latest/px4fmu_2chibios_2v6x_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_6X

 #define BOARD_NAME                  "PX4FMU 6X"


 /*

  * 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


 /*

  * MCU type as defined in the ST header.

  */

 #define STM32H753xx

 #define MCUCONF_H7


 /*

  * PWM TIM defines

  * enable TIM4, TIM5 and TIM12 by default

  */

 #ifndef USE_PWM_TIM4

 #define USE_PWM_TIM4 1

 #endif


 #ifndef USE_PWM_TIM5

 #define USE_PWM_TIM5 1

 #endif


 #ifndef USE_PWM_TIM12

 //#define USE_PWM_TIM12 1

 #endif


 /*

  * IO pins assignments.

  */

 #define PA00_ADC1                      0U

 #define PA01_ETH_RMII_REF_CLK          1U

 #define PA02_ETH_MDIO                  2U

 #define PA03_UART2                     3U

 #define PA04_ADC2                      4U

 #define PA05_SPI1_SCK                  5U

 #define PA06_SPI6_MISO                 6U

 #define PA07_ETH_RMII_CRS_DV           7U

 #define PA08_I2C3_SCL                  8U

 #define PA09_USB_VBUS                  9U

 #define PA10_SPI2_DRDY                 10U

 #define PA11_USB_DM                    11U

 #define PA12_USB_DP                    12U

 #define PA13_SWDIO                     13U

 #define PA14_SWCLK                     14U

 #define PA15                           15U


 #define PB00_ADC3                      0U

 #define PB01_ADC5                      1U

 #define PB02_SPI3_MOSI                 2U

 #define PB03_SPI6_SCK                  3U

 #define PB04_SDIO_D3                   4U

 #define PB05_SPI1_MOSI                 5U

 #define PB06_UART1_TX                  6U

 #define PB07_UART1_RX                  7U

 #define PB08_I2C1_SCL                  8U

 #define PB09_I2C1_SDA                  9U

 #define PB10_IMU_HEATER                10U

 #define PB11_ETH_RMII_TX_EN            11U

 #define PB12_CAN2_RX                   12U

 #define PB13_CAN2_TX                   13U

 #define PB14_SDIO_D0                   14U

 #define PB15_SDIO_D1                   15U


 #define PC00_NFC_GPIO                  0U

 #define PC01_ETH_MDC                   1U

 #define PC02_ADC6                      2U

 #define PC03_ADC7                      3U

 #define PC04_ETH_RMII_RXD0             4U

 #define PC05_ETH_RMII_RXD1             5U

 #define PC06_UART6_TX                  6U

 #define PC07_UART6_RX                  7U

 #define PC08_UART5_RTS                 8U

 #define PC09_UART5_CTS                 9U

 #define PC10_SPI3_SCK                  10U

 #define PC11_SPI3_MISO                 11U

 #define PC12_UART5_TX                  12U

 #define PC13_VDD_3V3_SD_CARD_EN        13U

 #define PC14                           14U

 #define PC15                           15U


 #define PD00_CAN1_RX                   0U

 #define PD01_CAN1_TX                   1U

 #define PD02_UART5_RX                  2U

 #define PD03_UART2_CTS                 3U

 #define PD04_UART2_RTS                 4U

 #define PD05_UART2_TX                  5U

 #define PD06_SDIO_CK                   6U

 #define PD07_SDIO_CMD                  7U

 #define PD08_UART3_TX                  8U

 #define PD09_UART3_RX                  9U

 #define PD10_LED4                      10U

 #define PD11                           11U

 #define PD12                           12U

 #define PD13_SERVO5                    13U

 #define PD14_SERVO6                    14U

 #define PD15                           15U


 #define PE00_UART8_RX                  0U

 #define PE01_UART8_TX                  1U

 #define PE02                           2U

 #define PE03_LED1                      3U

 #define PE04_LED2                      4U

 #define PE05_LED3                      5U

 #define PE06_NARMED                    6U

 #define PE07_VDD_3V3_SENSORS3_EN       7U

 #define PE08_UART7_TX                  8U

 #define PE09                           9U

 #define PE10_UART7_CTS                 10U

 #define PE11_FMU_CAP1                  11U

 #define PE12_SPI4_SCK                  12U

 #define PE13_SPI4_MISO                 13U

 #define PE14_SPI4_MOSI                 14U

 #define PE15_VDD_5V_PERIPH_OC          15U


 #define PF00_I2C2_SDA                  0U

 #define PF01_I2C2_SCL                  1U

 #define PF02                           2U

 #define PF03_SPI4_DRDY1                3U

 #define PF04_VDD_3V3_SENSORS2_EN       4U

 #define PF05_SAFETY_IN                 5U

 #define PF06_UART7_RX                  6U

 #define PF07_SPI5_SCK                  7U

 #define PF08_UART7_RTS                 8U

 #define PF09_ALARM                     9U

 #define PF10                           10U

 #define PF11_SPI5_MOSI                 11U

 #define PF12_ADC4                      12U

 #define PF13_VDD_5V_HIPOWER_OC         13U

 #define PF14_I2C4_SCL                  14U

 #define PF15_I2C4_SDA                  15U


 #define PG00_HW_VER_REV_DRIVE          0U

 #define PG01_VDD_BRICK_VALID           1U

 #define PG02_VDD_BRICK2_VALID          2U

 #define PG03_VDD_BRICK3_VALID          3U

 #define PG04_VDD_5V_PERIPH_EN          4U

 #define PG05_DRDY1_BMP388              5U

 #define PG06                           6U

 #define PG07_SPI_SLAVE6                7U

 #define PG08_VDD_3V3_SENSORS4_EN       8U

 #define PG09_SPI1_MISO                 9U

 #define PG10_VDD_5V_HIPOWER_EN         10U

 #define PG11_SDIO_D2                   11U

 #define PG12_ETH_RMII_TXD1             12U

 #define PG13_ETH_RMII_TXD0             13U

 #define PG14_SPI6_MOSI                 14U

 #define PG15_ETH_POWER_EN              15U


 #define PH00_OSC_IN                    0U

 #define PH01_OSC_OUT                   1U

 #define PH02_SPEKTRUM_PWR_EN           2U

 #define PH03_HW_VER_SENS               3U

 #define PH04_HW_REV_SENS               4U

 #define PH05_SPI_SLAVE2                5U

 #define PH06                           6U

 #define PH07_SPI5_MISO                 7U

 #define PH08_I2C3_SDA                  8U

 #define PH09                           9U

 #define PH10_SERVO4                    10U

 #define PH11_SERVO3                    11U

 #define PH12_SERVO2                    12U

 #define PH13_UART4_TX                  13U

 #define PH14_UART4_RX                  14U

 #define PH15_SPI_SLAVE5                15U


 #define PI00_SERVO1                    0U

 #define PI01_SPI2_SCK                  1U

 #define PI02_SPI2_MISO                 2U

 #define PI03_SPI2_MOSI                 3U

 #define PI04_SPI_SLAVE3                4U

 #define PI05_PWM_INPUT1                5U

 #define PI06_SPI3_DRDY1                6U

 #define PI07_SPI3_DRDY2                7U

 #define PI08_SPI_SLAVE4                8U

 #define PI09_SPI_SLAVE1                9U

 #define PI10_SPI_SLAVE7                10U

 #define PI11_VDD_3V3_SENSORS1_EN       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_ETH_RMII_REF_CLK          PAL_LINE(GPIOA, 1U)

 #define LINE_ETH_MDIO                  PAL_LINE(GPIOA, 2U)

 #define LINE_UART2                     PAL_LINE(GPIOA, 3U)

 #define LINE_ADC2                      PAL_LINE(GPIOA, 4U)

 #define LINE_SPI1_SCK                  PAL_LINE(GPIOA, 5U)

 #define LINE_SPI6_MISO                 PAL_LINE(GPIOA, 6U)

 #define LINE_ETH_RMII_CRS_DV           PAL_LINE(GPIOA, 7U)

 #define LINE_I2C3_SCL                  PAL_LINE(GPIOA, 8U)

 #define LINE_USB_VBUS                  PAL_LINE(GPIOA, 9U)

 #define LINE_SPI2_DRDY                 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_ADC3                      PAL_LINE(GPIOB, 0U)

 #define LINE_ADC5                      PAL_LINE(GPIOB, 1U)

 #define LINE_SPI3_MOSI                 PAL_LINE(GPIOB, 2U)

 #define LINE_SPI6_SCK                  PAL_LINE(GPIOB, 3U)

 #define LINE_SDIO_D3                   PAL_LINE(GPIOB, 4U)

 #define LINE_SPI1_MOSI                 PAL_LINE(GPIOB, 5U)

 #define LINE_UART1_TX                  PAL_LINE(GPIOB, 6U)

 #define LINE_UART1_RX                  PAL_LINE(GPIOB, 7U)

 #define LINE_I2C1_SCL                  PAL_LINE(GPIOB, 8U)

 #define LINE_I2C1_SDA                  PAL_LINE(GPIOB, 9U)

 #define LINE_IMU_HEATER                PAL_LINE(GPIOB, 10U)

 #define LINE_ETH_RMII_TX_EN            PAL_LINE(GPIOB, 11U)

 #define LINE_CAN2_RX                   PAL_LINE(GPIOB, 12U)

 #define LINE_CAN2_TX                   PAL_LINE(GPIOB, 13U)

 #define LINE_SDIO_D0                   PAL_LINE(GPIOB, 14U)

 #define LINE_SDIO_D1                   PAL_LINE(GPIOB, 15U)


 #define LINE_NFC_GPIO                  PAL_LINE(GPIOC, 0U)

 #define LINE_ETH_MDC                   PAL_LINE(GPIOC, 1U)

 #define LINE_ADC6                      PAL_LINE(GPIOC, 2U)

 #define LINE_ADC7                      PAL_LINE(GPIOC, 3U)

 #define LINE_ETH_RMII_RXD0             PAL_LINE(GPIOC, 4U)

 #define LINE_ETH_RMII_RXD1             PAL_LINE(GPIOC, 5U)

 #define LINE_UART6_TX                  PAL_LINE(GPIOC, 6U)

 #define LINE_UART6_RX                  PAL_LINE(GPIOC, 7U)

 #define LINE_UART5_RTS                 PAL_LINE(GPIOC, 8U)

 #define LINE_UART5_CTS                 PAL_LINE(GPIOC, 9U)

 #define LINE_SPI3_SCK                  PAL_LINE(GPIOC, 10U)

 #define LINE_SPI3_MISO                 PAL_LINE(GPIOC, 11U)

 #define LINE_UART5_TX                  PAL_LINE(GPIOC, 12U)

 #define LINE_VDD_3V3_SD_CARD_EN        PAL_LINE(GPIOC, 13U)


 #define LINE_CAN1_RX                   PAL_LINE(GPIOD, 0U)

 #define LINE_CAN1_TX                   PAL_LINE(GPIOD, 1U)

 #define LINE_UART5_RX                  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_SDIO_CK                   PAL_LINE(GPIOD, 6U)

 #define LINE_SDIO_CMD                  PAL_LINE(GPIOD, 7U)

 #define LINE_UART3_TX                  PAL_LINE(GPIOD, 8U)

 #define LINE_UART3_RX                  PAL_LINE(GPIOD, 9U)

 #define LINE_LED4                      PAL_LINE(GPIOD, 10U)

 #define LINE_SERVO5                    PAL_LINE(GPIOD, 13U)

 #define LINE_SERVO6                    PAL_LINE(GPIOD, 14U)


 #define LINE_UART8_RX                  PAL_LINE(GPIOE, 0U)

 #define LINE_UART8_TX                  PAL_LINE(GPIOE, 1U)

 #define LINE_LED1                      PAL_LINE(GPIOE, 3U)

 #define LINE_LED2                      PAL_LINE(GPIOE, 4U)

 #define LINE_LED3                      PAL_LINE(GPIOE, 5U)

 #define LINE_NARMED                    PAL_LINE(GPIOE, 6U)

 #define LINE_VDD_3V3_SENSORS3_EN       PAL_LINE(GPIOE, 7U)

 #define LINE_UART7_TX                  PAL_LINE(GPIOE, 8U)

 #define LINE_UART7_CTS                 PAL_LINE(GPIOE, 10U)

 #define LINE_FMU_CAP1                  PAL_LINE(GPIOE, 11U)

 #define LINE_SPI4_SCK                  PAL_LINE(GPIOE, 12U)

 #define LINE_SPI4_MISO                 PAL_LINE(GPIOE, 13U)

 #define LINE_SPI4_MOSI                 PAL_LINE(GPIOE, 14U)

 #define LINE_VDD_5V_PERIPH_OC          PAL_LINE(GPIOE, 15U)


 #define LINE_I2C2_SDA                  PAL_LINE(GPIOF, 0U)

 #define LINE_I2C2_SCL                  PAL_LINE(GPIOF, 1U)

 #define LINE_SPI4_DRDY1                PAL_LINE(GPIOF, 3U)

 #define LINE_VDD_3V3_SENSORS2_EN       PAL_LINE(GPIOF, 4U)

 #define LINE_SAFETY_IN                 PAL_LINE(GPIOF, 5U)

 #define LINE_UART7_RX                  PAL_LINE(GPIOF, 6U)

 #define LINE_SPI5_SCK                  PAL_LINE(GPIOF, 7U)

 #define LINE_UART7_RTS                 PAL_LINE(GPIOF, 8U)

 #define LINE_ALARM                     PAL_LINE(GPIOF, 9U)

 #define LINE_SPI5_MOSI                 PAL_LINE(GPIOF, 11U)

 #define LINE_ADC4                      PAL_LINE(GPIOF, 12U)

 #define LINE_VDD_5V_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_REV_DRIVE          PAL_LINE(GPIOG, 0U)

 #define LINE_VDD_BRICK_VALID           PAL_LINE(GPIOG, 1U)

 #define LINE_VDD_BRICK2_VALID          PAL_LINE(GPIOG, 2U)

 #define LINE_VDD_BRICK3_VALID          PAL_LINE(GPIOG, 3U)

 #define LINE_VDD_5V_PERIPH_EN          PAL_LINE(GPIOG, 4U)

 #define LINE_DRDY1_BMP388              PAL_LINE(GPIOG, 5U)

 #define LINE_SPI_SLAVE6                PAL_LINE(GPIOG, 7U)

 #define LINE_VDD_3V3_SENSORS4_EN       PAL_LINE(GPIOG, 8U)

 #define LINE_SPI1_MISO                 PAL_LINE(GPIOG, 9U)

 #define LINE_VDD_5V_HIPOWER_EN         PAL_LINE(GPIOG, 10U)

 #define LINE_SDIO_D2                   PAL_LINE(GPIOG, 11U)

 #define LINE_ETH_RMII_TXD1             PAL_LINE(GPIOG, 12U)

 #define LINE_ETH_RMII_TXD0             PAL_LINE(GPIOG, 13U)

 #define LINE_SPI6_MOSI                 PAL_LINE(GPIOG, 14U)

 #define LINE_ETH_POWER_EN              PAL_LINE(GPIOG, 15U)


 #define LINE_OSC_IN                    PAL_LINE(GPIOH, 0U)

 #define LINE_OSC_OUT                   PAL_LINE(GPIOH, 1U)

 #define LINE_SPEKTRUM_PWR_EN           PAL_LINE(GPIOH, 2U)

 #define LINE_HW_VER_SENS               PAL_LINE(GPIOH, 3U)

 #define LINE_HW_REV_SENS               PAL_LINE(GPIOH, 4U)

 #define LINE_SPI_SLAVE2                PAL_LINE(GPIOH, 5U)

 #define LINE_SPI5_MISO                 PAL_LINE(GPIOH, 7U)

 #define LINE_I2C3_SDA                  PAL_LINE(GPIOH, 8U)

 #define LINE_SERVO4                    PAL_LINE(GPIOH, 10U)

 #define LINE_SERVO3                    PAL_LINE(GPIOH, 11U)

 #define LINE_SERVO2                    PAL_LINE(GPIOH, 12U)

 #define LINE_UART4_TX                  PAL_LINE(GPIOH, 13U)

 #define LINE_UART4_RX                  PAL_LINE(GPIOH, 14U)

 #define LINE_SPI_SLAVE5                PAL_LINE(GPIOH, 15U)


 #define LINE_SERVO1                    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_SLAVE3                PAL_LINE(GPIOI, 4U)

 #define LINE_PWM_INPUT1                PAL_LINE(GPIOI, 5U)

 #define LINE_SPI3_DRDY1                PAL_LINE(GPIOI, 6U)

 #define LINE_SPI3_DRDY2                PAL_LINE(GPIOI, 7U)

 #define LINE_SPI_SLAVE4                PAL_LINE(GPIOI, 8U)

 #define LINE_SPI_SLAVE1                PAL_LINE(GPIOI, 9U)

 #define LINE_SPI_SLAVE7                PAL_LINE(GPIOI, 10U)

 #define LINE_VDD_3V3_SENSORS1_EN       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_INPUT(PA01_ETH_RMII_REF_CLK) | \

            PIN_MODE_INPUT(PA02_ETH_MDIO) | \

            PIN_MODE_ALTERNATE(PA03_UART2) | \

            PIN_MODE_ANALOG(PA04_ADC2) | \

            PIN_MODE_ALTERNATE(PA05_SPI1_SCK) | \

            PIN_MODE_ALTERNATE(PA06_SPI6_MISO) | \

            PIN_MODE_INPUT(PA07_ETH_RMII_CRS_DV) | \

            PIN_MODE_ALTERNATE(PA08_I2C3_SCL) | \

            PIN_MODE_INPUT(PA09_USB_VBUS) | \

            PIN_MODE_INPUT(PA10_SPI2_DRDY) | \

            PIN_MODE_ALTERNATE(PA11_USB_DM) | \

            PIN_MODE_ALTERNATE(PA12_USB_DP) | \

            PIN_MODE_ALTERNATE(PA13_SWDIO) | \

            PIN_MODE_ALTERNATE(PA14_SWCLK) | \

            PIN_MODE_INPUT(PA15))


 #define VAL_GPIOA_OTYPER                (PIN_OTYPE_PUSHPULL(PA00_ADC1) | \

            PIN_OTYPE_OPENDRAIN(PA01_ETH_RMII_REF_CLK) | \

            PIN_OTYPE_OPENDRAIN(PA02_ETH_MDIO) | \

            PIN_OTYPE_PUSHPULL(PA03_UART2) | \

            PIN_OTYPE_PUSHPULL(PA04_ADC2) | \

            PIN_OTYPE_PUSHPULL(PA05_SPI1_SCK) | \

            PIN_OTYPE_PUSHPULL(PA06_SPI6_MISO) | \

            PIN_OTYPE_OPENDRAIN(PA07_ETH_RMII_CRS_DV) | \

            PIN_OTYPE_OPENDRAIN(PA08_I2C3_SCL) | \

            PIN_OTYPE_OPENDRAIN(PA09_USB_VBUS) | \

            PIN_OTYPE_OPENDRAIN(PA10_SPI2_DRDY) | \

            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))


 #define VAL_GPIOA_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PA00_ADC1) | \

            PIN_OSPEED_SPEED_VERYLOW(PA01_ETH_RMII_REF_CLK) | \

            PIN_OSPEED_SPEED_VERYLOW(PA02_ETH_MDIO) | \

            PIN_OSPEED_SPEED_HIGH(PA03_UART2) | \

            PIN_OSPEED_SPEED_VERYLOW(PA04_ADC2) | \

            PIN_OSPEED_SPEED_HIGH(PA05_SPI1_SCK) | \

            PIN_OSPEED_SPEED_HIGH(PA06_SPI6_MISO) | \

            PIN_OSPEED_SPEED_VERYLOW(PA07_ETH_RMII_CRS_DV) | \

            PIN_OSPEED_SPEED_HIGH(PA08_I2C3_SCL) | \

            PIN_OSPEED_SPEED_VERYLOW(PA09_USB_VBUS) | \

            PIN_OSPEED_SPEED_VERYLOW(PA10_SPI2_DRDY) | \

            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_VERYLOW(PA15))


 #define VAL_GPIOA_PUPDR                 (PIN_PUPDR_FLOATING(PA00_ADC1) | \

            PIN_PUPDR_PULLDOWN(PA01_ETH_RMII_REF_CLK) | \

            PIN_PUPDR_PULLDOWN(PA02_ETH_MDIO) | \

            PIN_PUPDR_FLOATING(PA03_UART2) | \

            PIN_PUPDR_FLOATING(PA04_ADC2) | \

            PIN_PUPDR_FLOATING(PA05_SPI1_SCK) | \

            PIN_PUPDR_FLOATING(PA06_SPI6_MISO) | \

            PIN_PUPDR_PULLDOWN(PA07_ETH_RMII_CRS_DV) | \

            PIN_PUPDR_PULLUP(PA08_I2C3_SCL) | \

            PIN_PUPDR_PULLDOWN(PA09_USB_VBUS) | \

            PIN_PUPDR_PULLDOWN(PA10_SPI2_DRDY) | \

            PIN_PUPDR_FLOATING(PA11_USB_DM) | \

            PIN_PUPDR_FLOATING(PA12_USB_DP) | \

            PIN_PUPDR_FLOATING(PA13_SWDIO) | \

            PIN_PUPDR_FLOATING(PA14_SWCLK) | \

            PIN_PUPDR_PULLDOWN(PA15))


 #define VAL_GPIOA_ODR                   (PIN_ODR_LEVEL_LOW(PA00_ADC1) | \

            PIN_ODR_LEVEL_HIGH(PA01_ETH_RMII_REF_CLK) | \

            PIN_ODR_LEVEL_HIGH(PA02_ETH_MDIO) | \

            PIN_ODR_LEVEL_HIGH(PA03_UART2) | \

            PIN_ODR_LEVEL_LOW(PA04_ADC2) | \

            PIN_ODR_LEVEL_HIGH(PA05_SPI1_SCK) | \

            PIN_ODR_LEVEL_HIGH(PA06_SPI6_MISO) | \

            PIN_ODR_LEVEL_HIGH(PA07_ETH_RMII_CRS_DV) | \

            PIN_ODR_LEVEL_HIGH(PA08_I2C3_SCL) | \

            PIN_ODR_LEVEL_LOW(PA09_USB_VBUS) | \

            PIN_ODR_LEVEL_HIGH(PA10_SPI2_DRDY) | \

            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_LOW(PA15))


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

            PIN_AFIO_AF(PA01_ETH_RMII_REF_CLK, 0) | \

            PIN_AFIO_AF(PA02_ETH_MDIO, 0) | \

            PIN_AFIO_AF(PA03_UART2, 7) | \

            PIN_AFIO_AF(PA04_ADC2, 0) | \

            PIN_AFIO_AF(PA05_SPI1_SCK, 5) | \

            PIN_AFIO_AF(PA06_SPI6_MISO, 8) | \

            PIN_AFIO_AF(PA07_ETH_RMII_CRS_DV, 0))


 #define VAL_GPIOA_AFRH      (PIN_AFIO_AF(PA08_I2C3_SCL, 4) | \

            PIN_AFIO_AF(PA09_USB_VBUS, 0) | \

            PIN_AFIO_AF(PA10_SPI2_DRDY, 0) | \

            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, 0))


 #define VAL_GPIOB_MODER                 (PIN_MODE_ANALOG(PB00_ADC3) | \

            PIN_MODE_ANALOG(PB01_ADC5) | \

            PIN_MODE_ALTERNATE(PB02_SPI3_MOSI) | \

            PIN_MODE_ALTERNATE(PB03_SPI6_SCK) | \

            PIN_MODE_ALTERNATE(PB04_SDIO_D3) | \

            PIN_MODE_ALTERNATE(PB05_SPI1_MOSI) | \

            PIN_MODE_ALTERNATE(PB06_UART1_TX) | \

            PIN_MODE_ALTERNATE(PB07_UART1_RX) | \

            PIN_MODE_ALTERNATE(PB08_I2C1_SCL) | \

            PIN_MODE_ALTERNATE(PB09_I2C1_SDA) | \

            PIN_MODE_OUTPUT(PB10_IMU_HEATER) | \

            PIN_MODE_INPUT(PB11_ETH_RMII_TX_EN) | \

            PIN_MODE_ALTERNATE(PB12_CAN2_RX) | \

            PIN_MODE_ALTERNATE(PB13_CAN2_TX) | \

            PIN_MODE_ALTERNATE(PB14_SDIO_D0) | \

            PIN_MODE_ALTERNATE(PB15_SDIO_D1))


 #define VAL_GPIOB_OTYPER                (PIN_OTYPE_PUSHPULL(PB00_ADC3) | \

            PIN_OTYPE_PUSHPULL(PB01_ADC5) | \

            PIN_OTYPE_PUSHPULL(PB02_SPI3_MOSI) | \

            PIN_OTYPE_PUSHPULL(PB03_SPI6_SCK) | \

            PIN_OTYPE_PUSHPULL(PB04_SDIO_D3) | \

            PIN_OTYPE_PUSHPULL(PB05_SPI1_MOSI) | \

            PIN_OTYPE_PUSHPULL(PB06_UART1_TX) | \

            PIN_OTYPE_PUSHPULL(PB07_UART1_RX) | \

            PIN_OTYPE_OPENDRAIN(PB08_I2C1_SCL) | \

            PIN_OTYPE_OPENDRAIN(PB09_I2C1_SDA) | \

            PIN_OTYPE_PUSHPULL(PB10_IMU_HEATER) | \

            PIN_OTYPE_OPENDRAIN(PB11_ETH_RMII_TX_EN) | \

            PIN_OTYPE_PUSHPULL(PB12_CAN2_RX) | \

            PIN_OTYPE_PUSHPULL(PB13_CAN2_TX) | \

            PIN_OTYPE_PUSHPULL(PB14_SDIO_D0) | \

            PIN_OTYPE_PUSHPULL(PB15_SDIO_D1))


 #define VAL_GPIOB_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PB00_ADC3) | \

            PIN_OSPEED_SPEED_VERYLOW(PB01_ADC5) | \

            PIN_OSPEED_SPEED_HIGH(PB02_SPI3_MOSI) | \

            PIN_OSPEED_SPEED_HIGH(PB03_SPI6_SCK) | \

            PIN_OSPEED_SPEED_HIGH(PB04_SDIO_D3) | \

            PIN_OSPEED_SPEED_HIGH(PB05_SPI1_MOSI) | \

            PIN_OSPEED_SPEED_HIGH(PB06_UART1_TX) | \

            PIN_OSPEED_SPEED_HIGH(PB07_UART1_RX) | \

            PIN_OSPEED_SPEED_HIGH(PB08_I2C1_SCL) | \

            PIN_OSPEED_SPEED_HIGH(PB09_I2C1_SDA) | \

            PIN_OSPEED_SPEED_HIGH(PB10_IMU_HEATER) | \

            PIN_OSPEED_SPEED_VERYLOW(PB11_ETH_RMII_TX_EN) | \

            PIN_OSPEED_SPEED_HIGH(PB12_CAN2_RX) | \

            PIN_OSPEED_SPEED_HIGH(PB13_CAN2_TX) | \

            PIN_OSPEED_SPEED_HIGH(PB14_SDIO_D0) | \

            PIN_OSPEED_SPEED_HIGH(PB15_SDIO_D1))


 #define VAL_GPIOB_PUPDR                 (PIN_PUPDR_FLOATING(PB00_ADC3) | \

            PIN_PUPDR_FLOATING(PB01_ADC5) | \

            PIN_PUPDR_FLOATING(PB02_SPI3_MOSI) | \

            PIN_PUPDR_FLOATING(PB03_SPI6_SCK) | \

            PIN_PUPDR_PULLUP(PB04_SDIO_D3) | \

            PIN_PUPDR_FLOATING(PB05_SPI1_MOSI) | \

            PIN_PUPDR_FLOATING(PB06_UART1_TX) | \

            PIN_PUPDR_FLOATING(PB07_UART1_RX) | \

            PIN_PUPDR_PULLUP(PB08_I2C1_SCL) | \

            PIN_PUPDR_PULLUP(PB09_I2C1_SDA) | \

            PIN_PUPDR_FLOATING(PB10_IMU_HEATER) | \

            PIN_PUPDR_PULLDOWN(PB11_ETH_RMII_TX_EN) | \

            PIN_PUPDR_FLOATING(PB12_CAN2_RX) | \

            PIN_PUPDR_FLOATING(PB13_CAN2_TX) | \

            PIN_PUPDR_PULLUP(PB14_SDIO_D0) | \

            PIN_PUPDR_PULLUP(PB15_SDIO_D1))


 #define VAL_GPIOB_ODR                   (PIN_ODR_LEVEL_LOW(PB00_ADC3) | \

            PIN_ODR_LEVEL_LOW(PB01_ADC5) | \

            PIN_ODR_LEVEL_HIGH(PB02_SPI3_MOSI) | \

            PIN_ODR_LEVEL_HIGH(PB03_SPI6_SCK) | \

            PIN_ODR_LEVEL_HIGH(PB04_SDIO_D3) | \

            PIN_ODR_LEVEL_HIGH(PB05_SPI1_MOSI) | \

            PIN_ODR_LEVEL_HIGH(PB06_UART1_TX) | \

            PIN_ODR_LEVEL_HIGH(PB07_UART1_RX) | \

            PIN_ODR_LEVEL_HIGH(PB08_I2C1_SCL) | \

            PIN_ODR_LEVEL_HIGH(PB09_I2C1_SDA) | \

            PIN_ODR_LEVEL_LOW(PB10_IMU_HEATER) | \

            PIN_ODR_LEVEL_HIGH(PB11_ETH_RMII_TX_EN) | \

            PIN_ODR_LEVEL_HIGH(PB12_CAN2_RX) | \

            PIN_ODR_LEVEL_HIGH(PB13_CAN2_TX) | \

            PIN_ODR_LEVEL_HIGH(PB14_SDIO_D0) | \

            PIN_ODR_LEVEL_HIGH(PB15_SDIO_D1))


 #define VAL_GPIOB_AFRL      (PIN_AFIO_AF(PB00_ADC3, 0) | \

            PIN_AFIO_AF(PB01_ADC5, 0) | \

            PIN_AFIO_AF(PB02_SPI3_MOSI, 7) | \

            PIN_AFIO_AF(PB03_SPI6_SCK, 8) | \

            PIN_AFIO_AF(PB04_SDIO_D3, 9) | \

            PIN_AFIO_AF(PB05_SPI1_MOSI, 5) | \

            PIN_AFIO_AF(PB06_UART1_TX, 7) | \

            PIN_AFIO_AF(PB07_UART1_RX, 7))


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

            PIN_AFIO_AF(PB09_I2C1_SDA, 4) | \

            PIN_AFIO_AF(PB10_IMU_HEATER, 0) | \

            PIN_AFIO_AF(PB11_ETH_RMII_TX_EN, 0) | \

            PIN_AFIO_AF(PB12_CAN2_RX, 9) | \

            PIN_AFIO_AF(PB13_CAN2_TX, 9) | \

            PIN_AFIO_AF(PB14_SDIO_D0, 9) | \

            PIN_AFIO_AF(PB15_SDIO_D1, 9))


 #define VAL_GPIOC_MODER                 (PIN_MODE_INPUT(PC00_NFC_GPIO) | \

            PIN_MODE_INPUT(PC01_ETH_MDC) | \

            PIN_MODE_ANALOG(PC02_ADC6) | \

            PIN_MODE_ANALOG(PC03_ADC7) | \

            PIN_MODE_INPUT(PC04_ETH_RMII_RXD0) | \

            PIN_MODE_INPUT(PC05_ETH_RMII_RXD1) | \

            PIN_MODE_ALTERNATE(PC06_UART6_TX) | \

            PIN_MODE_ALTERNATE(PC07_UART6_RX) | \

            PIN_MODE_INPUT(PC08_UART5_RTS) | \

            PIN_MODE_INPUT(PC09_UART5_CTS) | \

            PIN_MODE_ALTERNATE(PC10_SPI3_SCK) | \

            PIN_MODE_ALTERNATE(PC11_SPI3_MISO) | \

            PIN_MODE_ALTERNATE(PC12_UART5_TX) | \

            PIN_MODE_OUTPUT(PC13_VDD_3V3_SD_CARD_EN) | \

            PIN_MODE_INPUT(PC14) | \

            PIN_MODE_INPUT(PC15))


 #define VAL_GPIOC_OTYPER                (PIN_OTYPE_OPENDRAIN(PC00_NFC_GPIO) | \

            PIN_OTYPE_OPENDRAIN(PC01_ETH_MDC) | \

            PIN_OTYPE_PUSHPULL(PC02_ADC6) | \

            PIN_OTYPE_PUSHPULL(PC03_ADC7) | \

            PIN_OTYPE_OPENDRAIN(PC04_ETH_RMII_RXD0) | \

            PIN_OTYPE_OPENDRAIN(PC05_ETH_RMII_RXD1) | \

            PIN_OTYPE_PUSHPULL(PC06_UART6_TX) | \

            PIN_OTYPE_PUSHPULL(PC07_UART6_RX) | \

            PIN_OTYPE_OPENDRAIN(PC08_UART5_RTS) | \

            PIN_OTYPE_OPENDRAIN(PC09_UART5_CTS) | \

            PIN_OTYPE_PUSHPULL(PC10_SPI3_SCK) | \

            PIN_OTYPE_PUSHPULL(PC11_SPI3_MISO) | \

            PIN_OTYPE_PUSHPULL(PC12_UART5_TX) | \

            PIN_OTYPE_PUSHPULL(PC13_VDD_3V3_SD_CARD_EN) | \

            PIN_OTYPE_PUSHPULL(PC14) | \

            PIN_OTYPE_PUSHPULL(PC15))


 #define VAL_GPIOC_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PC00_NFC_GPIO) | \

            PIN_OSPEED_SPEED_VERYLOW(PC01_ETH_MDC) | \

            PIN_OSPEED_SPEED_VERYLOW(PC02_ADC6) | \

            PIN_OSPEED_SPEED_VERYLOW(PC03_ADC7) | \

            PIN_OSPEED_SPEED_VERYLOW(PC04_ETH_RMII_RXD0) | \

            PIN_OSPEED_SPEED_VERYLOW(PC05_ETH_RMII_RXD1) | \

            PIN_OSPEED_SPEED_HIGH(PC06_UART6_TX) | \

            PIN_OSPEED_SPEED_HIGH(PC07_UART6_RX) | \

            PIN_OSPEED_SPEED_VERYLOW(PC08_UART5_RTS) | \

            PIN_OSPEED_SPEED_VERYLOW(PC09_UART5_CTS) | \

            PIN_OSPEED_SPEED_HIGH(PC10_SPI3_SCK) | \

            PIN_OSPEED_SPEED_HIGH(PC11_SPI3_MISO) | \

            PIN_OSPEED_SPEED_HIGH(PC12_UART5_TX) | \

            PIN_OSPEED_SPEED_VERYLOW(PC13_VDD_3V3_SD_CARD_EN) | \

            PIN_OSPEED_SPEED_VERYLOW(PC14) | \

            PIN_OSPEED_SPEED_VERYLOW(PC15))


 #define VAL_GPIOC_PUPDR                 (PIN_PUPDR_PULLDOWN(PC00_NFC_GPIO) | \

            PIN_PUPDR_PULLDOWN(PC01_ETH_MDC) | \

            PIN_PUPDR_FLOATING(PC02_ADC6) | \

            PIN_PUPDR_FLOATING(PC03_ADC7) | \

            PIN_PUPDR_PULLDOWN(PC04_ETH_RMII_RXD0) | \

            PIN_PUPDR_PULLDOWN(PC05_ETH_RMII_RXD1) | \

            PIN_PUPDR_FLOATING(PC06_UART6_TX) | \

            PIN_PUPDR_FLOATING(PC07_UART6_RX) | \

            PIN_PUPDR_PULLDOWN(PC08_UART5_RTS) | \

            PIN_PUPDR_PULLDOWN(PC09_UART5_CTS) | \

            PIN_PUPDR_FLOATING(PC10_SPI3_SCK) | \

            PIN_PUPDR_FLOATING(PC11_SPI3_MISO) | \

            PIN_PUPDR_FLOATING(PC12_UART5_TX) | \

            PIN_PUPDR_FLOATING(PC13_VDD_3V3_SD_CARD_EN) | \

            PIN_PUPDR_PULLDOWN(PC14) | \

            PIN_PUPDR_PULLDOWN(PC15))


 #define VAL_GPIOC_ODR                   (PIN_ODR_LEVEL_HIGH(PC00_NFC_GPIO) | \

            PIN_ODR_LEVEL_HIGH(PC01_ETH_MDC) | \

            PIN_ODR_LEVEL_LOW(PC02_ADC6) | \

            PIN_ODR_LEVEL_LOW(PC03_ADC7) | \

            PIN_ODR_LEVEL_HIGH(PC04_ETH_RMII_RXD0) | \

            PIN_ODR_LEVEL_HIGH(PC05_ETH_RMII_RXD1) | \

            PIN_ODR_LEVEL_HIGH(PC06_UART6_TX) | \

            PIN_ODR_LEVEL_HIGH(PC07_UART6_RX) | \

            PIN_ODR_LEVEL_HIGH(PC08_UART5_RTS) | \

            PIN_ODR_LEVEL_HIGH(PC09_UART5_CTS) | \

            PIN_ODR_LEVEL_HIGH(PC10_SPI3_SCK) | \

            PIN_ODR_LEVEL_HIGH(PC11_SPI3_MISO) | \

            PIN_ODR_LEVEL_HIGH(PC12_UART5_TX) | \

            PIN_ODR_LEVEL_HIGH(PC13_VDD_3V3_SD_CARD_EN) | \

            PIN_ODR_LEVEL_LOW(PC14) | \

            PIN_ODR_LEVEL_LOW(PC15))


 #define VAL_GPIOC_AFRL      (PIN_AFIO_AF(PC00_NFC_GPIO, 0) | \

            PIN_AFIO_AF(PC01_ETH_MDC, 0) | \

            PIN_AFIO_AF(PC02_ADC6, 0) | \

            PIN_AFIO_AF(PC03_ADC7, 0) | \

            PIN_AFIO_AF(PC04_ETH_RMII_RXD0, 0) | \

            PIN_AFIO_AF(PC05_ETH_RMII_RXD1, 0) | \

            PIN_AFIO_AF(PC06_UART6_TX, 7) | \

            PIN_AFIO_AF(PC07_UART6_RX, 7))


 #define VAL_GPIOC_AFRH      (PIN_AFIO_AF(PC08_UART5_RTS, 0) | \

            PIN_AFIO_AF(PC09_UART5_CTS, 0) | \

            PIN_AFIO_AF(PC10_SPI3_SCK, 6) | \

            PIN_AFIO_AF(PC11_SPI3_MISO, 6) | \

            PIN_AFIO_AF(PC12_UART5_TX, 8) | \

            PIN_AFIO_AF(PC13_VDD_3V3_SD_CARD_EN, 0) | \

            PIN_AFIO_AF(PC14, 0) | \

            PIN_AFIO_AF(PC15, 0))


 #define VAL_GPIOD_MODER                 (PIN_MODE_ALTERNATE(PD00_CAN1_RX) | \

            PIN_MODE_ALTERNATE(PD01_CAN1_TX) | \

            PIN_MODE_ALTERNATE(PD02_UART5_RX) | \

            PIN_MODE_INPUT(PD03_UART2_CTS) | \

            PIN_MODE_INPUT(PD04_UART2_RTS) | \

            PIN_MODE_ALTERNATE(PD05_UART2_TX) | \

            PIN_MODE_ALTERNATE(PD06_SDIO_CK) | \

            PIN_MODE_ALTERNATE(PD07_SDIO_CMD) | \

            PIN_MODE_ALTERNATE(PD08_UART3_TX) | \

            PIN_MODE_ALTERNATE(PD09_UART3_RX) | \

            PIN_MODE_OUTPUT(PD10_LED4) | \

            PIN_MODE_INPUT(PD11) | \

            PIN_MODE_INPUT(PD12) | \

            PIN_MODE_ALTERNATE(PD13_SERVO5) | \

            PIN_MODE_ALTERNATE(PD14_SERVO6) | \

            PIN_MODE_INPUT(PD15))


 #define VAL_GPIOD_OTYPER                (PIN_OTYPE_PUSHPULL(PD00_CAN1_RX) | \

            PIN_OTYPE_PUSHPULL(PD01_CAN1_TX) | \

            PIN_OTYPE_PUSHPULL(PD02_UART5_RX) | \

            PIN_OTYPE_OPENDRAIN(PD03_UART2_CTS) | \

            PIN_OTYPE_OPENDRAIN(PD04_UART2_RTS) | \

            PIN_OTYPE_PUSHPULL(PD05_UART2_TX) | \

            PIN_OTYPE_PUSHPULL(PD06_SDIO_CK) | \

            PIN_OTYPE_PUSHPULL(PD07_SDIO_CMD) | \

            PIN_OTYPE_PUSHPULL(PD08_UART3_TX) | \

            PIN_OTYPE_PUSHPULL(PD09_UART3_RX) | \

            PIN_OTYPE_PUSHPULL(PD10_LED4) | \

            PIN_OTYPE_PUSHPULL(PD11) | \

            PIN_OTYPE_PUSHPULL(PD12) | \

            PIN_OTYPE_PUSHPULL(PD13_SERVO5) | \

            PIN_OTYPE_PUSHPULL(PD14_SERVO6) | \

            PIN_OTYPE_PUSHPULL(PD15))


 #define VAL_GPIOD_OSPEEDR               (PIN_OSPEED_SPEED_HIGH(PD00_CAN1_RX) | \

            PIN_OSPEED_SPEED_HIGH(PD01_CAN1_TX) | \

            PIN_OSPEED_SPEED_HIGH(PD02_UART5_RX) | \

            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_SDIO_CK) | \

            PIN_OSPEED_SPEED_HIGH(PD07_SDIO_CMD) | \

            PIN_OSPEED_SPEED_HIGH(PD08_UART3_TX) | \

            PIN_OSPEED_SPEED_HIGH(PD09_UART3_RX) | \

            PIN_OSPEED_SPEED_VERYLOW(PD10_LED4) | \

            PIN_OSPEED_SPEED_VERYLOW(PD11) | \

            PIN_OSPEED_SPEED_VERYLOW(PD12) | \

            PIN_OSPEED_SPEED_HIGH(PD13_SERVO5) | \

            PIN_OSPEED_SPEED_HIGH(PD14_SERVO6) | \

            PIN_OSPEED_SPEED_VERYLOW(PD15))


 #define VAL_GPIOD_PUPDR                 (PIN_PUPDR_FLOATING(PD00_CAN1_RX) | \

            PIN_PUPDR_FLOATING(PD01_CAN1_TX) | \

            PIN_PUPDR_FLOATING(PD02_UART5_RX) | \

            PIN_PUPDR_PULLDOWN(PD03_UART2_CTS) | \

            PIN_PUPDR_PULLDOWN(PD04_UART2_RTS) | \

            PIN_PUPDR_FLOATING(PD05_UART2_TX) | \

            PIN_PUPDR_PULLUP(PD06_SDIO_CK) | \

            PIN_PUPDR_PULLUP(PD07_SDIO_CMD) | \

            PIN_PUPDR_FLOATING(PD08_UART3_TX) | \

            PIN_PUPDR_FLOATING(PD09_UART3_RX) | \

            PIN_PUPDR_FLOATING(PD10_LED4) | \

            PIN_PUPDR_PULLDOWN(PD11) | \

            PIN_PUPDR_PULLDOWN(PD12) | \

            PIN_PUPDR_FLOATING(PD13_SERVO5) | \

            PIN_PUPDR_FLOATING(PD14_SERVO6) | \

            PIN_PUPDR_PULLDOWN(PD15))


 #define VAL_GPIOD_ODR                   (PIN_ODR_LEVEL_HIGH(PD00_CAN1_RX) | \

            PIN_ODR_LEVEL_HIGH(PD01_CAN1_TX) | \

            PIN_ODR_LEVEL_HIGH(PD02_UART5_RX) | \

            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_SDIO_CK) | \

            PIN_ODR_LEVEL_HIGH(PD07_SDIO_CMD) | \

            PIN_ODR_LEVEL_HIGH(PD08_UART3_TX) | \

            PIN_ODR_LEVEL_HIGH(PD09_UART3_RX) | \

            PIN_ODR_LEVEL_LOW(PD10_LED4) | \

            PIN_ODR_LEVEL_LOW(PD11) | \

            PIN_ODR_LEVEL_LOW(PD12) | \

            PIN_ODR_LEVEL_LOW(PD13_SERVO5) | \

            PIN_ODR_LEVEL_LOW(PD14_SERVO6) | \

            PIN_ODR_LEVEL_LOW(PD15))


 #define VAL_GPIOD_AFRL      (PIN_AFIO_AF(PD00_CAN1_RX, 9) | \

            PIN_AFIO_AF(PD01_CAN1_TX, 9) | \

            PIN_AFIO_AF(PD02_UART5_RX, 8) | \

            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_SDIO_CK, 11) | \

            PIN_AFIO_AF(PD07_SDIO_CMD, 11))


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

            PIN_AFIO_AF(PD09_UART3_RX, 7) | \

            PIN_AFIO_AF(PD10_LED4, 0) | \

            PIN_AFIO_AF(PD11, 0) | \

            PIN_AFIO_AF(PD12, 0) | \

            PIN_AFIO_AF(PD13_SERVO5, 2) | \

            PIN_AFIO_AF(PD14_SERVO6, 2) | \

            PIN_AFIO_AF(PD15, 0))


 #define VAL_GPIOE_MODER                 (PIN_MODE_ALTERNATE(PE00_UART8_RX) | \

            PIN_MODE_ALTERNATE(PE01_UART8_TX) | \

            PIN_MODE_INPUT(PE02) | \

            PIN_MODE_OUTPUT(PE03_LED1) | \

            PIN_MODE_OUTPUT(PE04_LED2) | \

            PIN_MODE_OUTPUT(PE05_LED3) | \

            PIN_MODE_INPUT(PE06_NARMED) | \

            PIN_MODE_OUTPUT(PE07_VDD_3V3_SENSORS3_EN) | \

            PIN_MODE_ALTERNATE(PE08_UART7_TX) | \

            PIN_MODE_INPUT(PE09) | \

            PIN_MODE_INPUT(PE10_UART7_CTS) | \

            PIN_MODE_INPUT(PE11_FMU_CAP1) | \

            PIN_MODE_ALTERNATE(PE12_SPI4_SCK) | \

            PIN_MODE_ALTERNATE(PE13_SPI4_MISO) | \

            PIN_MODE_ALTERNATE(PE14_SPI4_MOSI) | \

            PIN_MODE_INPUT(PE15_VDD_5V_PERIPH_OC))


 #define VAL_GPIOE_OTYPER                (PIN_OTYPE_PUSHPULL(PE00_UART8_RX) | \

            PIN_OTYPE_PUSHPULL(PE01_UART8_TX) | \

            PIN_OTYPE_PUSHPULL(PE02) | \

            PIN_OTYPE_PUSHPULL(PE03_LED1) | \

            PIN_OTYPE_PUSHPULL(PE04_LED2) | \

            PIN_OTYPE_PUSHPULL(PE05_LED3) | \

            PIN_OTYPE_OPENDRAIN(PE06_NARMED) | \

            PIN_OTYPE_PUSHPULL(PE07_VDD_3V3_SENSORS3_EN) | \

            PIN_OTYPE_PUSHPULL(PE08_UART7_TX) | \

            PIN_OTYPE_PUSHPULL(PE09) | \

            PIN_OTYPE_OPENDRAIN(PE10_UART7_CTS) | \

            PIN_OTYPE_OPENDRAIN(PE11_FMU_CAP1) | \

            PIN_OTYPE_PUSHPULL(PE12_SPI4_SCK) | \

            PIN_OTYPE_PUSHPULL(PE13_SPI4_MISO) | \

            PIN_OTYPE_PUSHPULL(PE14_SPI4_MOSI) | \

            PIN_OTYPE_OPENDRAIN(PE15_VDD_5V_PERIPH_OC))


 #define VAL_GPIOE_OSPEEDR               (PIN_OSPEED_SPEED_HIGH(PE00_UART8_RX) | \

            PIN_OSPEED_SPEED_HIGH(PE01_UART8_TX) | \

            PIN_OSPEED_SPEED_VERYLOW(PE02) | \

            PIN_OSPEED_SPEED_VERYLOW(PE03_LED1) | \

            PIN_OSPEED_SPEED_VERYLOW(PE04_LED2) | \

            PIN_OSPEED_SPEED_VERYLOW(PE05_LED3) | \

            PIN_OSPEED_SPEED_VERYLOW(PE06_NARMED) | \

            PIN_OSPEED_SPEED_VERYLOW(PE07_VDD_3V3_SENSORS3_EN) | \

            PIN_OSPEED_SPEED_HIGH(PE08_UART7_TX) | \

            PIN_OSPEED_SPEED_VERYLOW(PE09) | \

            PIN_OSPEED_SPEED_VERYLOW(PE10_UART7_CTS) | \

            PIN_OSPEED_SPEED_VERYLOW(PE11_FMU_CAP1) | \

            PIN_OSPEED_SPEED_HIGH(PE12_SPI4_SCK) | \

            PIN_OSPEED_SPEED_HIGH(PE13_SPI4_MISO) | \

            PIN_OSPEED_SPEED_HIGH(PE14_SPI4_MOSI) | \

            PIN_OSPEED_SPEED_VERYLOW(PE15_VDD_5V_PERIPH_OC))


 #define VAL_GPIOE_PUPDR                 (PIN_PUPDR_FLOATING(PE00_UART8_RX) | \

            PIN_PUPDR_FLOATING(PE01_UART8_TX) | \

            PIN_PUPDR_PULLDOWN(PE02) | \

            PIN_PUPDR_FLOATING(PE03_LED1) | \

            PIN_PUPDR_FLOATING(PE04_LED2) | \

            PIN_PUPDR_FLOATING(PE05_LED3) | \

            PIN_PUPDR_PULLDOWN(PE06_NARMED) | \

            PIN_PUPDR_FLOATING(PE07_VDD_3V3_SENSORS3_EN) | \

            PIN_PUPDR_FLOATING(PE08_UART7_TX) | \

            PIN_PUPDR_PULLDOWN(PE09) | \

            PIN_PUPDR_PULLDOWN(PE10_UART7_CTS) | \

            PIN_PUPDR_PULLDOWN(PE11_FMU_CAP1) | \

            PIN_PUPDR_FLOATING(PE12_SPI4_SCK) | \

            PIN_PUPDR_FLOATING(PE13_SPI4_MISO) | \

            PIN_PUPDR_FLOATING(PE14_SPI4_MOSI) | \

            PIN_PUPDR_PULLDOWN(PE15_VDD_5V_PERIPH_OC))


 #define VAL_GPIOE_ODR                   (PIN_ODR_LEVEL_HIGH(PE00_UART8_RX) | \

            PIN_ODR_LEVEL_HIGH(PE01_UART8_TX) | \

            PIN_ODR_LEVEL_LOW(PE02) | \

            PIN_ODR_LEVEL_LOW(PE03_LED1) | \

            PIN_ODR_LEVEL_LOW(PE04_LED2) | \

            PIN_ODR_LEVEL_LOW(PE05_LED3) | \

            PIN_ODR_LEVEL_HIGH(PE06_NARMED) | \

            PIN_ODR_LEVEL_HIGH(PE07_VDD_3V3_SENSORS3_EN) | \

            PIN_ODR_LEVEL_HIGH(PE08_UART7_TX) | \

            PIN_ODR_LEVEL_LOW(PE09) | \

            PIN_ODR_LEVEL_HIGH(PE10_UART7_CTS) | \

            PIN_ODR_LEVEL_HIGH(PE11_FMU_CAP1) | \

            PIN_ODR_LEVEL_HIGH(PE12_SPI4_SCK) | \

            PIN_ODR_LEVEL_HIGH(PE13_SPI4_MISO) | \

            PIN_ODR_LEVEL_HIGH(PE14_SPI4_MOSI) | \

            PIN_ODR_LEVEL_HIGH(PE15_VDD_5V_PERIPH_OC))


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

            PIN_AFIO_AF(PE01_UART8_TX, 8) | \

            PIN_AFIO_AF(PE02, 0) | \

            PIN_AFIO_AF(PE03_LED1, 0) | \

            PIN_AFIO_AF(PE04_LED2, 0) | \

            PIN_AFIO_AF(PE05_LED3, 0) | \

            PIN_AFIO_AF(PE06_NARMED, 0) | \

            PIN_AFIO_AF(PE07_VDD_3V3_SENSORS3_EN, 0))


 #define VAL_GPIOE_AFRH      (PIN_AFIO_AF(PE08_UART7_TX, 7) | \

            PIN_AFIO_AF(PE09, 0) | \

            PIN_AFIO_AF(PE10_UART7_CTS, 0) | \

            PIN_AFIO_AF(PE11_FMU_CAP1, 0) | \

            PIN_AFIO_AF(PE12_SPI4_SCK, 5) | \

            PIN_AFIO_AF(PE13_SPI4_MISO, 5) | \

            PIN_AFIO_AF(PE14_SPI4_MOSI, 5) | \

            PIN_AFIO_AF(PE15_VDD_5V_PERIPH_OC, 0))


 #define VAL_GPIOF_MODER                 (PIN_MODE_ALTERNATE(PF00_I2C2_SDA) | \

            PIN_MODE_ALTERNATE(PF01_I2C2_SCL) | \

            PIN_MODE_INPUT(PF02) | \

            PIN_MODE_INPUT(PF03_SPI4_DRDY1) | \

            PIN_MODE_OUTPUT(PF04_VDD_3V3_SENSORS2_EN) | \

            PIN_MODE_INPUT(PF05_SAFETY_IN) | \

            PIN_MODE_ALTERNATE(PF06_UART7_RX) | \

            PIN_MODE_ALTERNATE(PF07_SPI5_SCK) | \

            PIN_MODE_INPUT(PF08_UART7_RTS) | \

            PIN_MODE_ALTERNATE(PF09_ALARM) | \

            PIN_MODE_INPUT(PF10) | \

            PIN_MODE_ALTERNATE(PF11_SPI5_MOSI) | \

            PIN_MODE_ANALOG(PF12_ADC4) | \

            PIN_MODE_INPUT(PF13_VDD_5V_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) | \

            PIN_OTYPE_OPENDRAIN(PF03_SPI4_DRDY1) | \

            PIN_OTYPE_PUSHPULL(PF04_VDD_3V3_SENSORS2_EN) | \

            PIN_OTYPE_OPENDRAIN(PF05_SAFETY_IN) | \

            PIN_OTYPE_PUSHPULL(PF06_UART7_RX) | \

            PIN_OTYPE_PUSHPULL(PF07_SPI5_SCK) | \

            PIN_OTYPE_OPENDRAIN(PF08_UART7_RTS) | \

            PIN_OTYPE_PUSHPULL(PF09_ALARM) | \

            PIN_OTYPE_PUSHPULL(PF10) | \

            PIN_OTYPE_PUSHPULL(PF11_SPI5_MOSI) | \

            PIN_OTYPE_PUSHPULL(PF12_ADC4) | \

            PIN_OTYPE_OPENDRAIN(PF13_VDD_5V_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_VERYLOW(PF02) | \

            PIN_OSPEED_SPEED_VERYLOW(PF03_SPI4_DRDY1) | \

            PIN_OSPEED_SPEED_VERYLOW(PF04_VDD_3V3_SENSORS2_EN) | \

            PIN_OSPEED_SPEED_VERYLOW(PF05_SAFETY_IN) | \

            PIN_OSPEED_SPEED_HIGH(PF06_UART7_RX) | \

            PIN_OSPEED_SPEED_HIGH(PF07_SPI5_SCK) | \

            PIN_OSPEED_SPEED_VERYLOW(PF08_UART7_RTS) | \

            PIN_OSPEED_SPEED_HIGH(PF09_ALARM) | \

            PIN_OSPEED_SPEED_VERYLOW(PF10) | \

            PIN_OSPEED_SPEED_HIGH(PF11_SPI5_MOSI) | \

            PIN_OSPEED_SPEED_VERYLOW(PF12_ADC4) | \

            PIN_OSPEED_SPEED_VERYLOW(PF13_VDD_5V_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_PULLDOWN(PF02) | \

            PIN_PUPDR_PULLDOWN(PF03_SPI4_DRDY1) | \

            PIN_PUPDR_FLOATING(PF04_VDD_3V3_SENSORS2_EN) | \

            PIN_PUPDR_PULLDOWN(PF05_SAFETY_IN) | \

            PIN_PUPDR_FLOATING(PF06_UART7_RX) | \

            PIN_PUPDR_FLOATING(PF07_SPI5_SCK) | \

            PIN_PUPDR_PULLDOWN(PF08_UART7_RTS) | \

            PIN_PUPDR_FLOATING(PF09_ALARM) | \

            PIN_PUPDR_PULLDOWN(PF10) | \

            PIN_PUPDR_FLOATING(PF11_SPI5_MOSI) | \

            PIN_PUPDR_FLOATING(PF12_ADC4) | \

            PIN_PUPDR_PULLDOWN(PF13_VDD_5V_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_LOW(PF02) | \

            PIN_ODR_LEVEL_HIGH(PF03_SPI4_DRDY1) | \

            PIN_ODR_LEVEL_HIGH(PF04_VDD_3V3_SENSORS2_EN) | \

            PIN_ODR_LEVEL_LOW(PF05_SAFETY_IN) | \

            PIN_ODR_LEVEL_HIGH(PF06_UART7_RX) | \

            PIN_ODR_LEVEL_HIGH(PF07_SPI5_SCK) | \

            PIN_ODR_LEVEL_HIGH(PF08_UART7_RTS) | \

            PIN_ODR_LEVEL_LOW(PF09_ALARM) | \

            PIN_ODR_LEVEL_LOW(PF10) | \

            PIN_ODR_LEVEL_HIGH(PF11_SPI5_MOSI) | \

            PIN_ODR_LEVEL_LOW(PF12_ADC4) | \

            PIN_ODR_LEVEL_HIGH(PF13_VDD_5V_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, 0) | \

            PIN_AFIO_AF(PF03_SPI4_DRDY1, 0) | \

            PIN_AFIO_AF(PF04_VDD_3V3_SENSORS2_EN, 0) | \

            PIN_AFIO_AF(PF05_SAFETY_IN, 0) | \

            PIN_AFIO_AF(PF06_UART7_RX, 7) | \

            PIN_AFIO_AF(PF07_SPI5_SCK, 5))


 #define VAL_GPIOF_AFRH      (PIN_AFIO_AF(PF08_UART7_RTS, 0) | \

            PIN_AFIO_AF(PF09_ALARM, 1) | \

            PIN_AFIO_AF(PF10, 0) | \

            PIN_AFIO_AF(PF11_SPI5_MOSI, 5) | \

            PIN_AFIO_AF(PF12_ADC4, 0) | \

            PIN_AFIO_AF(PF13_VDD_5V_HIPOWER_OC, 0) | \

            PIN_AFIO_AF(PF14_I2C4_SCL, 4) | \

            PIN_AFIO_AF(PF15_I2C4_SDA, 4))


 #define VAL_GPIOG_MODER                 (PIN_MODE_INPUT(PG00_HW_VER_REV_DRIVE) | \

            PIN_MODE_INPUT(PG01_VDD_BRICK_VALID) | \

            PIN_MODE_INPUT(PG02_VDD_BRICK2_VALID) | \

            PIN_MODE_INPUT(PG03_VDD_BRICK3_VALID) | \

            PIN_MODE_OUTPUT(PG04_VDD_5V_PERIPH_EN) | \

            PIN_MODE_INPUT(PG05_DRDY1_BMP388) | \

            PIN_MODE_INPUT(PG06) | \

            PIN_MODE_INPUT(PG07_SPI_SLAVE6) | \

            PIN_MODE_OUTPUT(PG08_VDD_3V3_SENSORS4_EN) | \

            PIN_MODE_ALTERNATE(PG09_SPI1_MISO) | \

            PIN_MODE_OUTPUT(PG10_VDD_5V_HIPOWER_EN) | \

            PIN_MODE_ALTERNATE(PG11_SDIO_D2) | \

            PIN_MODE_INPUT(PG12_ETH_RMII_TXD1) | \

            PIN_MODE_INPUT(PG13_ETH_RMII_TXD0) | \

            PIN_MODE_ALTERNATE(PG14_SPI6_MOSI) | \

            PIN_MODE_OUTPUT(PG15_ETH_POWER_EN))


 #define VAL_GPIOG_OTYPER                (PIN_OTYPE_OPENDRAIN(PG00_HW_VER_REV_DRIVE) | \

            PIN_OTYPE_OPENDRAIN(PG01_VDD_BRICK_VALID) | \

            PIN_OTYPE_OPENDRAIN(PG02_VDD_BRICK2_VALID) | \

            PIN_OTYPE_OPENDRAIN(PG03_VDD_BRICK3_VALID) | \

            PIN_OTYPE_PUSHPULL(PG04_VDD_5V_PERIPH_EN) | \

            PIN_OTYPE_OPENDRAIN(PG05_DRDY1_BMP388) | \

            PIN_OTYPE_PUSHPULL(PG06) | \

            PIN_OTYPE_OPENDRAIN(PG07_SPI_SLAVE6) | \

            PIN_OTYPE_PUSHPULL(PG08_VDD_3V3_SENSORS4_EN) | \

            PIN_OTYPE_PUSHPULL(PG09_SPI1_MISO) | \

            PIN_OTYPE_PUSHPULL(PG10_VDD_5V_HIPOWER_EN) | \

            PIN_OTYPE_PUSHPULL(PG11_SDIO_D2) | \

            PIN_OTYPE_OPENDRAIN(PG12_ETH_RMII_TXD1) | \

            PIN_OTYPE_OPENDRAIN(PG13_ETH_RMII_TXD0) | \

            PIN_OTYPE_PUSHPULL(PG14_SPI6_MOSI) | \

            PIN_OTYPE_PUSHPULL(PG15_ETH_POWER_EN))


 #define VAL_GPIOG_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PG00_HW_VER_REV_DRIVE) | \

            PIN_OSPEED_SPEED_VERYLOW(PG01_VDD_BRICK_VALID) | \

            PIN_OSPEED_SPEED_VERYLOW(PG02_VDD_BRICK2_VALID) | \

            PIN_OSPEED_SPEED_VERYLOW(PG03_VDD_BRICK3_VALID) | \

            PIN_OSPEED_SPEED_VERYLOW(PG04_VDD_5V_PERIPH_EN) | \

            PIN_OSPEED_SPEED_VERYLOW(PG05_DRDY1_BMP388) | \

            PIN_OSPEED_SPEED_VERYLOW(PG06) | \

            PIN_OSPEED_SPEED_VERYLOW(PG07_SPI_SLAVE6) | \

            PIN_OSPEED_SPEED_VERYLOW(PG08_VDD_3V3_SENSORS4_EN) | \

            PIN_OSPEED_SPEED_HIGH(PG09_SPI1_MISO) | \

            PIN_OSPEED_SPEED_VERYLOW(PG10_VDD_5V_HIPOWER_EN) | \

            PIN_OSPEED_SPEED_HIGH(PG11_SDIO_D2) | \

            PIN_OSPEED_SPEED_VERYLOW(PG12_ETH_RMII_TXD1) | \

            PIN_OSPEED_SPEED_VERYLOW(PG13_ETH_RMII_TXD0) | \

            PIN_OSPEED_SPEED_HIGH(PG14_SPI6_MOSI) | \

            PIN_OSPEED_SPEED_VERYLOW(PG15_ETH_POWER_EN))


 #define VAL_GPIOG_PUPDR                 (PIN_PUPDR_PULLDOWN(PG00_HW_VER_REV_DRIVE) | \

            PIN_PUPDR_PULLDOWN(PG01_VDD_BRICK_VALID) | \

            PIN_PUPDR_PULLDOWN(PG02_VDD_BRICK2_VALID) | \

            PIN_PUPDR_PULLDOWN(PG03_VDD_BRICK3_VALID) | \

            PIN_PUPDR_FLOATING(PG04_VDD_5V_PERIPH_EN) | \

            PIN_PUPDR_PULLDOWN(PG05_DRDY1_BMP388) | \

            PIN_PUPDR_PULLDOWN(PG06) | \

            PIN_PUPDR_PULLDOWN(PG07_SPI_SLAVE6) | \

            PIN_PUPDR_FLOATING(PG08_VDD_3V3_SENSORS4_EN) | \

            PIN_PUPDR_FLOATING(PG09_SPI1_MISO) | \

            PIN_PUPDR_FLOATING(PG10_VDD_5V_HIPOWER_EN) | \

            PIN_PUPDR_PULLUP(PG11_SDIO_D2) | \

            PIN_PUPDR_PULLDOWN(PG12_ETH_RMII_TXD1) | \

            PIN_PUPDR_PULLDOWN(PG13_ETH_RMII_TXD0) | \

            PIN_PUPDR_FLOATING(PG14_SPI6_MOSI) | \

            PIN_PUPDR_FLOATING(PG15_ETH_POWER_EN))


 #define VAL_GPIOG_ODR                   (PIN_ODR_LEVEL_HIGH(PG00_HW_VER_REV_DRIVE) | \

            PIN_ODR_LEVEL_HIGH(PG01_VDD_BRICK_VALID) | \

            PIN_ODR_LEVEL_HIGH(PG02_VDD_BRICK2_VALID) | \

            PIN_ODR_LEVEL_HIGH(PG03_VDD_BRICK3_VALID) | \

            PIN_ODR_LEVEL_LOW(PG04_VDD_5V_PERIPH_EN) | \

            PIN_ODR_LEVEL_HIGH(PG05_DRDY1_BMP388) | \

            PIN_ODR_LEVEL_LOW(PG06) | \

            PIN_ODR_LEVEL_HIGH(PG07_SPI_SLAVE6) | \

            PIN_ODR_LEVEL_HIGH(PG08_VDD_3V3_SENSORS4_EN) | \

            PIN_ODR_LEVEL_HIGH(PG09_SPI1_MISO) | \

            PIN_ODR_LEVEL_LOW(PG10_VDD_5V_HIPOWER_EN) | \

            PIN_ODR_LEVEL_HIGH(PG11_SDIO_D2) | \

            PIN_ODR_LEVEL_HIGH(PG12_ETH_RMII_TXD1) | \

            PIN_ODR_LEVEL_HIGH(PG13_ETH_RMII_TXD0) | \

            PIN_ODR_LEVEL_HIGH(PG14_SPI6_MOSI) | \

            PIN_ODR_LEVEL_HIGH(PG15_ETH_POWER_EN))


 #define VAL_GPIOG_AFRL      (PIN_AFIO_AF(PG00_HW_VER_REV_DRIVE, 0) | \

            PIN_AFIO_AF(PG01_VDD_BRICK_VALID, 0) | \

            PIN_AFIO_AF(PG02_VDD_BRICK2_VALID, 0) | \

            PIN_AFIO_AF(PG03_VDD_BRICK3_VALID, 0) | \

            PIN_AFIO_AF(PG04_VDD_5V_PERIPH_EN, 0) | \

            PIN_AFIO_AF(PG05_DRDY1_BMP388, 0) | \

            PIN_AFIO_AF(PG06, 0) | \

            PIN_AFIO_AF(PG07_SPI_SLAVE6, 0))


 #define VAL_GPIOG_AFRH      (PIN_AFIO_AF(PG08_VDD_3V3_SENSORS4_EN, 0) | \

            PIN_AFIO_AF(PG09_SPI1_MISO, 5) | \

            PIN_AFIO_AF(PG10_VDD_5V_HIPOWER_EN, 0) | \

            PIN_AFIO_AF(PG11_SDIO_D2, 10) | \

            PIN_AFIO_AF(PG12_ETH_RMII_TXD1, 0) | \

            PIN_AFIO_AF(PG13_ETH_RMII_TXD0, 0) | \

            PIN_AFIO_AF(PG14_SPI6_MOSI, 5) | \

            PIN_AFIO_AF(PG15_ETH_POWER_EN, 0))


 #define VAL_GPIOH_MODER                 (PIN_MODE_ALTERNATE(PH00_OSC_IN) | \

            PIN_MODE_ALTERNATE(PH01_OSC_OUT) | \

            PIN_MODE_OUTPUT(PH02_SPEKTRUM_PWR_EN) | \

            PIN_MODE_INPUT(PH03_HW_VER_SENS) | \

            PIN_MODE_INPUT(PH04_HW_REV_SENS) | \

            PIN_MODE_INPUT(PH05_SPI_SLAVE2) | \

            PIN_MODE_INPUT(PH06) | \

            PIN_MODE_ALTERNATE(PH07_SPI5_MISO) | \

            PIN_MODE_ALTERNATE(PH08_I2C3_SDA) | \

            PIN_MODE_INPUT(PH09) | \

            PIN_MODE_ALTERNATE(PH10_SERVO4) | \

            PIN_MODE_ALTERNATE(PH11_SERVO3) | \

            PIN_MODE_ALTERNATE(PH12_SERVO2) | \

            PIN_MODE_ALTERNATE(PH13_UART4_TX) | \

            PIN_MODE_ALTERNATE(PH14_UART4_RX) | \

            PIN_MODE_INPUT(PH15_SPI_SLAVE5))


 #define VAL_GPIOH_OTYPER                (PIN_OTYPE_PUSHPULL(PH00_OSC_IN) | \

            PIN_OTYPE_PUSHPULL(PH01_OSC_OUT) | \

            PIN_OTYPE_PUSHPULL(PH02_SPEKTRUM_PWR_EN) | \

            PIN_OTYPE_OPENDRAIN(PH03_HW_VER_SENS) | \

            PIN_OTYPE_OPENDRAIN(PH04_HW_REV_SENS) | \

            PIN_OTYPE_OPENDRAIN(PH05_SPI_SLAVE2) | \

            PIN_OTYPE_PUSHPULL(PH06) | \

            PIN_OTYPE_PUSHPULL(PH07_SPI5_MISO) | \

            PIN_OTYPE_OPENDRAIN(PH08_I2C3_SDA) | \

            PIN_OTYPE_PUSHPULL(PH09) | \

            PIN_OTYPE_PUSHPULL(PH10_SERVO4) | \

            PIN_OTYPE_PUSHPULL(PH11_SERVO3) | \

            PIN_OTYPE_PUSHPULL(PH12_SERVO2) | \

            PIN_OTYPE_PUSHPULL(PH13_UART4_TX) | \

            PIN_OTYPE_PUSHPULL(PH14_UART4_RX) | \

            PIN_OTYPE_OPENDRAIN(PH15_SPI_SLAVE5))


 #define VAL_GPIOH_OSPEEDR               (PIN_OSPEED_SPEED_HIGH(PH00_OSC_IN) | \

            PIN_OSPEED_SPEED_HIGH(PH01_OSC_OUT) | \

            PIN_OSPEED_SPEED_VERYLOW(PH02_SPEKTRUM_PWR_EN) | \

            PIN_OSPEED_SPEED_VERYLOW(PH03_HW_VER_SENS) | \

            PIN_OSPEED_SPEED_VERYLOW(PH04_HW_REV_SENS) | \

            PIN_OSPEED_SPEED_VERYLOW(PH05_SPI_SLAVE2) | \

            PIN_OSPEED_SPEED_VERYLOW(PH06) | \

            PIN_OSPEED_SPEED_HIGH(PH07_SPI5_MISO) | \

            PIN_OSPEED_SPEED_HIGH(PH08_I2C3_SDA) | \

            PIN_OSPEED_SPEED_VERYLOW(PH09) | \

            PIN_OSPEED_SPEED_HIGH(PH10_SERVO4) | \

            PIN_OSPEED_SPEED_HIGH(PH11_SERVO3) | \

            PIN_OSPEED_SPEED_HIGH(PH12_SERVO2) | \

            PIN_OSPEED_SPEED_HIGH(PH13_UART4_TX) | \

            PIN_OSPEED_SPEED_HIGH(PH14_UART4_RX) | \

            PIN_OSPEED_SPEED_VERYLOW(PH15_SPI_SLAVE5))


 #define VAL_GPIOH_PUPDR                 (PIN_PUPDR_FLOATING(PH00_OSC_IN) | \

            PIN_PUPDR_FLOATING(PH01_OSC_OUT) | \

            PIN_PUPDR_FLOATING(PH02_SPEKTRUM_PWR_EN) | \

            PIN_PUPDR_PULLDOWN(PH03_HW_VER_SENS) | \

            PIN_PUPDR_PULLDOWN(PH04_HW_REV_SENS) | \

            PIN_PUPDR_PULLDOWN(PH05_SPI_SLAVE2) | \

            PIN_PUPDR_PULLDOWN(PH06) | \

            PIN_PUPDR_FLOATING(PH07_SPI5_MISO) | \

            PIN_PUPDR_PULLUP(PH08_I2C3_SDA) | \

            PIN_PUPDR_PULLDOWN(PH09) | \

            PIN_PUPDR_FLOATING(PH10_SERVO4) | \

            PIN_PUPDR_FLOATING(PH11_SERVO3) | \

            PIN_PUPDR_FLOATING(PH12_SERVO2) | \

            PIN_PUPDR_FLOATING(PH13_UART4_TX) | \

            PIN_PUPDR_FLOATING(PH14_UART4_RX) | \

            PIN_PUPDR_PULLDOWN(PH15_SPI_SLAVE5))


 #define VAL_GPIOH_ODR                   (PIN_ODR_LEVEL_HIGH(PH00_OSC_IN) | \

            PIN_ODR_LEVEL_HIGH(PH01_OSC_OUT) | \

            PIN_ODR_LEVEL_HIGH(PH02_SPEKTRUM_PWR_EN) | \

            PIN_ODR_LEVEL_HIGH(PH03_HW_VER_SENS) | \

            PIN_ODR_LEVEL_HIGH(PH04_HW_REV_SENS) | \

            PIN_ODR_LEVEL_HIGH(PH05_SPI_SLAVE2) | \

            PIN_ODR_LEVEL_LOW(PH06) | \

            PIN_ODR_LEVEL_HIGH(PH07_SPI5_MISO) | \

            PIN_ODR_LEVEL_HIGH(PH08_I2C3_SDA) | \

            PIN_ODR_LEVEL_LOW(PH09) | \

            PIN_ODR_LEVEL_LOW(PH10_SERVO4) | \

            PIN_ODR_LEVEL_LOW(PH11_SERVO3) | \

            PIN_ODR_LEVEL_LOW(PH12_SERVO2) | \

            PIN_ODR_LEVEL_HIGH(PH13_UART4_TX) | \

            PIN_ODR_LEVEL_HIGH(PH14_UART4_RX) | \

            PIN_ODR_LEVEL_HIGH(PH15_SPI_SLAVE5))


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

            PIN_AFIO_AF(PH01_OSC_OUT, 0) | \

            PIN_AFIO_AF(PH02_SPEKTRUM_PWR_EN, 0) | \

            PIN_AFIO_AF(PH03_HW_VER_SENS, 0) | \

            PIN_AFIO_AF(PH04_HW_REV_SENS, 0) | \

            PIN_AFIO_AF(PH05_SPI_SLAVE2, 0) | \

            PIN_AFIO_AF(PH06, 0) | \

            PIN_AFIO_AF(PH07_SPI5_MISO, 5))


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

            PIN_AFIO_AF(PH09, 0) | \

            PIN_AFIO_AF(PH10_SERVO4, 2) | \

            PIN_AFIO_AF(PH11_SERVO3, 2) | \

            PIN_AFIO_AF(PH12_SERVO2, 2) | \

            PIN_AFIO_AF(PH13_UART4_TX, 8) | \

            PIN_AFIO_AF(PH14_UART4_RX, 8) | \

            PIN_AFIO_AF(PH15_SPI_SLAVE5, 0))


 #define VAL_GPIOI_MODER                 (PIN_MODE_ALTERNATE(PI00_SERVO1) | \

            PIN_MODE_ALTERNATE(PI01_SPI2_SCK) | \

            PIN_MODE_ALTERNATE(PI02_SPI2_MISO) | \

            PIN_MODE_ALTERNATE(PI03_SPI2_MOSI) | \

            PIN_MODE_INPUT(PI04_SPI_SLAVE3) | \

            PIN_MODE_ALTERNATE(PI05_PWM_INPUT1) | \

            PIN_MODE_INPUT(PI06_SPI3_DRDY1) | \

            PIN_MODE_INPUT(PI07_SPI3_DRDY2) | \

            PIN_MODE_INPUT(PI08_SPI_SLAVE4) | \

            PIN_MODE_INPUT(PI09_SPI_SLAVE1) | \

            PIN_MODE_INPUT(PI10_SPI_SLAVE7) | \

            PIN_MODE_OUTPUT(PI11_VDD_3V3_SENSORS1_EN) | \

            PIN_MODE_INPUT(PI12) | \

            PIN_MODE_INPUT(PI13) | \

            PIN_MODE_INPUT(PI14) | \

            PIN_MODE_INPUT(PI15))


 #define VAL_GPIOI_OTYPER                (PIN_OTYPE_PUSHPULL(PI00_SERVO1) | \

            PIN_OTYPE_PUSHPULL(PI01_SPI2_SCK) | \

            PIN_OTYPE_PUSHPULL(PI02_SPI2_MISO) | \

            PIN_OTYPE_PUSHPULL(PI03_SPI2_MOSI) | \

            PIN_OTYPE_OPENDRAIN(PI04_SPI_SLAVE3) | \

            PIN_OTYPE_PUSHPULL(PI05_PWM_INPUT1) | \

            PIN_OTYPE_OPENDRAIN(PI06_SPI3_DRDY1) | \

            PIN_OTYPE_OPENDRAIN(PI07_SPI3_DRDY2) | \

            PIN_OTYPE_OPENDRAIN(PI08_SPI_SLAVE4) | \

            PIN_OTYPE_OPENDRAIN(PI09_SPI_SLAVE1) | \

            PIN_OTYPE_OPENDRAIN(PI10_SPI_SLAVE7) | \

            PIN_OTYPE_PUSHPULL(PI11_VDD_3V3_SENSORS1_EN) | \

            PIN_OTYPE_PUSHPULL(PI12) | \

            PIN_OTYPE_PUSHPULL(PI13) | \

            PIN_OTYPE_PUSHPULL(PI14) | \

            PIN_OTYPE_PUSHPULL(PI15))


 #define VAL_GPIOI_OSPEEDR               (PIN_OSPEED_SPEED_HIGH(PI00_SERVO1) | \

            PIN_OSPEED_SPEED_HIGH(PI01_SPI2_SCK) | \

            PIN_OSPEED_SPEED_HIGH(PI02_SPI2_MISO) | \

            PIN_OSPEED_SPEED_HIGH(PI03_SPI2_MOSI) | \

            PIN_OSPEED_SPEED_VERYLOW(PI04_SPI_SLAVE3) | \

            PIN_OSPEED_SPEED_HIGH(PI05_PWM_INPUT1) | \

            PIN_OSPEED_SPEED_VERYLOW(PI06_SPI3_DRDY1) | \

            PIN_OSPEED_SPEED_VERYLOW(PI07_SPI3_DRDY2) | \

            PIN_OSPEED_SPEED_VERYLOW(PI08_SPI_SLAVE4) | \

            PIN_OSPEED_SPEED_VERYLOW(PI09_SPI_SLAVE1) | \

            PIN_OSPEED_SPEED_VERYLOW(PI10_SPI_SLAVE7) | \

            PIN_OSPEED_SPEED_VERYLOW(PI11_VDD_3V3_SENSORS1_EN) | \

            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_SERVO1) | \

            PIN_PUPDR_FLOATING(PI01_SPI2_SCK) | \

            PIN_PUPDR_FLOATING(PI02_SPI2_MISO) | \

            PIN_PUPDR_FLOATING(PI03_SPI2_MOSI) | \

            PIN_PUPDR_PULLDOWN(PI04_SPI_SLAVE3) | \

            PIN_PUPDR_FLOATING(PI05_PWM_INPUT1) | \

            PIN_PUPDR_PULLDOWN(PI06_SPI3_DRDY1) | \

            PIN_PUPDR_PULLDOWN(PI07_SPI3_DRDY2) | \

            PIN_PUPDR_PULLDOWN(PI08_SPI_SLAVE4) | \

            PIN_PUPDR_PULLDOWN(PI09_SPI_SLAVE1) | \

            PIN_PUPDR_PULLDOWN(PI10_SPI_SLAVE7) | \

            PIN_PUPDR_FLOATING(PI11_VDD_3V3_SENSORS1_EN) | \

            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_SERVO1) | \

            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_SLAVE3) | \

            PIN_ODR_LEVEL_HIGH(PI05_PWM_INPUT1) | \

            PIN_ODR_LEVEL_HIGH(PI06_SPI3_DRDY1) | \

            PIN_ODR_LEVEL_HIGH(PI07_SPI3_DRDY2) | \

            PIN_ODR_LEVEL_HIGH(PI08_SPI_SLAVE4) | \

            PIN_ODR_LEVEL_HIGH(PI09_SPI_SLAVE1) | \

            PIN_ODR_LEVEL_HIGH(PI10_SPI_SLAVE7) | \

            PIN_ODR_LEVEL_HIGH(PI11_VDD_3V3_SENSORS1_EN) | \

            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_SERVO1, 2) | \

            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_SLAVE3, 0) | \

            PIN_AFIO_AF(PI05_PWM_INPUT1, 3) | \

            PIN_AFIO_AF(PI06_SPI3_DRDY1, 0) | \

            PIN_AFIO_AF(PI07_SPI3_DRDY2, 0))


 #define VAL_GPIOI_AFRH      (PIN_AFIO_AF(PI08_SPI_SLAVE4, 0) | \

            PIN_AFIO_AF(PI09_SPI_SLAVE1, 0) | \

            PIN_AFIO_AF(PI10_SPI_SLAVE7, 0) | \

            PIN_AFIO_AF(PI11_VDD_3V3_SENSORS1_EN, 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_PA03_UART2                    7U

 #define AF_LINE_UART2                    7U

 #define AF_PA05_SPI1_SCK                 5U

 #define AF_LINE_SPI1_SCK                 5U

 #define AF_PA06_SPI6_MISO                8U

 #define AF_LINE_SPI6_MISO                8U

 #define AF_PA08_I2C3_SCL                 4U

 #define AF_LINE_I2C3_SCL                 4U

 #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_PB02_SPI3_MOSI                7U

 #define AF_LINE_SPI3_MOSI                7U

 #define AF_PB03_SPI6_SCK                 8U

 #define AF_LINE_SPI6_SCK                 8U

 #define AF_PB04_SDIO_D3                  9U

 #define AF_LINE_SDIO_D3                  9U

 #define AF_PB05_SPI1_MOSI                5U

 #define AF_LINE_SPI1_MOSI                5U

 #define AF_PB06_UART1_TX                 7U

 #define AF_LINE_UART1_TX                 7U

 #define AF_PB07_UART1_RX                 7U

 #define AF_LINE_UART1_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_PB14_SDIO_D0                  9U

 #define AF_LINE_SDIO_D0                  9U

 #define AF_PB15_SDIO_D1                  9U

 #define AF_LINE_SDIO_D1                  9U

 #define AF_PC06_UART6_TX                 7U

 #define AF_LINE_UART6_TX                 7U

 #define AF_PC07_UART6_RX                 7U

 #define AF_LINE_UART6_RX                 7U

 #define AF_PC10_SPI3_SCK                 6U

 #define AF_LINE_SPI3_SCK                 6U

 #define AF_PC11_SPI3_MISO                6U

 #define AF_LINE_SPI3_MISO                6U

 #define AF_PC12_UART5_TX                 8U

 #define AF_LINE_UART5_TX                 8U

 #define AF_PD00_CAN1_RX                  9U

 #define AF_LINE_CAN1_RX                  9U

 #define AF_PD01_CAN1_TX                  9U

 #define AF_LINE_CAN1_TX                  9U

 #define AF_PD02_UART5_RX                 8U

 #define AF_LINE_UART5_RX                 8U

 #define AF_PD05_UART2_TX                 7U

 #define AF_LINE_UART2_TX                 7U

 #define AF_PD06_SDIO_CK                  11U

 #define AF_LINE_SDIO_CK                  11U

 #define AF_PD07_SDIO_CMD                 11U

 #define AF_LINE_SDIO_CMD                 11U

 #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_PE08_UART7_TX                 7U

 #define AF_LINE_UART7_TX                 7U

 #define AF_PE12_SPI4_SCK                 5U

 #define AF_LINE_SPI4_SCK                 5U

 #define AF_PE13_SPI4_MISO                5U

 #define AF_LINE_SPI4_MISO                5U

 #define AF_PE14_SPI4_MOSI                5U

 #define AF_LINE_SPI4_MOSI                5U

 #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                 7U

 #define AF_LINE_UART7_RX                 7U

 #define AF_PF07_SPI5_SCK                 5U

 #define AF_LINE_SPI5_SCK                 5U

 #define AF_PF09_ALARM                    1U

 #define AF_LINE_ALARM                    1U

 #define AF_PF11_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_SPI1_MISO                5U

 #define AF_LINE_SPI1_MISO                5U

 #define AF_PG11_SDIO_D2                  10U

 #define AF_LINE_SDIO_D2                  10U

 #define AF_PG14_SPI6_MOSI                5U

 #define AF_LINE_SPI6_MOSI                5U

 #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_PH07_SPI5_MISO                5U

 #define AF_LINE_SPI5_MISO                5U

 #define AF_PH08_I2C3_SDA                 4U

 #define AF_LINE_I2C3_SDA                 4U

 #define AF_PH10_SERVO4                   2U

 #define AF_LINE_SERVO4                   2U

 #define AF_PH11_SERVO3                   2U

 #define AF_LINE_SERVO3                   2U

 #define AF_PH12_SERVO2                   2U

 #define AF_LINE_SERVO2                   2U

 #define AF_PH13_UART4_TX                 8U

 #define AF_LINE_UART4_TX                 8U

 #define AF_PH14_UART4_RX                 8U

 #define AF_LINE_UART4_RX                 8U

 #define AF_PI00_SERVO1                   2U

 #define AF_LINE_SERVO1                   2U

 #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 ADC1_ADC   1

 #define ADC1_ADC_FN  INP

 #define ADC1_ADC_INP   16

 #define UART2_USART  2

 #define UART2_USART_FN   RX

 #define UART2_USART_AF   7

 #define ADC2_ADC   1

 #define ADC2_ADC_FN  INP

 #define ADC2_ADC_INP   18

 #define ADC3_ADC   1

 #define ADC3_ADC_FN  INP

 #define ADC3_ADC_INP   9

 #define ADC5_ADC   1

 #define ADC5_ADC_FN  INP

 #define ADC5_ADC_INP   5

 #define ADC6_ADC   3

 #define ADC6_ADC_FN  INP

 #define ADC6_ADC_INP   0

 #define ADC7_ADC   3

 #define ADC7_ADC_FN  INP

 #define ADC7_ADC_INP   1

 #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 ALARM_TIM  17

 #define ALARM_TIM_FN   CH

 #define ALARM_TIM_CH   1

 #define ALARM_TIM_AF   1

 #define ADC4_ADC   1

 #define ADC4_ADC_FN  INP

 #define ADC4_ADC_INP   6

 #define SERVO4_TIM   5

 #define SERVO4_TIM_FN  CH

 #define SERVO4_TIM_CH  1

 #define SERVO4_TIM_AF  2

 #define SERVO3_TIM   5

 #define SERVO3_TIM_FN  CH

 #define SERVO3_TIM_CH  2

 #define SERVO3_TIM_AF  2

 #define SERVO2_TIM   5

 #define SERVO2_TIM_FN  CH

 #define SERVO2_TIM_CH  3

 #define SERVO2_TIM_AF  2

 #define SERVO1_TIM   5

 #define SERVO1_TIM_FN  CH

 #define SERVO1_TIM_CH  4

 #define SERVO1_TIM_AF  2

 #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_LED4, \

   LINE_SERVO5, \

   LINE_SERVO6, \

   LINE_LED1, \

   LINE_LED2, \

   LINE_LED3, \

   LINE_SPI_SLAVE6, \

   LINE_SPI_SLAVE2, \

   LINE_SERVO4, \

   LINE_SERVO3, \

   LINE_SERVO2, \

   LINE_SPI_SLAVE5, \

   LINE_SERVO1, \

   LINE_SPI_SLAVE3, \

   LINE_SPI_SLAVE4, \

   LINE_SPI_SLAVE1, \

   LINE_SPI_SLAVE7

 #define ENERGY_SAVE_INPUTS_SIZE    17


 #define ENERGY_SAVE_LOWS \

   LINE_VDD_3V3_SENSORS3_EN, \

   LINE_VDD_3V3_SENSORS2_EN, \

   LINE_ALARM, \

   LINE_VDD_3V3_SENSORS4_EN, \

   LINE_ETH_POWER_EN, \

   LINE_VDD_3V3_SENSORS1_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:317