board.h

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/*
    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
 
/*
    ChibiOS/RT - Copyright (C) 2006-2013 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.
*/
 
/*
 * Board identifier.
 */
#define BOARD_ST_APOGEE
#define BOARD_NAME  "AB/GRZ STM32F4 Apogee 1.0"
 
/*
 * Board oscillators-related settings.
 * NOTE: LSE fitted.
 */
#if !defined(STM32_LSECLK)
#define STM32_LSECLK                32768
#endif
 
#if !defined(STM32_HSECLK)
#define STM32_HSECLK                16000000
#endif
 
 
/*
 * Board voltages.
 * Required for performance limits calculation.
 */
#define STM32_VDD                   300
 
/*
 * MCU type as defined in the ST header file stm32f4xx.h.
 */
#define STM32F407xx
 
/*
 * PAPARAZZI CONFIGURATION
 */
 
 
/*
 * Concat macro
 */
#define _CONCAT_BOARD_PARAM(_s1, _s2) _s1 ## _s2
#define CONCAT_BOARD_PARAM(_s1, _s2) _CONCAT_BOARD_PARAM(_s1, _s2)
 
 
/*
 * LEDs
 */
/* red, on PC0 */
#ifndef USE_LED_1
#define USE_LED_1 1
#endif
#define LED_1_GPIO GPIOC
#define LED_1_GPIO_PIN GPIO0
#define LED_1_GPIO_ON gpio_clear
#define LED_1_GPIO_OFF gpio_set
 
/* orange, on PC13 */
#ifndef USE_LED_2
#define USE_LED_2 1
#endif
#define LED_2_GPIO GPIOC
#define LED_2_GPIO_PIN GPIO13
#define LED_2_GPIO_ON gpio_clear
#define LED_2_GPIO_OFF gpio_set
 
/* green, on PC1 */
#ifndef USE_LED_3
#define USE_LED_3 1
#endif
#define LED_3_GPIO GPIOC
#define LED_3_GPIO_PIN GPIO1
#define LED_3_GPIO_ON gpio_clear
#define LED_3_GPIO_OFF gpio_set
 
/* yellow, on PC3 */
#ifndef USE_LED_4
#define USE_LED_4 1
#endif
#define LED_4_GPIO GPIOC
#define LED_4_GPIO_PIN GPIO3
#define LED_4_GPIO_ON gpio_clear
#define LED_4_GPIO_OFF gpio_set
 
/* AUX1, on PB1, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_5
#define USE_LED_5 0
#endif
#define LED_5_GPIO GPIOB
#define LED_5_GPIO_PIN GPIO1
#define LED_5_GPIO_ON gpio_set
#define LED_5_GPIO_OFF gpio_clear
 
/* AUX2, on PC5, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_6
#define USE_LED_6 0
#endif
#define LED_6_GPIO GPIOC
#define LED_6_GPIO_PIN GPIO5
#define LED_6_GPIO_ON gpio_set
#define LED_6_GPIO_OFF gpio_clear
 
/* AUX3, on PC4, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_7
#define USE_LED_7 0
#endif
#define LED_7_GPIO GPIOC
#define LED_7_GPIO_PIN GPIO4
#define LED_7_GPIO_ON gpio_set
#define LED_7_GPIO_OFF gpio_clear
 
/* AUX4, on PB15, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_8
#define USE_LED_8 0
#endif
#define LED_8_GPIO GPIOB
#define LED_8_GPIO_PIN GPIO15
#define LED_8_GPIO_ON gpio_set
#define LED_8_GPIO_OFF gpio_clear
 
/* Power Switch, on PB12 */
#define POWER_SWITCH_GPIO GPIOB,GPIO12
 
/* Pint to set Uart2 RX polarity, on PB13, output high inverts, low doesn't */
#define RC_POLARITY_GPIO_PORT GPIOB
#define RC_POLARITY_GPIO_PIN GPIO13
 
/*
 * ADCs
 */
// AUX 1
#if USE_ADC_1
#define AD1_1_CHANNEL ADC_CHANNEL_IN9
#define ADC_1 AD1_1
#define ADC_1_GPIO_PORT GPIOB
#define ADC_1_GPIO_PIN GPIO1
#endif
 
// AUX 2
#if USE_ADC_2
#define AD1_2_CHANNEL ADC_CHANNEL_IN15
#define ADC_2 AD1_2
#define ADC_2_GPIO_PORT GPIOC
#define ADC_2_GPIO_PIN GPIO5
#endif
 
// AUX 3
#if USE_ADC_3
#define AD1_3_CHANNEL ADC_CHANNEL_IN14
#define ADC_3 AD1_3
#define ADC_3_GPIO_PORT GPIOC
#define ADC_3_GPIO_PIN GPIO4
#endif
 
// Internal ADC for battery enabled by default
#ifndef USE_ADC_4
#define USE_ADC_4 1
#endif
#if USE_ADC_4
#define AD1_4_CHANNEL ADC_CHANNEL_IN4
#define ADC_4 AD1_4
#define ADC_4_GPIO_PORT GPIOA
#define ADC_4_GPIO_PIN GPIO4
#endif
 
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
#ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY ADC_4
#endif
 
#define DefaultVoltageOfAdc(adc) (0.006185*adc)
 
/*
 * PWM TIM defines
 * enable TIM2 and TIM3 by default
 */
#ifndef USE_PWM_TIM2
#define USE_PWM_TIM2 1
#endif
 
#ifndef USE_PWM_TIM3
#define USE_PWM_TIM3 1
#endif
 
/*
 * PWM defines
 */
#ifndef USE_PWM0
#define USE_PWM0 1
#endif
#if USE_PWM0
#define PWM_SERVO_0 0
#define PWM_SERVO_0_GPIO    PAL_PORT(LINE_SERVO0)
#define PWM_SERVO_0_PIN     PAL_PAD(LINE_SERVO0)
#define PWM_SERVO_0_AF      AF_LINE_SERVO0
#define PWM_SERVO_0_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO0_TIM)
#define PWM_SERVO_0_CHANNEL (SERVO0_TIM_CH-1)
#define PWM_SERVO_0_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO0_TIM)
#endif
 
#ifndef USE_PWM1
#define USE_PWM1 1
#endif
#if USE_PWM1
#define PWM_SERVO_1 1
#define PWM_SERVO_1_GPIO    PAL_PORT(LINE_SERVO1)
#define PWM_SERVO_1_PIN     PAL_PAD(LINE_SERVO1)
#define PWM_SERVO_1_AF      AF_LINE_SERVO1
#define PWM_SERVO_1_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO1_TIM)
#define PWM_SERVO_1_CHANNEL (SERVO1_TIM_CH-1)
#define PWM_SERVO_1_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO1_TIM)
#endif
 
#ifndef USE_PWM2
#define USE_PWM2 1
#endif
#if USE_PWM2
#define PWM_SERVO_2 2
#define PWM_SERVO_2_GPIO    PAL_PORT(LINE_SERVO2)
#define PWM_SERVO_2_PIN     PAL_PAD(LINE_SERVO2)
#define PWM_SERVO_2_AF      AF_LINE_SERVO2
#define PWM_SERVO_2_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO2_TIM)
#define PWM_SERVO_2_CHANNEL (SERVO2_TIM_CH-1)
#define PWM_SERVO_2_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO2_TIM)
#endif
 
#ifndef USE_PWM3
#define USE_PWM3 1
#endif
#if USE_PWM3
#define PWM_SERVO_3 3
#define PWM_SERVO_3_GPIO    PAL_PORT(LINE_SERVO3)
#define PWM_SERVO_3_PIN     PAL_PAD(LINE_SERVO3)
#define PWM_SERVO_3_AF      AF_LINE_SERVO3
#define PWM_SERVO_3_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO3_TIM)
#define PWM_SERVO_3_CHANNEL (SERVO3_TIM_CH-1)
#define PWM_SERVO_3_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO3_TIM)
#endif
 
#ifndef USE_PWM4
#define USE_PWM4 1
#endif
#if USE_PWM4
#define PWM_SERVO_4 4
#define PWM_SERVO_4_GPIO    PAL_PORT(LINE_SERVO4)
#define PWM_SERVO_4_PIN     PAL_PAD(LINE_SERVO4)
#define PWM_SERVO_4_AF      AF_LINE_SERVO4
#define PWM_SERVO_4_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO4_TIM)
#define PWM_SERVO_4_CHANNEL (SERVO4_TIM_CH-1)
#define PWM_SERVO_4_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO4_TIM)
#endif
 
#ifndef USE_PWM5
#define USE_PWM5 1
#endif
#if USE_PWM5
#define PWM_SERVO_5 5
#define PWM_SERVO_5_GPIO    PAL_PORT(LINE_SERVO5)
#define PWM_SERVO_5_PIN     PAL_PAD(LINE_SERVO5)
#define PWM_SERVO_5_AF      AF_LINE_SERVO5
#define PWM_SERVO_5_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO5_TIM)
#define PWM_SERVO_5_CHANNEL (SERVO5_TIM_CH-1)
#define PWM_SERVO_5_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO5_TIM)
#endif
 
#if USE_PWM6
#define PWM_SERVO_6 6
#define PWM_SERVO_6_GPIO    PAL_PORT(LINE_SERVO6)
#define PWM_SERVO_6_PIN     PAL_PAD(LINE_SERVO6)
#define PWM_SERVO_6_AF      AF_LINE_SERVO6
#define PWM_SERVO_6_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO6_TIM)
#define PWM_SERVO_6_CHANNEL (SERVO6_TIM_CH-1)
#define PWM_SERVO_6_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO6_TIM)
#endif
 
#ifndef DSHOT_TELEMETRY_DEV
#define DSHOT_TELEMETRY_DEV NULL
#endif
#ifndef USE_DSHOT_TIM2
#define USE_DSHOT_TIM2 1
#endif
#ifndef USE_DSHOT_TIM3
#define USE_DSHOT_TIM3 1
#endif
#if USE_DSHOT_TIM2 // Servo 1, 4, 5
#define DSHOT_SERVO_1 1
#define DSHOT_SERVO_1_GPIO GPIOA
#define DSHOT_SERVO_1_PIN GPIO2
#define DSHOT_SERVO_1_AF GPIO_AF1
#define DSHOT_SERVO_1_DRIVER DSHOTD2
#define DSHOT_SERVO_1_CHANNEL 2
#define DSHOT_SERVO_4 4
#define DSHOT_SERVO_4_GPIO GPIOB
#define DSHOT_SERVO_4_PIN GPIO3
#define DSHOT_SERVO_4_AF GPIO_AF1
#define DSHOT_SERVO_4_DRIVER DSHOTD2
#define DSHOT_SERVO_4_CHANNEL 1
#define DSHOT_SERVO_5 5
#define DSHOT_SERVO_5_GPIO GPIOA
#define DSHOT_SERVO_5_PIN GPIO15
#define DSHOT_SERVO_5_AF GPIO_AF1
#define DSHOT_SERVO_5_DRIVER DSHOTD2
#define DSHOT_SERVO_5_CHANNEL 0
#define DSHOT_CONF_TIM2 1
#define DSHOT_CONF2_DEF { \
  .dma_stream = STM32_PWM2_UP_DMA_STREAM,   \
  .dma_channel = STM32_PWM2_UP_DMA_CHANNEL, \
  .pwmp = &PWMD2,                           \
  .tlm_sd = DSHOT_TELEMETRY_DEV,            \
  .dma_buf = &dshot2DmaBuffer,              \
}
#endif
#if USE_DSHOT_TIM3 // Servo 0,2,3,6
#define DSHOT_SERVO_0 0
#define DSHOT_SERVO_0_GPIO GPIOB
#define DSHOT_SERVO_0_PIN GPIO0
#define DSHOT_SERVO_0_AF GPIO_AF2
#define DSHOT_SERVO_0_DRIVER DSHOTD3
#define DSHOT_SERVO_0_CHANNEL 2
#define DSHOT_SERVO_2 2
#define DSHOT_SERVO_2_GPIO GPIOB
#define DSHOT_SERVO_2_PIN GPIO5
#define DSHOT_SERVO_2_AF GPIO_AF2
#define DSHOT_SERVO_2_DRIVER DSHOTD3
#define DSHOT_SERVO_2_CHANNEL 1
#define DSHOT_SERVO_3 3
#define DSHOT_SERVO_3_GPIO GPIOB
#define DSHOT_SERVO_3_PIN GPIO4
#define DSHOT_SERVO_3_AF GPIO_AF2
#define DSHOT_SERVO_3_DRIVER DSHOTD3
#define DSHOT_SERVO_3_CHANNEL 0
#if USE_DSHOT6
// DSHOT6 on AUX1 pin, not activated by default
#define DSHOT_SERVO_6 6
#define DSHOT_SERVO_6_GPIO GPIOB
#define DSHOT_SERVO_6_PIN GPIO1
#define DSHOT_SERVO_6_AF GPIO_AF2
#define DSHOT_SERVO_6_DRIVER DSHOTD3
#define DSHOT_SERVO_6_CHANNEL 3
#endif
#define DSHOT_CONF_TIM3 1
#define DSHOT_CONF3_DEF { \
  .dma_stream = STM32_PWM3_UP_DMA_STREAM,   \
  .dma_channel = STM32_PWM3_UP_DMA_CHANNEL, \
  .pwmp = &PWMD3,                           \
  .tlm_sd = DSHOT_TELEMETRY_DEV,            \
  .dma_buf = &dshot3DmaBuffer,              \
}
#endif
 
#define RC_PPM_TICKS_PER_USEC 2
#define PPM_TIMER_FREQUENCY 2000000
#define PPM_CHANNEL ICU_CHANNEL_1
#define PPM_TIMER ICUD1
 
/*
 * Spektrum
 */
 
// shorter wait with chibios as the RTC oscillator takes longer to stabilize
#define SPEKTRUM_BIND_WAIT 30000
 
/* The line that is pulled low at power up to initiate the bind process
 * PB15: AUX4
 */
#define SPEKTRUM_BIND_PIN GPIO15
#define SPEKTRUM_BIND_PIN_PORT GPIOB
 
/* The line used to send the pulse train for the bind process
 * When using UART2 on Apogee, this as to be a different pin than the uart2 rx
 * Default pin for this is PA8: PPM_IN
 */
#ifndef SPEKTRUM_PRIMARY_BIND_CONF_PORT
#define SPEKTRUM_PRIMARY_BIND_CONF_PORT GPIOA
#define SPEKTRUM_PRIMARY_BIND_CONF_PIN GPIO8
#endif
 
/*
 * PWM input
 */
// PWM_INPUT 1 on PA8 (also PPM IN)
#define PWM_INPUT1_ICU            ICUD1
#define PWM_INPUT1_CHANNEL        ICU_CHANNEL_1
// PPM in (aka PA8) is used: not compatible with PPM RC receiver
#define PWM_INPUT1_GPIO_PORT      GPIOA
#define PWM_INPUT1_GPIO_PIN       GPIO8
#define PWM_INPUT1_GPIO_AF        GPIO_AF1
 
// PWM_INPUT 2 on PA2 (also SERVO 1)
#if (USE_PWM1 && USE_PWM_INPUT2)
#error "PW1 and PWM_INPUT2 are not compatible"
#endif
#define PWM_INPUT2_ICU            ICUD5
#define PWM_INPUT2_CHANNEL        ICU_CHANNEL_4
#define PWM_INPUT2_GPIO_PORT      GPIOA
#define PWM_INPUT2_GPIO_PIN       GPIO2
#define PWM_INPUT2_GPIO_AF        GPIO_AF2
 
#ifndef I2C1_CLOCK_SPEED
#define I2C1_CLOCK_SPEED 400000
#endif
#if I2C1_CLOCK_SPEED == 400000
#define I2C1_DUTY_CYCLE FAST_DUTY_CYCLE_2
#elif I2C1_CLOCK_SPEED == 100000
#define I2C1_DUTY_CYCLE STD_DUTY_CYCLE
#else
#error Invalid I2C1 clock speed
#endif
#define I2C1_CFG_DEF {        \
           OPMODE_I2C,        \
           I2C1_CLOCK_SPEED,  \
           I2C1_DUTY_CYCLE,   \
           }
 
#ifndef I2C2_CLOCK_SPEED
#define I2C2_CLOCK_SPEED 400000
#endif
#if I2C2_CLOCK_SPEED == 400000
#define I2C2_DUTY_CYCLE FAST_DUTY_CYCLE_2
#elif I2C2_CLOCK_SPEED == 100000
#define I2C2_DUTY_CYCLE STD_DUTY_CYCLE
#else
#error Invalid I2C2 clock speed
#endif
#define I2C2_CFG_DEF {        \
           OPMODE_I2C,        \
           I2C2_CLOCK_SPEED,  \
           I2C2_DUTY_CYCLE,   \
           }
 
#define SPI1_GPIO_AF GPIO_AF5
#define SPI1_GPIO_PORT_MISO GPIOA
#define SPI1_GPIO_MISO GPIO6
#define SPI1_GPIO_PORT_MOSI GPIOA
#define SPI1_GPIO_MOSI GPIO7
#define SPI1_GPIO_PORT_SCK GPIOA
#define SPI1_GPIO_SCK GPIO5
 
// SLAVE0 on SPI connector
#define SPI_SELECT_SLAVE0_PORT GPIOB
#define SPI_SELECT_SLAVE0_PIN GPIO9
// SLAVE1 on AUX1
#define SPI_SELECT_SLAVE1_PORT GPIOB
#define SPI_SELECT_SLAVE1_PIN GPIO1
// SLAVE2 on AUX2
#define SPI_SELECT_SLAVE2_PORT GPIOC
#define SPI_SELECT_SLAVE2_PIN GPIO5
// SLAVE3 on AUX3
#define SPI_SELECT_SLAVE3_PORT GPIOC
#define SPI_SELECT_SLAVE3_PIN GPIO4
// SLAVE4 on AUX4
#define SPI_SELECT_SLAVE4_PORT GPIOB
#define SPI_SELECT_SLAVE4_PIN GPIO15
 
#ifndef USE_BARO_BOARD
#define USE_BARO_BOARD 1
#endif
 
/*
 * Actuators for fixedwing
 */
 /* Default actuators driver */
#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
 
 
#define SDIO_D0_PORT GPIOC
#define SDIO_D0_PIN SDIO_D0
#define SDIO_D1_PORT GPIOC
#define SDIO_D1_PIN SDIO_D1
#define SDIO_D2_PORT GPIOC
#define SDIO_D2_PIN SDIO_D2
#define SDIO_D3_PORT GPIOC
#define SDIO_D3_PIN SDIO_D3
#define SDIO_CK_PORT GPIOC
#define SDIO_CK_PIN SDIO_CK
#define SDIO_CMD_PORT GPIOD
#define SDIO_CMD_PIN SDIO_CMD
#define SDIO_AF 12
// bat monitoring for file closing
#define SDLOG_BAT_ADC ADCD1
#define SDLOG_BAT_CHAN AD1_4_CHANNEL
// usb led status
#define SDLOG_USB_LED 4
#define SDLOG_USB_VBUS_PORT GPIOA
#define SDLOG_USB_VBUS_PIN GPIO9
 
 
#define WS2812D1_GPIO GPIOA
#define WS2812D1_PIN GPIO8
#define WS2812D1_AF 1
#define WS2812D1_CFG_DEF { \
  .dma_stream = STM32_PWM1_UP_DMA_STREAM, \
  .dma_channel = STM32_PWM1_UP_DMA_CHANNEL, \
  .dma_priority = STM32_PWM1_UP_DMA_PRIORITY, \
  .pwm_channel = 0, \
  .pwmp = &PWMD1 \
}
 
 
/*
 * IO pins assignments.
 */
#define UART4_TX                       0U
#define UART4_RX                       1U
#define SERVO1                         2U
#define UART2_RX                       3U
#define ADC1_IN4                       4U
#define SPI1_SCK                       5U
#define SPI1_MISO                      6U
#define SPI1_MOSI                      7U
#define CU1_CH1                        8U
#define OTG_FS_VBUS                    9U
#define USART1_RX                      10U
#define OTG_FS_DM                      11U
#define OTG_FS_DP                      12U
#define SWDIO                          13U
#define SWCLK                          14U
#define SERVO5                         15U
 
#define SERVO0                         0U
#define SERVO6                         1U
#define BOOT1                          2U
#define SERVO4                         3U
#define SERVO3                         4U
#define SERVO2                         5U
#define USART1_TX                      6U
#define I2C1_SDA                       7U
#define I2C1_SCL                       8U
#define SPI1_CS                        9U
#define I2C2_SCL                       10U
#define I2C2_SDA                       11U
#define POWER_SWITCH                   12U
#define RX2_POL                        13U
#define SDIO_DETECT                    14U
#define AUX4                           15U
 
#define LED1                           0U
#define LED3                           1U
#define PC02                           2U
#define LED4                           3U
#define AUX3                           4U
#define AUX2                           5U
#define USART6_TX                      6U
#define USART6_RX                      7U
#define SDIO_D0                        8U
#define SDIO_D1                        9U
#define SDIO_D2                        10U
#define SDIO_D3                        11U
#define SDIO_CK                        12U
#define LED2                           13U
#define OSC32_IN                       14U
#define OSC32_OUT                      15U
 
#define PD00                           0U
#define PD01                           1U
#define SDIO_CMD                       2U
#define PD03                           3U
#define PD04                           4U
#define PD05                           5U
#define PD06                           6U
#define PD07                           7U
#define PD08                           8U
#define PD09                           9U
#define PD10                           10U
#define PD11                           11U
#define PD12                           12U
#define PD13                           13U
#define PD14                           14U
#define PD15                           15U
 
#define PE00                           0U
#define PE01                           1U
#define PE02                           2U
#define PE03                           3U
#define PE04                           4U
#define PE05                           5U
#define PE06                           6U
#define PE07                           7U
#define PE08                           8U
#define PE09                           9U
#define PE10                           10U
#define PE11                           11U
#define PE12                           12U
#define PE13                           13U
#define PE14                           14U
#define PE15                           15U
 
#define PF00                           0U
#define PF01                           1U
#define PF02                           2U
#define PF03                           3U
#define PF04                           4U
#define PF05                           5U
#define PF06                           6U
#define PF07                           7U
#define PF08                           8U
#define PF09                           9U
#define PF10                           10U
#define PF11                           11U
#define PF12                           12U
#define PF13                           13U
#define PF14                           14U
#define PF15                           15U
 
#define PG00                           0U
#define PG01                           1U
#define PG02                           2U
#define PG03                           3U
#define PG04                           4U
#define PG05                           5U
#define PG06                           6U
#define PG07                           7U
#define PG08                           8U
#define PG09                           9U
#define PG10                           10U
#define PG11                           11U
#define PG12                           12U
#define PG13                           13U
#define PG14                           14U
#define PG15                           15U
 
#define OSC_IN                         0U
#define OSC_OUT                        1U
#define PH02                           2U
#define PH03                           3U
#define PH04                           4U
#define PH05                           5U
#define PH06                           6U
#define PH07                           7U
#define PH08                           8U
#define PH09                           9U
#define PH10                           10U
#define PH11                           11U
#define PH12                           12U
#define PH13                           13U
#define PH14                           14U
#define PH15                           15U
 
#define PI00                           0U
#define PI01                           1U
#define PI02                           2U
#define PI03                           3U
#define PI04                           4U
#define PI05                           5U
#define PI06                           6U
#define PI07                           7U
#define PI08                           8U
#define PI09                           9U
#define PI10                           10U
#define PI11                           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_UART4_TX                  PAL_LINE(GPIOA, 0U)
#define LINE_UART4_RX                  PAL_LINE(GPIOA, 1U)
#define LINE_SERVO1                    PAL_LINE(GPIOA, 2U)
#define LINE_UART2_RX                  PAL_LINE(GPIOA, 3U)
#define LINE_ADC1_IN4                  PAL_LINE(GPIOA, 4U)
#define LINE_SPI1_SCK                  PAL_LINE(GPIOA, 5U)
#define LINE_SPI1_MISO                 PAL_LINE(GPIOA, 6U)
#define LINE_SPI1_MOSI                 PAL_LINE(GPIOA, 7U)
#define LINE_CU1_CH1                   PAL_LINE(GPIOA, 8U)
#define LINE_OTG_FS_VBUS               PAL_LINE(GPIOA, 9U)
#define LINE_USART1_RX                 PAL_LINE(GPIOA, 10U)
#define LINE_OTG_FS_DM                 PAL_LINE(GPIOA, 11U)
#define LINE_OTG_FS_DP                 PAL_LINE(GPIOA, 12U)
#define LINE_SWDIO                     PAL_LINE(GPIOA, 13U)
#define LINE_SWCLK                     PAL_LINE(GPIOA, 14U)
#define LINE_SERVO5                    PAL_LINE(GPIOA, 15U)
 
#define LINE_SERVO0                    PAL_LINE(GPIOB, 0U)
#define LINE_SERVO6                    PAL_LINE(GPIOB, 1U)
#define LINE_BOOT1                     PAL_LINE(GPIOB, 2U)
#define LINE_SERVO4                    PAL_LINE(GPIOB, 3U)
#define LINE_SERVO3                    PAL_LINE(GPIOB, 4U)
#define LINE_SERVO2                    PAL_LINE(GPIOB, 5U)
#define LINE_USART1_TX                 PAL_LINE(GPIOB, 6U)
#define LINE_I2C1_SDA                  PAL_LINE(GPIOB, 7U)
#define LINE_I2C1_SCL                  PAL_LINE(GPIOB, 8U)
#define LINE_SPI1_CS                   PAL_LINE(GPIOB, 9U)
#define LINE_I2C2_SCL                  PAL_LINE(GPIOB, 10U)
#define LINE_I2C2_SDA                  PAL_LINE(GPIOB, 11U)
#define LINE_POWER_SWITCH              PAL_LINE(GPIOB, 12U)
#define LINE_RX2_POL                   PAL_LINE(GPIOB, 13U)
#define LINE_SDIO_DETECT               PAL_LINE(GPIOB, 14U)
#define LINE_AUX4                      PAL_LINE(GPIOB, 15U)
 
#define LINE_LED1                      PAL_LINE(GPIOC, 0U)
#define LINE_LED3                      PAL_LINE(GPIOC, 1U)
#define LINE_LED4                      PAL_LINE(GPIOC, 3U)
#define LINE_AUX3                      PAL_LINE(GPIOC, 4U)
#define LINE_AUX2                      PAL_LINE(GPIOC, 5U)
#define LINE_USART6_TX                 PAL_LINE(GPIOC, 6U)
#define LINE_USART6_RX                 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_LED2                      PAL_LINE(GPIOC, 13U)
#define LINE_OSC32_IN                  PAL_LINE(GPIOC, 14U)
#define LINE_OSC32_OUT                 PAL_LINE(GPIOC, 15U)
 
#define LINE_SDIO_CMD                  PAL_LINE(GPIOD, 2U)
 
#define LINE_OSC_IN                    PAL_LINE(GPIOH, 0U)
#define LINE_OSC_OUT                   PAL_LINE(GPIOH, 1U)
 
 
/*
 * 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_ALTERNATE(UART4_TX) | \
           PIN_MODE_ALTERNATE(UART4_RX) | \
           PIN_MODE_ALTERNATE(SERVO1) | \
           PIN_MODE_ALTERNATE(UART2_RX) | \
           PIN_MODE_ANALOG(ADC1_IN4) | \
           PIN_MODE_ALTERNATE(SPI1_SCK) | \
           PIN_MODE_ALTERNATE(SPI1_MISO) | \
           PIN_MODE_ALTERNATE(SPI1_MOSI) | \
           PIN_MODE_ALTERNATE(CU1_CH1) | \
           PIN_MODE_INPUT(OTG_FS_VBUS) | \
           PIN_MODE_ALTERNATE(USART1_RX) | \
           PIN_MODE_ALTERNATE(OTG_FS_DM) | \
           PIN_MODE_ALTERNATE(OTG_FS_DP) | \
           PIN_MODE_ALTERNATE(SWDIO) | \
           PIN_MODE_ALTERNATE(SWCLK) | \
           PIN_MODE_ALTERNATE(SERVO5))
 
#define VAL_GPIOA_OTYPER                (PIN_OTYPE_PUSHPULL(UART4_TX) | \
           PIN_OTYPE_PUSHPULL(UART4_RX) | \
           PIN_OTYPE_PUSHPULL(SERVO1) | \
           PIN_OTYPE_PUSHPULL(UART2_RX) | \
           PIN_OTYPE_PUSHPULL(ADC1_IN4) | \
           PIN_OTYPE_PUSHPULL(SPI1_SCK) | \
           PIN_OTYPE_PUSHPULL(SPI1_MISO) | \
           PIN_OTYPE_PUSHPULL(SPI1_MOSI) | \
           PIN_OTYPE_PUSHPULL(CU1_CH1) | \
           PIN_OTYPE_OPENDRAIN(OTG_FS_VBUS) | \
           PIN_OTYPE_PUSHPULL(USART1_RX) | \
           PIN_OTYPE_PUSHPULL(OTG_FS_DM) | \
           PIN_OTYPE_PUSHPULL(OTG_FS_DP) | \
           PIN_OTYPE_PUSHPULL(SWDIO) | \
           PIN_OTYPE_PUSHPULL(SWCLK) | \
           PIN_OTYPE_PUSHPULL(SERVO5))
 
#define VAL_GPIOA_OSPEEDR               (PIN_OSPEED_SPEED_HIGH(UART4_TX) | \
           PIN_OSPEED_SPEED_HIGH(UART4_RX) | \
           PIN_OSPEED_SPEED_HIGH(SERVO1) | \
           PIN_OSPEED_SPEED_HIGH(UART2_RX) | \
           PIN_OSPEED_SPEED_VERYLOW(ADC1_IN4) | \
           PIN_OSPEED_SPEED_HIGH(SPI1_SCK) | \
           PIN_OSPEED_SPEED_HIGH(SPI1_MISO) | \
           PIN_OSPEED_SPEED_HIGH(SPI1_MOSI) | \
           PIN_OSPEED_SPEED_HIGH(CU1_CH1) | \
           PIN_OSPEED_SPEED_VERYLOW(OTG_FS_VBUS) | \
           PIN_OSPEED_SPEED_HIGH(USART1_RX) | \
           PIN_OSPEED_SPEED_HIGH(OTG_FS_DM) | \
           PIN_OSPEED_SPEED_HIGH(OTG_FS_DP) | \
           PIN_OSPEED_SPEED_HIGH(SWDIO) | \
           PIN_OSPEED_SPEED_HIGH(SWCLK) | \
           PIN_OSPEED_SPEED_HIGH(SERVO5))
 
#define VAL_GPIOA_PUPDR                 (PIN_PUPDR_FLOATING(UART4_TX) | \
           PIN_PUPDR_FLOATING(UART4_RX) | \
           PIN_PUPDR_FLOATING(SERVO1) | \
           PIN_PUPDR_FLOATING(UART2_RX) | \
           PIN_PUPDR_FLOATING(ADC1_IN4) | \
           PIN_PUPDR_FLOATING(SPI1_SCK) | \
           PIN_PUPDR_FLOATING(SPI1_MISO) | \
           PIN_PUPDR_FLOATING(SPI1_MOSI) | \
           PIN_PUPDR_FLOATING(CU1_CH1) | \
           PIN_PUPDR_PULLDOWN(OTG_FS_VBUS) | \
           PIN_PUPDR_FLOATING(USART1_RX) | \
           PIN_PUPDR_FLOATING(OTG_FS_DM) | \
           PIN_PUPDR_FLOATING(OTG_FS_DP) | \
           PIN_PUPDR_FLOATING(SWDIO) | \
           PIN_PUPDR_FLOATING(SWCLK) | \
           PIN_PUPDR_FLOATING(SERVO5))
 
#define VAL_GPIOA_ODR                   (PIN_ODR_LEVEL_HIGH(UART4_TX) | \
           PIN_ODR_LEVEL_HIGH(UART4_RX) | \
           PIN_ODR_LEVEL_LOW(SERVO1) | \
           PIN_ODR_LEVEL_HIGH(UART2_RX) | \
           PIN_ODR_LEVEL_LOW(ADC1_IN4) | \
           PIN_ODR_LEVEL_HIGH(SPI1_SCK) | \
           PIN_ODR_LEVEL_HIGH(SPI1_MISO) | \
           PIN_ODR_LEVEL_HIGH(SPI1_MOSI) | \
           PIN_ODR_LEVEL_HIGH(CU1_CH1) | \
           PIN_ODR_LEVEL_LOW(OTG_FS_VBUS) | \
           PIN_ODR_LEVEL_HIGH(USART1_RX) | \
           PIN_ODR_LEVEL_HIGH(OTG_FS_DM) | \
           PIN_ODR_LEVEL_HIGH(OTG_FS_DP) | \
           PIN_ODR_LEVEL_HIGH(SWDIO) | \
           PIN_ODR_LEVEL_HIGH(SWCLK) | \
           PIN_ODR_LEVEL_LOW(SERVO5))
 
#define VAL_GPIOA_AFRL      (PIN_AFIO_AF(UART4_TX, 8) | \
           PIN_AFIO_AF(UART4_RX, 8) | \
           PIN_AFIO_AF(SERVO1, 1) | \
           PIN_AFIO_AF(UART2_RX, 7) | \
           PIN_AFIO_AF(ADC1_IN4, 0) | \
           PIN_AFIO_AF(SPI1_SCK, 5) | \
           PIN_AFIO_AF(SPI1_MISO, 5) | \
           PIN_AFIO_AF(SPI1_MOSI, 5))
 
#define VAL_GPIOA_AFRH      (PIN_AFIO_AF(CU1_CH1, 1) | \
           PIN_AFIO_AF(OTG_FS_VBUS, 0) | \
           PIN_AFIO_AF(USART1_RX, 7) | \
           PIN_AFIO_AF(OTG_FS_DM, 10) | \
           PIN_AFIO_AF(OTG_FS_DP, 10) | \
           PIN_AFIO_AF(SWDIO, 0) | \
           PIN_AFIO_AF(SWCLK, 0) | \
           PIN_AFIO_AF(SERVO5, 1))
 
#define VAL_GPIOB_MODER                 (PIN_MODE_ALTERNATE(SERVO0) | \
           PIN_MODE_ALTERNATE(SERVO6) | \
           PIN_MODE_INPUT(BOOT1) | \
           PIN_MODE_ALTERNATE(SERVO4) | \
           PIN_MODE_ALTERNATE(SERVO3) | \
           PIN_MODE_ALTERNATE(SERVO2) | \
           PIN_MODE_ALTERNATE(USART1_TX) | \
           PIN_MODE_ALTERNATE(I2C1_SDA) | \
           PIN_MODE_ALTERNATE(I2C1_SCL) | \
           PIN_MODE_OUTPUT(SPI1_CS) | \
           PIN_MODE_ALTERNATE(I2C2_SCL) | \
           PIN_MODE_ALTERNATE(I2C2_SDA) | \
           PIN_MODE_OUTPUT(POWER_SWITCH) | \
           PIN_MODE_OUTPUT(RX2_POL) | \
           PIN_MODE_INPUT(SDIO_DETECT) | \
           PIN_MODE_INPUT(AUX4))
 
#define VAL_GPIOB_OTYPER                (PIN_OTYPE_PUSHPULL(SERVO0) | \
           PIN_OTYPE_PUSHPULL(SERVO6) | \
           PIN_OTYPE_OPENDRAIN(BOOT1) | \
           PIN_OTYPE_PUSHPULL(SERVO4) | \
           PIN_OTYPE_PUSHPULL(SERVO3) | \
           PIN_OTYPE_PUSHPULL(SERVO2) | \
           PIN_OTYPE_PUSHPULL(USART1_TX) | \
           PIN_OTYPE_OPENDRAIN(I2C1_SDA) | \
           PIN_OTYPE_OPENDRAIN(I2C1_SCL) | \
           PIN_OTYPE_PUSHPULL(SPI1_CS) | \
           PIN_OTYPE_OPENDRAIN(I2C2_SCL) | \
           PIN_OTYPE_OPENDRAIN(I2C2_SDA) | \
           PIN_OTYPE_PUSHPULL(POWER_SWITCH) | \
           PIN_OTYPE_PUSHPULL(RX2_POL) | \
           PIN_OTYPE_OPENDRAIN(SDIO_DETECT) | \
           PIN_OTYPE_OPENDRAIN(AUX4))
 
#define VAL_GPIOB_OSPEEDR               (PIN_OSPEED_SPEED_HIGH(SERVO0) | \
           PIN_OSPEED_SPEED_HIGH(SERVO6) | \
           PIN_OSPEED_SPEED_VERYLOW(BOOT1) | \
           PIN_OSPEED_SPEED_HIGH(SERVO4) | \
           PIN_OSPEED_SPEED_HIGH(SERVO3) | \
           PIN_OSPEED_SPEED_HIGH(SERVO2) | \
           PIN_OSPEED_SPEED_HIGH(USART1_TX) | \
           PIN_OSPEED_SPEED_HIGH(I2C1_SDA) | \
           PIN_OSPEED_SPEED_HIGH(I2C1_SCL) | \
           PIN_OSPEED_SPEED_HIGH(SPI1_CS) | \
           PIN_OSPEED_SPEED_HIGH(I2C2_SCL) | \
           PIN_OSPEED_SPEED_HIGH(I2C2_SDA) | \
           PIN_OSPEED_SPEED_HIGH(POWER_SWITCH) | \
           PIN_OSPEED_SPEED_HIGH(RX2_POL) | \
           PIN_OSPEED_SPEED_VERYLOW(SDIO_DETECT) | \
           PIN_OSPEED_SPEED_VERYLOW(AUX4))
 
#define VAL_GPIOB_PUPDR                 (PIN_PUPDR_FLOATING(SERVO0) | \
           PIN_PUPDR_FLOATING(SERVO6) | \
           PIN_PUPDR_FLOATING(BOOT1) | \
           PIN_PUPDR_FLOATING(SERVO4) | \
           PIN_PUPDR_FLOATING(SERVO3) | \
           PIN_PUPDR_FLOATING(SERVO2) | \
           PIN_PUPDR_FLOATING(USART1_TX) | \
           PIN_PUPDR_PULLUP(I2C1_SDA) | \
           PIN_PUPDR_PULLUP(I2C1_SCL) | \
           PIN_PUPDR_FLOATING(SPI1_CS) | \
           PIN_PUPDR_PULLUP(I2C2_SCL) | \
           PIN_PUPDR_PULLUP(I2C2_SDA) | \
           PIN_PUPDR_FLOATING(POWER_SWITCH) | \
           PIN_PUPDR_FLOATING(RX2_POL) | \
           PIN_PUPDR_PULLUP(SDIO_DETECT) | \
           PIN_PUPDR_FLOATING(AUX4))
 
#define VAL_GPIOB_ODR                   (PIN_ODR_LEVEL_LOW(SERVO0) | \
           PIN_ODR_LEVEL_LOW(SERVO6) | \
           PIN_ODR_LEVEL_LOW(BOOT1) | \
           PIN_ODR_LEVEL_LOW(SERVO4) | \
           PIN_ODR_LEVEL_LOW(SERVO3) | \
           PIN_ODR_LEVEL_LOW(SERVO2) | \
           PIN_ODR_LEVEL_HIGH(USART1_TX) | \
           PIN_ODR_LEVEL_HIGH(I2C1_SDA) | \
           PIN_ODR_LEVEL_HIGH(I2C1_SCL) | \
           PIN_ODR_LEVEL_HIGH(SPI1_CS) | \
           PIN_ODR_LEVEL_HIGH(I2C2_SCL) | \
           PIN_ODR_LEVEL_HIGH(I2C2_SDA) | \
           PIN_ODR_LEVEL_HIGH(POWER_SWITCH) | \
           PIN_ODR_LEVEL_HIGH(RX2_POL) | \
           PIN_ODR_LEVEL_LOW(SDIO_DETECT) | \
           PIN_ODR_LEVEL_LOW(AUX4))
 
#define VAL_GPIOB_AFRL      (PIN_AFIO_AF(SERVO0, 2) | \
           PIN_AFIO_AF(SERVO6, 2) | \
           PIN_AFIO_AF(BOOT1, 0) | \
           PIN_AFIO_AF(SERVO4, 1) | \
           PIN_AFIO_AF(SERVO3, 2) | \
           PIN_AFIO_AF(SERVO2, 2) | \
           PIN_AFIO_AF(USART1_TX, 7) | \
           PIN_AFIO_AF(I2C1_SDA, 4))
 
#define VAL_GPIOB_AFRH      (PIN_AFIO_AF(I2C1_SCL, 4) | \
           PIN_AFIO_AF(SPI1_CS, 0) | \
           PIN_AFIO_AF(I2C2_SCL, 4) | \
           PIN_AFIO_AF(I2C2_SDA, 4) | \
           PIN_AFIO_AF(POWER_SWITCH, 0) | \
           PIN_AFIO_AF(RX2_POL, 0) | \
           PIN_AFIO_AF(SDIO_DETECT, 0) | \
           PIN_AFIO_AF(AUX4, 0))
 
#define VAL_GPIOC_MODER                 (PIN_MODE_OUTPUT(LED1) | \
           PIN_MODE_OUTPUT(LED3) | \
           PIN_MODE_INPUT(PC02) | \
           PIN_MODE_OUTPUT(LED4) | \
           PIN_MODE_INPUT(AUX3) | \
           PIN_MODE_INPUT(AUX2) | \
           PIN_MODE_ALTERNATE(USART6_TX) | \
           PIN_MODE_ALTERNATE(USART6_RX) | \
           PIN_MODE_ALTERNATE(SDIO_D0) | \
           PIN_MODE_ALTERNATE(SDIO_D1) | \
           PIN_MODE_ALTERNATE(SDIO_D2) | \
           PIN_MODE_ALTERNATE(SDIO_D3) | \
           PIN_MODE_ALTERNATE(SDIO_CK) | \
           PIN_MODE_OUTPUT(LED2) | \
           PIN_MODE_ALTERNATE(OSC32_IN) | \
           PIN_MODE_ALTERNATE(OSC32_OUT))
 
#define VAL_GPIOC_OTYPER                (PIN_OTYPE_PUSHPULL(LED1) | \
           PIN_OTYPE_PUSHPULL(LED3) | \
           PIN_OTYPE_PUSHPULL(PC02) | \
           PIN_OTYPE_PUSHPULL(LED4) | \
           PIN_OTYPE_OPENDRAIN(AUX3) | \
           PIN_OTYPE_OPENDRAIN(AUX2) | \
           PIN_OTYPE_PUSHPULL(USART6_TX) | \
           PIN_OTYPE_PUSHPULL(USART6_RX) | \
           PIN_OTYPE_PUSHPULL(SDIO_D0) | \
           PIN_OTYPE_PUSHPULL(SDIO_D1) | \
           PIN_OTYPE_PUSHPULL(SDIO_D2) | \
           PIN_OTYPE_PUSHPULL(SDIO_D3) | \
           PIN_OTYPE_PUSHPULL(SDIO_CK) | \
           PIN_OTYPE_PUSHPULL(LED2) | \
           PIN_OTYPE_PUSHPULL(OSC32_IN) | \
           PIN_OTYPE_PUSHPULL(OSC32_OUT))
 
#define VAL_GPIOC_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(LED1) | \
           PIN_OSPEED_SPEED_VERYLOW(LED3) | \
           PIN_OSPEED_SPEED_VERYLOW(PC02) | \
           PIN_OSPEED_SPEED_VERYLOW(LED4) | \
           PIN_OSPEED_SPEED_VERYLOW(AUX3) | \
           PIN_OSPEED_SPEED_VERYLOW(AUX2) | \
           PIN_OSPEED_SPEED_HIGH(USART6_TX) | \
           PIN_OSPEED_SPEED_HIGH(USART6_RX) | \
           PIN_OSPEED_SPEED_HIGH(SDIO_D0) | \
           PIN_OSPEED_SPEED_HIGH(SDIO_D1) | \
           PIN_OSPEED_SPEED_HIGH(SDIO_D2) | \
           PIN_OSPEED_SPEED_HIGH(SDIO_D3) | \
           PIN_OSPEED_SPEED_HIGH(SDIO_CK) | \
           PIN_OSPEED_SPEED_VERYLOW(LED2) | \
           PIN_OSPEED_SPEED_HIGH(OSC32_IN) | \
           PIN_OSPEED_SPEED_HIGH(OSC32_OUT))
 
#define VAL_GPIOC_PUPDR                 (PIN_PUPDR_FLOATING(LED1) | \
           PIN_PUPDR_FLOATING(LED3) | \
           PIN_PUPDR_PULLDOWN(PC02) | \
           PIN_PUPDR_FLOATING(LED4) | \
           PIN_PUPDR_FLOATING(AUX3) | \
           PIN_PUPDR_FLOATING(AUX2) | \
           PIN_PUPDR_FLOATING(USART6_TX) | \
           PIN_PUPDR_FLOATING(USART6_RX) | \
           PIN_PUPDR_PULLUP(SDIO_D0) | \
           PIN_PUPDR_PULLUP(SDIO_D1) | \
           PIN_PUPDR_PULLUP(SDIO_D2) | \
           PIN_PUPDR_PULLUP(SDIO_D3) | \
           PIN_PUPDR_FLOATING(SDIO_CK) | \
           PIN_PUPDR_FLOATING(LED2) | \
           PIN_PUPDR_FLOATING(OSC32_IN) | \
           PIN_PUPDR_FLOATING(OSC32_OUT))
 
#define VAL_GPIOC_ODR                   (PIN_ODR_LEVEL_LOW(LED1) | \
           PIN_ODR_LEVEL_LOW(LED3) | \
           PIN_ODR_LEVEL_LOW(PC02) | \
           PIN_ODR_LEVEL_LOW(LED4) | \
           PIN_ODR_LEVEL_LOW(AUX3) | \
           PIN_ODR_LEVEL_LOW(AUX2) | \
           PIN_ODR_LEVEL_HIGH(USART6_TX) | \
           PIN_ODR_LEVEL_HIGH(USART6_RX) | \
           PIN_ODR_LEVEL_HIGH(SDIO_D0) | \
           PIN_ODR_LEVEL_HIGH(SDIO_D1) | \
           PIN_ODR_LEVEL_HIGH(SDIO_D2) | \
           PIN_ODR_LEVEL_HIGH(SDIO_D3) | \
           PIN_ODR_LEVEL_HIGH(SDIO_CK) | \
           PIN_ODR_LEVEL_LOW(LED2) | \
           PIN_ODR_LEVEL_HIGH(OSC32_IN) | \
           PIN_ODR_LEVEL_HIGH(OSC32_OUT))
 
#define VAL_GPIOC_AFRL      (PIN_AFIO_AF(LED1, 0) | \
           PIN_AFIO_AF(LED3, 0) | \
           PIN_AFIO_AF(PC02, 0) | \
           PIN_AFIO_AF(LED4, 0) | \
           PIN_AFIO_AF(AUX3, 0) | \
           PIN_AFIO_AF(AUX2, 0) | \
           PIN_AFIO_AF(USART6_TX, 8) | \
           PIN_AFIO_AF(USART6_RX, 8))
 
#define VAL_GPIOC_AFRH      (PIN_AFIO_AF(SDIO_D0, 12) | \
           PIN_AFIO_AF(SDIO_D1, 12) | \
           PIN_AFIO_AF(SDIO_D2, 12) | \
           PIN_AFIO_AF(SDIO_D3, 12) | \
           PIN_AFIO_AF(SDIO_CK, 12) | \
           PIN_AFIO_AF(LED2, 0) | \
           PIN_AFIO_AF(OSC32_IN, 0) | \
           PIN_AFIO_AF(OSC32_OUT, 0))
 
#define VAL_GPIOD_MODER                 (PIN_MODE_INPUT(PD00) | \
           PIN_MODE_INPUT(PD01) | \
           PIN_MODE_ALTERNATE(SDIO_CMD) | \
           PIN_MODE_INPUT(PD03) | \
           PIN_MODE_INPUT(PD04) | \
           PIN_MODE_INPUT(PD05) | \
           PIN_MODE_INPUT(PD06) | \
           PIN_MODE_INPUT(PD07) | \
           PIN_MODE_INPUT(PD08) | \
           PIN_MODE_INPUT(PD09) | \
           PIN_MODE_INPUT(PD10) | \
           PIN_MODE_INPUT(PD11) | \
           PIN_MODE_INPUT(PD12) | \
           PIN_MODE_INPUT(PD13) | \
           PIN_MODE_INPUT(PD14) | \
           PIN_MODE_INPUT(PD15))
 
#define VAL_GPIOD_OTYPER                (PIN_OTYPE_PUSHPULL(PD00) | \
           PIN_OTYPE_PUSHPULL(PD01) | \
           PIN_OTYPE_PUSHPULL(SDIO_CMD) | \
           PIN_OTYPE_PUSHPULL(PD03) | \
           PIN_OTYPE_PUSHPULL(PD04) | \
           PIN_OTYPE_PUSHPULL(PD05) | \
           PIN_OTYPE_PUSHPULL(PD06) | \
           PIN_OTYPE_PUSHPULL(PD07) | \
           PIN_OTYPE_PUSHPULL(PD08) | \
           PIN_OTYPE_PUSHPULL(PD09) | \
           PIN_OTYPE_PUSHPULL(PD10) | \
           PIN_OTYPE_PUSHPULL(PD11) | \
           PIN_OTYPE_PUSHPULL(PD12) | \
           PIN_OTYPE_PUSHPULL(PD13) | \
           PIN_OTYPE_PUSHPULL(PD14) | \
           PIN_OTYPE_PUSHPULL(PD15))
 
#define VAL_GPIOD_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PD00) | \
           PIN_OSPEED_SPEED_VERYLOW(PD01) | \
           PIN_OSPEED_SPEED_HIGH(SDIO_CMD) | \
           PIN_OSPEED_SPEED_VERYLOW(PD03) | \
           PIN_OSPEED_SPEED_VERYLOW(PD04) | \
           PIN_OSPEED_SPEED_VERYLOW(PD05) | \
           PIN_OSPEED_SPEED_VERYLOW(PD06) | \
           PIN_OSPEED_SPEED_VERYLOW(PD07) | \
           PIN_OSPEED_SPEED_VERYLOW(PD08) | \
           PIN_OSPEED_SPEED_VERYLOW(PD09) | \
           PIN_OSPEED_SPEED_VERYLOW(PD10) | \
           PIN_OSPEED_SPEED_VERYLOW(PD11) | \
           PIN_OSPEED_SPEED_VERYLOW(PD12) | \
           PIN_OSPEED_SPEED_VERYLOW(PD13) | \
           PIN_OSPEED_SPEED_VERYLOW(PD14) | \
           PIN_OSPEED_SPEED_VERYLOW(PD15))
 
#define VAL_GPIOD_PUPDR                 (PIN_PUPDR_PULLDOWN(PD00) | \
           PIN_PUPDR_PULLDOWN(PD01) | \
           PIN_PUPDR_PULLUP(SDIO_CMD) | \
           PIN_PUPDR_PULLDOWN(PD03) | \
           PIN_PUPDR_PULLDOWN(PD04) | \
           PIN_PUPDR_PULLDOWN(PD05) | \
           PIN_PUPDR_PULLDOWN(PD06) | \
           PIN_PUPDR_PULLDOWN(PD07) | \
           PIN_PUPDR_PULLDOWN(PD08) | \
           PIN_PUPDR_PULLDOWN(PD09) | \
           PIN_PUPDR_PULLDOWN(PD10) | \
           PIN_PUPDR_PULLDOWN(PD11) | \
           PIN_PUPDR_PULLDOWN(PD12) | \
           PIN_PUPDR_PULLDOWN(PD13) | \
           PIN_PUPDR_PULLDOWN(PD14) | \
           PIN_PUPDR_PULLDOWN(PD15))
 
#define VAL_GPIOD_ODR                   (PIN_ODR_LEVEL_LOW(PD00) | \
           PIN_ODR_LEVEL_LOW(PD01) | \
           PIN_ODR_LEVEL_HIGH(SDIO_CMD) | \
           PIN_ODR_LEVEL_LOW(PD03) | \
           PIN_ODR_LEVEL_LOW(PD04) | \
           PIN_ODR_LEVEL_LOW(PD05) | \
           PIN_ODR_LEVEL_LOW(PD06) | \
           PIN_ODR_LEVEL_LOW(PD07) | \
           PIN_ODR_LEVEL_LOW(PD08) | \
           PIN_ODR_LEVEL_LOW(PD09) | \
           PIN_ODR_LEVEL_LOW(PD10) | \
           PIN_ODR_LEVEL_LOW(PD11) | \
           PIN_ODR_LEVEL_LOW(PD12) | \
           PIN_ODR_LEVEL_LOW(PD13) | \
           PIN_ODR_LEVEL_LOW(PD14) | \
           PIN_ODR_LEVEL_LOW(PD15))
 
#define VAL_GPIOD_AFRL      (PIN_AFIO_AF(PD00, 0) | \
           PIN_AFIO_AF(PD01, 0) | \
           PIN_AFIO_AF(SDIO_CMD, 12) | \
           PIN_AFIO_AF(PD03, 0) | \
           PIN_AFIO_AF(PD04, 0) | \
           PIN_AFIO_AF(PD05, 0) | \
           PIN_AFIO_AF(PD06, 0) | \
           PIN_AFIO_AF(PD07, 0))
 
#define VAL_GPIOD_AFRH      (PIN_AFIO_AF(PD08, 0) | \
           PIN_AFIO_AF(PD09, 0) | \
           PIN_AFIO_AF(PD10, 0) | \
           PIN_AFIO_AF(PD11, 0) | \
           PIN_AFIO_AF(PD12, 0) | \
           PIN_AFIO_AF(PD13, 0) | \
           PIN_AFIO_AF(PD14, 0) | \
           PIN_AFIO_AF(PD15, 0))
 
#define VAL_GPIOE_MODER                 (PIN_MODE_INPUT(PE00) | \
           PIN_MODE_INPUT(PE01) | \
           PIN_MODE_INPUT(PE02) | \
           PIN_MODE_INPUT(PE03) | \
           PIN_MODE_INPUT(PE04) | \
           PIN_MODE_INPUT(PE05) | \
           PIN_MODE_INPUT(PE06) | \
           PIN_MODE_INPUT(PE07) | \
           PIN_MODE_INPUT(PE08) | \
           PIN_MODE_INPUT(PE09) | \
           PIN_MODE_INPUT(PE10) | \
           PIN_MODE_INPUT(PE11) | \
           PIN_MODE_INPUT(PE12) | \
           PIN_MODE_INPUT(PE13) | \
           PIN_MODE_INPUT(PE14) | \
           PIN_MODE_INPUT(PE15))
 
#define VAL_GPIOE_OTYPER                (PIN_OTYPE_PUSHPULL(PE00) | \
           PIN_OTYPE_PUSHPULL(PE01) | \
           PIN_OTYPE_PUSHPULL(PE02) | \
           PIN_OTYPE_PUSHPULL(PE03) | \
           PIN_OTYPE_PUSHPULL(PE04) | \
           PIN_OTYPE_PUSHPULL(PE05) | \
           PIN_OTYPE_PUSHPULL(PE06) | \
           PIN_OTYPE_PUSHPULL(PE07) | \
           PIN_OTYPE_PUSHPULL(PE08) | \
           PIN_OTYPE_PUSHPULL(PE09) | \
           PIN_OTYPE_PUSHPULL(PE10) | \
           PIN_OTYPE_PUSHPULL(PE11) | \
           PIN_OTYPE_PUSHPULL(PE12) | \
           PIN_OTYPE_PUSHPULL(PE13) | \
           PIN_OTYPE_PUSHPULL(PE14) | \
           PIN_OTYPE_PUSHPULL(PE15))
 
#define VAL_GPIOE_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PE00) | \
           PIN_OSPEED_SPEED_VERYLOW(PE01) | \
           PIN_OSPEED_SPEED_VERYLOW(PE02) | \
           PIN_OSPEED_SPEED_VERYLOW(PE03) | \
           PIN_OSPEED_SPEED_VERYLOW(PE04) | \
           PIN_OSPEED_SPEED_VERYLOW(PE05) | \
           PIN_OSPEED_SPEED_VERYLOW(PE06) | \
           PIN_OSPEED_SPEED_VERYLOW(PE07) | \
           PIN_OSPEED_SPEED_VERYLOW(PE08) | \
           PIN_OSPEED_SPEED_VERYLOW(PE09) | \
           PIN_OSPEED_SPEED_VERYLOW(PE10) | \
           PIN_OSPEED_SPEED_VERYLOW(PE11) | \
           PIN_OSPEED_SPEED_VERYLOW(PE12) | \
           PIN_OSPEED_SPEED_VERYLOW(PE13) | \
           PIN_OSPEED_SPEED_VERYLOW(PE14) | \
           PIN_OSPEED_SPEED_VERYLOW(PE15))
 
#define VAL_GPIOE_PUPDR                 (PIN_PUPDR_PULLDOWN(PE00) | \
           PIN_PUPDR_PULLDOWN(PE01) | \
           PIN_PUPDR_PULLDOWN(PE02) | \
           PIN_PUPDR_PULLDOWN(PE03) | \
           PIN_PUPDR_PULLDOWN(PE04) | \
           PIN_PUPDR_PULLDOWN(PE05) | \
           PIN_PUPDR_PULLDOWN(PE06) | \
           PIN_PUPDR_PULLDOWN(PE07) | \
           PIN_PUPDR_PULLDOWN(PE08) | \
           PIN_PUPDR_PULLDOWN(PE09) | \
           PIN_PUPDR_PULLDOWN(PE10) | \
           PIN_PUPDR_PULLDOWN(PE11) | \
           PIN_PUPDR_PULLDOWN(PE12) | \
           PIN_PUPDR_PULLDOWN(PE13) | \
           PIN_PUPDR_PULLDOWN(PE14) | \
           PIN_PUPDR_PULLDOWN(PE15))
 
#define VAL_GPIOE_ODR                   (PIN_ODR_LEVEL_LOW(PE00) | \
           PIN_ODR_LEVEL_LOW(PE01) | \
           PIN_ODR_LEVEL_LOW(PE02) | \
           PIN_ODR_LEVEL_LOW(PE03) | \
           PIN_ODR_LEVEL_LOW(PE04) | \
           PIN_ODR_LEVEL_LOW(PE05) | \
           PIN_ODR_LEVEL_LOW(PE06) | \
           PIN_ODR_LEVEL_LOW(PE07) | \
           PIN_ODR_LEVEL_LOW(PE08) | \
           PIN_ODR_LEVEL_LOW(PE09) | \
           PIN_ODR_LEVEL_LOW(PE10) | \
           PIN_ODR_LEVEL_LOW(PE11) | \
           PIN_ODR_LEVEL_LOW(PE12) | \
           PIN_ODR_LEVEL_LOW(PE13) | \
           PIN_ODR_LEVEL_LOW(PE14) | \
           PIN_ODR_LEVEL_LOW(PE15))
 
#define VAL_GPIOE_AFRL      (PIN_AFIO_AF(PE00, 0) | \
           PIN_AFIO_AF(PE01, 0) | \
           PIN_AFIO_AF(PE02, 0) | \
           PIN_AFIO_AF(PE03, 0) | \
           PIN_AFIO_AF(PE04, 0) | \
           PIN_AFIO_AF(PE05, 0) | \
           PIN_AFIO_AF(PE06, 0) | \
           PIN_AFIO_AF(PE07, 0))
 
#define VAL_GPIOE_AFRH      (PIN_AFIO_AF(PE08, 0) | \
           PIN_AFIO_AF(PE09, 0) | \
           PIN_AFIO_AF(PE10, 0) | \
           PIN_AFIO_AF(PE11, 0) | \
           PIN_AFIO_AF(PE12, 0) | \
           PIN_AFIO_AF(PE13, 0) | \
           PIN_AFIO_AF(PE14, 0) | \
           PIN_AFIO_AF(PE15, 0))
 
#define VAL_GPIOF_MODER                 (PIN_MODE_INPUT(PF00) | \
           PIN_MODE_INPUT(PF01) | \
           PIN_MODE_INPUT(PF02) | \
           PIN_MODE_INPUT(PF03) | \
           PIN_MODE_INPUT(PF04) | \
           PIN_MODE_INPUT(PF05) | \
           PIN_MODE_INPUT(PF06) | \
           PIN_MODE_INPUT(PF07) | \
           PIN_MODE_INPUT(PF08) | \
           PIN_MODE_INPUT(PF09) | \
           PIN_MODE_INPUT(PF10) | \
           PIN_MODE_INPUT(PF11) | \
           PIN_MODE_INPUT(PF12) | \
           PIN_MODE_INPUT(PF13) | \
           PIN_MODE_INPUT(PF14) | \
           PIN_MODE_INPUT(PF15))
 
#define VAL_GPIOF_OTYPER                (PIN_OTYPE_PUSHPULL(PF00) | \
           PIN_OTYPE_PUSHPULL(PF01) | \
           PIN_OTYPE_PUSHPULL(PF02) | \
           PIN_OTYPE_PUSHPULL(PF03) | \
           PIN_OTYPE_PUSHPULL(PF04) | \
           PIN_OTYPE_PUSHPULL(PF05) | \
           PIN_OTYPE_PUSHPULL(PF06) | \
           PIN_OTYPE_PUSHPULL(PF07) | \
           PIN_OTYPE_PUSHPULL(PF08) | \
           PIN_OTYPE_PUSHPULL(PF09) | \
           PIN_OTYPE_PUSHPULL(PF10) | \
           PIN_OTYPE_PUSHPULL(PF11) | \
           PIN_OTYPE_PUSHPULL(PF12) | \
           PIN_OTYPE_PUSHPULL(PF13) | \
           PIN_OTYPE_PUSHPULL(PF14) | \
           PIN_OTYPE_PUSHPULL(PF15))
 
#define VAL_GPIOF_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PF00) | \
           PIN_OSPEED_SPEED_VERYLOW(PF01) | \
           PIN_OSPEED_SPEED_VERYLOW(PF02) | \
           PIN_OSPEED_SPEED_VERYLOW(PF03) | \
           PIN_OSPEED_SPEED_VERYLOW(PF04) | \
           PIN_OSPEED_SPEED_VERYLOW(PF05) | \
           PIN_OSPEED_SPEED_VERYLOW(PF06) | \
           PIN_OSPEED_SPEED_VERYLOW(PF07) | \
           PIN_OSPEED_SPEED_VERYLOW(PF08) | \
           PIN_OSPEED_SPEED_VERYLOW(PF09) | \
           PIN_OSPEED_SPEED_VERYLOW(PF10) | \
           PIN_OSPEED_SPEED_VERYLOW(PF11) | \
           PIN_OSPEED_SPEED_VERYLOW(PF12) | \
           PIN_OSPEED_SPEED_VERYLOW(PF13) | \
           PIN_OSPEED_SPEED_VERYLOW(PF14) | \
           PIN_OSPEED_SPEED_VERYLOW(PF15))
 
#define VAL_GPIOF_PUPDR                 (PIN_PUPDR_PULLDOWN(PF00) | \
           PIN_PUPDR_PULLDOWN(PF01) | \
           PIN_PUPDR_PULLDOWN(PF02) | \
           PIN_PUPDR_PULLDOWN(PF03) | \
           PIN_PUPDR_PULLDOWN(PF04) | \
           PIN_PUPDR_PULLDOWN(PF05) | \
           PIN_PUPDR_PULLDOWN(PF06) | \
           PIN_PUPDR_PULLDOWN(PF07) | \
           PIN_PUPDR_PULLDOWN(PF08) | \
           PIN_PUPDR_PULLDOWN(PF09) | \
           PIN_PUPDR_PULLDOWN(PF10) | \
           PIN_PUPDR_PULLDOWN(PF11) | \
           PIN_PUPDR_PULLDOWN(PF12) | \
           PIN_PUPDR_PULLDOWN(PF13) | \
           PIN_PUPDR_PULLDOWN(PF14) | \
           PIN_PUPDR_PULLDOWN(PF15))
 
#define VAL_GPIOF_ODR                   (PIN_ODR_LEVEL_LOW(PF00) | \
           PIN_ODR_LEVEL_LOW(PF01) | \
           PIN_ODR_LEVEL_LOW(PF02) | \
           PIN_ODR_LEVEL_LOW(PF03) | \
           PIN_ODR_LEVEL_LOW(PF04) | \
           PIN_ODR_LEVEL_LOW(PF05) | \
           PIN_ODR_LEVEL_LOW(PF06) | \
           PIN_ODR_LEVEL_LOW(PF07) | \
           PIN_ODR_LEVEL_LOW(PF08) | \
           PIN_ODR_LEVEL_LOW(PF09) | \
           PIN_ODR_LEVEL_LOW(PF10) | \
           PIN_ODR_LEVEL_LOW(PF11) | \
           PIN_ODR_LEVEL_LOW(PF12) | \
           PIN_ODR_LEVEL_LOW(PF13) | \
           PIN_ODR_LEVEL_LOW(PF14) | \
           PIN_ODR_LEVEL_LOW(PF15))
 
#define VAL_GPIOF_AFRL      (PIN_AFIO_AF(PF00, 0) | \
           PIN_AFIO_AF(PF01, 0) | \
           PIN_AFIO_AF(PF02, 0) | \
           PIN_AFIO_AF(PF03, 0) | \
           PIN_AFIO_AF(PF04, 0) | \
           PIN_AFIO_AF(PF05, 0) | \
           PIN_AFIO_AF(PF06, 0) | \
           PIN_AFIO_AF(PF07, 0))
 
#define VAL_GPIOF_AFRH      (PIN_AFIO_AF(PF08, 0) | \
           PIN_AFIO_AF(PF09, 0) | \
           PIN_AFIO_AF(PF10, 0) | \
           PIN_AFIO_AF(PF11, 0) | \
           PIN_AFIO_AF(PF12, 0) | \
           PIN_AFIO_AF(PF13, 0) | \
           PIN_AFIO_AF(PF14, 0) | \
           PIN_AFIO_AF(PF15, 0))
 
#define VAL_GPIOG_MODER                 (PIN_MODE_INPUT(PG00) | \
           PIN_MODE_INPUT(PG01) | \
           PIN_MODE_INPUT(PG02) | \
           PIN_MODE_INPUT(PG03) | \
           PIN_MODE_INPUT(PG04) | \
           PIN_MODE_INPUT(PG05) | \
           PIN_MODE_INPUT(PG06) | \
           PIN_MODE_INPUT(PG07) | \
           PIN_MODE_INPUT(PG08) | \
           PIN_MODE_INPUT(PG09) | \
           PIN_MODE_INPUT(PG10) | \
           PIN_MODE_INPUT(PG11) | \
           PIN_MODE_INPUT(PG12) | \
           PIN_MODE_INPUT(PG13) | \
           PIN_MODE_INPUT(PG14) | \
           PIN_MODE_INPUT(PG15))
 
#define VAL_GPIOG_OTYPER                (PIN_OTYPE_PUSHPULL(PG00) | \
           PIN_OTYPE_PUSHPULL(PG01) | \
           PIN_OTYPE_PUSHPULL(PG02) | \
           PIN_OTYPE_PUSHPULL(PG03) | \
           PIN_OTYPE_PUSHPULL(PG04) | \
           PIN_OTYPE_PUSHPULL(PG05) | \
           PIN_OTYPE_PUSHPULL(PG06) | \
           PIN_OTYPE_PUSHPULL(PG07) | \
           PIN_OTYPE_PUSHPULL(PG08) | \
           PIN_OTYPE_PUSHPULL(PG09) | \
           PIN_OTYPE_PUSHPULL(PG10) | \
           PIN_OTYPE_PUSHPULL(PG11) | \
           PIN_OTYPE_PUSHPULL(PG12) | \
           PIN_OTYPE_PUSHPULL(PG13) | \
           PIN_OTYPE_PUSHPULL(PG14) | \
           PIN_OTYPE_PUSHPULL(PG15))
 
#define VAL_GPIOG_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PG00) | \
           PIN_OSPEED_SPEED_VERYLOW(PG01) | \
           PIN_OSPEED_SPEED_VERYLOW(PG02) | \
           PIN_OSPEED_SPEED_VERYLOW(PG03) | \
           PIN_OSPEED_SPEED_VERYLOW(PG04) | \
           PIN_OSPEED_SPEED_VERYLOW(PG05) | \
           PIN_OSPEED_SPEED_VERYLOW(PG06) | \
           PIN_OSPEED_SPEED_VERYLOW(PG07) | \
           PIN_OSPEED_SPEED_VERYLOW(PG08) | \
           PIN_OSPEED_SPEED_VERYLOW(PG09) | \
           PIN_OSPEED_SPEED_VERYLOW(PG10) | \
           PIN_OSPEED_SPEED_VERYLOW(PG11) | \
           PIN_OSPEED_SPEED_VERYLOW(PG12) | \
           PIN_OSPEED_SPEED_VERYLOW(PG13) | \
           PIN_OSPEED_SPEED_VERYLOW(PG14) | \
           PIN_OSPEED_SPEED_VERYLOW(PG15))
 
#define VAL_GPIOG_PUPDR                 (PIN_PUPDR_PULLDOWN(PG00) | \
           PIN_PUPDR_PULLDOWN(PG01) | \
           PIN_PUPDR_PULLDOWN(PG02) | \
           PIN_PUPDR_PULLDOWN(PG03) | \
           PIN_PUPDR_PULLDOWN(PG04) | \
           PIN_PUPDR_PULLDOWN(PG05) | \
           PIN_PUPDR_PULLDOWN(PG06) | \
           PIN_PUPDR_PULLDOWN(PG07) | \
           PIN_PUPDR_PULLDOWN(PG08) | \
           PIN_PUPDR_PULLDOWN(PG09) | \
           PIN_PUPDR_PULLDOWN(PG10) | \
           PIN_PUPDR_PULLDOWN(PG11) | \
           PIN_PUPDR_PULLDOWN(PG12) | \
           PIN_PUPDR_PULLDOWN(PG13) | \
           PIN_PUPDR_PULLDOWN(PG14) | \
           PIN_PUPDR_PULLDOWN(PG15))
 
#define VAL_GPIOG_ODR                   (PIN_ODR_LEVEL_LOW(PG00) | \
           PIN_ODR_LEVEL_LOW(PG01) | \
           PIN_ODR_LEVEL_LOW(PG02) | \
           PIN_ODR_LEVEL_LOW(PG03) | \
           PIN_ODR_LEVEL_LOW(PG04) | \
           PIN_ODR_LEVEL_LOW(PG05) | \
           PIN_ODR_LEVEL_LOW(PG06) | \
           PIN_ODR_LEVEL_LOW(PG07) | \
           PIN_ODR_LEVEL_LOW(PG08) | \
           PIN_ODR_LEVEL_LOW(PG09) | \
           PIN_ODR_LEVEL_LOW(PG10) | \
           PIN_ODR_LEVEL_LOW(PG11) | \
           PIN_ODR_LEVEL_LOW(PG12) | \
           PIN_ODR_LEVEL_LOW(PG13) | \
           PIN_ODR_LEVEL_LOW(PG14) | \
           PIN_ODR_LEVEL_LOW(PG15))
 
#define VAL_GPIOG_AFRL      (PIN_AFIO_AF(PG00, 0) | \
           PIN_AFIO_AF(PG01, 0) | \
           PIN_AFIO_AF(PG02, 0) | \
           PIN_AFIO_AF(PG03, 0) | \
           PIN_AFIO_AF(PG04, 0) | \
           PIN_AFIO_AF(PG05, 0) | \
           PIN_AFIO_AF(PG06, 0) | \
           PIN_AFIO_AF(PG07, 0))
 
#define VAL_GPIOG_AFRH      (PIN_AFIO_AF(PG08, 0) | \
           PIN_AFIO_AF(PG09, 0) | \
           PIN_AFIO_AF(PG10, 0) | \
           PIN_AFIO_AF(PG11, 0) | \
           PIN_AFIO_AF(PG12, 0) | \
           PIN_AFIO_AF(PG13, 0) | \
           PIN_AFIO_AF(PG14, 0) | \
           PIN_AFIO_AF(PG15, 0))
 
#define VAL_GPIOH_MODER                 (PIN_MODE_ALTERNATE(OSC_IN) | \
           PIN_MODE_ALTERNATE(OSC_OUT) | \
           PIN_MODE_INPUT(PH02) | \
           PIN_MODE_INPUT(PH03) | \
           PIN_MODE_INPUT(PH04) | \
           PIN_MODE_INPUT(PH05) | \
           PIN_MODE_INPUT(PH06) | \
           PIN_MODE_INPUT(PH07) | \
           PIN_MODE_INPUT(PH08) | \
           PIN_MODE_INPUT(PH09) | \
           PIN_MODE_INPUT(PH10) | \
           PIN_MODE_INPUT(PH11) | \
           PIN_MODE_INPUT(PH12) | \
           PIN_MODE_INPUT(PH13) | \
           PIN_MODE_INPUT(PH14) | \
           PIN_MODE_INPUT(PH15))
 
#define VAL_GPIOH_OTYPER                (PIN_OTYPE_PUSHPULL(OSC_IN) | \
           PIN_OTYPE_PUSHPULL(OSC_OUT) | \
           PIN_OTYPE_PUSHPULL(PH02) | \
           PIN_OTYPE_PUSHPULL(PH03) | \
           PIN_OTYPE_PUSHPULL(PH04) | \
           PIN_OTYPE_PUSHPULL(PH05) | \
           PIN_OTYPE_PUSHPULL(PH06) | \
           PIN_OTYPE_PUSHPULL(PH07) | \
           PIN_OTYPE_PUSHPULL(PH08) | \
           PIN_OTYPE_PUSHPULL(PH09) | \
           PIN_OTYPE_PUSHPULL(PH10) | \
           PIN_OTYPE_PUSHPULL(PH11) | \
           PIN_OTYPE_PUSHPULL(PH12) | \
           PIN_OTYPE_PUSHPULL(PH13) | \
           PIN_OTYPE_PUSHPULL(PH14) | \
           PIN_OTYPE_PUSHPULL(PH15))
 
#define VAL_GPIOH_OSPEEDR               (PIN_OSPEED_SPEED_HIGH(OSC_IN) | \
           PIN_OSPEED_SPEED_HIGH(OSC_OUT) | \
           PIN_OSPEED_SPEED_VERYLOW(PH02) | \
           PIN_OSPEED_SPEED_VERYLOW(PH03) | \
           PIN_OSPEED_SPEED_VERYLOW(PH04) | \
           PIN_OSPEED_SPEED_VERYLOW(PH05) | \
           PIN_OSPEED_SPEED_VERYLOW(PH06) | \
           PIN_OSPEED_SPEED_VERYLOW(PH07) | \
           PIN_OSPEED_SPEED_VERYLOW(PH08) | \
           PIN_OSPEED_SPEED_VERYLOW(PH09) | \
           PIN_OSPEED_SPEED_VERYLOW(PH10) | \
           PIN_OSPEED_SPEED_VERYLOW(PH11) | \
           PIN_OSPEED_SPEED_VERYLOW(PH12) | \
           PIN_OSPEED_SPEED_VERYLOW(PH13) | \
           PIN_OSPEED_SPEED_VERYLOW(PH14) | \
           PIN_OSPEED_SPEED_VERYLOW(PH15))
 
#define VAL_GPIOH_PUPDR                 (PIN_PUPDR_FLOATING(OSC_IN) | \
           PIN_PUPDR_FLOATING(OSC_OUT) | \
           PIN_PUPDR_PULLDOWN(PH02) | \
           PIN_PUPDR_PULLDOWN(PH03) | \
           PIN_PUPDR_PULLDOWN(PH04) | \
           PIN_PUPDR_PULLDOWN(PH05) | \
           PIN_PUPDR_PULLDOWN(PH06) | \
           PIN_PUPDR_PULLDOWN(PH07) | \
           PIN_PUPDR_PULLDOWN(PH08) | \
           PIN_PUPDR_PULLDOWN(PH09) | \
           PIN_PUPDR_PULLDOWN(PH10) | \
           PIN_PUPDR_PULLDOWN(PH11) | \
           PIN_PUPDR_PULLDOWN(PH12) | \
           PIN_PUPDR_PULLDOWN(PH13) | \
           PIN_PUPDR_PULLDOWN(PH14) | \
           PIN_PUPDR_PULLDOWN(PH15))
 
#define VAL_GPIOH_ODR                   (PIN_ODR_LEVEL_HIGH(OSC_IN) | \
           PIN_ODR_LEVEL_HIGH(OSC_OUT) | \
           PIN_ODR_LEVEL_LOW(PH02) | \
           PIN_ODR_LEVEL_LOW(PH03) | \
           PIN_ODR_LEVEL_LOW(PH04) | \
           PIN_ODR_LEVEL_LOW(PH05) | \
           PIN_ODR_LEVEL_LOW(PH06) | \
           PIN_ODR_LEVEL_LOW(PH07) | \
           PIN_ODR_LEVEL_LOW(PH08) | \
           PIN_ODR_LEVEL_LOW(PH09) | \
           PIN_ODR_LEVEL_LOW(PH10) | \
           PIN_ODR_LEVEL_LOW(PH11) | \
           PIN_ODR_LEVEL_LOW(PH12) | \
           PIN_ODR_LEVEL_LOW(PH13) | \
           PIN_ODR_LEVEL_LOW(PH14) | \
           PIN_ODR_LEVEL_LOW(PH15))
 
#define VAL_GPIOH_AFRL      (PIN_AFIO_AF(OSC_IN, 0) | \
           PIN_AFIO_AF(OSC_OUT, 0) | \
           PIN_AFIO_AF(PH02, 0) | \
           PIN_AFIO_AF(PH03, 0) | \
           PIN_AFIO_AF(PH04, 0) | \
           PIN_AFIO_AF(PH05, 0) | \
           PIN_AFIO_AF(PH06, 0) | \
           PIN_AFIO_AF(PH07, 0))
 
#define VAL_GPIOH_AFRH      (PIN_AFIO_AF(PH08, 0) | \
           PIN_AFIO_AF(PH09, 0) | \
           PIN_AFIO_AF(PH10, 0) | \
           PIN_AFIO_AF(PH11, 0) | \
           PIN_AFIO_AF(PH12, 0) | \
           PIN_AFIO_AF(PH13, 0) | \
           PIN_AFIO_AF(PH14, 0) | \
           PIN_AFIO_AF(PH15, 0))
 
#define VAL_GPIOI_MODER                 (PIN_MODE_INPUT(PI00) | \
           PIN_MODE_INPUT(PI01) | \
           PIN_MODE_INPUT(PI02) | \
           PIN_MODE_INPUT(PI03) | \
           PIN_MODE_INPUT(PI04) | \
           PIN_MODE_INPUT(PI05) | \
           PIN_MODE_INPUT(PI06) | \
           PIN_MODE_INPUT(PI07) | \
           PIN_MODE_INPUT(PI08) | \
           PIN_MODE_INPUT(PI09) | \
           PIN_MODE_INPUT(PI10) | \
           PIN_MODE_INPUT(PI11) | \
           PIN_MODE_INPUT(PI12) | \
           PIN_MODE_INPUT(PI13) | \
           PIN_MODE_INPUT(PI14) | \
           PIN_MODE_INPUT(PI15))
 
#define VAL_GPIOI_OTYPER                (PIN_OTYPE_PUSHPULL(PI00) | \
           PIN_OTYPE_PUSHPULL(PI01) | \
           PIN_OTYPE_PUSHPULL(PI02) | \
           PIN_OTYPE_PUSHPULL(PI03) | \
           PIN_OTYPE_PUSHPULL(PI04) | \
           PIN_OTYPE_PUSHPULL(PI05) | \
           PIN_OTYPE_PUSHPULL(PI06) | \
           PIN_OTYPE_PUSHPULL(PI07) | \
           PIN_OTYPE_PUSHPULL(PI08) | \
           PIN_OTYPE_PUSHPULL(PI09) | \
           PIN_OTYPE_PUSHPULL(PI10) | \
           PIN_OTYPE_PUSHPULL(PI11) | \
           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) | \
           PIN_OSPEED_SPEED_VERYLOW(PI01) | \
           PIN_OSPEED_SPEED_VERYLOW(PI02) | \
           PIN_OSPEED_SPEED_VERYLOW(PI03) | \
           PIN_OSPEED_SPEED_VERYLOW(PI04) | \
           PIN_OSPEED_SPEED_VERYLOW(PI05) | \
           PIN_OSPEED_SPEED_VERYLOW(PI06) | \
           PIN_OSPEED_SPEED_VERYLOW(PI07) | \
           PIN_OSPEED_SPEED_VERYLOW(PI08) | \
           PIN_OSPEED_SPEED_VERYLOW(PI09) | \
           PIN_OSPEED_SPEED_VERYLOW(PI10) | \
           PIN_OSPEED_SPEED_VERYLOW(PI11) | \
           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_PULLDOWN(PI00) | \
           PIN_PUPDR_PULLDOWN(PI01) | \
           PIN_PUPDR_PULLDOWN(PI02) | \
           PIN_PUPDR_PULLDOWN(PI03) | \
           PIN_PUPDR_PULLDOWN(PI04) | \
           PIN_PUPDR_PULLDOWN(PI05) | \
           PIN_PUPDR_PULLDOWN(PI06) | \
           PIN_PUPDR_PULLDOWN(PI07) | \
           PIN_PUPDR_PULLDOWN(PI08) | \
           PIN_PUPDR_PULLDOWN(PI09) | \
           PIN_PUPDR_PULLDOWN(PI10) | \
           PIN_PUPDR_PULLDOWN(PI11) | \
           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) | \
           PIN_ODR_LEVEL_LOW(PI01) | \
           PIN_ODR_LEVEL_LOW(PI02) | \
           PIN_ODR_LEVEL_LOW(PI03) | \
           PIN_ODR_LEVEL_LOW(PI04) | \
           PIN_ODR_LEVEL_LOW(PI05) | \
           PIN_ODR_LEVEL_LOW(PI06) | \
           PIN_ODR_LEVEL_LOW(PI07) | \
           PIN_ODR_LEVEL_LOW(PI08) | \
           PIN_ODR_LEVEL_LOW(PI09) | \
           PIN_ODR_LEVEL_LOW(PI10) | \
           PIN_ODR_LEVEL_LOW(PI11) | \
           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, 0) | \
           PIN_AFIO_AF(PI01, 0) | \
           PIN_AFIO_AF(PI02, 0) | \
           PIN_AFIO_AF(PI03, 0) | \
           PIN_AFIO_AF(PI04, 0) | \
           PIN_AFIO_AF(PI05, 0) | \
           PIN_AFIO_AF(PI06, 0) | \
           PIN_AFIO_AF(PI07, 0))
 
#define VAL_GPIOI_AFRH      (PIN_AFIO_AF(PI08, 0) | \
           PIN_AFIO_AF(PI09, 0) | \
           PIN_AFIO_AF(PI10, 0) | \
           PIN_AFIO_AF(PI11, 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_UART4_TX                      8U
#define AF_LINE_UART4_TX                 8U
#define AF_UART4_RX                      8U
#define AF_LINE_UART4_RX                 8U
#define AF_SERVO1                        1U
#define AF_LINE_SERVO1                   1U
#define AF_UART2_RX                      7U
#define AF_LINE_UART2_RX                 7U
#define AF_SPI1_SCK                      5U
#define AF_LINE_SPI1_SCK                 5U
#define AF_SPI1_MISO                     5U
#define AF_LINE_SPI1_MISO                5U
#define AF_SPI1_MOSI                     5U
#define AF_LINE_SPI1_MOSI                5U
#define AF_CU1_CH1                       1U
#define AF_LINE_CU1_CH1                  1U
#define AF_USART1_RX                     7U
#define AF_LINE_USART1_RX                7U
#define AF_OTG_FS_DM                     10U
#define AF_LINE_OTG_FS_DM                10U
#define AF_OTG_FS_DP                     10U
#define AF_LINE_OTG_FS_DP                10U
#define AF_SWDIO                         0U
#define AF_LINE_SWDIO                    0U
#define AF_SWCLK                         0U
#define AF_LINE_SWCLK                    0U
#define AF_SERVO5                        1U
#define AF_LINE_SERVO5                   1U
#define AF_SERVO0                        2U
#define AF_LINE_SERVO0                   2U
#define AF_SERVO6                        2U
#define AF_LINE_SERVO6                   2U
#define AF_SERVO4                        1U
#define AF_LINE_SERVO4                   1U
#define AF_SERVO3                        2U
#define AF_LINE_SERVO3                   2U
#define AF_SERVO2                        2U
#define AF_LINE_SERVO2                   2U
#define AF_USART1_TX                     7U
#define AF_LINE_USART1_TX                7U
#define AF_I2C1_SDA                      4U
#define AF_LINE_I2C1_SDA                 4U
#define AF_I2C1_SCL                      4U
#define AF_LINE_I2C1_SCL                 4U
#define AF_I2C2_SCL                      4U
#define AF_LINE_I2C2_SCL                 4U
#define AF_I2C2_SDA                      4U
#define AF_LINE_I2C2_SDA                 4U
#define AF_USART6_TX                     8U
#define AF_LINE_USART6_TX                8U
#define AF_USART6_RX                     8U
#define AF_LINE_USART6_RX                8U
#define AF_SDIO_D0                       12U
#define AF_LINE_SDIO_D0                  12U
#define AF_SDIO_D1                       12U
#define AF_LINE_SDIO_D1                  12U
#define AF_SDIO_D2                       12U
#define AF_LINE_SDIO_D2                  12U
#define AF_SDIO_D3                       12U
#define AF_LINE_SDIO_D3                  12U
#define AF_SDIO_CK                       12U
#define AF_LINE_SDIO_CK                  12U
#define AF_OSC32_IN                      0U
#define AF_LINE_OSC32_IN                 0U
#define AF_OSC32_OUT                     0U
#define AF_LINE_OSC32_OUT                0U
#define AF_SDIO_CMD                      12U
#define AF_LINE_SDIO_CMD                 12U
#define AF_OSC_IN                        0U
#define AF_LINE_OSC_IN                   0U
#define AF_OSC_OUT                       0U
#define AF_LINE_OSC_OUT                  0U
 
 
#define SERVO1_TIM   2
#define SERVO1_TIM_FN  CH
#define SERVO1_TIM_CH  3
#define SERVO1_TIM_AF  1
#define SERVO5_TIM   2
#define SERVO5_TIM_FN  CH
#define SERVO5_TIM_CH  1
#define SERVO5_TIM_AF  1
#define SERVO0_TIM   3
#define SERVO0_TIM_FN  CH
#define SERVO0_TIM_CH  3
#define SERVO0_TIM_AF  2
#define SERVO6_TIM   3
#define SERVO6_TIM_FN  CH
#define SERVO6_TIM_CH  4
#define SERVO6_TIM_AF  2
#define SERVO4_TIM   2
#define SERVO4_TIM_FN  CH
#define SERVO4_TIM_CH  2
#define SERVO4_TIM_AF  1
#define SERVO3_TIM   3
#define SERVO3_TIM_FN  CH
#define SERVO3_TIM_CH  1
#define SERVO3_TIM_AF  2
#define SERVO2_TIM   3
#define SERVO2_TIM_FN  CH
#define SERVO2_TIM_CH  2
#define SERVO2_TIM_AF  2
 
#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_INPUT \
  LINE_SERVO1, \
  LINE_SERVO5, \
  LINE_SERVO0, \
  LINE_SERVO6, \
  LINE_SERVO4, \
  LINE_SERVO3, \
  LINE_SERVO2, \
  LINE_SPI1_CS, \
  LINE_AUX4, \
  LINE_LED1, \
  LINE_LED3, \
  LINE_LED4, \
  LINE_AUX3, \
  LINE_AUX2, \
  LINE_LED2
#define ENERGY_SAVE_INPUT_SIZE   15
 
#if !defined(_FROM_ASM_)
#ifdef __cplusplus
extern "C" {
#endif
  void boardInit(void);
#ifdef __cplusplus
}
#endif
#endif /* _FROM_ASM_ */