v5.18/crazyflie_2chibios_2v2_81_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_ST_CRAZYFLIE

#define BOARD_NAME  "Bitcraze Crazyflie 2.1"


/*

 * Board oscillators-related settings.

 * NOTE: LSE fitted.

 */

#if !defined(STM32_LSECLK)

#define STM32_LSECLK                32768

#endif


#if !defined(STM32_HSECLK)

#define STM32_HSECLK                8000000

#endif


/*

 * Board voltages.

 * Required for performance limits calculation.

 */

#define STM32_VDD                   300


/*

 * MCU type as defined in the ST header file stm32f4xx.h.

 */

#define STM32F405xx


/*

 * AHB_CLK

 */

#define AHB_CLK STM32_HCLK


/*

 * IO pins assignments.

 */

#define PA00                           0U

#define PA00_PORT                      GPIOA

#define MOTOR1                         1U

#define MOTOR1_PORT                    GPIOA

#define E_TX2                          2U

#define E_TX2_PORT                     GPIOA

#define E_RX2                          3U

#define E_RX2_PORT                     GPIOA

#define NRF_FLOW_CTRL                  4U

#define NRF_FLOW_CTRL_PORT             GPIOA

#define E_SCK                          5U

#define E_SCK_PORT                     GPIOA

#define E_MISO                         6U

#define E_MISO_PORT                    GPIOA

#define E_MOSI                         7U

#define E_MOSI_PORT                    GPIOA

#define IMU_SCL                        8U

#define IMU_SCL_PORT                   GPIOA

#define PA09                           9U

#define PA09_PORT                      GPIOA

#define USB_ID                         10U

#define USB_ID_PORT                    GPIOA

#define USB_DM                         11U

#define USB_DM_PORT                    GPIOA

#define USB_DP                         12U

#define USB_DP_PORT                    GPIOA

#define STM_SWIO                       13U

#define STM_SWIO_PORT                  GPIOA

#define STM_SWCLK                      14U

#define STM_SWCLK_PORT                 GPIOA

#define MOTOR3                         15U

#define MOTOR3_PORT                    GPIOA


#define PB00                           0U

#define PB00_PORT                      GPIOB

#define PB01                           1U

#define PB01_PORT                      GPIOB

#define BOOT1                          2U

#define BOOT1_PORT                     GPIOB

#define PB03                           3U

#define PB03_PORT                      GPIOB

#define E_CS1                          4U

#define E_CS1_PORT                     GPIOB

#define E_CS2                          5U

#define E_CS2_PORT                     GPIOB

#define E_SCL                          6U

#define E_SCL_PORT                     GPIOB

#define E_SDA                          7U

#define E_SDA_PORT                     GPIOB

#define E_CS3                          8U

#define E_CS3_PORT                     GPIOB

#define MOTOR4                         9U

#define MOTOR4_PORT                    GPIOB

#define PB10                           10U

#define PB10_PORT                      GPIOB

#define MOTOR2                         11U

#define MOTOR2_PORT                    GPIOB

#define PB12                           12U

#define PB12_PORT                      GPIOB

#define NRF_SWCLK                      13U

#define NRF_SWCLK_PORT                 GPIOB

#define PB14                           14U

#define PB14_PORT                      GPIOB

#define NRF_SWIO                       15U

#define NRF_SWIO_PORT                  GPIOB


#define LED_RED_L                      0U

#define LED_RED_L_PORT                 GPIOC

#define LED_GREEN_L                    1U

#define LED_GREEN_L_PORT               GPIOC

#define LED_GREEN_R                    2U

#define LED_GREEN_R_PORT               GPIOC

#define LED_RED_R                      3U

#define LED_RED_R_PORT                 GPIOC

#define PC04                           4U

#define PC04_PORT                      GPIOC

#define PC05                           5U

#define PC05_PORT                      GPIOC

#define NRF_TX                         6U

#define NRF_TX_PORT                    GPIOC

#define NRF_RX                         7U

#define NRF_RX_PORT                    GPIOC

#define PC08                           8U

#define PC08_PORT                      GPIOC

#define IMU_SDA                        9U

#define IMU_SDA_PORT                   GPIOC

#define E_TX1                          10U

#define E_TX1_PORT                     GPIOC

#define E_RX1                          11U

#define E_RX1_PORT                     GPIOC

#define E_CS0                          12U

#define E_CS0_PORT                     GPIOC

#define PC13                           13U

#define PC13_PORT                      GPIOC

#define PC14                           14U

#define PC14_PORT                      GPIOC

#define PC15                           15U

#define PC15_PORT                      GPIOC


#define PD00                           0U

#define PD00_PORT                      GPIOD

#define PD01                           1U

#define PD01_PORT                      GPIOD

#define LED_BLUE_L                     2U

#define LED_BLUE_L_PORT                GPIOD

#define PD03                           3U

#define PD03_PORT                      GPIOD

#define PD04                           4U

#define PD04_PORT                      GPIOD

#define PD05                           5U

#define PD05_PORT                      GPIOD

#define PD06                           6U

#define PD06_PORT                      GPIOD

#define PD07                           7U

#define PD07_PORT                      GPIOD

#define PD08                           8U

#define PD08_PORT                      GPIOD

#define PD09                           9U

#define PD09_PORT                      GPIOD

#define PD10                           10U

#define PD10_PORT                      GPIOD

#define PD11                           11U

#define PD11_PORT                      GPIOD

#define PD12                           12U

#define PD12_PORT                      GPIOD

#define PD13                           13U

#define PD13_PORT                      GPIOD

#define PD14                           14U

#define PD14_PORT                      GPIOD

#define PD15                           15U

#define PD15_PORT                      GPIOD


#define PE00                           0U

#define PE00_PORT                      GPIOE

#define PE01                           1U

#define PE01_PORT                      GPIOE

#define PE02                           2U

#define PE02_PORT                      GPIOE

#define PE03                           3U

#define PE03_PORT                      GPIOE

#define PE04                           4U

#define PE04_PORT                      GPIOE

#define PE05                           5U

#define PE05_PORT                      GPIOE

#define PE06                           6U

#define PE06_PORT                      GPIOE

#define PE07                           7U

#define PE07_PORT                      GPIOE

#define PE08                           8U

#define PE08_PORT                      GPIOE

#define PE09                           9U

#define PE09_PORT                      GPIOE

#define PE10                           10U

#define PE10_PORT                      GPIOE

#define PE11                           11U

#define PE11_PORT                      GPIOE

#define PE12                           12U

#define PE12_PORT                      GPIOE

#define PE13                           13U

#define PE13_PORT                      GPIOE

#define PE14                           14U

#define PE14_PORT                      GPIOE

#define PE15                           15U

#define PE15_PORT                      GPIOE


#define PF00                           0U

#define PF00_PORT                      GPIOF

#define PF01                           1U

#define PF01_PORT                      GPIOF

#define PF02                           2U

#define PF02_PORT                      GPIOF

#define PF03                           3U

#define PF03_PORT                      GPIOF

#define PF04                           4U

#define PF04_PORT                      GPIOF

#define PF05                           5U

#define PF05_PORT                      GPIOF

#define PF06                           6U

#define PF06_PORT                      GPIOF

#define PF07                           7U

#define PF07_PORT                      GPIOF

#define PF08                           8U

#define PF08_PORT                      GPIOF

#define PF09                           9U

#define PF09_PORT                      GPIOF

#define PF10                           10U

#define PF10_PORT                      GPIOF

#define PF11                           11U

#define PF11_PORT                      GPIOF

#define PF12                           12U

#define PF12_PORT                      GPIOF

#define PF13                           13U

#define PF13_PORT                      GPIOF

#define PF14                           14U

#define PF14_PORT                      GPIOF

#define PF15                           15U

#define PF15_PORT                      GPIOF


#define PG00                           0U

#define PG00_PORT                      GPIOG

#define PG01                           1U

#define PG01_PORT                      GPIOG

#define PG02                           2U

#define PG02_PORT                      GPIOG

#define PG03                           3U

#define PG03_PORT                      GPIOG

#define PG04                           4U

#define PG04_PORT                      GPIOG

#define PG05                           5U

#define PG05_PORT                      GPIOG

#define PG06                           6U

#define PG06_PORT                      GPIOG

#define PG07                           7U

#define PG07_PORT                      GPIOG

#define PG08                           8U

#define PG08_PORT                      GPIOG

#define PG09                           9U

#define PG09_PORT                      GPIOG

#define PG10                           10U

#define PG10_PORT                      GPIOG

#define PG11                           11U

#define PG11_PORT                      GPIOG

#define PG12                           12U

#define PG12_PORT                      GPIOG

#define PG13                           13U

#define PG13_PORT                      GPIOG

#define PG14                           14U

#define PG14_PORT                      GPIOG

#define PG15                           15U

#define PG15_PORT                      GPIOG


#define OSC_IN                         0U

#define OSC_IN_PORT                    GPIOH

#define OSC_OUT                        1U

#define OSC_OUT_PORT                   GPIOH

#define PH02                           2U

#define PH02_PORT                      GPIOH

#define PH03                           3U

#define PH03_PORT                      GPIOH

#define PH04                           4U

#define PH04_PORT                      GPIOH

#define PH05                           5U

#define PH05_PORT                      GPIOH

#define PH06                           6U

#define PH06_PORT                      GPIOH

#define PH07                           7U

#define PH07_PORT                      GPIOH

#define PH08                           8U

#define PH08_PORT                      GPIOH

#define PH09                           9U

#define PH09_PORT                      GPIOH

#define PH10                           10U

#define PH10_PORT                      GPIOH

#define PH11                           11U

#define PH11_PORT                      GPIOH

#define PH12                           12U

#define PH12_PORT                      GPIOH

#define PH13                           13U

#define PH13_PORT                      GPIOH

#define PH14                           14U

#define PH14_PORT                      GPIOH

#define PH15                           15U

#define PH15_PORT                      GPIOH


#define PI00                           0U

#define PI00_PORT                      GPIOI

#define PI01                           1U

#define PI01_PORT                      GPIOI

#define PI02                           2U

#define PI02_PORT                      GPIOI

#define PI03                           3U

#define PI03_PORT                      GPIOI

#define PI04                           4U

#define PI04_PORT                      GPIOI

#define PI05                           5U

#define PI05_PORT                      GPIOI

#define PI06                           6U

#define PI06_PORT                      GPIOI

#define PI07                           7U

#define PI07_PORT                      GPIOI

#define PI08                           8U

#define PI08_PORT                      GPIOI

#define PI09                           9U

#define PI09_PORT                      GPIOI

#define PI10                           10U

#define PI10_PORT                      GPIOI

#define PI11                           11U

#define PI11_PORT                      GPIOI

#define PI12                           12U

#define PI12_PORT                      GPIOI

#define PI13                           13U

#define PI13_PORT                      GPIOI

#define PI14                           14U

#define PI14_PORT                      GPIOI

#define PI15                           15U

#define PI15_PORT                      GPIOI


#define PJ00                           0U

#define PJ00_PORT                      GPIOJ

#define PJ01                           1U

#define PJ01_PORT                      GPIOJ

#define PJ02                           2U

#define PJ02_PORT                      GPIOJ

#define PJ03                           3U

#define PJ03_PORT                      GPIOJ

#define PJ04                           4U

#define PJ04_PORT                      GPIOJ

#define PJ05                           5U

#define PJ05_PORT                      GPIOJ

#define PJ06                           6U

#define PJ06_PORT                      GPIOJ

#define PJ07                           7U

#define PJ07_PORT                      GPIOJ

#define PJ08                           8U

#define PJ08_PORT                      GPIOJ

#define PJ09                           9U

#define PJ09_PORT                      GPIOJ

#define PJ10                           10U

#define PJ10_PORT                      GPIOJ

#define PJ11                           11U

#define PJ11_PORT                      GPIOJ

#define PJ12                           12U

#define PJ12_PORT                      GPIOJ

#define PJ13                           13U

#define PJ13_PORT                      GPIOJ

#define PJ14                           14U

#define PJ14_PORT                      GPIOJ

#define PJ15                           15U

#define PJ15_PORT                      GPIOJ


#define PK00                           0U

#define PK00_PORT                      GPIOK

#define PK01                           1U

#define PK01_PORT                      GPIOK

#define PK02                           2U

#define PK02_PORT                      GPIOK

#define PK03                           3U

#define PK03_PORT                      GPIOK

#define PK04                           4U

#define PK04_PORT                      GPIOK

#define PK05                           5U

#define PK05_PORT                      GPIOK

#define PK06                           6U

#define PK06_PORT                      GPIOK

#define PK07                           7U

#define PK07_PORT                      GPIOK

#define PK08                           8U

#define PK08_PORT                      GPIOK

#define PK09                           9U

#define PK09_PORT                      GPIOK

#define PK10                           10U

#define PK10_PORT                      GPIOK

#define PK11                           11U

#define PK11_PORT                      GPIOK

#define PK12                           12U

#define PK12_PORT                      GPIOK

#define PK13                           13U

#define PK13_PORT                      GPIOK

#define PK14                           14U

#define PK14_PORT                      GPIOK

#define PK15                           15U

#define PK15_PORT                      GPIOK


/*

 * IO lines assignments.

 */

#define LINE_MOTOR1                    PAL_LINE(GPIOA, 1U)

#define LINE_E_TX2                     PAL_LINE(GPIOA, 2U)

#define LINE_E_RX2                     PAL_LINE(GPIOA, 3U)

#define LINE_NRF_FLOW_CTRL             PAL_LINE(GPIOA, 4U)

#define LINE_E_SCK                     PAL_LINE(GPIOA, 5U)

#define LINE_E_MISO                    PAL_LINE(GPIOA, 6U)

#define LINE_E_MOSI                    PAL_LINE(GPIOA, 7U)

#define LINE_IMU_SCL                   PAL_LINE(GPIOA, 8U)

#define LINE_USB_ID                    PAL_LINE(GPIOA, 10U)

#define LINE_USB_DM                    PAL_LINE(GPIOA, 11U)

#define LINE_USB_DP                    PAL_LINE(GPIOA, 12U)

#define LINE_STM_SWIO                  PAL_LINE(GPIOA, 13U)

#define LINE_STM_SWCLK                 PAL_LINE(GPIOA, 14U)

#define LINE_MOTOR3                    PAL_LINE(GPIOA, 15U)


#define LINE_BOOT1                     PAL_LINE(GPIOB, 2U)

#define LINE_E_CS1                     PAL_LINE(GPIOB, 4U)

#define LINE_E_CS2                     PAL_LINE(GPIOB, 5U)

#define LINE_E_SCL                     PAL_LINE(GPIOB, 6U)

#define LINE_E_SDA                     PAL_LINE(GPIOB, 7U)

#define LINE_E_CS3                     PAL_LINE(GPIOB, 8U)

#define LINE_MOTOR4                    PAL_LINE(GPIOB, 9U)

#define LINE_MOTOR2                    PAL_LINE(GPIOB, 11U)

#define LINE_NRF_SWCLK                 PAL_LINE(GPIOB, 13U)

#define LINE_NRF_SWIO                  PAL_LINE(GPIOB, 15U)


#define LINE_LED_RED_L                 PAL_LINE(GPIOC, 0U)

#define LINE_LED_GREEN_L               PAL_LINE(GPIOC, 1U)

#define LINE_LED_GREEN_R               PAL_LINE(GPIOC, 2U)

#define LINE_LED_RED_R                 PAL_LINE(GPIOC, 3U)

#define LINE_NRF_TX                    PAL_LINE(GPIOC, 6U)

#define LINE_NRF_RX                    PAL_LINE(GPIOC, 7U)

#define LINE_IMU_SDA                   PAL_LINE(GPIOC, 9U)

#define LINE_E_TX1                     PAL_LINE(GPIOC, 10U)

#define LINE_E_RX1                     PAL_LINE(GPIOC, 11U)

#define LINE_E_CS0                     PAL_LINE(GPIOC, 12U)


#define LINE_LED_BLUE_L                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_INPUT(PA00) | \

           PIN_MODE_ALTERNATE(MOTOR1) | \

           PIN_MODE_ALTERNATE(E_TX2) | \

           PIN_MODE_ALTERNATE(E_RX2) | \

           PIN_MODE_INPUT(NRF_FLOW_CTRL) | \

           PIN_MODE_ALTERNATE(E_SCK) | \

           PIN_MODE_ALTERNATE(E_MISO) | \

           PIN_MODE_ALTERNATE(E_MOSI) | \

           PIN_MODE_ALTERNATE(IMU_SCL) | \

           PIN_MODE_INPUT(PA09) | \

           PIN_MODE_ALTERNATE(USB_ID) | \

           PIN_MODE_ALTERNATE(USB_DM) | \

           PIN_MODE_ALTERNATE(USB_DP) | \

           PIN_MODE_ALTERNATE(STM_SWIO) | \

           PIN_MODE_ALTERNATE(STM_SWCLK) | \

           PIN_MODE_ALTERNATE(MOTOR3))


#define VAL_GPIOA_OTYPER                (PIN_OTYPE_PUSHPULL(PA00) | \

           PIN_OTYPE_PUSHPULL(MOTOR1) | \

           PIN_OTYPE_PUSHPULL(E_TX2) | \

           PIN_OTYPE_PUSHPULL(E_RX2) | \

           PIN_OTYPE_OPENDRAIN(NRF_FLOW_CTRL) | \

           PIN_OTYPE_PUSHPULL(E_SCK) | \

           PIN_OTYPE_PUSHPULL(E_MISO) | \

           PIN_OTYPE_PUSHPULL(E_MOSI) | \

           PIN_OTYPE_OPENDRAIN(IMU_SCL) | \

           PIN_OTYPE_PUSHPULL(PA09) | \

           PIN_OTYPE_PUSHPULL(USB_ID) | \

           PIN_OTYPE_PUSHPULL(USB_DM) | \

           PIN_OTYPE_PUSHPULL(USB_DP) | \

           PIN_OTYPE_PUSHPULL(STM_SWIO) | \

           PIN_OTYPE_PUSHPULL(STM_SWCLK) | \

           PIN_OTYPE_PUSHPULL(MOTOR3))


#define VAL_GPIOA_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PA00) | \

           PIN_OSPEED_SPEED_HIGH(MOTOR1) | \

           PIN_OSPEED_SPEED_HIGH(E_TX2) | \

           PIN_OSPEED_SPEED_HIGH(E_RX2) | \

           PIN_OSPEED_SPEED_VERYLOW(NRF_FLOW_CTRL) | \

           PIN_OSPEED_SPEED_HIGH(E_SCK) | \

           PIN_OSPEED_SPEED_HIGH(E_MISO) | \

           PIN_OSPEED_SPEED_HIGH(E_MOSI) | \

           PIN_OSPEED_SPEED_HIGH(IMU_SCL) | \

           PIN_OSPEED_SPEED_VERYLOW(PA09) | \

           PIN_OSPEED_SPEED_HIGH(USB_ID) | \

           PIN_OSPEED_SPEED_HIGH(USB_DM) | \

           PIN_OSPEED_SPEED_HIGH(USB_DP) | \

           PIN_OSPEED_SPEED_HIGH(STM_SWIO) | \

           PIN_OSPEED_SPEED_HIGH(STM_SWCLK) | \

           PIN_OSPEED_SPEED_HIGH(MOTOR3))


#define VAL_GPIOA_PUPDR                 (PIN_PUPDR_PULLDOWN(PA00) | \

           PIN_PUPDR_FLOATING(MOTOR1) | \

           PIN_PUPDR_FLOATING(E_TX2) | \

           PIN_PUPDR_FLOATING(E_RX2) | \

           PIN_PUPDR_FLOATING(NRF_FLOW_CTRL) | \

           PIN_PUPDR_FLOATING(E_SCK) | \

           PIN_PUPDR_FLOATING(E_MISO) | \

           PIN_PUPDR_FLOATING(E_MOSI) | \

           PIN_PUPDR_PULLUP(IMU_SCL) | \

           PIN_PUPDR_PULLDOWN(PA09) | \

           PIN_PUPDR_FLOATING(USB_ID) | \

           PIN_PUPDR_FLOATING(USB_DM) | \

           PIN_PUPDR_FLOATING(USB_DP) | \

           PIN_PUPDR_FLOATING(STM_SWIO) | \

           PIN_PUPDR_FLOATING(STM_SWCLK) | \

           PIN_PUPDR_FLOATING(MOTOR3))


#define VAL_GPIOA_ODR                   (PIN_ODR_LEVEL_LOW(PA00) | \

           PIN_ODR_LEVEL_LOW(MOTOR1) | \

           PIN_ODR_LEVEL_HIGH(E_TX2) | \

           PIN_ODR_LEVEL_HIGH(E_RX2) | \

           PIN_ODR_LEVEL_LOW(NRF_FLOW_CTRL) | \

           PIN_ODR_LEVEL_HIGH(E_SCK) | \

           PIN_ODR_LEVEL_HIGH(E_MISO) | \

           PIN_ODR_LEVEL_HIGH(E_MOSI) | \

           PIN_ODR_LEVEL_HIGH(IMU_SCL) | \

           PIN_ODR_LEVEL_LOW(PA09) | \

           PIN_ODR_LEVEL_HIGH(USB_ID) | \

           PIN_ODR_LEVEL_HIGH(USB_DM) | \

           PIN_ODR_LEVEL_HIGH(USB_DP) | \

           PIN_ODR_LEVEL_HIGH(STM_SWIO) | \

           PIN_ODR_LEVEL_HIGH(STM_SWCLK) | \

           PIN_ODR_LEVEL_LOW(MOTOR3))


#define VAL_GPIOA_AFRL      (PIN_AFIO_AF(PA00, 0) | \

           PIN_AFIO_AF(MOTOR1, 1) | \

           PIN_AFIO_AF(E_TX2, 7) | \

           PIN_AFIO_AF(E_RX2, 7) | \

           PIN_AFIO_AF(NRF_FLOW_CTRL, 0) | \

           PIN_AFIO_AF(E_SCK, 5) | \

           PIN_AFIO_AF(E_MISO, 5) | \

           PIN_AFIO_AF(E_MOSI, 5))


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

           PIN_AFIO_AF(PA09, 0) | \

           PIN_AFIO_AF(USB_ID, 10) | \

           PIN_AFIO_AF(USB_DM, 10) | \

           PIN_AFIO_AF(USB_DP, 10) | \

           PIN_AFIO_AF(STM_SWIO, 0) | \

           PIN_AFIO_AF(STM_SWCLK, 0) | \

           PIN_AFIO_AF(MOTOR3, 1))


#define VAL_GPIOB_MODER                 (PIN_MODE_INPUT(PB00) | \

           PIN_MODE_INPUT(PB01) | \

           PIN_MODE_INPUT(BOOT1) | \

           PIN_MODE_INPUT(PB03) | \

           PIN_MODE_INPUT(E_CS1) | \

           PIN_MODE_INPUT(E_CS2) | \

           PIN_MODE_ALTERNATE(E_SCL) | \

           PIN_MODE_ALTERNATE(E_SDA) | \

           PIN_MODE_INPUT(E_CS3) | \

           PIN_MODE_ALTERNATE(MOTOR4) | \

           PIN_MODE_INPUT(PB10) | \

           PIN_MODE_ALTERNATE(MOTOR2) | \

           PIN_MODE_INPUT(PB12) | \

           PIN_MODE_INPUT(NRF_SWCLK) | \

           PIN_MODE_INPUT(PB14) | \

           PIN_MODE_INPUT(NRF_SWIO))


#define VAL_GPIOB_OTYPER                (PIN_OTYPE_PUSHPULL(PB00) | \

           PIN_OTYPE_PUSHPULL(PB01) | \

           PIN_OTYPE_OPENDRAIN(BOOT1) | \

           PIN_OTYPE_PUSHPULL(PB03) | \

           PIN_OTYPE_OPENDRAIN(E_CS1) | \

           PIN_OTYPE_OPENDRAIN(E_CS2) | \

           PIN_OTYPE_OPENDRAIN(E_SCL) | \

           PIN_OTYPE_OPENDRAIN(E_SDA) | \

           PIN_OTYPE_OPENDRAIN(E_CS3) | \

           PIN_OTYPE_PUSHPULL(MOTOR4) | \

           PIN_OTYPE_PUSHPULL(PB10) | \

           PIN_OTYPE_PUSHPULL(MOTOR2) | \

           PIN_OTYPE_PUSHPULL(PB12) | \

           PIN_OTYPE_OPENDRAIN(NRF_SWCLK) | \

           PIN_OTYPE_PUSHPULL(PB14) | \

           PIN_OTYPE_OPENDRAIN(NRF_SWIO))


#define VAL_GPIOB_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(PB00) | \

           PIN_OSPEED_SPEED_VERYLOW(PB01) | \

           PIN_OSPEED_SPEED_VERYLOW(BOOT1) | \

           PIN_OSPEED_SPEED_VERYLOW(PB03) | \

           PIN_OSPEED_SPEED_VERYLOW(E_CS1) | \

           PIN_OSPEED_SPEED_VERYLOW(E_CS2) | \

           PIN_OSPEED_SPEED_HIGH(E_SCL) | \

           PIN_OSPEED_SPEED_HIGH(E_SDA) | \

           PIN_OSPEED_SPEED_VERYLOW(E_CS3) | \

           PIN_OSPEED_SPEED_HIGH(MOTOR4) | \

           PIN_OSPEED_SPEED_VERYLOW(PB10) | \

           PIN_OSPEED_SPEED_HIGH(MOTOR2) | \

           PIN_OSPEED_SPEED_VERYLOW(PB12) | \

           PIN_OSPEED_SPEED_VERYLOW(NRF_SWCLK) | \

           PIN_OSPEED_SPEED_VERYLOW(PB14) | \

           PIN_OSPEED_SPEED_VERYLOW(NRF_SWIO))


#define VAL_GPIOB_PUPDR                 (PIN_PUPDR_PULLDOWN(PB00) | \

           PIN_PUPDR_PULLDOWN(PB01) | \

           PIN_PUPDR_FLOATING(BOOT1) | \

           PIN_PUPDR_PULLDOWN(PB03) | \

           PIN_PUPDR_FLOATING(E_CS1) | \

           PIN_PUPDR_FLOATING(E_CS2) | \

           PIN_PUPDR_PULLUP(E_SCL) | \

           PIN_PUPDR_PULLUP(E_SDA) | \

           PIN_PUPDR_FLOATING(E_CS3) | \

           PIN_PUPDR_FLOATING(MOTOR4) | \

           PIN_PUPDR_PULLDOWN(PB10) | \

           PIN_PUPDR_FLOATING(MOTOR2) | \

           PIN_PUPDR_PULLDOWN(PB12) | \

           PIN_PUPDR_FLOATING(NRF_SWCLK) | \

           PIN_PUPDR_PULLDOWN(PB14) | \

           PIN_PUPDR_FLOATING(NRF_SWIO))


#define VAL_GPIOB_ODR                   (PIN_ODR_LEVEL_LOW(PB00) | \

           PIN_ODR_LEVEL_LOW(PB01) | \

           PIN_ODR_LEVEL_LOW(BOOT1) | \

           PIN_ODR_LEVEL_LOW(PB03) | \

           PIN_ODR_LEVEL_LOW(E_CS1) | \

           PIN_ODR_LEVEL_LOW(E_CS2) | \

           PIN_ODR_LEVEL_HIGH(E_SCL) | \

           PIN_ODR_LEVEL_HIGH(E_SDA) | \

           PIN_ODR_LEVEL_LOW(E_CS3) | \

           PIN_ODR_LEVEL_LOW(MOTOR4) | \

           PIN_ODR_LEVEL_LOW(PB10) | \

           PIN_ODR_LEVEL_LOW(MOTOR2) | \

           PIN_ODR_LEVEL_LOW(PB12) | \

           PIN_ODR_LEVEL_LOW(NRF_SWCLK) | \

           PIN_ODR_LEVEL_LOW(PB14) | \

           PIN_ODR_LEVEL_LOW(NRF_SWIO))


#define VAL_GPIOB_AFRL      (PIN_AFIO_AF(PB00, 0) | \

           PIN_AFIO_AF(PB01, 0) | \

           PIN_AFIO_AF(BOOT1, 0) | \

           PIN_AFIO_AF(PB03, 0) | \

           PIN_AFIO_AF(E_CS1, 0) | \

           PIN_AFIO_AF(E_CS2, 0) | \

           PIN_AFIO_AF(E_SCL, 4) | \

           PIN_AFIO_AF(E_SDA, 4))


#define VAL_GPIOB_AFRH      (PIN_AFIO_AF(E_CS3, 0) | \

           PIN_AFIO_AF(MOTOR4, 2) | \

           PIN_AFIO_AF(PB10, 0) | \

           PIN_AFIO_AF(MOTOR2, 1) | \

           PIN_AFIO_AF(PB12, 0) | \

           PIN_AFIO_AF(NRF_SWCLK, 0) | \

           PIN_AFIO_AF(PB14, 0) | \

           PIN_AFIO_AF(NRF_SWIO, 0))


#define VAL_GPIOC_MODER                 (PIN_MODE_OUTPUT(LED_RED_L) | \

           PIN_MODE_OUTPUT(LED_GREEN_L) | \

           PIN_MODE_OUTPUT(LED_GREEN_R) | \

           PIN_MODE_OUTPUT(LED_RED_R) | \

           PIN_MODE_INPUT(PC04) | \

           PIN_MODE_INPUT(PC05) | \

           PIN_MODE_ALTERNATE(NRF_TX) | \

           PIN_MODE_ALTERNATE(NRF_RX) | \

           PIN_MODE_INPUT(PC08) | \

           PIN_MODE_ALTERNATE(IMU_SDA) | \

           PIN_MODE_ALTERNATE(E_TX1) | \

           PIN_MODE_ALTERNATE(E_RX1) | \

           PIN_MODE_INPUT(E_CS0) | \

           PIN_MODE_INPUT(PC13) | \

           PIN_MODE_INPUT(PC14) | \

           PIN_MODE_INPUT(PC15))


#define VAL_GPIOC_OTYPER                (PIN_OTYPE_PUSHPULL(LED_RED_L) | \

           PIN_OTYPE_PUSHPULL(LED_GREEN_L) | \

           PIN_OTYPE_PUSHPULL(LED_GREEN_R) | \

           PIN_OTYPE_PUSHPULL(LED_RED_R) | \

           PIN_OTYPE_PUSHPULL(PC04) | \

           PIN_OTYPE_PUSHPULL(PC05) | \

           PIN_OTYPE_PUSHPULL(NRF_TX) | \

           PIN_OTYPE_PUSHPULL(NRF_RX) | \

           PIN_OTYPE_PUSHPULL(PC08) | \

           PIN_OTYPE_OPENDRAIN(IMU_SDA) | \

           PIN_OTYPE_PUSHPULL(E_TX1) | \

           PIN_OTYPE_PUSHPULL(E_RX1) | \

           PIN_OTYPE_OPENDRAIN(E_CS0) | \

           PIN_OTYPE_PUSHPULL(PC13) | \

           PIN_OTYPE_PUSHPULL(PC14) | \

           PIN_OTYPE_PUSHPULL(PC15))


#define VAL_GPIOC_OSPEEDR               (PIN_OSPEED_SPEED_VERYLOW(LED_RED_L) | \

           PIN_OSPEED_SPEED_VERYLOW(LED_GREEN_L) | \

           PIN_OSPEED_SPEED_VERYLOW(LED_GREEN_R) | \

           PIN_OSPEED_SPEED_VERYLOW(LED_RED_R) | \

           PIN_OSPEED_SPEED_VERYLOW(PC04) | \

           PIN_OSPEED_SPEED_VERYLOW(PC05) | \

           PIN_OSPEED_SPEED_HIGH(NRF_TX) | \

           PIN_OSPEED_SPEED_HIGH(NRF_RX) | \

           PIN_OSPEED_SPEED_VERYLOW(PC08) | \

           PIN_OSPEED_SPEED_HIGH(IMU_SDA) | \

           PIN_OSPEED_SPEED_HIGH(E_TX1) | \

           PIN_OSPEED_SPEED_HIGH(E_RX1) | \

           PIN_OSPEED_SPEED_VERYLOW(E_CS0) | \

           PIN_OSPEED_SPEED_VERYLOW(PC13) | \

           PIN_OSPEED_SPEED_VERYLOW(PC14) | \

           PIN_OSPEED_SPEED_VERYLOW(PC15))


#define VAL_GPIOC_PUPDR                 (PIN_PUPDR_FLOATING(LED_RED_L) | \

           PIN_PUPDR_FLOATING(LED_GREEN_L) | \

           PIN_PUPDR_FLOATING(LED_GREEN_R) | \

           PIN_PUPDR_FLOATING(LED_RED_R) | \

           PIN_PUPDR_PULLDOWN(PC04) | \

           PIN_PUPDR_PULLDOWN(PC05) | \

           PIN_PUPDR_FLOATING(NRF_TX) | \

           PIN_PUPDR_FLOATING(NRF_RX) | \

           PIN_PUPDR_PULLDOWN(PC08) | \

           PIN_PUPDR_PULLUP(IMU_SDA) | \

           PIN_PUPDR_FLOATING(E_TX1) | \

           PIN_PUPDR_FLOATING(E_RX1) | \

           PIN_PUPDR_FLOATING(E_CS0) | \

           PIN_PUPDR_PULLDOWN(PC13) | \

           PIN_PUPDR_PULLDOWN(PC14) | \

           PIN_PUPDR_PULLDOWN(PC15))


#define VAL_GPIOC_ODR                   (PIN_ODR_LEVEL_LOW(LED_RED_L) | \

           PIN_ODR_LEVEL_LOW(LED_GREEN_L) | \

           PIN_ODR_LEVEL_LOW(LED_GREEN_R) | \

           PIN_ODR_LEVEL_LOW(LED_RED_R) | \

           PIN_ODR_LEVEL_LOW(PC04) | \

           PIN_ODR_LEVEL_LOW(PC05) | \

           PIN_ODR_LEVEL_HIGH(NRF_TX) | \

           PIN_ODR_LEVEL_HIGH(NRF_RX) | \

           PIN_ODR_LEVEL_LOW(PC08) | \

           PIN_ODR_LEVEL_HIGH(IMU_SDA) | \

           PIN_ODR_LEVEL_HIGH(E_TX1) | \

           PIN_ODR_LEVEL_HIGH(E_RX1) | \

           PIN_ODR_LEVEL_LOW(E_CS0) | \

           PIN_ODR_LEVEL_LOW(PC13) | \

           PIN_ODR_LEVEL_LOW(PC14) | \

           PIN_ODR_LEVEL_LOW(PC15))


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

           PIN_AFIO_AF(LED_GREEN_L, 0) | \

           PIN_AFIO_AF(LED_GREEN_R, 0) | \

           PIN_AFIO_AF(LED_RED_R, 0) | \

           PIN_AFIO_AF(PC04, 0) | \

           PIN_AFIO_AF(PC05, 0) | \

           PIN_AFIO_AF(NRF_TX, 8) | \

           PIN_AFIO_AF(NRF_RX, 8))


#define VAL_GPIOC_AFRH      (PIN_AFIO_AF(PC08, 0) | \

           PIN_AFIO_AF(IMU_SDA, 4) | \

           PIN_AFIO_AF(E_TX1, 7) | \

           PIN_AFIO_AF(E_RX1, 7) | \

           PIN_AFIO_AF(E_CS0, 0) | \

           PIN_AFIO_AF(PC13, 0) | \

           PIN_AFIO_AF(PC14, 0) | \

           PIN_AFIO_AF(PC15, 0))


#define VAL_GPIOD_MODER                 (PIN_MODE_INPUT(PD00) | \

           PIN_MODE_INPUT(PD01) | \

           PIN_MODE_OUTPUT(LED_BLUE_L) | \

           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(LED_BLUE_L) | \

           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_VERYLOW(LED_BLUE_L) | \

           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_FLOATING(LED_BLUE_L) | \

           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_LOW(LED_BLUE_L) | \

           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(LED_BLUE_L, 0) | \

           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_MOTOR1                        1U

#define AF_LINE_MOTOR1                   1U

#define AF_E_TX2                         7U

#define AF_LINE_E_TX2                    7U

#define AF_E_RX2                         7U

#define AF_LINE_E_RX2                    7U

#define AF_E_SCK                         5U

#define AF_LINE_E_SCK                    5U

#define AF_E_MISO                        5U

#define AF_LINE_E_MISO                   5U

#define AF_E_MOSI                        5U

#define AF_LINE_E_MOSI                   5U

#define AF_IMU_SCL                       4U

#define AF_LINE_IMU_SCL                  4U

#define AF_USB_ID                        10U

#define AF_LINE_USB_ID                   10U

#define AF_USB_DM                        10U

#define AF_LINE_USB_DM                   10U

#define AF_USB_DP                        10U

#define AF_LINE_USB_DP                   10U

#define AF_STM_SWIO                      0U

#define AF_LINE_STM_SWIO                 0U

#define AF_STM_SWCLK                     0U

#define AF_LINE_STM_SWCLK                0U

#define AF_MOTOR3                        1U

#define AF_LINE_MOTOR3                   1U

#define AF_E_SCL                         4U

#define AF_LINE_E_SCL                    4U

#define AF_E_SDA                         4U

#define AF_LINE_E_SDA                    4U

#define AF_MOTOR4                        2U

#define AF_LINE_MOTOR4                   2U

#define AF_MOTOR2                        1U

#define AF_LINE_MOTOR2                   1U

#define AF_NRF_TX                        8U

#define AF_LINE_NRF_TX                   8U

#define AF_NRF_RX                        8U

#define AF_LINE_NRF_RX                   8U

#define AF_IMU_SDA                       4U

#define AF_LINE_IMU_SDA                  4U

#define AF_E_TX1                         7U

#define AF_LINE_E_TX1                    7U

#define AF_E_RX1                         7U

#define AF_LINE_E_RX1                    7U

#define AF_OSC_IN                        0U

#define AF_LINE_OSC_IN                   0U

#define AF_OSC_OUT                       0U

#define AF_LINE_OSC_OUT                  0U


#if !defined(_FROM_ASM_)

#ifdef __cplusplus

extern "C" {

#endif

  void boardInit(void);

#ifdef __cplusplus

}

#endif

#endif /* _FROM_ASM_ */