOW(PB02) | \

            PIN_ODR_LEVEL_HIGH(PB03_FMU_CAP2) | \

            PIN_ODR_LEVEL_HIGH(PB04_DRDY1_ICM20689) | \

            PIN_ODR_LEVEL_HIGH(PB05_SPI6_MOSI) | \

            PIN_ODR_LEVEL_HIGH(PB06_USART1_TX) | \

            PIN_ODR_LEVEL_HIGH(PB07_USART1_RX) | \

            PIN_ODR_LEVEL_HIGH(PB08_I2C1_SCL) | \

            PIN_ODR_LEVEL_HIGH(PB09_I2C1_SDA) | \

            PIN_ODR_LEVEL_HIGH(PB10_SPI5_RESET) | \

            PIN_ODR_LEVEL_HIGH(PB11_FMU_CAP3) | \

            PIN_ODR_LEVEL_HIGH(PB12_CAN2_RX) | \

            PIN_ODR_LEVEL_HIGH(PB13_CAN2_TX) | \

            PIN_ODR_LEVEL_HIGH(PB14_DRDY2_BMI055_GYRO) | \

            PIN_ODR_LEVEL_HIGH(PB15_DRDY2_BMI055_ACC))


 #define VAL_GPIOB_AFRL      (PIN_AFIO_AF(PB00_RSSI_IN, 0) | \

            PIN_AFIO_AF(PB01_LED1, 0) | \

            PIN_AFIO_AF(PB02, 0) | \

            PIN_AFIO_AF(PB03_FMU_CAP2, 0) | \

            PIN_AFIO_AF(PB04_DRDY1_ICM20689, 0) | \

            PIN_AFIO_AF(PB05_SPI6_MOSI, 8) | \

            PIN_AFIO_AF(PB06_USART1_TX, 7) | \

            PIN_AFIO_AF(PB07_USART1_RX, 7))


 #define VAL_GPIOB_AFRH      (PIN_AFIO_AF(PB08_I2C1_SCL, 4) | \

            PIN_AFIO_AF(PB09_I2C1_SDA, 4) | \

            PIN_AFIO_AF(PB10_SPI5_RESET, 0) | \

            PIN_AFIO_AF(PB11_FMU_CAP3, 0) | \

            PIN_AFIO_AF(PB12_CAN2_RX, 9) | \

            PIN_AFIO_AF(PB13_CAN2_TX, 9) | \

            PIN_AFIO_AF(PB14_DRDY2_BMI055_GYRO, 0) | \

            PIN_AFIO_AF(PB15_DRDY2_BMI055_ACC, 0))


 #define VAL_GPIOC_MODER                 (PIN_MODE_ANALOG(PC00_SCALED_V5) | \

            PIN_MODE_ANALOG(PC01_SCALED_3V3_SENSORS) | \

            PIN_MODE_ANALOG(PC02_HW_VER_SENSE) | \

            PIN_MODE_ANALOG(PC03_HW_REV_SENSE) | \

            PIN_MODE_ANALOG(PC04_ADC6) | \

            PIN_MODE_INPUT(PC05_DRDY4_ICM20602) | \

            PIN_MODE_OUTPUT(PC06_LED2) | \

            PIN_MODE_OUTPUT(PC07_LED3) | \

            PIN_MODE_ALTERNATE(PC08_SDIO_D0) | \

            PIN_MODE_ALTERNATE(PC09_SDIO_D1) | \

            PIN_MODE_ALTERNATE(PC10_SDIO_D2) | \

            PIN_MODE_ALTERNATE(PC11_SDIO_D3) | \

            PIN_MODE_ALTERNATE(PC12_SDIO_CK) | \

            PIN_MODE_INPUT(PC13_DRDY5_BMI055_GYRO) | \

            PIN_MODE_ALTERNATE(PC14_OSC32_IN) | \

            PIN_MODE_ALTERNATE(PC15_OSC32_OUT))


 #define VAL_GPIOC_OTYPER                (PIN_OTYPE_PUSHPULL(PC00_SCALED_V5) | \

            PIN_OTYPE_PUSHPULL(PC01_SCALED_3V3_SENSORS) | \

            PIN_OTYPE_PUSHPULL(PC02_HW_VER_SENSE) | \

            PIN_OTYPE_PUSHPULL(PC03_HW_REV_SENSE) | \

            PIN_OTYPE_PUSHPULL(PC04_ADC6) | \

            PIN_OTYPE_OPENDRAIN(PC05_DRDY4_ICM20602) | \

            PIN_OTYPE_PUSHPULL(PC06_LED2) | \

            PIN_OTYPE_PUSHPULL(PC07_LED3) | \

            PIN_OTYPE_PUSHPULL(PC08_SDIO_D0) | \

            PIN_OTYPE_PUSHPULL(PC09_SDIO_D1) | \

            PIN_OTYPE_PUSHPULL(PC10_SDIO_D2) | \

            PIN_OTYPE_PUSHPULL(PC11_SDIO_D3) | \

            PIN_OTYPE_PUSHPULL(PC12_SDIO_CK) | \

            PIN_OTYPE_OPENDRAIN(PC13_DRDY5_BMI055_GYRO) | \

            PIN_OTYPE_PUSHPULL(PC14_OSC32_IN) | \

            PIN_OTYPE_PUSHPULL(PC15_OSC32_OUT))


 #define VAL_GPIOC_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PC00_SCALED_V5) | \

            PIN_OSPEED_SPEED_VERYLOW(PC01_SCALED_3V3_SENSORS) | \

            PIN_OSPEED_SPEED_VERYLOW(PC02_HW_VER_SENSE) | \

            PIN_OSPEED_SPEED_VERYLOW(PC03_HW_REV_SENSE) | \

            PIN_OSPEED_SPEED_VERYLOW(PC04_ADC6) | \

            PIN_OSPEED_SPEED_VERYLOW(PC05_DRDY4_ICM20602) | \

            PIN_OSPEED_SPEED_VERYLOW(PC06_LED2) | \

            PIN_OSPEED_SPEED_VERYLOW(PC07_LED3) | \

            PIN_OSPEED_SPEED_HIGH(PC08_SDIO_D0) | \

            PIN_OSPEED_SPEED_HIGH(PC09_SDIO_D1) | \

            PIN_OSPEED_SPEED_HIGH(PC10_SDIO_D2) | \

            PIN_OSPEED_SPEED_HIGH(PC11_SDIO_D3) | \

            PIN_OSPEED_SPEED_HIGH(PC12_SDIO_CK) | \

            PIN_OSPEED_SPEED_VERYLOW(PC13_DRDY5_BMI055_GYRO) | \

            PIN_OSPEED_SPEED_HIGH(PC14_OSC32_IN) | \

            PIN_OSPEED_SPEED_HIGH(PC15_OSC32_OUT))


 #define VAL_GPIOC_PUPDR                 (PIN_PUPDR_FLOATING(PC00_SCALED_V5) | \

            PIN_PUPDR_FLOATING(PC01_SCALED_3V3_SENSORS) | \

            PIN_PUPDR_FLOATING(PC02_HW_VER_SENSE) | \

            PIN_PUPDR_FLOATING(PC03_HW_REV_SENSE) | \

            PIN_PUPDR_FLOATING(PC04_ADC6) | \

            PIN_PUPDR_PULLDOWN(PC05_DRDY4_ICM20602) | \

            PIN_PUPDR_FLOATING(PC06_LED2) | \

            PIN_PUPDR_FLOATING(PC07_LED3) | \

            PIN_PUPDR_PULLUP(PC08_SDIO_D0) | \

            PIN_PUPDR_PULLUP(PC09_SDIO_D1) | \

            PIN_PUPDR_PULLUP(PC10_SDIO_D2) | \

            PIN_PUPDR_PULLUP(PC11_SDIO_D3) | \

            PIN_PUPDR_PULLUP(PC12_SDIO_CK) | \

            PIN_PUPDR_PULLDOWN(PC13_DRDY5_BMI055_GYRO) | \

            PIN_PUPDR_FLOATING(PC14_OSC32_IN) | \

            PIN_PUPDR_FLOATING(PC15_OSC32_OUT))


 #define VAL_GPIOC_ODR                   (PIN_ODR_LEVEL_LOW(PC00_SCALED_V5) | \

            PIN_ODR_LEVEL_LOW(PC01_SCALED_3V3_SENSORS) | \

            PIN_ODR_LEVEL_LOW(PC02_HW_VER_SENSE) | \

            PIN_ODR_LEVEL_LOW(PC03_HW_REV_SENSE) | \

            PIN_ODR_LEVEL_LOW(PC04_ADC6) | \

            PIN_ODR_LEVEL_HIGH(PC05_DRDY4_ICM20602) | \

            PIN_ODR_LEVEL_LOW(PC06_LED2) | \

            PIN_ODR_LEVEL_LOW(PC07_LED3) | \

            PIN_ODR_LEVEL_HIGH(PC08_SDIO_D0) | \

            PIN_ODR_LEVEL_HIGH(PC09_SDIO_D1) | \

            PIN_ODR_LEVEL_HIGH(PC10_SDIO_D2) | \

            PIN_ODR_LEVEL_HIGH(PC11_SDIO_D3) | \

            PIN_ODR_LEVEL_HIGH(PC12_SDIO_CK) | \

            PIN_ODR_LEVEL_HIGH(PC13_DRDY5_BMI055_GYRO) | \

            PIN_ODR_LEVEL_HIGH(PC14_OSC32_IN) | \

            PIN_ODR_LEVEL_HIGH(PC15_OSC32_OUT))


 #define VAL_GPIOC_AFRL      (PIN_AFIO_AF(PC00_SCALED_V5, 0) | \

            PIN_AFIO_AF(PC01_SCALED_3V3_SENSORS, 0) | \

            PIN_AFIO_AF(PC02_HW_VER_SENSE, 0) | \

            PIN_AFIO_AF(PC03_HW_REV_SENSE, 0) | \

            PIN_AFIO_AF(PC04_ADC6, 0) | \

            PIN_AFIO_AF(PC05_DRDY4_ICM20602, 0) | \

            PIN_AFIO_AF(PC06_LED2, 0) | \

            PIN_AFIO_AF(PC07_LED3, 0))


 #define VAL_GPIOC_AFRH      (PIN_AFIO_AF(PC08_SDIO_D0, 12) | \

            PIN_AFIO_AF(PC09_SDIO_D1, 12) | \

            PIN_AFIO_AF(PC10_SDIO_D2, 12) | \

            PIN_AFIO_AF(PC11_SDIO_D3, 12) | \

            PIN_AFIO_AF(PC12_SDIO_CK, 12) | \

            PIN_AFIO_AF(PC13_DRDY5_BMI055_GYRO, 0) | \

            PIN_AFIO_AF(PC14_OSC32_IN, 0) | \

            PIN_AFIO_AF(PC15_OSC32_OUT, 0))


 #define VAL_GPIOD_MODER                 (PIN_MODE_ALTERNATE(PD00_UART4_RX) | \

            PIN_MODE_ALTERNATE(PD01_UART4_TX) | \

            PIN_MODE_ALTERNATE(PD02_SDIO_CMD) | \

            PIN_MODE_INPUT(PD03_UART2_CTS) | \

            PIN_MODE_INPUT(PD04_UART2_RTS) | \

            PIN_MODE_ALTERNATE(PD05_UART2_TX) | \

            PIN_MODE_ALTERNATE(PD06_UART2_RX) | \

            PIN_MODE_ALTERNATE(PD07_SPI1_MOSI) | \

            PIN_MODE_ALTERNATE(PD08_UART3_TX) | \

            PIN_MODE_ALTERNATE(PD09_UART3_RX) | \

            PIN_MODE_INPUT(PD10_DRDY6_BMI055_ACC) | \

            PIN_MODE_INPUT(PD11_UART3_CTS) | \

            PIN_MODE_INPUT(PD12_UART3_RTS) | \

            PIN_MODE_ALTERNATE(PD13_SERVO5) | \

            PIN_MODE_ALTERNATE(PD14_SERVO6) | \

            PIN_MODE_INPUT(PD15_DRDY7_EXTERNAL1))


 #define VAL_GPIOD_OTYPER                (PIN_OTYPE_PUSHPULL(PD00_UART4_RX) | \

            PIN_OTYPE_PUSHPULL(PD01_UART4_TX) | \

            PIN_OTYPE_PUSHPULL(PD02_SDIO_CMD) | \

            PIN_OTYPE_OPENDRAIN(PD03_UART2_CTS) | \

            PIN_OTYPE_OPENDRAIN(PD04_UART2_RTS) | \

            PIN_OTYPE_PUSHPULL(PD05_UART2_TX) | \

            PIN_OTYPE_PUSHPULL(PD06_UART2_RX) | \

            PIN_OTYPE_PUSHPULL(PD07_SPI1_MOSI) | \

            PIN_OTYPE_PUSHPULL(PD08_UART3_TX) | \

            PIN_OTYPE_PUSHPULL(PD09_UART3_RX) | \

            PIN_OTYPE_OPENDRAIN(PD10_DRDY6_BMI055_ACC) | \

            PIN_OTYPE_OPENDRAIN(PD11_UART3_CTS) | \

            PIN_OTYPE_OPENDRAIN(PD12_UART3_RTS) | \

            PIN_OTYPE_PUSHPULL(PD13_SERVO5) | \

            PIN_OTYPE_PUSHPULL(PD14_SERVO6) | \

            PIN_OTYPE_OPENDRAIN(PD15_DRDY7_EXTERNAL1))


 #define VAL_GPIOD_OSPEEDR               (PIN_OSPEED_SPEED_HIGH(PD00_UART4_RX) | \

            PIN_OSPEED_SPEED_HIGH(PD01_UART4_TX) | \

            PIN_OSPEED_SPEED_HIGH(PD02_SDIO_CMD) | \

            PIN_OSPEED_SPEED_VERYLOW(PD03_UART2_CTS) | \

            PIN_OSPEED_SPEED_VERYLOW(PD04_UART2_RTS) | \

            PIN_OSPEED_SPEED_HIGH(PD05_UART2_TX) | \

            PIN_OSPEED_SPEED_HIGH(PD06_UART2_RX) | \

            PIN_OSPEED_SPEED_HIGH(PD07_SPI1_MOSI) | \

            PIN_OSPEED_SPEED_HIGH(PD08_UART3_TX) | \

            PIN_OSPEED_SPEED_HIGH(PD09_UART3_RX) | \

            PIN_OSPEED_SPEED_VERYLOW(PD10_DRDY6_BMI055_ACC) | \

            PIN_OSPEED_SPEED_VERYLOW(PD11_UART3_CTS) | \

            PIN_OSPEED_SPEED_VERYLOW(PD12_UART3_RTS) | \

            PIN_OSPEED_SPEED_HIGH(PD13_SERVO5) | \

            PIN_OSPEED_SPEED_HIGH(PD14_SERVO6) | \

            PIN_OSPEED_SPEED_VERYLOW(PD15_DRDY7_EXTERNAL1))


 #define VAL_GPIOD_PUPDR                 (PIN_PUPDR_FLOATING(PD00_UART4_RX) | \

            PIN_PUPDR_FLOATING(PD01_UART4_TX) | \

            PIN_PUPDR_PULLUP(PD02_SDIO_CMD) | \

            PIN_PUPDR_PULLDOWN(PD03_UART2_CTS) | \

            PIN_PUPDR_PULLDOWN(PD04_UART2_RTS) | \

            PIN_PUPDR_FLOATING(PD05_UART2_TX) | \

            PIN_PUPDR_FLOATING(PD06_UART2_RX) | \

            PIN_PUPDR_FLOATING(PD07_SPI1_MOSI) | \

            PIN_PUPDR_FLOATING(PD08_UART3_TX) | \

            PIN_PUPDR_FLOATING(PD09_UART3_RX) | \

            PIN_PUPDR_PULLDOWN(PD10_DRDY6_BMI055_ACC) | \

            PIN_PUPDR_PULLDOWN(PD11_UART3_CTS) | \

            PIN_PUPDR_PULLDOWN(PD12_UART3_RTS) | \

            PIN_PUPDR_FLOATING(PD13_SERVO5) | \

            PIN_PUPDR_FLOATING(PD14_SERVO6) | \

            PIN_PUPDR_PULLDOWN(PD15_DRDY7_EXTERNAL1))


 #define VAL_GPIOD_ODR                   (PIN_ODR_LEVEL_HIGH(PD00_UART4_RX) | \

            PIN_ODR_LEVEL_HIGH(PD01_UART4_TX) | \

            PIN_ODR_LEVEL_HIGH(PD02_SDIO_CMD) | \

            PIN_ODR_LEVEL_HIGH(PD03_UART2_CTS) | \

            PIN_ODR_LEVEL_HIGH(PD04_UART2_RTS) | \

            PIN_ODR_LEVEL_HIGH(PD05_UART2_TX) | \

            PIN_ODR_LEVEL_HIGH(PD06_UART2_RX) | \

            PIN_ODR_LEVEL_HIGH(PD07_SPI1_MOSI) | \

            PIN_ODR_LEVEL_HIGH(PD08_UART3_TX) | \

            PIN_ODR_LEVEL_HIGH(PD09_UART3_RX) | \

            PIN_ODR_LEVEL_HIGH(PD10_DRDY6_BMI055_ACC) | \

            PIN_ODR_LEVEL_HIGH(PD11_UART3_CTS) | \

            PIN_ODR_LEVEL_HIGH(PD12_UART3_RTS) | \

            PIN_ODR_LEVEL_LOW(PD13_SERVO5) | \

            PIN_ODR_LEVEL_LOW(PD14_SERVO6) | \

            PIN_ODR_LEVEL_HIGH(PD15_DRDY7_EXTERNAL1))


 #define VAL_GPIOD_AFRL      (PIN_AFIO_AF(PD00_UART4_RX, 8) | \

            PIN_AFIO_AF(PD01_UART4_TX, 8) | \

            PIN_AFIO_AF(PD02_SDIO_CMD, 12) | \

            PIN_AFIO_AF(PD03_UART2_CTS, 0) | \

            PIN_AFIO_AF(PD04_UART2_RTS, 0) | \

            PIN_AFIO_AF(PD05_UART2_TX, 7) | \

            PIN_AFIO_AF(PD06_UART2_RX, 7) | \

            PIN_AFIO_AF(PD07_SPI1_MOSI, 5))


 #define VAL_GPIOD_AFRH      (PIN_AFIO_AF(PD08_UART3_TX, 7) | \

            PIN_AFIO_AF(PD09_UART3_RX, 7) | \

            PIN_AFIO_AF(PD10_DRDY6_BMI055_ACC, 0) | \

            PIN_AFIO_AF(PD11_UART3_CTS, 0) | \

            PIN_AFIO_AF(PD12_UART3_RTS, 0) | \

            PIN_AFIO_AF(PD13_SERVO5, 2) | \

            PIN_AFIO_AF(PD14_SERVO6, 2) | \

            PIN_AFIO_AF(PD15_DRDY7_EXTERNAL1, 0))


 #define VAL_GPIOE_MODER                 (PIN_MODE_ALTERNATE(PE00_UART8_RX) | \

            PIN_MODE_ALTERNATE(PE01_UART8_TX) | \

            PIN_MODE_ALTERNATE(PE02_SPI4_SCK) | \

            PIN_MODE_OUTPUT(PE03_V3V3_SENSORS_EN) | \

            PIN_MODE_OUTPUT(PE04_V3V3_SPEKTRUM_EN) | \

            PIN_MODE_INPUT(PE05_BUZZER) | \

            PIN_MODE_ALTERNATE(PE06_SPI4_MOSI) | \

            PIN_MODE_INPUT(PE07_DRDY8) | \

            PIN_MODE_ALTERNATE(PE08_UART7_TX) | \

            PIN_MODE_ALTERNATE(PE09_SERVO4) | \

            PIN_MODE_INPUT(PE10_SAFETY_SWITCH_IN) | \

            PIN_MODE_ALTERNATE(PE11_SERVO3) | \

            PIN_MODE_OUTPUT(PE12_LED4) | \

            PIN_MODE_ALTERNATE(PE13_SPI4_MISO) | \

            PIN_MODE_ALTERNATE(PE14_SERVO1) | \

            PIN_MODE_INPUT(PE15_V5V_PERIPH_OC))


 #define VAL_GPIOE_OTYPER                (PIN_OTYPE_PUSHPULL(PE00_UART8_RX) | \

            PIN_OTYPE_PUSHPULL(PE01_UART8_TX) | \

            PIN_OTYPE_PUSHPULL(PE02_SPI4_SCK) | \

            PIN_OTYPE_PUSHPULL(PE03_V3V3_SENSORS_EN) | \

            PIN_OTYPE_PUSHPULL(PE04_V3V3_SPEKTRUM_EN) | \

            PIN_OTYPE_OPENDRAIN(PE05_BUZZER) | \

            PIN_OTYPE_PUSHPULL(PE06_SPI4_MOSI) | \

            PIN_OTYPE_OPENDRAIN(PE07_DRDY8) | \

            PIN_OTYPE_PUSHPULL(PE08_UART7_TX) | \

            PIN_OTYPE_PUSHPULL(PE09_SERVO4) | \

            PIN_OTYPE_OPENDRAIN(PE10_SAFETY_SWITCH_IN) | \

            PIN_OTYPE_PUSHPULL(PE11_SERVO3) | \

            PIN_OTYPE_PUSHPULL(PE12_LED4) | \

            PIN_OTYPE_PUSHPULL(PE13_SPI4_MISO) | \

            PIN_OTYPE_PUSHPULL(PE14_SERVO1) | \

            PIN_OTYPE_OPENDRAIN(PE15_V5V_PERIPH_OC))


 #define VAL_GPIOE_OSPEEDR               (PIN_OSPEED_SPEED_HIGH(PE00_UART8_RX) | \

            PIN_OSPEED_SPEED_HIGH(PE01_UART8_TX) | \

            PIN_OSPEED_SPEED_HIGH(PE02_SPI4_SCK) | \

            PIN_OSPEED_SPEED_VERYLOW(PE03_V3V3_SENSORS_EN) | \

            PIN_OSPEED_SPEED_VERYLOW(PE04_V3V3_SPEKTRUM_EN) | \

            PIN_OSPEED_SPEED_VERYLOW(PE05_BUZZER) | \

            PIN_OSPEED_SPEED_HIGH(PE06_SPI4_MOSI) | \

            PIN_OSPEED_SPEED_VERYLOW(PE07_DRDY8) | \

            PIN_OSPEED_SPEED_HIGH(PE08_UART7_TX) | \

            PIN_OSPEED_SPEED_HIGH(PE09_SERVO4) | \

            PIN_OSPEED_SPEED_VERYLOW(PE10_SAFETY_SWITCH_IN) | \

            PIN_OSPEED_SPEED_HIGH(PE11_SERVO3) | \

            PIN_OSPEED_SPEED_VERYLOW(PE12_LED4) | \

            PIN_OSPEED_SPEED_HIGH(PE13_SPI4_MISO) | \

            PIN_OSPEED_SPEED_HIGH(PE14_SERVO1) | \

            PIN_OSPEED_SPEED_VERYLOW(PE15_V5V_PERIPH_OC))


 #define VAL_GPIOE_PUPDR                 (PIN_PUPDR_FLOATING(PE00_UART8_RX) | \

            PIN_PUPDR_FLOATING(PE01_UART8_TX) | \

            PIN_PUPDR_FLOATING(PE02_SPI4_SCK) | \

            PIN_PUPDR_FLOATING(PE03_V3V3_SENSORS_EN) | \

            PIN_PUPDR_FLOATING(PE04_V3V3_SPEKTRUM_EN) | \

            PIN_PUPDR_PULLDOWN(PE05_BUZZER) | \

            PIN_PUPDR_FLOATING(PE06_SPI4_MOSI) | \

            PIN_PUPDR_PULLDOWN(PE07_DRDY8) | \

            PIN_PUPDR_FLOATING(PE08_UART7_TX) | \

            PIN_PUPDR_FLOATING(PE09_SERVO4) | \

            PIN_PUPDR_PULLDOWN(PE10_SAFETY_SWITCH_IN) | \

            PIN_PUPDR_FLOATING(PE11_SERVO3) | \

            PIN_PUPDR_FLOATING(PE12_LED4) | \

            PIN_PUPDR_FLOATING(PE13_SPI4_MISO) | \

            PIN_PUPDR_FLOATING(PE14_SERVO1) | \

            PIN_PUPDR_PULLDOWN(PE15_V5V_PERIPH_OC))


 #define VAL_GPIOE_ODR                   (PIN_ODR_LEVEL_HIGH(PE00_UART8_RX) | \

            PIN_ODR_LEVEL_HIGH(PE01_UART8_TX) | \

            PIN_ODR_LEVEL_HIGH(PE02_SPI4_SCK) | \

            PIN_ODR_LEVEL_HIGH(PE03_V3V3_SENSORS_EN) | \

            PIN_ODR_LEVEL_HIGH(PE04_V3V3_SPEKTRUM_EN) | \

            PIN_ODR_LEVEL_HIGH(PE05_BUZZER) | \

            PIN_ODR_LEVEL_HIGH(PE06_SPI4_MOSI) | \

            PIN_ODR_LEVEL_HIGH(PE07_DRDY8) | \

            PIN_ODR_LEVEL_HIGH(PE08_UART7_TX) | \

            PIN_ODR_LEVEL_LOW(PE09_SERVO4) | \

            PIN_ODR_LEVEL_LOW(PE10_SAFETY_SWITCH_IN) | \

            PIN_ODR_LEVEL_LOW(PE11_SERVO3) | \

            PIN_ODR_LEVEL_LOW(PE12_LED4) | \

            PIN_ODR_LEVEL_HIGH(PE13_SPI4_MISO) | \

            PIN_ODR_LEVEL_LOW(PE14_SERVO1) | \

            PIN_ODR_LEVEL_HIGH(PE15_V5V_PERIPH_OC))


 #define VAL_GPIOE_AFRL      (PIN_AFIO_AF(PE00_UART8_RX, 8) | \

            PIN_AFIO_AF(PE01_UART8_TX, 8) | \

            PIN_AFIO_AF(PE02_SPI4_SCK, 5) | \

            PIN_AFIO_AF(PE03_V3V3_SENSORS_EN, 0) | \

            PIN_AFIO_AF(PE04_V3V3_SPEKTRUM_EN, 0) | \

            PIN_AFIO_AF(PE05_BUZZER, 0) | \

            PIN_AFIO_AF(PE06_SPI4_MOSI, 5) | \

            PIN_AFIO_AF(PE07_DRDY8, 0))


 #define VAL_GPIOE_AFRH      (PIN_AFIO_AF(PE08_UART7_TX, 8) | \

            PIN_AFIO_AF(PE09_SERVO4, 1) | \

            PIN_AFIO_AF(PE10_SAFETY_SWITCH_IN, 0) | \

            PIN_AFIO_AF(PE11_SERVO3, 1) | \

            PIN_AFIO_AF(PE12_LED4, 0) | \

            PIN_AFIO_AF(PE13_SPI4_MISO, 5) | \

            PIN_AFIO_AF(PE14_SERVO1, 1) | \

            PIN_AFIO_AF(PE15_V5V_PERIPH_OC, 0))


 #define VAL_GPIOF_MODER                 (PIN_MODE_ALTERNATE(PF00_I2C2_SDA) | \

            PIN_MODE_ALTERNATE(PF01_I2C2_SCL) | \

            PIN_MODE_OUTPUT(PF02_SPI_SLAVE0) | \

            PIN_MODE_OUTPUT(PF03_SPI_SLAVE1) | \

            PIN_MODE_OUTPUT(PF04_SPI_SLAVE2) | \

            PIN_MODE_OUTPUT(PF05_SPI_SLAVE3) | \

            PIN_MODE_ALTERNATE(PF06_UART7_RX) | \

            PIN_MODE_ALTERNATE(PF07_SPI5_SCK) | \

            PIN_MODE_ALTERNATE(PF08_SPI5_MISO) | \

            PIN_MODE_ALTERNATE(PF09_SPI5_MOSI) | \

            PIN_MODE_OUTPUT(PF10_SPI_SLAVE4) | \

            PIN_MODE_OUTPUT(PF11_SPI_SLAVE5) | \

            PIN_MODE_OUTPUT(PF12_V5V_HIPOWER_EN) | \

            PIN_MODE_INPUT(PF13_V5V_HIPOWER_OC) | \

            PIN_MODE_ALTERNATE(PF14_I2C4_SCL) | \

            PIN_MODE_ALTERNATE(PF15_I2C4_SDA))


 #define VAL_GPIOF_OTYPER                (PIN_OTYPE_OPENDRAIN(PF00_I2C2_SDA) | \

            PIN_OTYPE_OPENDRAIN(PF01_I2C2_SCL) | \

            PIN_OTYPE_PUSHPULL(PF02_SPI_SLAVE0) | \

            PIN_OTYPE_PUSHPULL(PF03_SPI_SLAVE1) | \

            PIN_OTYPE_PUSHPULL(PF04_SPI_SLAVE2) | \

            PIN_OTYPE_PUSHPULL(PF05_SPI_SLAVE3) | \

            PIN_OTYPE_PUSHPULL(PF06_UART7_RX) | \

            PIN_OTYPE_PUSHPULL(PF07_SPI5_SCK) | \

            PIN_OTYPE_PUSHPULL(PF08_SPI5_MISO) | \

            PIN_OTYPE_PUSHPULL(PF09_SPI5_MOSI) | \

            PIN_OTYPE_PUSHPULL(PF10_SPI_SLAVE4) | \

            PIN_OTYPE_PUSHPULL(PF11_SPI_SLAVE5) | \

            PIN_OTYPE_PUSHPULL(PF12_V5V_HIPOWER_EN) | \

            PIN_OTYPE_OPENDRAIN(PF13_V5V_HIPOWER_OC) | \

            PIN_OTYPE_OPENDRAIN(PF14_I2C4_SCL) | \

            PIN_OTYPE_OPENDRAIN(PF15_I2C4_SDA))


 #define VAL_GPIOF_OSPEEDR               (PIN_OSPEED_SPEED_HIGH(PF00_I2C2_SDA) | \

            PIN_OSPEED_SPEED_HIGH(PF01_I2C2_SCL) | \

            PIN_OSPEED_SPEED_HIGH(PF02_SPI_SLAVE0) | \

            PIN_OSPEED_SPEED_HIGH(PF03_SPI_SLAVE1) | \

            PIN_OSPEED_SPEED_HIGH(PF04_SPI_SLAVE2) | \

            PIN_OSPEED_SPEED_HIGH(PF05_SPI_SLAVE3) | \

            PIN_OSPEED_SPEED_HIGH(PF06_UART7_RX) | \

            PIN_OSPEED_SPEED_HIGH(PF07_SPI5_SCK) | \

            PIN_OSPEED_SPEED_HIGH(PF08_SPI5_MISO) | \

            PIN_OSPEED_SPEED_HIGH(PF09_SPI5_MOSI) | \

            PIN_OSPEED_SPEED_HIGH(PF10_SPI_SLAVE4) | \

            PIN_OSPEED_SPEED_HIGH(PF11_SPI_SLAVE5) | \

            PIN_OSPEED_SPEED_VERYLOW(PF12_V5V_HIPOWER_EN) | \

            PIN_OSPEED_SPEED_VERYLOW(PF13_V5V_HIPOWER_OC) | \

            PIN_OSPEED_SPEED_HIGH(PF14_I2C4_SCL) | \

            PIN_OSPEED_SPEED_HIGH(PF15_I2C4_SDA))


 #define VAL_GPIOF_PUPDR                 (PIN_PUPDR_PULLUP(PF00_I2C2_SDA) | \

            PIN_PUPDR_PULLUP(PF01_I2C2_SCL) | \

            PIN_PUPDR_FLOATING(PF02_SPI_SLAVE0) | \

            PIN_PUPDR_FLOATING(PF03_SPI_SLAVE1) | \

            PIN_PUPDR_FLOATING(PF04_SPI_SLAVE2) | \

            PIN_PUPDR_FLOATING(PF05_SPI_SLAVE3) | \

            PIN_PUPDR_FLOATING(PF06_UART7_RX) | \

            PIN_PUPDR_FLOATING(PF07_SPI5_SCK) | \

            PIN_PUPDR_FLOATING(PF08_SPI5_MISO) | \

            PIN_PUPDR_FLOATING(PF09_SPI5_MOSI) | \

            PIN_PUPDR_FLOATING(PF10_SPI_SLAVE4) | \

            PIN_PUPDR_FLOATING(PF11_SPI_SLAVE5) | \

            PIN_PUPDR_FLOATING(PF12_V5V_HIPOWER_EN) | \

            PIN_PUPDR_PULLDOWN(PF13_V5V_HIPOWER_OC) | \

            PIN_PUPDR_PULLUP(PF14_I2C4_SCL) | \

            PIN_PUPDR_PULLUP(PF15_I2C4_SDA))


 #define VAL_GPIOF_ODR                   (PIN_ODR_LEVEL_HIGH(PF00_I2C2_SDA) | \

            PIN_ODR_LEVEL_HIGH(PF01_I2C2_SCL) | \

            PIN_ODR_LEVEL_HIGH(PF02_SPI_SLAVE0) | \

            PIN_ODR_LEVEL_HIGH(PF03_SPI_SLAVE1) | \

            PIN_ODR_LEVEL_HIGH(PF04_SPI_SLAVE2) | \

            PIN_ODR_LEVEL_HIGH(PF05_SPI_SLAVE3) | \

            PIN_ODR_LEVEL_HIGH(PF06_UART7_RX) | \

            PIN_ODR_LEVEL_HIGH(PF07_SPI5_SCK) | \

            PIN_ODR_LEVEL_HIGH(PF08_SPI5_MISO) | \

            PIN_ODR_LEVEL_HIGH(PF09_SPI5_MOSI) | \

            PIN_ODR_LEVEL_HIGH(PF10_SPI_SLAVE4) | \

            PIN_ODR_LEVEL_HIGH(PF11_SPI_SLAVE5) | \

            PIN_ODR_LEVEL_LOW(PF12_V5V_HIPOWER_EN) | \

            PIN_ODR_LEVEL_HIGH(PF13_V5V_HIPOWER_OC) | \

            PIN_ODR_LEVEL_HIGH(PF14_I2C4_SCL) | \

            PIN_ODR_LEVEL_HIGH(PF15_I2C4_SDA))


 #define VAL_GPIOF_AFRL      (PIN_AFIO_AF(PF00_I2C2_SDA, 4) | \

            PIN_AFIO_AF(PF01_I2C2_SCL, 4) | \

            PIN_AFIO_AF(PF02_SPI_SLAVE0, 0) | \

            PIN_AFIO_AF(PF03_SPI_SLAVE1, 0) | \

            PIN_AFIO_AF(PF04_SPI_SLAVE2, 0) | \

            PIN_AFIO_AF(PF05_SPI_SLAVE3, 0) | \

            PIN_AFIO_AF(PF06_UART7_RX, 8) | \

            PIN_AFIO_AF(PF07_SPI5_SCK, 5))


 #define VAL_GPIOF_AFRH      (PIN_AFIO_AF(PF08_SPI5_MISO, 5) | \

            PIN_AFIO_AF(PF09_SPI5_MOSI, 5) | \

            PIN_AFIO_AF(PF10_SPI_SLAVE4, 0) | \

            PIN_AFIO_AF(PF11_SPI_SLAVE5, 0) | \

            PIN_AFIO_AF(PF12_V5V_HIPOWER_EN, 0) | \

            PIN_AFIO_AF(PF13_V5V_HIPOWER_OC, 0) | \

            PIN_AFIO_AF(PF14_I2C4_SCL, 4) | \

            PIN_AFIO_AF(PF15_I2C4_SDA, 4))


 #define VAL_GPIOG_MODER                 (PIN_MODE_OUTPUT(PG00_HW_VER_DRIVE) | \

            PIN_MODE_INPUT(PG01_POWER_IN_A) | \

            PIN_MODE_INPUT(PG02_POWER_IN_B) | \

            PIN_MODE_INPUT(PG03_POWER_IN_C) | \

            PIN_MODE_OUTPUT(PG04_V5V_PERIPH_EN) | \

            PIN_MODE_OUTPUT(PG05_V5V_RC_EN) | \

            PIN_MODE_OUTPUT(PG06_V5V_WIFI_EN) | \

            PIN_MODE_OUTPUT(PG07_V3V3_SD_CARD_EN) | \

            PIN_MODE_INPUT(PG08_USART6_RTS) | \

            PIN_MODE_ALTERNATE(PG09_USART6_RX) | \

            PIN_MODE_OUTPUT(PG10_SPI_SLAVE6) | \

            PIN_MODE_ALTERNATE(PG11_SPI1_SCK) | \

            PIN_MODE_ALTERNATE(PG12_SPI6_MISO) | \

            PIN_MODE_ALTERNATE(PG13_SPI6_SCK) | \

            PIN_MODE_ALTERNATE(PG14_USART6_TX) | \

            PIN_MODE_INPUT(PG15_USART6_CTS))


 #define VAL_GPIOG_OTYPER                (PIN_OTYPE_PUSHPULL(PG00_HW_VER_DRIVE) | \

            PIN_OTYPE_OPENDRAIN(PG01_POWER_IN_A) | \

            PIN_OTYPE_OPENDRAIN(PG02_POWER_IN_B) | \

            PIN_OTYPE_OPENDRAIN(PG03_POWER_IN_C) | \

            PIN_OTYPE_PUSHPULL(PG04_V5V_PERIPH_EN) | \

            PIN_OTYPE_PUSHPULL(PG05_V5V_RC_EN) | \

            PIN_OTYPE_PUSHPULL(PG06_V5V_WIFI_EN) | \

            PIN_OTYPE_PUSHPULL(PG07_V3V3_SD_CARD_EN) | \

            PIN_OTYPE_OPENDRAIN(PG08_USART6_RTS) | \

            PIN_OTYPE_PUSHPULL(PG09_USART6_RX) | \

            PIN_OTYPE_PUSHPULL(PG10_SPI_SLAVE6) | \

            PIN_OTYPE_PUSHPULL(PG11_SPI1_SCK) | \

            PIN_OTYPE_PUSHPULL(PG12_SPI6_MISO) | \

            PIN_OTYPE_PUSHPULL(PG13_SPI6_SCK) | \

            PIN_OTYPE_PUSHPULL(PG14_USART6_TX) | \

            PIN_OTYPE_OPENDRAIN(PG15_USART6_CTS))


 #define VAL_GPIOG_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PG00_HW_VER_DRIVE) | \

            PIN_OSPEED_SPEED_VERYLOW(PG01_POWER_IN_A) | \

            PIN_OSPEED_SPEED_VERYLOW(PG02_POWER_IN_B) | \

            PIN_OSPEED_SPEED_VERYLOW(PG03_POWER_IN_C) | \

            PIN_OSPEED_SPEED_VERYLOW(PG04_V5V_PERIPH_EN) | \

            PIN_OSPEED_SPEED_VERYLOW(PG05_V5V_RC_EN) | \

            PIN_OSPEED_SPEED_VERYLOW(PG06_V5V_WIFI_EN) | \

            PIN_OSPEED_SPEED_VERYLOW(PG07_V3V3_SD_CARD_EN) | \

            PIN_OSPEED_SPEED_VERYLOW(PG08_USART6_RTS) | \

            PIN_OSPEED_SPEED_HIGH(PG09_USART6_RX) | \

            PIN_OSPEED_SPEED_HIGH(PG10_SPI_SLAVE6) | \

            PIN_OSPEED_SPEED_HIGH(PG11_SPI1_SCK) | \

            PIN_OSPEED_SPEED_HIGH(PG12_SPI6_MISO) | \

            PIN_OSPEED_SPEED_HIGH(PG13_SPI6_SCK) | \

            PIN_OSPEED_SPEED_HIGH(PG14_USART6_TX) | \

            PIN_OSPEED_SPEED_VERYLOW(PG15_USART6_CTS))


 #define VAL_GPIOG_PUPDR                 (PIN_PUPDR_FLOATING(PG00_HW_VER_DRIVE) | \

            PIN_PUPDR_PULLDOWN(PG01_POWER_IN_A) | \

            PIN_PUPDR_PULLDOWN(PG02_POWER_IN_B) | \

            PIN_PUPDR_PULLDOWN(PG03_POWER_IN_C) | \

            PIN_PUPDR_FLOATING(PG04_V5V_PERIPH_EN) | \

            PIN_PUPDR_FLOATING(PG05_V5V_RC_EN) | \

            PIN_PUPDR_FLOATING(PG06_V5V_WIFI_EN) | \

            PIN_PUPDR_FLOATING(PG07_V3V3_SD_CARD_EN) | \

            PIN_PUPDR_PULLDOWN(PG08_USART6_RTS) | \

            PIN_PUPDR_FLOATING(PG09_USART6_RX) | \

            PIN_PUPDR_FLOATING(PG10_SPI_SLAVE6) | \

            PIN_PUPDR_FLOATING(PG11_SPI1_SCK) | \

            PIN_PUPDR_FLOATING(PG12_SPI6_MISO) | \

            PIN_PUPDR_FLOATING(PG13_SPI6_SCK) | \

            PIN_PUPDR_FLOATING(PG14_USART6_TX) | \

            PIN_PUPDR_PULLDOWN(PG15_USART6_CTS))


 #define VAL_GPIOG_ODR                   (PIN_ODR_LEVEL_LOW(PG00_HW_VER_DRIVE) | \

            PIN_ODR_LEVEL_HIGH(PG01_POWER_IN_A) | \

            PIN_ODR_LEVEL_HIGH(PG02_POWER_IN_B) | \

            PIN_ODR_LEVEL_HIGH(PG03_POWER_IN_C) | \

            PIN_ODR_LEVEL_LOW(PG04_V5V_PERIPH_EN) | \

            PIN_ODR_LEVEL_HIGH(PG05_V5V_RC_EN) | \

            PIN_ODR_LEVEL_HIGH(PG06_V5V_WIFI_EN) | \

            PIN_ODR_LEVEL_HIGH(PG07_V3V3_SD_CARD_EN) | \

            PIN_ODR_LEVEL_HIGH(PG08_USART6_RTS) | \

            PIN_ODR_LEVEL_HIGH(PG09_USART6_RX) | \

            PIN_ODR_LEVEL_HIGH(PG10_SPI_SLAVE6) | \

            PIN_ODR_LEVEL_HIGH(PG11_SPI1_SCK) | \

            PIN_ODR_LEVEL_HIGH(PG12_SPI6_MISO) | \

            PIN_ODR_LEVEL_HIGH(PG13_SPI6_SCK) | \

            PIN_ODR_LEVEL_HIGH(PG14_USART6_TX) | \

            PIN_ODR_LEVEL_HIGH(PG15_USART6_CTS))


 #define VAL_GPIOG_AFRL      (PIN_AFIO_AF(PG00_HW_VER_DRIVE, 0) | \

            PIN_AFIO_AF(PG01_POWER_IN_A, 0) | \

            PIN_AFIO_AF(PG02_POWER_IN_B, 0) | \

            PIN_AFIO_AF(PG03_POWER_IN_C, 0) | \

            PIN_AFIO_AF(PG04_V5V_PERIPH_EN, 0) | \

            PIN_AFIO_AF(PG05_V5V_RC_EN, 0) | \

            PIN_AFIO_AF(PG06_V5V_WIFI_EN, 0) | \

            PIN_AFIO_AF(PG07_V3V3_SD_CARD_EN, 0))


 #define VAL_GPIOG_AFRH      (PIN_AFIO_AF(PG08_USART6_RTS, 0) | \

            PIN_AFIO_AF(PG09_USART6_RX, 8) | \

            PIN_AFIO_AF(PG10_SPI_SLAVE6, 0) | \

            PIN_AFIO_AF(PG11_SPI1_SCK, 5) | \

            PIN_AFIO_AF(PG12_SPI6_MISO, 5) | \

            PIN_AFIO_AF(PG13_SPI6_SCK, 5) | \

            PIN_AFIO_AF(PG14_USART6_TX, 8) | \

            PIN_AFIO_AF(PG15_USART6_CTS, 0))


 #define VAL_GPIOH_MODER                 (PIN_MODE_ALTERNATE(PH00_OSC_IN) | \

            PIN_MODE_ALTERNATE(PH01_OSC_OUT) | \

            PIN_MODE_OUTPUT(PH02_CAN1_SILENT_S0) | \

            PIN_MODE_OUTPUT(PH03_CAN2_SILENT_S1) | \

            PIN_MODE_OUTPUT(PH04_CAN3_SILENT_S2) | \

            PIN_MODE_OUTPUT(PH05_SPI_SLAVE7) | \

            PIN_MODE_ALTERNATE(PH06_SERVO7) | \

            PIN_MODE_ALTERNATE(PH07_I2C3_SCL) | \

            PIN_MODE_ALTERNATE(PH08_I2C3_SDA) | \

            PIN_MODE_ALTERNATE(PH09_SERVO8) | \

            PIN_MODE_OUTPUT(PH10_LED5) | \

            PIN_MODE_OUTPUT(PH11_LED6) | \

            PIN_MODE_OUTPUT(PH12_LED7) | \

            PIN_MODE_ALTERNATE(PH13_CAN1_TX) | \

            PIN_MODE_OUTPUT(PH14_HW_REV_DRIVE) | \

            PIN_MODE_INPUT(PH15_SPI5_SYNC))


 #define VAL_GPIOH_OTYPER                (PIN_OTYPE_PUSHPULL(PH00_OSC_IN) | \

            PIN_OTYPE_PUSHPULL(PH01_OSC_OUT) | \

            PIN_OTYPE_PUSHPULL(PH02_CAN1_SILENT_S0) | \

            PIN_OTYPE_PUSHPULL(PH03_CAN2_SILENT_S1) | \

            PIN_OTYPE_PUSHPULL(PH04_CAN3_SILENT_S2) | \

            PIN_OTYPE_PUSHPULL(PH05_SPI_SLAVE7) | \

            PIN_OTYPE_PUSHPULL(PH06_SERVO7) | \

            PIN_OTYPE_OPENDRAIN(PH07_I2C3_SCL) | \

            PIN_OTYPE_OPENDRAIN(PH08_I2C3_SDA) | \

            PIN_OTYPE_PUSHPULL(PH09_SERVO8) | \

            PIN_OTYPE_PUSHPULL(PH10_LED5) | \

            PIN_OTYPE_PUSHPULL(PH11_LED6) | \

            PIN_OTYPE_PUSHPULL(PH12_LED7) | \

            PIN_OTYPE_PUSHPULL(PH13_CAN1_TX) | \

            PIN_OTYPE_PUSHPULL(PH14_HW_REV_DRIVE) | \

            PIN_OTYPE_OPENDRAIN(PH15_SPI5_SYNC))


 #define VAL_GPIOH_OSPEEDR               (PIN_OSPEED_SPEED_HIGH(PH00_OSC_IN) | \

            PIN_OSPEED_SPEED_HIGH(PH01_OSC_OUT) | \

            PIN_OSPEED_SPEED_VERYLOW(PH02_CAN1_SILENT_S0) | \

            PIN_OSPEED_SPEED_VERYLOW(PH03_CAN2_SILENT_S1) | \

            PIN_OSPEED_SPEED_VERYLOW(PH04_CAN3_SILENT_S2) | \

            PIN_OSPEED_SPEED_HIGH(PH05_SPI_SLAVE7) | \

            PIN_OSPEED_SPEED_HIGH(PH06_SERVO7) | \

            PIN_OSPEED_SPEED_HIGH(PH07_I2C3_SCL) | \

            PIN_OSPEED_SPEED_HIGH(PH08_I2C3_SDA) | \

            PIN_OSPEED_SPEED_HIGH(PH09_SERVO8) | \

            PIN_OSPEED_SPEED_VERYLOW(PH10_LED5) | \

            PIN_OSPEED_SPEED_VERYLOW(PH11_LED6) | \

            PIN_OSPEED_SPEED_VERYLOW(PH12_LED7) | \

            PIN_OSPEED_SPEED_HIGH(PH13_CAN1_TX) | \

            PIN_OSPEED_SPEED_VERYLOW(PH14_HW_REV_DRIVE) | \

            PIN_OSPEED_SPEED_VERYLOW(PH15_SPI5_SYNC))


 #define VAL_GPIOH_PUPDR                 (PIN_PUPDR_FLOATING(PH00_OSC_IN) | \

            PIN_PUPDR_FLOATING(PH01_OSC_OUT) | \

            PIN_PUPDR_FLOATING(PH02_CAN1_SILENT_S0) | \

            PIN_PUPDR_FLOATING(PH03_CAN2_SILENT_S1) | \

            PIN_PUPDR_FLOATING(PH04_CAN3_SILENT_S2) | \

            PIN_PUPDR_FLOATING(PH05_SPI_SLAVE7) | \

            PIN_PUPDR_FLOATING(PH06_SERVO7) | \

            PIN_PUPDR_PULLUP(PH07_I2C3_SCL) | \

            PIN_PUPDR_PULLUP(PH08_I2C3_SDA) | \

            PIN_PUPDR_FLOATING(PH09_SERVO8) | \

            PIN_PUPDR_FLOATING(PH10_LED5) | \

            PIN_PUPDR_FLOATING(PH11_LED6) | \

            PIN_PUPDR_FLOATING(PH12_LED7) | \

            PIN_PUPDR_FLOATING(PH13_CAN1_TX) | \

            PIN_PUPDR_FLOATING(PH14_HW_REV_DRIVE) | \

            PIN_PUPDR_PULLDOWN(PH15_SPI5_SYNC))


 #define VAL_GPIOH_ODR                   (PIN_ODR_LEVEL_HIGH(PH00_OSC_IN) | \

            PIN_ODR_LEVEL_HIGH(PH01_OSC_OUT) | \

            PIN_ODR_LEVEL_LOW(PH02_CAN1_SILENT_S0) | \

            PIN_ODR_LEVEL_LOW(PH03_CAN2_SILENT_S1) | \

            PIN_ODR_LEVEL_LOW(PH04_CAN3_SILENT_S2) | \

            PIN_ODR_LEVEL_HIGH(PH05_SPI_SLAVE7) | \

            PIN_ODR_LEVEL_LOW(PH06_SERVO7) | \

            PIN_ODR_LEVEL_HIGH(PH07_I2C3_SCL) | \

            PIN_ODR_LEVEL_HIGH(PH08_I2C3_SDA) | \

            PIN_ODR_LEVEL_LOW(PH09_SERVO8) | \

            PIN_ODR_LEVEL_LOW(PH10_LED5) | \

            PIN_ODR_LEVEL_LOW(PH11_LED6) | \

            PIN_ODR_LEVEL_LOW(PH12_LED7) | \

            PIN_ODR_LEVEL_HIGH(PH13_CAN1_TX) | \

            PIN_ODR_LEVEL_LOW(PH14_HW_REV_DRIVE) | \

            PIN_ODR_LEVEL_HIGH(PH15_SPI5_SYNC))


 #define VAL_GPIOH_AFRL      (PIN_AFIO_AF(PH00_OSC_IN, 0) | \

            PIN_AFIO_AF(PH01_OSC_OUT, 0) | \

            PIN_AFIO_AF(PH02_CAN1_SILENT_S0, 0) | \

            PIN_AFIO_AF(PH03_CAN2_SILENT_S1, 0) | \

            PIN_AFIO_AF(PH04_CAN3_SILENT_S2, 0) | \

            PIN_AFIO_AF(PH05_SPI_SLAVE7, 0) | \

            PIN_AFIO_AF(PH06_SERVO7, 9) | \

            PIN_AFIO_AF(PH07_I2C3_SCL, 4))


 #define VAL_GPIOH_AFRH      (PIN_AFIO_AF(PH08_I2C3_SDA, 4) | \

            PIN_AFIO_AF(PH09_SERVO8, 9) | \

            PIN_AFIO_AF(PH10_LED5, 0) | \

            PIN_AFIO_AF(PH11_LED6, 0) | \

            PIN_AFIO_AF(PH12_LED7, 0) | \

            PIN_AFIO_AF(PH13_CAN1_TX, 9) | \

            PIN_AFIO_AF(PH14_HW_REV_DRIVE, 0) | \

            PIN_AFIO_AF(PH15_SPI5_SYNC, 0))


 #define VAL_GPIOI_MODER                 (PIN_MODE_OUTPUT(PI00_ARMED) | \

            PIN_MODE_ALTERNATE(PI01_SPI2_SCK) | \

            PIN_MODE_ALTERNATE(PI02_SPI2_MISO) | \

            PIN_MODE_ALTERNATE(PI03_SPI2_MOSI) | \

            PIN_MODE_OUTPUT(PI04_SPI_SLAVE8) | \

            PIN_MODE_ALTERNATE(PI05_PWM_INPUT1) | \

            PIN_MODE_OUTPUT(PI06_SPI_SLAVE9) | \

            PIN_MODE_OUTPUT(PI07_SPI_SLAVE10) | \

            PIN_MODE_OUTPUT(PI08_SPI_SLAVE11) | \

            PIN_MODE_ALTERNATE(PI09_CAN1_RX) | \

            PIN_MODE_OUTPUT(PI10_SPI_SLAVE12) | \

            PIN_MODE_OUTPUT(PI11_SPI_SLAVE13) | \

            PIN_MODE_INPUT(PI12) | \

            PIN_MODE_INPUT(PI13) | \

            PIN_MODE_INPUT(PI14) | \

            PIN_MODE_INPUT(PI15))


 #define VAL_GPIOI_OTYPER                (PIN_OTYPE_PUSHPULL(PI00_ARMED) | \

            PIN_OTYPE_PUSHPULL(PI01_SPI2_SCK) | \

            PIN_OTYPE_PUSHPULL(PI02_SPI2_MISO) | \

            PIN_OTYPE_PUSHPULL(PI03_SPI2_MOSI) | \

            PIN_OTYPE_PUSHPULL(PI04_SPI_SLAVE8) | \

            PIN_OTYPE_PUSHPULL(PI05_PWM_INPUT1) | \

            PIN_OTYPE_PUSHPULL(PI06_SPI_SLAVE9) | \

            PIN_OTYPE_PUSHPULL(PI07_SPI_SLAVE10) | \

            PIN_OTYPE_PUSHPULL(PI08_SPI_SLAVE11) | \

            PIN_OTYPE_PUSHPULL(PI09_CAN1_RX) | \

            PIN_OTYPE_PUSHPULL(PI10_SPI_SLAVE12) | \

            PIN_OTYPE_PUSHPULL(PI11_SPI_SLAVE13) | \

            PIN_OTYPE_PUSHPULL(PI12) | \

            PIN_OTYPE_PUSHPULL(PI13) | \

            PIN_OTYPE_PUSHPULL(PI14) | \

            PIN_OTYPE_PUSHPULL(PI15))


 #define VAL_GPIOI_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PI00_ARMED) | \

            PIN_OSPEED_SPEED_HIGH(PI01_SPI2_SCK) | \

            PIN_OSPEED_SPEED_HIGH(PI02_SPI2_MISO) | \

            PIN_OSPEED_SPEED_HIGH(PI03_SPI2_MOSI) | \

            PIN_OSPEED_SPEED_HIGH(PI04_SPI_SLAVE8) | \

            PIN_OSPEED_SPEED_HIGH(PI05_PWM_INPUT1) | \

            PIN_OSPEED_SPEED_HIGH(PI06_SPI_SLAVE9) | \

            PIN_OSPEED_SPEED_HIGH(PI07_SPI_SLAVE10) | \

            PIN_OSPEED_SPEED_HIGH(PI08_SPI_SLAVE11) | \

            PIN_OSPEED_SPEED_HIGH(PI09_CAN1_RX) | \

            PIN_OSPEED_SPEED_HIGH(PI10_SPI_SLAVE12) | \

            PIN_OSPEED_SPEED_HIGH(PI11_SPI_SLAVE13) | \

            PIN_OSPEED_SPEED_VERYLOW(PI12) | \

            PIN_OSPEED_SPEED_VERYLOW(PI13) | \

            PIN_OSPEED_SPEED_VERYLOW(PI14) | \

            PIN_OSPEED_SPEED_VERYLOW(PI15))


 #define VAL_GPIOI_PUPDR                 (PIN_PUPDR_FLOATING(PI00_ARMED) | \

            PIN_PUPDR_FLOATING(PI01_SPI2_SCK) | \

            PIN_PUPDR_FLOATING(PI02_SPI2_MISO) | \

            PIN_PUPDR_FLOATING(PI03_SPI2_MOSI) | \

            PIN_PUPDR_FLOATING(PI04_SPI_SLAVE8) | \

            PIN_PUPDR_FLOATING(PI05_PWM_INPUT1) | \

            PIN_PUPDR_FLOATING(PI06_SPI_SLAVE9) | \

            PIN_PUPDR_FLOATING(PI07_SPI_SLAVE10) | \

            PIN_PUPDR_FLOATING(PI08_SPI_SLAVE11) | \

            PIN_PUPDR_FLOATING(PI09_CAN1_RX) | \

            PIN_PUPDR_FLOATING(PI10_SPI_SLAVE12) | \

            PIN_PUPDR_FLOATING(PI11_SPI_SLAVE13) | \

            PIN_PUPDR_PULLDOWN(PI12) | \

            PIN_PUPDR_PULLDOWN(PI13) | \

            PIN_PUPDR_PULLDOWN(PI14) | \

            PIN_PUPDR_PULLDOWN(PI15))


 #define VAL_GPIOI_ODR                   (PIN_ODR_LEVEL_LOW(PI00_ARMED) | \

            PIN_ODR_LEVEL_HIGH(PI01_SPI2_SCK) | \

            PIN_ODR_LEVEL_HIGH(PI02_SPI2_MISO) | \

            PIN_ODR_LEVEL_HIGH(PI03_SPI2_MOSI) | \

            PIN_ODR_LEVEL_HIGH(PI04_SPI_SLAVE8) | \

            PIN_ODR_LEVEL_HIGH(PI05_PWM_INPUT1) | \

            PIN_ODR_LEVEL_HIGH(PI06_SPI_SLAVE9) | \

            PIN_ODR_LEVEL_HIGH(PI07_SPI_SLAVE10) | \

            PIN_ODR_LEVEL_HIGH(PI08_SPI_SLAVE11) | \

            PIN_ODR_LEVEL_HIGH(PI09_CAN1_RX) | \

            PIN_ODR_LEVEL_HIGH(PI10_SPI_SLAVE12) | \

            PIN_ODR_LEVEL_HIGH(PI11_SPI_SLAVE13) | \

            PIN_ODR_LEVEL_LOW(PI12) | \

            PIN_ODR_LEVEL_LOW(PI13) | \

            PIN_ODR_LEVEL_LOW(PI14) | \

            PIN_ODR_LEVEL_LOW(PI15))


 #define VAL_GPIOI_AFRL      (PIN_AFIO_AF(PI00_ARMED, 0) | \

            PIN_AFIO_AF(PI01_SPI2_SCK, 5) | \

            PIN_AFIO_AF(PI02_SPI2_MISO, 5) | \

            PIN_AFIO_AF(PI03_SPI2_MOSI, 5) | \

            PIN_AFIO_AF(PI04_SPI_SLAVE8, 0) | \

            PIN_AFIO_AF(PI05_PWM_INPUT1, 3) | \

            PIN_AFIO_AF(PI06_SPI_SLAVE9, 0) | \

            PIN_AFIO_AF(PI07_SPI_SLAVE10, 0))


 #define VAL_GPIOI_AFRH      (PIN_AFIO_AF(PI08_SPI_SLAVE11, 0) | \

            PIN_AFIO_AF(PI09_CAN1_RX, 9) | \

            PIN_AFIO_AF(PI10_SPI_SLAVE12, 0) | \

            PIN_AFIO_AF(PI11_SPI_SLAVE13, 0) | \

            PIN_AFIO_AF(PI12, 0) | \

            PIN_AFIO_AF(PI13, 0) | \

            PIN_AFIO_AF(PI14, 0) | \

            PIN_AFIO_AF(PI15, 0))


 #define VAL_GPIOJ_MODER                 (PIN_MODE_INPUT(PJ00) | \

            PIN_MODE_INPUT(PJ01) | \

            PIN_MODE_INPUT(PJ02) | \

            PIN_MODE_INPUT(PJ03) | \

            PIN_MODE_INPUT(PJ04) | \

            PIN_MODE_INPUT(PJ05) | \

            PIN_MODE_INPUT(PJ06) | \

            PIN_MODE_INPUT(PJ07) | \

            PIN_MODE_INPUT(PJ08) | \

            PIN_MODE_INPUT(PJ09) | \

            PIN_MODE_INPUT(PJ10) | \

            PIN_MODE_INPUT(PJ11) | \

            PIN_MODE_INPUT(PJ12) | \

            PIN_MODE_INPUT(PJ13) | \

            PIN_MODE_INPUT(PJ14) | \

            PIN_MODE_INPUT(PJ15))


 #define VAL_GPIOJ_OTYPER                (PIN_OTYPE_PUSHPULL(PJ00) | \

            PIN_OTYPE_PUSHPULL(PJ01) | \

            PIN_OTYPE_PUSHPULL(PJ02) | \

            PIN_OTYPE_PUSHPULL(PJ03) | \

            PIN_OTYPE_PUSHPULL(PJ04) | \

            PIN_OTYPE_PUSHPULL(PJ05) | \

            PIN_OTYPE_PUSHPULL(PJ06) | \

            PIN_OTYPE_PUSHPULL(PJ07) | \

            PIN_OTYPE_PUSHPULL(PJ08) | \

            PIN_OTYPE_PUSHPULL(PJ09) | \

            PIN_OTYPE_PUSHPULL(PJ10) | \

            PIN_OTYPE_PUSHPULL(PJ11) | \

            PIN_OTYPE_PUSHPULL(PJ12) | \

            PIN_OTYPE_PUSHPULL(PJ13) | \

            PIN_OTYPE_PUSHPULL(PJ14) | \

            PIN_OTYPE_PUSHPULL(PJ15))


 #define VAL_GPIOJ_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PJ00) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ01) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ02) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ03) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ04) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ05) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ06) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ07) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ08) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ09) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ10) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ11) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ12) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ13) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ14) | \

            PIN_OSPEED_SPEED_VERYLOW(PJ15))


 #define VAL_GPIOJ_PUPDR                 (PIN_PUPDR_PULLDOWN(PJ00) | \

            PIN_PUPDR_PULLDOWN(PJ01) | \

            PIN_PUPDR_PULLDOWN(PJ02) | \

            PIN_PUPDR_PULLDOWN(PJ03) | \

            PIN_PUPDR_PULLDOWN(PJ04) | \

            PIN_PUPDR_PULLDOWN(PJ05) | \

            PIN_PUPDR_PULLDOWN(PJ06) | \

            PIN_PUPDR_PULLDOWN(PJ07) | \

            PIN_PUPDR_PULLDOWN(PJ08) | \

            PIN_PUPDR_PULLDOWN(PJ09) | \

            PIN_PUPDR_PULLDOWN(PJ10) | \

            PIN_PUPDR_PULLDOWN(PJ11) | \

            PIN_PUPDR_PULLDOWN(PJ12) | \

            PIN_PUPDR_PULLDOWN(PJ13) | \

            PIN_PUPDR_PULLDOWN(PJ14) | \

            PIN_PUPDR_PULLDOWN(PJ15))


 #define VAL_GPIOJ_ODR                   (PIN_ODR_LEVEL_LOW(PJ00) | \

            PIN_ODR_LEVEL_LOW(PJ01) | \

            PIN_ODR_LEVEL_LOW(PJ02) | \

            PIN_ODR_LEVEL_LOW(PJ03) | \

            PIN_ODR_LEVEL_LOW(PJ04) | \

            PIN_ODR_LEVEL_LOW(PJ05) | \

            PIN_ODR_LEVEL_LOW(PJ06) | \

            PIN_ODR_LEVEL_LOW(PJ07) | \

            PIN_ODR_LEVEL_LOW(PJ08) | \

            PIN_ODR_LEVEL_LOW(PJ09) | \

            PIN_ODR_LEVEL_LOW(PJ10) | \

            PIN_ODR_LEVEL_LOW(PJ11) | \

            PIN_ODR_LEVEL_LOW(PJ12) | \

            PIN_ODR_LEVEL_LOW(PJ13) | \

            PIN_ODR_LEVEL_LOW(PJ14) | \

            PIN_ODR_LEVEL_LOW(PJ15))


 #define VAL_GPIOJ_AFRL      (PIN_AFIO_AF(PJ00, 0) | \

            PIN_AFIO_AF(PJ01, 0) | \

            PIN_AFIO_AF(PJ02, 0) | \

            PIN_AFIO_AF(PJ03, 0) | \

            PIN_AFIO_AF(PJ04, 0) | \

            PIN_AFIO_AF(PJ05, 0) | \

            PIN_AFIO_AF(PJ06, 0) | \

            PIN_AFIO_AF(PJ07, 0))


 #define VAL_GPIOJ_AFRH      (PIN_AFIO_AF(PJ08, 0) | \

            PIN_AFIO_AF(PJ09, 0) | \

            PIN_AFIO_AF(PJ10, 0) | \

            PIN_AFIO_AF(PJ11, 0) | \

            PIN_AFIO_AF(PJ12, 0) | \

            PIN_AFIO_AF(PJ13, 0) | \

            PIN_AFIO_AF(PJ14, 0) | \

            PIN_AFIO_AF(PJ15, 0))


 #define VAL_GPIOK_MODER                 (PIN_MODE_INPUT(PK00) | \

            PIN_MODE_INPUT(PK01) | \

            PIN_MODE_INPUT(PK02) | \

            PIN_MODE_INPUT(PK03) | \

            PIN_MODE_INPUT(PK04) | \

            PIN_MODE_INPUT(PK05) | \

            PIN_MODE_INPUT(PK06) | \

            PIN_MODE_INPUT(PK07) | \

            PIN_MODE_INPUT(PK08) | \

            PIN_MODE_INPUT(PK09) | \

            PIN_MODE_INPUT(PK10) | \

            PIN_MODE_INPUT(PK11) | \

            PIN_MODE_INPUT(PK12) | \

            PIN_MODE_INPUT(PK13) | \

            PIN_MODE_INPUT(PK14) | \

            PIN_MODE_INPUT(PK15))


 #define VAL_GPIOK_OTYPER                (PIN_OTYPE_PUSHPULL(PK00) | \

            PIN_OTYPE_PUSHPULL(PK01) | \

            PIN_OTYPE_PUSHPULL(PK02) | \

            PIN_OTYPE_PUSHPULL(PK03) | \

            PIN_OTYPE_PUSHPULL(PK04) | \

            PIN_OTYPE_PUSHPULL(PK05) | \

            PIN_OTYPE_PUSHPULL(PK06) | \

            PIN_OTYPE_PUSHPULL(PK07) | \

            PIN_OTYPE_PUSHPULL(PK08) | \

            PIN_OTYPE_PUSHPULL(PK09) | \

            PIN_OTYPE_PUSHPULL(PK10) | \

            PIN_OTYPE_PUSHPULL(PK11) | \

            PIN_OTYPE_PUSHPULL(PK12) | \

            PIN_OTYPE_PUSHPULL(PK13) | \

            PIN_OTYPE_PUSHPULL(PK14) | \

            PIN_OTYPE_PUSHPULL(PK15))


 #define VAL_GPIOK_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PK00) | \

            PIN_OSPEED_SPEED_VERYLOW(PK01) | \

            PIN_OSPEED_SPEED_VERYLOW(PK02) | \

            PIN_OSPEED_SPEED_VERYLOW(PK03) | \

            PIN_OSPEED_SPEED_VERYLOW(PK04) | \

            PIN_OSPEED_SPEED_VERYLOW(PK05) | \

            PIN_OSPEED_SPEED_VERYLOW(PK06) | \

            PIN_OSPEED_SPEED_VERYLOW(PK07) | \

            PIN_OSPEED_SPEED_VERYLOW(PK08) | \

            PIN_OSPEED_SPEED_VERYLOW(PK09) | \

            PIN_OSPEED_SPEED_VERYLOW(PK10) | \

            PIN_OSPEED_SPEED_VERYLOW(PK11) | \

            PIN_OSPEED_SPEED_VERYLOW(PK12) | \

            PIN_OSPEED_SPEED_VERYLOW(PK13) | \

            PIN_OSPEED_SPEED_VERYLOW(PK14) | \

            PIN_OSPEED_SPEED_VERYLOW(PK15))


 #define VAL_GPIOK_PUPDR                 (PIN_PUPDR_PULLDOWN(PK00) | \

            PIN_PUPDR_PULLDOWN(PK01) | \

            PIN_PUPDR_PULLDOWN(PK02) | \

            PIN_PUPDR_PULLDOWN(PK03) | \

            PIN_PUPDR_PULLDOWN(PK04) | \

            PIN_PUPDR_PULLDOWN(PK05) | \

            PIN_PUPDR_PULLDOWN(PK06) | \

            PIN_PUPDR_PULLDOWN(PK07) | \

            PIN_PUPDR_PULLDOWN(PK08) | \

            PIN_PUPDR_PULLDOWN(PK09) | \

            PIN_PUPDR_PULLDOWN(PK10) | \

            PIN_PUPDR_PULLDOWN(PK11) | \

            PIN_PUPDR_PULLDOWN(PK12) | \

            PIN_PUPDR_PULLDOWN(PK13) | \

            PIN_PUPDR_PULLDOWN(PK14) | \

            PIN_PUPDR_PULLDOWN(PK15))


 #define VAL_GPIOK_ODR                   (PIN_ODR_LEVEL_LOW(PK00) | \

            PIN_ODR_LEVEL_LOW(PK01) | \

            PIN_ODR_LEVEL_LOW(PK02) | \

            PIN_ODR_LEVEL_LOW(PK03) | \

            PIN_ODR_LEVEL_LOW(PK04) | \

            PIN_ODR_LEVEL_LOW(PK05) | \

            PIN_ODR_LEVEL_LOW(PK06) | \

            PIN_ODR_LEVEL_LOW(PK07) | \

            PIN_ODR_LEVEL_LOW(PK08) | \

            PIN_ODR_LEVEL_LOW(PK09) | \

            PIN_ODR_LEVEL_LOW(PK10) | \

            PIN_ODR_LEVEL_LOW(PK11) | \

            PIN_ODR_LEVEL_LOW(PK12) | \

            PIN_ODR_LEVEL_LOW(PK13) | \

            PIN_ODR_LEVEL_LOW(PK14) | \

            PIN_ODR_LEVEL_LOW(PK15))


 #define VAL_GPIOK_AFRL      (PIN_AFIO_AF(PK00, 0) | \

            PIN_AFIO_AF(PK01, 0) | \

            PIN_AFIO_AF(PK02, 0) | \

            PIN_AFIO_AF(PK03, 0) | \

            PIN_AFIO_AF(PK04, 0) | \

            PIN_AFIO_AF(PK05, 0) | \

            PIN_AFIO_AF(PK06, 0) | \

            PIN_AFIO_AF(PK07, 0))


 #define VAL_GPIOK_AFRH      (PIN_AFIO_AF(PK08, 0) | \

            PIN_AFIO_AF(PK09, 0) | \

            PIN_AFIO_AF(PK10, 0) | \

            PIN_AFIO_AF(PK11, 0) | \

            PIN_AFIO_AF(PK12, 0) | \

            PIN_AFIO_AF(PK13, 0) | \

            PIN_AFIO_AF(PK14, 0) | \

            PIN_AFIO_AF(PK15, 0))


 #define AF_PA06_SPI1_MISO                5U

 #define AF_LINE_SPI1_MISO                5U

 #define AF_PA08_CAN3_RX                  11U

 #define AF_LINE_CAN3_RX                  11U

 #define AF_PA10_SERVO2                   1U

 #define AF_LINE_SERVO2                   1U

 #define AF_PA11_USB_DM                   10U

 #define AF_LINE_USB_DM                   10U

 #define AF_PA12_USB_DP                   10U

 #define AF_LINE_USB_DP                   10U

 #define AF_PA13_SWDIO                    0U

 #define AF_LINE_SWDIO                    0U

 #define AF_PA14_SWCLK                    0U

 #define AF_LINE_SWCLK                    0U

 #define AF_PA15_CAN3_TX                  11U

 #define AF_LINE_CAN3_TX                  11U

 #define AF_PB05_SPI6_MOSI                8U

 #define AF_LINE_SPI6_MOSI                8U

 #define AF_PB06_USART1_TX                7U

 #define AF_LINE_USART1_TX                7U

 #define AF_PB07_USART1_RX                7U

 #define AF_LINE_USART1_RX                7U

 #define AF_PB08_I2C1_SCL                 4U

 #define AF_LINE_I2C1_SCL                 4U

 #define AF_PB09_I2C1_SDA                 4U

 #define AF_LINE_I2C1_SDA                 4U

 #define AF_PB12_CAN2_RX                  9U

 #define AF_LINE_CAN2_RX                  9U

 #define AF_PB13_CAN2_TX                  9U

 #define AF_LINE_CAN2_TX                  9U

 #define AF_PC08_SDIO_D0                  12U

 #define AF_LINE_SDIO_D0                  12U

 #define AF_PC09_SDIO_D1                  12U

 #define AF_LINE_SDIO_D1                  12U

 #define AF_PC10_SDIO_D2                  12U

 #define AF_LINE_SDIO_D2                  12U

 #define AF_PC11_SDIO_D3                  12U

 #define AF_LINE_SDIO_D3                  12U

 #define AF_PC12_SDIO_CK                  12U

 #define AF_LINE_SDIO_CK                  12U

 #define AF_PC14_OSC32_IN                 0U

 #define AF_LINE_OSC32_IN                 0U

 #define AF_PC15_OSC32_OUT                0U

 #define AF_LINE_OSC32_OUT                0U

 #define AF_PD00_UART4_RX                 8U

 #define AF_LINE_UART4_RX                 8U

 #define AF_PD01_UART4_TX                 8U

 #define AF_LINE_UART4_TX                 8U

 #define AF_PD02_SDIO_CMD                 12U

 #define AF_LINE_SDIO_CMD                 12U

 #define AF_PD05_UART2_TX                 7U

 #define AF_LINE_UART2_TX                 7U

 #define AF_PD06_UART2_RX                 7U

 #define AF_LINE_UART2_RX                 7U

 #define AF_PD07_SPI1_MOSI                5U

 #define AF_LINE_SPI1_MOSI                5U

 #define AF_PD08_UART3_TX                 7U

 #define AF_LINE_UART3_TX                 7U

 #define AF_PD09_UART3_RX                 7U

 #define AF_LINE_UART3_RX                 7U

 #define AF_PD13_SERVO5                   2U

 #define AF_LINE_SERVO5                   2U

 #define AF_PD14_SERVO6                   2U

 #define AF_LINE_SERVO6                   2U

 #define AF_PE00_UART8_RX                 8U

 #define AF_LINE_UART8_RX                 8U

 #define AF_PE01_UART8_TX                 8U

 #define AF_LINE_UART8_TX                 8U

 #define AF_PE02_SPI4_SCK                 5U

 #define AF_LINE_SPI4_SCK                 5U

 #define AF_PE06_SPI4_MOSI                5U

 #define AF_LINE_SPI4_MOSI                5U

 #define AF_PE08_UART7_TX                 8U

 #define AF_LINE_UART7_TX                 8U

 #define AF_PE09_SERVO4                   1U

 #define AF_LINE_SERVO4                   1U

 #define AF_PE11_SERVO3                   1U

 #define AF_LINE_SERVO3                   1U

 #define AF_PE13_SPI4_MISO                5U

 #define AF_LINE_SPI4_MISO                5U

 #define AF_PE14_SERVO1                   1U

 #define AF_LINE_SERVO1                   1U

 #define AF_PF00_I2C2_SDA                 4U

 #define AF_LINE_I2C2_SDA                 4U

 #define AF_PF01_I2C2_SCL                 4U

 #define AF_LINE_I2C2_SCL                 4U

 #define AF_PF06_UART7_RX                 8U

 #define AF_LINE_UART7_RX                 8U

 #define AF_PF07_SPI5_SCK                 5U

 #define AF_LINE_SPI5_SCK                 5U

 #define AF_PF08_SPI5_MISO                5U

 #define AF_LINE_SPI5_MISO                5U

 #define AF_PF09_SPI5_MOSI                5U

 #define AF_LINE_SPI5_MOSI                5U

 #define AF_PF14_I2C4_SCL                 4U

 #define AF_LINE_I2C4_SCL                 4U

 #define AF_PF15_I2C4_SDA                 4U

 #define AF_LINE_I2C4_SDA                 4U

 #define AF_PG09_USART6_RX                8U

 #define AF_LINE_USART6_RX                8U

 #define AF_PG11_SPI1_SCK                 5U

 #define AF_LINE_SPI1_SCK                 5U

 #define AF_PG12_SPI6_MISO                5U

 #define AF_LINE_SPI6_MISO                5U

 #define AF_PG13_SPI6_SCK                 5U

 #define AF_LINE_SPI6_SCK                 5U

 #define AF_PG14_USART6_TX                8U

 #define AF_LINE_USART6_TX                8U

 #define AF_PH00_OSC_IN                   0U

 #define AF_LINE_OSC_IN                   0U

 #define AF_PH01_OSC_OUT                  0U

 #define AF_LINE_OSC_OUT                  0U

 #define AF_PH06_SERVO7                   9U

 #define AF_LINE_SERVO7                   9U

 #define AF_PH07_I2C3_SCL                 4U

 #define AF_LINE_I2C3_SCL                 4U

 #define AF_PH08_I2C3_SDA                 4U

 #define AF_LINE_I2C3_SDA                 4U

 #define AF_PH09_SERVO8                   9U

 #define AF_LINE_SERVO8                   9U

 #define AF_PH13_CAN1_TX                  9U

 #define AF_LINE_CAN1_TX                  9U

 #define AF_PI01_SPI2_SCK                 5U

 #define AF_LINE_SPI2_SCK                 5U

 #define AF_PI02_SPI2_MISO                5U

 #define AF_LINE_SPI2_MISO                5U

 #define AF_PI03_SPI2_MOSI                5U

 #define AF_LINE_SPI2_MOSI                5U

 #define AF_PI05_PWM_INPUT1               3U

 #define AF_LINE_PWM_INPUT1               3U

 #define AF_PI09_CAN1_RX                  9U

 #define AF_LINE_CAN1_RX                  9U


 #define ADC1_ADC   1

 #define ADC1_ADC_FN  IN

 #define ADC1_ADC_IN  0

 #define ADC2_ADC   1

 #define ADC2_ADC_FN  IN

 #define ADC2_ADC_IN  1

 #define ADC3_ADC   1

 #define ADC3_ADC_FN  IN

 #define ADC3_ADC_IN  2

 #define ADC4_ADC   1

 #define ADC4_ADC_FN  IN

 #define ADC4_ADC_IN  3

 #define ADC5_ADC   1

 #define ADC5_ADC_FN  IN

 #define ADC5_ADC_IN  4

 #define SERVO2_TIM   1

 #define SERVO2_TIM_FN  CH

 #define SERVO2_TIM_CH  3

 #define SERVO2_TIM_AF  1

 #define RSSI_IN_ADC  1

 #define RSSI_IN_ADC_FN   IN

 #define RSSI_IN_ADC_IN   8

 #define SCALED_V5_ADC  1

 #define SCALED_V5_ADC_FN   IN

 #define SCALED_V5_ADC_IN   10

 #define SCALED_3V3_SENSORS_ADC   1

 #define SCALED_3V3_SENSORS_ADC_FN  IN

 #define SCALED_3V3_SENSORS_ADC_IN  11

 #define HW_VER_SENSE_ADC   1

 #define HW_VER_SENSE_ADC_FN  IN

 #define HW_VER_SENSE_ADC_IN  12

 #define HW_REV_SENSE_ADC   1

 #define HW_REV_SENSE_ADC_FN  IN

 #define HW_REV_SENSE_ADC_IN  13

 #define ADC6_ADC   1

 #define ADC6_ADC_FN  IN

 #define ADC6_ADC_IN  14

 #define SERVO5_TIM   4

 #define SERVO5_TIM_FN  CH

 #define SERVO5_TIM_CH  2

 #define SERVO5_TIM_AF  2

 #define SERVO6_TIM   4

 #define SERVO6_TIM_FN  CH

 #define SERVO6_TIM_CH  3

 #define SERVO6_TIM_AF  2

 #define SERVO4_TIM   1

 #define SERVO4_TIM_FN  CH

 #define SERVO4_TIM_CH  1

 #define SERVO4_TIM_AF  1

 #define SERVO3_TIM   1

 #define SERVO3_TIM_FN  CH

 #define SERVO3_TIM_CH  2

 #define SERVO3_TIM_AF  1

 #define SERVO1_TIM   1

 #define SERVO1_TIM_FN  CH

 #define SERVO1_TIM_CH  4

 #define SERVO1_TIM_AF  1

 #define SERVO7_TIM   12

 #define SERVO7_TIM_FN  CH

 #define SERVO7_TIM_CH  1

 #define SERVO7_TIM_AF  9

 #define SERVO8_TIM   12

 #define SERVO8_TIM_FN  CH

 #define SERVO8_TIM_CH  2

 #define SERVO8_TIM_AF  9

 #define PWM_INPUT1_TIM   8

 #define PWM_INPUT1_TIM_FN  CH

 #define PWM_INPUT1_TIM_CH  1

 #define PWM_INPUT1_TIM_AF  3


 #define BOARD_GROUP_DECLFOREACH(line, group) \

   static const ioline_t group ## _ARRAY[] = {group}; \

   for (ioline_t i=0, line =  group ## _ARRAY[i]; (i < group ## _SIZE) && (line = group ## _ARRAY[i]); i++)


 #define BOARD_GROUP_FOREACH(line, group) \

   for (ioline_t i=0, line =  group ## _ARRAY[i]; (i < group ## _SIZE) && (line = group ## _ARRAY[i]); i++)


 #define BOARD_GROUP_DECLFOR(array, index, group)  \

   static const ioline_t group ## _ARRAY[] = {group};    \

   for (ioline_t index=0, *array =  (ioline_t *) group ## _ARRAY; index < group ## _SIZE; index++)


 #define BOARD_GROUP_FOR(array, index, group)  \

   for (ioline_t index=0, *array =  (ioline_t *) group ## _ARRAY; index < group ## _SIZE; index++)


 #define ENERGY_SAVE_INPUTS \

   LINE_SERVO2, \

   LINE_LED1, \

   LINE_LED2, \

   LINE_LED3, \

   LINE_SERVO5, \

   LINE_SERVO6, \

   LINE_SERVO4, \

   LINE_SERVO3, \

   LINE_LED4, \

   LINE_SERVO1, \

   LINE_SPI_SLAVE0, \

   LINE_SPI_SLAVE1, \

   LINE_SPI_SLAVE2, \

   LINE_SPI_SLAVE3, \

   LINE_SPI_SLAVE4, \

   LINE_SPI_SLAVE5, \

   LINE_SPI_SLAVE6, \

   LINE_SPI_SLAVE7, \

   LINE_SERVO7, \

   LINE_SERVO8, \

   LINE_LED5, \

   LINE_LED6, \

   LINE_LED7, \

   LINE_SPI_SLAVE8, \

   LINE_SPI_SLAVE9, \

   LINE_SPI_SLAVE10, \

   LINE_SPI_SLAVE11, \

   LINE_SPI_SLAVE12, \

   LINE_SPI_SLAVE13

 #define ENERGY_SAVE_INPUTS_SIZE    29


 #define ENERGY_SAVE_LOWS \

   LINE_V3V3_SENSORS_EN, \

   LINE_V3V3_SPEKTRUM_EN, \

   LINE_V5V_HIPOWER_EN, \

   LINE_V5V_PERIPH_EN, \

   LINE_V5V_RC_EN, \

   LINE_V5V_WIFI_EN

 #define ENERGY_SAVE_LOWS_SIZE    6


 #if !defined(_FROM_ASM_)

 #ifdef __cplusplus

 extern "C" {

 #endif

   void boardInit(void);

 #ifdef __cplusplus

 }

 #endif

 #endif /* _FROM_ASM_ */


boardInit
void boardInit(void)
Board-specific initialization code.
Definition: board.c:312