From 2e7ba37cf699d797ece92c07bfd47199b7dbaf27 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 2 Feb 2021 18:37:24 +0100
Subject: [PATCH] [conf] drop discovery boards

if test board from ST should be used, better use the more recent
nucleo144
---
 conf/airframes/FLIXR/flixr_conf.xml           |   11 -
 conf/airframes/FLIXR/flixr_discovery.xml      |  369 ----
 .../untested/stm32f4_discovery_test.xml       |  177 --
 .../stm32f3_discovery_1.0_chibios.makefile    |   76 -
 conf/boards/stm32f4_discovery.makefile        |   55 -
 conf/flash_modes.xml                          |    4 -
 sw/airborne/arch/stm32/stm32f4_discovery.ld   |   34 -
 .../stm32f3_discovery/chibios/v1.0/board.c    |  265 ---
 .../stm32f3_discovery/chibios/v1.0/board.h    | 1628 -----------------
 .../stm32f3_discovery/chibios/v1.0/board.mk   |   24 -
 .../stm32f3_discovery/chibios/v1.0/mcuconf.h  |  301 ---
 sw/airborne/boards/stm32f4_discovery.h        |  601 ------
 12 files changed, 3545 deletions(-)
 delete mode 100644 conf/airframes/FLIXR/flixr_discovery.xml
 delete mode 100644 conf/airframes/untested/stm32f4_discovery_test.xml
 delete mode 100644 conf/boards/stm32f3_discovery_1.0_chibios.makefile
 delete mode 100644 conf/boards/stm32f4_discovery.makefile
 delete mode 100644 sw/airborne/arch/stm32/stm32f4_discovery.ld
 delete mode 100644 sw/airborne/boards/stm32f3_discovery/chibios/v1.0/board.c
 delete mode 100644 sw/airborne/boards/stm32f3_discovery/chibios/v1.0/board.h
 delete mode 100644 sw/airborne/boards/stm32f3_discovery/chibios/v1.0/board.mk
 delete mode 100644 sw/airborne/boards/stm32f3_discovery/chibios/v1.0/mcuconf.h
 delete mode 100644 sw/airborne/boards/stm32f4_discovery.h

diff --git a/conf/airframes/FLIXR/flixr_conf.xml b/conf/airframes/FLIXR/flixr_conf.xml
index 844b767348..d9a37b5d17 100644
--- a/conf/airframes/FLIXR/flixr_conf.xml
+++ b/conf/airframes/FLIXR/flixr_conf.xml
@@ -32,17 +32,6 @@
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="blue"
   />
-  <aircraft
-   name="discovery"
-   ac_id="9"
-   airframe="airframes/FLIXR/flixr_discovery.xml"
-   radio="radios/mc20.xml"
-   telemetry="telemetry/default_fixedwing_imu.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/switch_servo.xml modules/gps.xml modules/imu_common.xml modules/ahrs_int_cmpl_quat.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml"
-   gui_color="blue"
-  />
   <aircraft
    name="flixr_lisamx"
    ac_id="42"
diff --git a/conf/airframes/FLIXR/flixr_discovery.xml b/conf/airframes/FLIXR/flixr_discovery.xml
deleted file mode 100644
index 23c62e834e..0000000000
--- a/conf/airframes/FLIXR/flixr_discovery.xml
+++ /dev/null
@@ -1,369 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-<!-- ST Model Discovery (http://www.sheng-teng.com/)
-     TWOG1  (http://wiki.paparazziuav.org/wiki/TWOG/v1.0)
-     * uBlox LEA5H and Sarantel helix GPS antenna
-
--->
-
-<airframe name="Discovery">
-
-  <firmware name="fixedwing">
-    <target name="ap"           board="twog_1.0">
-      <configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
-      <configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
-      <configure name="AHRS_ALIGNER_LED" value="2"/>
-      <configure name="SYS_TIME_LED" value="1"/>
-      <configure name="GPS_LED" value="none"/>
-      <!-- for airspeed sensor
-      <define name="USE_I2C0"/>
-      -->
-    </target>
-    <target name="sim"          board="pc"/>
-
-    <define name="LOITER_TRIM"/>
-    <define name="USE_PITCH_TRIM"/> <!-- basically same as loiter trim, but for adaptive-->
-    <define name="USE_GYRO_PITCH_RATE"/>
-
-    <define name="WIND_INFO"/>
-
-    <!-- Communication -->
-    <module name="telemetry" type="transparent"/>
-    <module name="radio_control" type="ppm"/>
-    <!--module name="settings" type="rc"/-->
-
-    <!-- Control -->
-    <module name="control" type="new"/>
-    <module name="navigation"/>
-
-    <module name="ahrs" type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="0"/>
-      <define name="AHRS_USE_GPS_HEADING" value="1"/>
-    </module>
-    <module name="ins" type="alt_float"/>
-
-    <!-- Sensors -->
-    <module name="imu" type="b2_v1.0">
-      <configure name="NO_MAG" value="1"/>
-    </module>
-    <module name="gps" type="ublox"/>
-    <module name="current_sensor">
-      <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
-    </module>
-    <module name="switch" type="servo"/>
-    <module name="sys_mon"/>
-    <module name="adc_generic">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/> <!-- voltage sensor -->
-    </module>
-  </firmware>
-
-
-  <firmware name="setup">
-    <target name="tunnel"          board="twog_1.0" />
-    <target name="usb_tunnel"    board="twog_1.0">
-       <configure name="TUNNEL_PORT" value="UART1"/>
-    </target>
-  </firmware>
-
-  <firmware name="test_progs">
-    <configure name="SYS_TIME_LED" value="1"/>
-    <target name="test_gpio" board="twog_1.0"/>
-    <target name="test_sys_time_timer" board="twog_1.0"/>
-    <target name="test_telemetry" board="twog_1.0"/>
-  </firmware>
-
-
-<!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
-  <servos>
-    <servo name="MOTOR"         no="0" min="1100" neutral="1100" max="1900"/>
-    <servo name="ELEVATOR"      no="2" min="1100" neutral="1500" max="1900"/>
-    <servo name="AILERON_RIGHT" no="3" min="1000" neutral="1500" max="1000"/>
-    <servo name="AILERON_LEFT"  no="4" min="1000" neutral="1500" max="2000"/>
-    <servo name="RUDDER"        no="6" min="1000" neutral="1500" max="2000"/>
-    <servo name="HATCH"         no="7" min="1100" neutral="1100" max="1900"/>
-  </servos>
-
-  <section name="SWITCH_SERVO" PREFIX="SWITCH_SERVO_">
-    <define name="SERVO" value="HATCH"/>
-    <define name="ON_VALUE" value="SERVO_HATCH_MIN"/>
-    <define name="OFF_VALUE" value="SERVO_HATCH_MAX"/>
-  </section>
-
-<!-- commands section -->
-  <commands>
-    <axis name="THROTTLE"   failsafe_value="0"/>
-    <axis name="ROLL"       failsafe_value="0"/>
-    <axis name="PITCH"      failsafe_value="0"/>
-    <axis name="YAW"        failsafe_value="2000"/>
-    <axis name="HATCH"      failsafe_value="-9599"/>
-<!-- maybe set to open position so we can insert the payload -->
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL"     value="@ROLL"/>
-    <set command="PITCH"    value="@PITCH"/>
-    <set command="YAW"      value="@YAW"/>
-  </rc_commands>
-
-  <auto_rc_commands>
-  <!-- To still be able to use rudder, which is needed with sidewind landing in auto1 stabilization mode only YAW -->
-    <set command="YAW"      value="@YAW"/>
-  </auto_rc_commands>
-
-<!--For mixed controlflaps -->
-  <section name="MIXER">
-    <define name="AILERON_DIFF" value="0.7"/>
-    <define name="COMBI_SWITCH" value="0.3"/>
-  </section>
-
-  <command_laws>
-    <set servo="MOTOR"         value="@THROTTLE"/>
-    <set servo="ELEVATOR"      value="@PITCH"/>
-    <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
-
-    <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1: AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-    <!--set servo="HATCH"         value="@HATCH"/-->
-  </command_laws>
-
-
-  <section name="IMU" prefix="IMU_">
-    <define name="GYRO_P_CHAN"  value="1"/>
-    <define name="GYRO_Q_CHAN"  value="2"/>
-    <define name="GYRO_R_CHAN"  value="0"/>
-
-    <define name="GYRO_P_SIGN"  value="1"/>
-    <define name="GYRO_Q_SIGN"  value="1"/>
-    <define name="GYRO_R_SIGN"  value="-1"/>
-
-    <define name="GYRO_P_NEUTRAL" value="32362"/>
-    <define name="GYRO_R_NEUTRAL" value="32080"/>
-    <define name="GYRO_Q_NEUTRAL" value="32096"/>
-
-    <define name="GYRO_P_SENS" value="1.1032765" integer="16"/>
-    <define name="GYRO_R_SENS" value="1.1360802599" integer="16"/>
-    <define name="GYRO_Q_SENS" value="1.1249874614" integer="16"/>
-
-    <define name="ACCEL_X_CHAN"  value="3"/>
-    <define name="ACCEL_Y_CHAN"  value="6"/>
-    <define name="ACCEL_Z_CHAN"  value="5"/>
-
-    <define name="ACCEL_X_SIGN"  value="-1"/>
-    <define name="ACCEL_Y_SIGN"  value="1"/>
-    <define name="ACCEL_Z_SIGN"  value="-1"/>
-
-    <define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="2.45106376" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="2.47825717" integer="16"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="31886"/>
-    <define name="ACCEL_Z_NEUTRAL" value="32162"/>
-    <define name="ACCEL_Y_NEUTRAL" value="32941"/>
-
-    <define name="GYRO_P_Q" value="0."/>
-    <define name="GYRO_P_R" value="0."/>
-    <define name="GYRO_Q_P" value="0."/>
-    <define name="GYRO_Q_R" value="0."/>
-    <define name="GYRO_R_P" value="0."/>
-    <define name="GYRO_R_Q" value="0."/>
-
-    <define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0" unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
-  </section>
-
-  <!-- Munich -->
-  <section name="AHRS" prefix="AHRS_">
-    <define name="H_X" value="0.4357869"/>
-    <define name="H_Y" value="0.0177010"/>
-    <define name="H_Z" value="0.8998758"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
-  </section>
-
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="55" unit="deg"/>
-    <define name="MAX_PITCH" value="35" unit="deg"/>
-  </section>
-
-
-  <section name="BAT">
-    <define name="MilliAmpereOfAdc(adc)" value="(adc*88)"/>
-
-<!-- <define name="ADC_CHANNEL_VOLTAGE" value="ADC_4" /> -->
-<!-- The real multiplier is unknown we take 2 as test example -->
-<!--  <define name="VoltageOfAdc(adc)" value ="(adc*2)"/>  -->
-
-<!-- If NO current-volts sensor installed uncomment below -->
-  <!--define name="MILLIAMP_AT_FULL_THROTTLE" value="17000" unit="mA"/-->
-
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <!-- 3S lipo 3.1*3=9.3 -->
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/> <!-- 3S lipo 4.2*3=12.6 -->
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="9.0" unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="14.0" unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="22.0" unit="m/s"/>
-    <define name="CARROT" value="5.0" unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-
-    <!--UNLOCKED_HOME_MODE if set to TRUE means that HOME mode does not get stuck.
-    If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
-    <!--define name="UNLOCKED_HOME_MODE" value="TRUE"/-->
-    <!-- RC_LOST_MODE means that if your RC Transmitter signal is not received anymore in the autopilot, e.g. you switch it off
-     or  fly a long range mission you define the wanted mode behaviour here.
-     If you do not define it, it defaults to flying to the flightplan HOME -->
-    <!--define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/-->
-
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="50.0"/>
-
-    <!-- The Glide definitions are used for calculating the touch down point during auto landing -->
-    <!--
-    -->
-  </section>
-
-<!-- ******************* VERTICAL CONTROL ********************************** -->
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <define name="POWER_CTL_BAT_NOMINAL" value="11.2" unit="volt"/>
-
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="0.04" unit="(m/s)/m"/>
-
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2." unit="m/s"/>
-
-    <!-- Cruise throttle + limits -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40" unit="%"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90" unit="%"/>
-    <define name="THROTTLE_SLEW_LIMITER" value="0.5" unit="s"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-20)"/>
-
-    <!-- Climb loop (throttle) -->
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.007" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
-    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
-
-    <!-- Climb loop (pitch) -->
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.20" unit="rad/(m/s)"/>
-    <!--define name="AUTO_PITCH_PGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/-->
-    <define name="AUTO_PITCH_PGAIN" value="0.052"/>
-    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.065"/>
-
-
-    <!-- airspeed control -->
-    <!--define name="AUTO_AIRSPEED_SETPOINT" value="12."/>
-    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
-    <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
-    <define name="AIRSPEED_MAX" value="25"/>
-    <define name="AIRSPEED_MIN" value="8"/-->
-
-    <!-- groundspeed control -->
-    <!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/-->
-
-    <!-- Loiter and Dash trimming -->
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="0" unit="pprz_t"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="0" unit="pprz_t"/>
-    <define name="PITCH_LOITER_TRIM" value="0" unit="pprz_t"/>
-    <define name="PITCH_DASH_TRIM" value="0" unit="pprz_t"/>
-
-  </section>
-
-<!-- ******************* HORIZONTAL CONTROL ******************************** -->
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-
-    <define name="COURSE_PGAIN" value="1.1"/>
-    <!-- <define name="COURSE_IGAIN" value="0.01"/> -->
-    <!-- <define name="COURSE_DGAIN" value="0.02"/> -->
-    <!-- <define name="COURSE_PRE_BANK_CORRECTION" value="0.5"/> -->
-
-    <!-- maybe handy to avoid over corner with lots of wind and small airframe -->
-    <!-- <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(4)"/> -->
-
-    <define name="ROLL_MAX_SETPOINT" value="50" unit="deg"/>
-    <define name="PITCH_MAX_SETPOINT" value="35" unit="deg"/>
-    <define name="PITCH_MIN_SETPOINT" value="-30" unit="deg"/>
-
-
-    <define name="ROLL_ATTITUDE_GAIN" value="7500."/>
-    <define name="ROLL_RATE_GAIN" value="1500"/>
-
-    <!-- only for stabilization adaptive -->
-    <define name="ROLL_IGAIN" value="500"/>
-    <define name="ROLL_KFFA" value="0."/>
-    <define name="ROLL_KFFD" value="0."/>
-
-    <!-- ** Maximal roll angle change per 1/60 of second ** -->
-    <!--define name="ROLL_SLEW" value="0.6"/--> <!-- was 0.05 -->
-
-
-    <define name="PITCH_PGAIN" value="7000."/>
-
-    <!-- only for stabilization adaptive -->
-    <define name="PITCH_DGAIN" value="1000."/>
-    <define name="PITCH_IGAIN" value="500."/>
-    <define name="PITCH_KFFA" value="0."/>
-    <define name="PITCH_KFFD" value="0."/>
-
-
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <define name="PITCH_OF_ROLL" value="0.03"/>
-
-  </section>
-
-<!-- ******************************** NAV ********************************** -->
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-  </section>
-
-<!-- ***************************** AGGRESIVE ******************************* -->
-  <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="18"/> <!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="8"/> <!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.99"/> <!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="RadOfDeg(45)"/> <!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.5"/> <!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="RadOfDeg(-30)"/> <!-- Pitch for Aggressive Decent -->
-    <define name="CLIMB_NAV_RATIO" value="0.8"/> <!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
-    <define name="DESCENT_NAV_RATIO" value="0.99"/>
-  </section>
-
-<!-- ****************************** FAILSAFE ******************************* -->
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
-    <define name="DEFAULT_THROTTLE" value="0" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.15" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="-0.1" unit="rad"/>
-    <define name="HOME_RADIUS" value="60" unit="m"/>
-  </section>
-
-
-<!-- ******************************** SIMU ********************************* -->
-  <section name="SIMU">
-    <define name="YAW_RESPONSE_FACTOR" value="0.5"/> <!-- a to low of a value gives bad simulation results -->
-  </section>
-
-</airframe>
diff --git a/conf/airframes/untested/stm32f4_discovery_test.xml b/conf/airframes/untested/stm32f4_discovery_test.xml
deleted file mode 100644
index eeb45a10d8..0000000000
--- a/conf/airframes/untested/stm32f4_discovery_test.xml
+++ /dev/null
@@ -1,177 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-
-<airframe name="STM32F4 Discovery Board test">
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="stm32f4_discovery">
-      <module name="radio_control" type="spektrum">
-        <define name="RADIO_MODE" value="RADIO_AUX1"/>
-      </module>
-    </target>
-
-    <module name="motor_mixing"/>
-    <module name="actuators"     type="pwm">
-      <!--define name="SERVO_HZ" value="400"/-->
-    </module>
-
-    <module name="telemetry"     type="transparent"/>
-    <module name="imu"           type="aspirin_v2.1">
-      <configure name="ASPIRIN_2_SPI_DEV" value="spi1"/>
-      <configure name="ASPIRIN_2_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
-    </module>
-    <module name="gps"           type="ublox"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs"          type="int_cmpl_quat">
-      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
-    </module>
-    <module name="ins"/>
-  </firmware>
-
-  <firmware name="test_progs">
-    <target name="test_adc" board="stm32f4_discovery"/>
-    <target name="test_lis302dl" board="stm32f4_discovery">
-      <define name="STM32F4_DISCOVERY_SPI1_FOR_LIS302"/>
-    </target>
-  </firmware>
-
-  <modules main_freq="512">
-  </modules>
-
-  <servos driver="Pwm">
-    <servo name="FRONT"   no="0" min="1000" neutral="1100" max="1900"/>
-    <servo name="BACK"    no="1" min="1000" neutral="1100" max="1900"/>
-    <servo name="RIGHT"   no="2" min="1000" neutral="1100" max="1900"/>
-    <servo name="LEFT"    no="3" min="1000" neutral="1100" max="1900"/>
-  </servos>
-
-  <commands>
-    <axis name="ROLL"   failsafe_value="0"/>
-    <axis name="PITCH"  failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="256"/>
-    <!-- front/back turning CW, right/left CCW -->
-    <define name="ROLL_COEF"   value="{    0,    0, -256,  256 }"/>
-    <define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
-    <define name="YAW_COEF"    value="{ -256, -256,  256,  256 }"/>
-    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
-    <set servo="BACK"   value="motor_mixing.commands[1]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
-  </command_laws>
-
-  <section name="IMU" prefix="IMU_">
-    <define name="ACCEL_X_NEUTRAL" value="11"/>
-    <define name="ACCEL_Y_NEUTRAL" value="11"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-25"/>
-
-    <!-- replace this with your own calibration -->
-    <define name="MAG_X_NEUTRAL" value="-179"/>
-    <define name="MAG_Y_NEUTRAL" value="-21"/>
-    <define name="MAG_Z_NEUTRAL" value="79"/>
-    <define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
-    <define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
-
-    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <define name="H_X" value="0.3770441"/>
-    <define name="H_Y" value="0.0193986"/>
-    <define name="H_Z" value="0.9259921"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-  </section>
-
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI"     value="45." unit="deg"/>
-    <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
-    <define name="DEADBAND_A"     value="0"/>
-    <define name="DEADBAND_E"     value="0"/>
-    <define name="DEADBAND_R"     value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P"  value="400" unit="deg/s"/>
-    <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q"  value="400" unit="deg/s"/>
-    <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R"  value="250" unit="deg/s"/>
-    <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="1000"/>
-    <define name="PHI_DGAIN"  value="400"/>
-    <define name="PHI_IGAIN"  value="200"/>
-
-    <define name="THETA_PGAIN"  value="1000"/>
-    <define name="THETA_DGAIN"  value="400"/>
-    <define name="THETA_IGAIN"  value="200"/>
-
-    <define name="PSI_PGAIN"  value="500"/>
-    <define name="PSI_DGAIN"  value="300"/>
-    <define name="PSI_IGAIN"  value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value="300"/>
-    <define name="THETA_DDGAIN" value="300"/>
-    <define name="PSI_DDGAIN"   value="300"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP"    value="150"/>
-    <define name="HOVER_KD"    value="80"/>
-    <define name="HOVER_KI"    value="20"/>
-    <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <define name="PGAIN" value="50"/>
-    <define name="DGAIN" value="100"/>
-    <define name="AGAIN" value="70"/>
-    <define name="IGAIN" value="20"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1"  value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-
-</airframe>
diff --git a/conf/boards/stm32f3_discovery_1.0_chibios.makefile b/conf/boards/stm32f3_discovery_1.0_chibios.makefile
deleted file mode 100644
index c04a4773d8..0000000000
--- a/conf/boards/stm32f3_discovery_1.0_chibios.makefile
+++ /dev/null
@@ -1,76 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-# stm32f3_discovery_chibios.makefile
-#
-#
-
-BOARD=stm32f3_discovery
-BOARD_VERSION=1.0
-BOARD_DIR=$(BOARD)/chibios/v$(BOARD_VERSION)
-BOARD_CFG=\"boards/$(BOARD_DIR)/board.h\"
-
-ARCH=chibios
-$(TARGET).ARCHDIR = $(ARCH)
-
-RTOS=chibios
-
-## FPU on F3
-USE_FPU=hard
-
-$(TARGET).CFLAGS += -DSTM32F3 -DPPRZLINK_ENABLE_FD
-
-##############################################################################
-# Architecture or project specific options
-#
-# Define project name here (target)
-PROJECT = $(TARGET)
-
-# Project specific files and paths (see Makefile.chibios for details)
-CHIBIOS_BOARD_PLATFORM = STM32F3xx/platform.mk
-CHIBIOS_BOARD_LINKER = STM32F303xC.ld
-CHIBIOS_BOARD_STARTUP = startup_stm32f3xx.mk
-
-##############################################################################
-# Compiler settings
-#
-MCU  = cortex-m4
-
-
-# default flash mode is via DFU-UTIL
-# possibilities: DFU-UTIL, SWD, STLINK
-FLASH_MODE ?= DFU-UTIL
-
-HAS_LUFTBOOT = FALSE
-
-#
-# default LED configuration
-#
-RADIO_CONTROL_LED  ?= 4
-BARO_LED           ?= none
-AHRS_ALIGNER_LED   ?= 5
-GPS_LED            ?= 6
-SYS_TIME_LED       ?= 3
-
-#
-# default UART configuration (modem, gps, spektrum)
-#
-
-MODEM_PORT ?= UART1
-MODEM_BAUD ?= B57600
-
-GPS_PORT ?= UART2
-GPS_BAUD ?= B38400
-
-RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART3
-SBUS_PORT ?= UART3
-
-
-#
-# default actuator configuration
-#
-# you can use different actuators by adding a configure option to your firmware section
-# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
-# and by setting the correct "driver" attribute in servo section
-# e.g. <servo driver="Ppm">
-#
-ACTUATORS ?= actuators_pwm
diff --git a/conf/boards/stm32f4_discovery.makefile b/conf/boards/stm32f4_discovery.makefile
deleted file mode 100644
index 5a24412bac..0000000000
--- a/conf/boards/stm32f4_discovery.makefile
+++ /dev/null
@@ -1,55 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-# stm32f4_discovery.makefile
-#
-#
-
-BOARD=stm32f4_discovery
-BOARD_VERSION=
-BOARD_CFG=\"boards/$(BOARD).h\"
-
-ARCH=stm32
-ARCH_L=f4
-ARCH_DIR=stm32
-SRC_ARCH=arch/$(ARCH_DIR)
-$(TARGET).ARCHDIR = $(ARCH)
-$(TARGET).LDSCRIPT=$(SRC_ARCH)/stm32f4_discovery.ld
-
-HARD_FLOAT=yes
-
-# default flash mode is via usb dfu bootloader
-# possibilities: STLINK, DFU-UTIL, SWD, JTAG_BMP
-FLASH_MODE ?= STLINK
-
-#
-# default LED configuration
-#
-RADIO_CONTROL_LED  ?= 4
-BARO_LED           ?= none
-AHRS_ALIGNER_LED   ?= 5
-GPS_LED            ?= 6
-SYS_TIME_LED       ?= 3
-
-#
-# default UART configuration (modem, gps, spektrum)
-#
-
-MODEM_PORT ?= UART6
-MODEM_BAUD ?= B57600
-
-GPS_PORT ?= UART3
-GPS_BAUD ?= B38400
-
-RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1
-
-
-#
-# default actuator configuration
-#
-# you can use different actuators by adding a configure option to your firmware section
-# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
-# and by setting the correct "driver" attribute in servo section
-# e.g. <servo driver="Ppm">
-#
-ACTUATORS ?= actuators_pwm
-
diff --git a/conf/flash_modes.xml b/conf/flash_modes.xml
index ac716cb007..29bf35be27 100644
--- a/conf/flash_modes.xml
+++ b/conf/flash_modes.xml
@@ -54,7 +54,6 @@
     <variable name="FLASH_MODE" value="DFU-UTIL"/>
     <boards>
       <board name="apogee_.*"/>
-      <board name="stm32f4_discovery"/>
       <board name="li[s]?a_mx_.*"/>
       <board name="navstik_.*"/>
       <board name="elle*"/>
@@ -71,7 +70,6 @@
     <variable name="FLASH_MODE" value="STLINK"/>
     <boards>
       <board name="apogee_.*"/>
-      <board name="stm32f4_discovery"/>
       <board name="li[s]?a_mx_.*"/>
       <board name="cc3d"/>
       <board name="elle*"/>
@@ -89,7 +87,6 @@
     <variable name="FLASH_MODE" value="SWD"/>
     <boards>
       <board name="apogee_.*"/>
-      <board name="stm32f4_discovery"/>
       <board name="li[s]?a_m_.*"/>
       <board name="li[s]?a_mx_.*"/>
       <board name="px4fmu_.*"/>
@@ -120,7 +117,6 @@
     <variable name="FLASH_MODE" value="JTAG_BMP"/>
     <boards>
       <board name="apogee_*"/>
-      <board name="stm32f4_discovery"/>
       <board name="li[s]?a_[ms]?_.*"/>
       <board name="li[s]?a_mx_.*"/>
       <board name="px4fmu_.*"/>
diff --git a/sw/airborne/arch/stm32/stm32f4_discovery.ld b/sw/airborne/arch/stm32/stm32f4_discovery.ld
deleted file mode 100644
index 19e9722028..0000000000
--- a/sw/airborne/arch/stm32/stm32f4_discovery.ld
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * Copyright (C) 2013 Gautier Hattenberger
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/* Linker script for ST STM32F4DISCOVERY (STM32F407VG, 1024K flash, 128K RAM). */
-
-/* Define memory regions. */
-MEMORY
-{
-	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
-	/* Reserving 128kb at the end of the flash for persistent settings. */
-	rom (rx) : ORIGIN = 0x08000000, LENGTH = 896K
-}
-
-/* Include the common ld script. */
-INCLUDE libopencm3_stm32f4.ld
-
diff --git a/sw/airborne/boards/stm32f3_discovery/chibios/v1.0/board.c b/sw/airborne/boards/stm32f3_discovery/chibios/v1.0/board.c
deleted file mode 100644
index 6a0d8e81ff..0000000000
--- a/sw/airborne/boards/stm32f3_discovery/chibios/v1.0/board.c
+++ /dev/null
@@ -1,265 +0,0 @@
-/*
-    ChibiOS - Copyright (C) 2006..2018 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.
-*/
-
-/*
- * This file has been automatically generated using ChibiStudio board
- * generator plugin. Do not edit manually.
- */
-
-#include "hal.h"
-#include "stm32_gpio.h"
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/**
- * @brief   Type of STM32 GPIO port setup.
- */
-typedef struct {
-  uint32_t              moder;
-  uint32_t              otyper;
-  uint32_t              ospeedr;
-  uint32_t              pupdr;
-  uint32_t              odr;
-  uint32_t              afrl;
-  uint32_t              afrh;
-} gpio_setup_t;
-
-/**
- * @brief   Type of STM32 GPIO initialization data.
- */
-typedef struct {
-#if STM32_HAS_GPIOA || defined(__DOXYGEN__)
-  gpio_setup_t          PAData;
-#endif
-#if STM32_HAS_GPIOB || defined(__DOXYGEN__)
-  gpio_setup_t          PBData;
-#endif
-#if STM32_HAS_GPIOC || defined(__DOXYGEN__)
-  gpio_setup_t          PCData;
-#endif
-#if STM32_HAS_GPIOD || defined(__DOXYGEN__)
-  gpio_setup_t          PDData;
-#endif
-#if STM32_HAS_GPIOE || defined(__DOXYGEN__)
-  gpio_setup_t          PEData;
-#endif
-#if STM32_HAS_GPIOF || defined(__DOXYGEN__)
-  gpio_setup_t          PFData;
-#endif
-#if STM32_HAS_GPIOG || defined(__DOXYGEN__)
-  gpio_setup_t          PGData;
-#endif
-#if STM32_HAS_GPIOH || defined(__DOXYGEN__)
-  gpio_setup_t          PHData;
-#endif
-#if STM32_HAS_GPIOI || defined(__DOXYGEN__)
-  gpio_setup_t          PIData;
-#endif
-#if STM32_HAS_GPIOJ || defined(__DOXYGEN__)
-  gpio_setup_t          PJData;
-#endif
-#if STM32_HAS_GPIOK || defined(__DOXYGEN__)
-  gpio_setup_t          PKData;
-#endif
-} gpio_config_t;
-
-/**
- * @brief   STM32 GPIO static initialization data.
- */
-static const gpio_config_t gpio_default_config = {
-#if STM32_HAS_GPIOA
-  {VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR,
-   VAL_GPIOA_ODR,   VAL_GPIOA_AFRL,   VAL_GPIOA_AFRH},
-#endif
-#if STM32_HAS_GPIOB
-  {VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR,
-   VAL_GPIOB_ODR,   VAL_GPIOB_AFRL,   VAL_GPIOB_AFRH},
-#endif
-#if STM32_HAS_GPIOC
-  {VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR,
-   VAL_GPIOC_ODR,   VAL_GPIOC_AFRL,   VAL_GPIOC_AFRH},
-#endif
-#if STM32_HAS_GPIOD
-  {VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR,
-   VAL_GPIOD_ODR,   VAL_GPIOD_AFRL,   VAL_GPIOD_AFRH},
-#endif
-#if STM32_HAS_GPIOE
-  {VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR,
-   VAL_GPIOE_ODR,   VAL_GPIOE_AFRL,   VAL_GPIOE_AFRH},
-#endif
-#if STM32_HAS_GPIOF
-  {VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR,
-   VAL_GPIOF_ODR,   VAL_GPIOF_AFRL,   VAL_GPIOF_AFRH},
-#endif
-#if STM32_HAS_GPIOG
-  {VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR,
-   VAL_GPIOG_ODR,   VAL_GPIOG_AFRL,   VAL_GPIOG_AFRH},
-#endif
-#if STM32_HAS_GPIOH
-  {VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR,
-   VAL_GPIOH_ODR,   VAL_GPIOH_AFRL,   VAL_GPIOH_AFRH},
-#endif
-#if STM32_HAS_GPIOI
-  {VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR,
-   VAL_GPIOI_ODR,   VAL_GPIOI_AFRL,   VAL_GPIOI_AFRH},
-#endif
-#if STM32_HAS_GPIOJ
-  {VAL_GPIOJ_MODER, VAL_GPIOJ_OTYPER, VAL_GPIOJ_OSPEEDR, VAL_GPIOJ_PUPDR,
-   VAL_GPIOJ_ODR,   VAL_GPIOJ_AFRL,   VAL_GPIOJ_AFRH},
-#endif
-#if STM32_HAS_GPIOK
-  {VAL_GPIOK_MODER, VAL_GPIOK_OTYPER, VAL_GPIOK_OSPEEDR, VAL_GPIOK_PUPDR,
-   VAL_GPIOK_ODR,   VAL_GPIOK_AFRL,   VAL_GPIOK_AFRH}
-#endif
-};
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-static void gpio_init(stm32_gpio_t *gpiop, const gpio_setup_t *config) {
-
-  gpiop->OTYPER  = config->otyper;
-  gpiop->OSPEEDR = config->ospeedr;
-  gpiop->PUPDR   = config->pupdr;
-  gpiop->ODR     = config->odr;
-  gpiop->AFRL    = config->afrl;
-  gpiop->AFRH    = config->afrh;
-  gpiop->MODER   = config->moder;
-}
-
-static void stm32_gpio_init(void) {
-
-  /* Enabling GPIO-related clocks, the mask comes from the
-     registry header file.*/
-  rccResetAHB1(STM32_GPIO_EN_MASK);
-  rccEnableAHB1(STM32_GPIO_EN_MASK, true);
-
-  /* Initializing all the defined GPIO ports.*/
-#if STM32_HAS_GPIOA
-  gpio_init(GPIOA, &gpio_default_config.PAData);
-#endif
-#if STM32_HAS_GPIOB
-  gpio_init(GPIOB, &gpio_default_config.PBData);
-#endif
-#if STM32_HAS_GPIOC
-  gpio_init(GPIOC, &gpio_default_config.PCData);
-#endif
-#if STM32_HAS_GPIOD
-  gpio_init(GPIOD, &gpio_default_config.PDData);
-#endif
-#if STM32_HAS_GPIOE
-  gpio_init(GPIOE, &gpio_default_config.PEData);
-#endif
-#if STM32_HAS_GPIOF
-  gpio_init(GPIOF, &gpio_default_config.PFData);
-#endif
-#if STM32_HAS_GPIOG
-  gpio_init(GPIOG, &gpio_default_config.PGData);
-#endif
-#if STM32_HAS_GPIOH
-  gpio_init(GPIOH, &gpio_default_config.PHData);
-#endif
-#if STM32_HAS_GPIOI
-  gpio_init(GPIOI, &gpio_default_config.PIData);
-#endif
-#if STM32_HAS_GPIOJ
-  gpio_init(GPIOJ, &gpio_default_config.PJData);
-#endif
-#if STM32_HAS_GPIOK
-  gpio_init(GPIOK, &gpio_default_config.PKData);
-#endif
-}
-
-/*===========================================================================*/
-/* Driver interrupt handlers.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-/**
- * @brief   Early initialization code.
- * @details GPIO ports and system clocks are initialized before everything
- *          else.
- */
-void __early_init(void) {
-
-  stm32_gpio_init();
-  stm32_clock_init();
-}
-
-#if HAL_USE_SDC || defined(__DOXYGEN__)
-/**
- * @brief   SDC card detection.
- */
-bool sdc_lld_is_card_inserted(SDCDriver *sdcp) {
-  static bool last_status = false;
-
-  (void)sdcp;
-  /* TODO: Fill the implementation.*/
-  return true;
-}
-
-/**
- * @brief   SDC card write protection detection.
- */
-bool sdc_lld_is_write_protected(SDCDriver *sdcp) {
-
-  (void)sdcp;
-  return false;
-}
-#endif /* HAL_USE_SDC */
-
-#if HAL_USE_MMC_SPI || defined(__DOXYGEN__)
-/**
- * @brief   MMC_SPI card detection.
- */
-bool mmc_lld_is_card_inserted(MMCDriver *mmcp) {
-
-  (void)mmcp;
-  /* TODO: Fill the implementation.*/
-  return true;
-}
-
-/**
- * @brief   MMC_SPI card write protection detection.
- */
-bool mmc_lld_is_write_protected(MMCDriver *mmcp) {
-
-  (void)mmcp;
-  /* TODO: Fill the implementation.*/
-  return false;
-}
-#endif
-
-/**
- * @brief   Board-specific initialization code.
- * @todo    Add your board-specific code, if any.
- */
-void boardInit(void) {
-}
diff --git a/sw/airborne/boards/stm32f3_discovery/chibios/v1.0/board.h b/sw/airborne/boards/stm32f3_discovery/chibios/v1.0/board.h
deleted file mode 100644
index 9a573c029c..0000000000
--- a/sw/airborne/boards/stm32f3_discovery/chibios/v1.0/board.h
+++ /dev/null
@@ -1,1628 +0,0 @@
-/*
-    ChibiOS - Copyright (C) 2006..2016 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.
-*/
-
-/*
- * This file has been automatically generated using ChibiStudio board
- * generator plugin. Do not edit manually.
- */
-
-#ifndef BOARD_H
-#define BOARD_H
-
-/*
- * Setup for STMicroelectronics STM32F3-Discovery board.
- */
-
-/*
- * Board identifier.
- */
-#define BOARD_ST_STM32F3_DISCOVERY
-#define BOARD_NAME                  "STMicroelectronics STM32F3-Discovery"
-
-/*
- * Board oscillators-related settings.
- * NOTE: LSE not fitted.
- */
-#if !defined(STM32_LSECLK)
-#define STM32_LSECLK                0U
-#endif
-
-#define STM32_LSEDRV                (3U << 3U)
-
-#if !defined(STM32_HSECLK)
-#define STM32_HSECLK                8000000U
-#endif
-
-#define STM32_HSE_BYPASS
-
-/*
- * MCU type as defined in the ST header.
- */
-#define STM32F303xC
-
-/*
- * IO pins assignments.
- */
-#define GPIOA_BUTTON                0U
-#define GPIOA_PIN1                  1U
-#define GPIOA_PIN2                  2U
-#define GPIOA_PIN3                  3U
-#define GPIOA_PIN4                  4U
-#define GPIOA_SPI1_SCK              5U
-#define GPIOA_L3GD20_SCL            5U
-#define GPIOA_SPI1_MISO             6U
-#define GPIOA_L3GD20_SDO            6U
-#define GPIOA_SPI1_MOSI             7U
-#define GPIOA_L3GD20_SDI            7U
-#define GPIOA_PIN8                  8U
-#define GPIOA_PIN9                  9U
-#define GPIOA_PIN10                 10U
-#define GPIOA_USB_DM                11U
-#define GPIOA_USB_DP                12U
-#define GPIOA_SWDIO                 13U
-#define GPIOA_SWCLK                 14U
-#define GPIOA_PIN15                 15U
-
-#define GPIOB_PIN0                  0U
-#define GPIOB_PIN1                  1U
-#define GPIOB_PIN2                  2U
-#define GPIOB_SWO                   3U
-#define GPIOB_PIN4                  4U
-#define GPIOB_PIN5                  5U
-#define GPIOB_I2C1_SCL              6U
-#define GPIOB_LSM303DLHC_SCL        6U
-#define GPIOB_I2C1_SDA              7U
-#define GPIOB_LSM303DLHC_SDA        7U
-#define GPIOB_PIN8                  8U
-#define GPIOB_PIN9                  9U
-#define GPIOB_PIN10                 10U
-#define GPIOB_PIN11                 11U
-#define GPIOB_PIN12                 12U
-#define GPIOB_PIN13                 13U
-#define GPIOB_PIN14                 14U
-#define GPIOB_PIN15                 15U
-
-#define GPIOC_PIN0                  0U
-#define GPIOC_PIN1                  1U
-#define GPIOC_PIN2                  2U
-#define GPIOC_PIN3                  3U
-#define GPIOC_PIN4                  4U
-#define GPIOC_PIN5                  5U
-#define GPIOC_PIN6                  6U
-#define GPIOC_PIN7                  7U
-#define GPIOC_PIN8                  8U
-#define GPIOC_PIN9                  9U
-#define GPIOC_PIN10                 10U
-#define GPIOC_PIN11                 11U
-#define GPIOC_PIN12                 12U
-#define GPIOC_PIN13                 13U
-#define GPIOC_OSC32_IN              14U
-#define GPIOC_OSC32_OUT             15U
-
-#define GPIOD_PIN0                  0U
-#define GPIOD_PIN1                  1U
-#define GPIOD_PIN2                  2U
-#define GPIOD_PIN3                  3U
-#define GPIOD_PIN4                  4U
-#define GPIOD_PIN5                  5U
-#define GPIOD_PIN6                  6U
-#define GPIOD_PIN7                  7U
-#define GPIOD_PIN8                  8U
-#define GPIOD_PIN9                  9U
-#define GPIOD_PIN10                 10U
-#define GPIOD_PIN11                 11U
-#define GPIOD_PIN12                 12U
-#define GPIOD_PIN13                 13U
-#define GPIOD_PIN14                 14U
-#define GPIOD_PIN15                 15U
-
-#define GPIOE_L3GD20_INT1           0U
-#define GPIOE_L3GD20_INT2           1U
-#define GPIOE_LSM303DLHC_DRDY       2U
-#define GPIOE_SPI1_CS               3U
-#define GPIOE_L3GD20_CS             3U
-#define GPIOE_LSM303DLHC_INT1       4U
-#define GPIOE_LSM303DLHC_INT2       5U
-#define GPIOE_PIN6                  6U
-#define GPIOE_PIN7                  7U
-#define GPIOE_LED4_BLUE             8U
-#define GPIOE_LED3_RED              9U
-#define GPIOE_LED5_ORANGE           10U
-#define GPIOE_LED7_GREEN            11U
-#define GPIOE_LED9_BLUE             12U
-#define GPIOE_LED10_RED             13U
-#define GPIOE_LED8_ORANGE           14U
-#define GPIOE_LED6_GREEN            15U
-
-#define GPIOF_OSC_IN                0U
-#define GPIOF_OSC_OUT               1U
-#define GPIOF_PIN2                  2U
-#define GPIOF_PIN3                  3U
-#define GPIOF_PIN4                  4U
-#define GPIOF_PIN5                  5U
-#define GPIOF_PIN6                  6U
-#define GPIOF_PIN7                  7U
-#define GPIOF_PIN8                  8U
-#define GPIOF_PIN9                  9U
-#define GPIOF_PIN10                 10U
-#define GPIOF_PIN11                 11U
-#define GPIOF_PIN12                 12U
-#define GPIOF_PIN13                 13U
-#define GPIOF_PIN14                 14U
-#define GPIOF_PIN15                 15U
-
-#define GPIOG_PIN0                  0U
-#define GPIOG_PIN1                  1U
-#define GPIOG_PIN2                  2U
-#define GPIOG_PIN3                  3U
-#define GPIOG_PIN4                  4U
-#define GPIOG_PIN5                  5U
-#define GPIOG_PIN6                  6U
-#define GPIOG_PIN7                  7U
-#define GPIOG_PIN8                  8U
-#define GPIOG_PIN9                  9U
-#define GPIOG_PIN10                 10U
-#define GPIOG_PIN11                 11U
-#define GPIOG_PIN12                 12U
-#define GPIOG_PIN13                 13U
-#define GPIOG_PIN14                 14U
-#define GPIOG_PIN15                 15U
-
-#define GPIOH_PIN0                  0U
-#define GPIOH_PIN1                  1U
-#define GPIOH_PIN2                  2U
-#define GPIOH_PIN3                  3U
-#define GPIOH_PIN4                  4U
-#define GPIOH_PIN5                  5U
-#define GPIOH_PIN6                  6U
-#define GPIOH_PIN7                  7U
-#define GPIOH_PIN8                  8U
-#define GPIOH_PIN9                  9U
-#define GPIOH_PIN10                 10U
-#define GPIOH_PIN11                 11U
-#define GPIOH_PIN12                 12U
-#define GPIOH_PIN13                 13U
-#define GPIOH_PIN14                 14U
-#define GPIOH_PIN15                 15U
-
-/*
- * IO lines assignments.
- */
-#define LINE_BUTTON                 PAL_LINE(GPIOA, 0U)
-#define LINE_SPI1_SCK               PAL_LINE(GPIOA, 5U)
-#define LINE_L3GD20_SCL             PAL_LINE(GPIOA, 5U)
-#define LINE_SPI1_MISO              PAL_LINE(GPIOA, 6U)
-#define LINE_L3GD20_SDO             PAL_LINE(GPIOA, 6U)
-#define LINE_SPI1_MOSI              PAL_LINE(GPIOA, 7U)
-#define LINE_L3GD20_SDI             PAL_LINE(GPIOA, 7U)
-#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_SWO                    PAL_LINE(GPIOB, 3U)
-#define LINE_I2C1_SCL               PAL_LINE(GPIOB, 6U)
-#define LINE_LSM303DLHC_SCL         PAL_LINE(GPIOB, 6U)
-#define LINE_I2C1_SDA               PAL_LINE(GPIOB, 7U)
-#define LINE_LSM303DLHC_SDA         PAL_LINE(GPIOB, 7U)
-
-#define LINE_OSC32_IN               PAL_LINE(GPIOC, 14U)
-#define LINE_OSC32_OUT              PAL_LINE(GPIOC, 15U)
-
-
-#define LINE_L3GD20_INT1            PAL_LINE(GPIOE, 0U)
-#define LINE_L3GD20_INT2            PAL_LINE(GPIOE, 1U)
-#define LINE_LSM303DLHC_DRDY        PAL_LINE(GPIOE, 2U)
-#define LINE_SPI1_CS                PAL_LINE(GPIOE, 3U)
-#define LINE_L3GD20_CS              PAL_LINE(GPIOE, 3U)
-#define LINE_LSM303DLHC_INT1        PAL_LINE(GPIOE, 4U)
-#define LINE_LSM303DLHC_INT2        PAL_LINE(GPIOE, 5U)
-#define LINE_LED4_BLUE              PAL_LINE(GPIOE, 8U)
-#define LINE_LED3_RED               PAL_LINE(GPIOE, 9U)
-#define LINE_LED5_ORANGE            PAL_LINE(GPIOE, 10U)
-#define LINE_LED7_GREEN             PAL_LINE(GPIOE, 11U)
-#define LINE_LED9_BLUE              PAL_LINE(GPIOE, 12U)
-#define LINE_LED10_RED              PAL_LINE(GPIOE, 13U)
-#define LINE_LED8_ORANGE            PAL_LINE(GPIOE, 14U)
-#define LINE_LED6_GREEN             PAL_LINE(GPIOE, 15U)
-
-#define LINE_OSC_IN                 PAL_LINE(GPIOF, 0U)
-#define LINE_OSC_OUT                PAL_LINE(GPIOF, 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_LOW(n)              (0U << (n))
-#define PIN_ODR_HIGH(n)             (1U << (n))
-#define PIN_OTYPE_PUSHPULL(n)       (0U << (n))
-#define PIN_OTYPE_OPENDRAIN(n)      (1U << (n))
-#define PIN_OSPEED_VERYLOW(n)       (0U << ((n) * 2U))
-#define PIN_OSPEED_LOW(n)           (1U << ((n) * 2U))
-#define PIN_OSPEED_MEDIUM(n)        (2U << ((n) * 2U))
-#define PIN_OSPEED_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))
-
-/*
- * GPIOA setup:
- *
- * PA0  - BUTTON                    (input floating).
- * PA1  - PIN1                      (input pullup).
- * PA2  - PIN2                      (input pullup).
- * PA3  - PIN3                      (input pullup).
- * PA4  - PIN4                      (input pullup).
- * PA5  - SPI1_SCK L3GD20_SCL       (alternate 5).
- * PA6  - SPI1_MISO L3GD20_SDO      (alternate 5).
- * PA7  - SPI1_MOSI L3GD20_SDI      (alternate 5).
- * PA8  - PIN8                      (input pullup).
- * PA9  - PIN9                      (input pullup).
- * PA10 - PIN10                     (input pullup).
- * PA11 - USB_DM                    (alternate 14).
- * PA12 - USB_DP                    (alternate 14).
- * PA13 - SWDIO                     (alternate 0).
- * PA14 - SWCLK                     (alternate 0).
- * PA15 - PIN15                     (input pullup).
- */
-#define VAL_GPIOA_MODER             (PIN_MODE_INPUT(GPIOA_BUTTON) |         \
-                                     PIN_MODE_INPUT(GPIOA_PIN1) |           \
-                                     PIN_MODE_INPUT(GPIOA_PIN2) |           \
-                                     PIN_MODE_INPUT(GPIOA_PIN3) |           \
-                                     PIN_MODE_INPUT(GPIOA_PIN4) |           \
-                                     PIN_MODE_ALTERNATE(GPIOA_SPI1_SCK) |   \
-                                     PIN_MODE_ALTERNATE(GPIOA_SPI1_MISO) |  \
-                                     PIN_MODE_ALTERNATE(GPIOA_SPI1_MOSI) |  \
-                                     PIN_MODE_INPUT(GPIOA_PIN8) |           \
-                                     PIN_MODE_INPUT(GPIOA_PIN9) |           \
-                                     PIN_MODE_INPUT(GPIOA_PIN10) |          \
-                                     PIN_MODE_ALTERNATE(GPIOA_USB_DM) |     \
-                                     PIN_MODE_ALTERNATE(GPIOA_USB_DP) |     \
-                                     PIN_MODE_ALTERNATE(GPIOA_SWDIO) |      \
-                                     PIN_MODE_ALTERNATE(GPIOA_SWCLK) |      \
-                                     PIN_MODE_INPUT(GPIOA_PIN15))
-#define VAL_GPIOA_OTYPER            (PIN_OTYPE_PUSHPULL(GPIOA_BUTTON) |     \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_PIN1) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_PIN2) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_PIN3) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_PIN4) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_SPI1_SCK) |   \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_SPI1_MISO) |  \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_SPI1_MOSI) |  \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_PIN8) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_PIN9) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_PIN10) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_USB_DM) |     \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_USB_DP) |     \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_SWDIO) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_SWCLK) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOA_PIN15))
-#define VAL_GPIOA_OSPEEDR           (PIN_OSPEED_VERYLOW(GPIOA_BUTTON) |     \
-                                     PIN_OSPEED_VERYLOW(GPIOA_PIN1) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOA_PIN2) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOA_PIN3) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOA_PIN4) |       \
-                                     PIN_OSPEED_HIGH(GPIOA_SPI1_SCK) |      \
-                                     PIN_OSPEED_HIGH(GPIOA_SPI1_MISO) |     \
-                                     PIN_OSPEED_HIGH(GPIOA_SPI1_MOSI) |     \
-                                     PIN_OSPEED_VERYLOW(GPIOA_PIN8) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOA_PIN9) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOA_PIN10) |      \
-                                     PIN_OSPEED_HIGH(GPIOA_USB_DM) |        \
-                                     PIN_OSPEED_VERYLOW(GPIOA_USB_DP) |     \
-                                     PIN_OSPEED_HIGH(GPIOA_SWDIO) |         \
-                                     PIN_OSPEED_HIGH(GPIOA_SWCLK) |         \
-                                     PIN_OSPEED_VERYLOW(GPIOA_PIN15))
-#define VAL_GPIOA_PUPDR             (PIN_PUPDR_FLOATING(GPIOA_BUTTON) |     \
-                                     PIN_PUPDR_PULLUP(GPIOA_PIN1) |         \
-                                     PIN_PUPDR_PULLUP(GPIOA_PIN2) |         \
-                                     PIN_PUPDR_PULLUP(GPIOA_PIN3) |         \
-                                     PIN_PUPDR_PULLUP(GPIOA_PIN4) |         \
-                                     PIN_PUPDR_FLOATING(GPIOA_SPI1_SCK) |   \
-                                     PIN_PUPDR_PULLUP(GPIOA_SPI1_MISO) |    \
-                                     PIN_PUPDR_FLOATING(GPIOA_SPI1_MOSI) |  \
-                                     PIN_PUPDR_PULLUP(GPIOA_PIN8) |         \
-                                     PIN_PUPDR_PULLUP(GPIOA_PIN9) |         \
-                                     PIN_PUPDR_PULLUP(GPIOA_PIN10) |        \
-                                     PIN_PUPDR_FLOATING(GPIOA_USB_DM) |     \
-                                     PIN_PUPDR_FLOATING(GPIOA_USB_DP) |     \
-                                     PIN_PUPDR_PULLUP(GPIOA_SWDIO) |        \
-                                     PIN_PUPDR_PULLDOWN(GPIOA_SWCLK) |      \
-                                     PIN_PUPDR_PULLUP(GPIOA_PIN15))
-#define VAL_GPIOA_ODR               (PIN_ODR_HIGH(GPIOA_BUTTON) |           \
-                                     PIN_ODR_HIGH(GPIOA_PIN1) |             \
-                                     PIN_ODR_HIGH(GPIOA_PIN2) |             \
-                                     PIN_ODR_HIGH(GPIOA_PIN3) |             \
-                                     PIN_ODR_HIGH(GPIOA_PIN4) |             \
-                                     PIN_ODR_HIGH(GPIOA_SPI1_SCK) |         \
-                                     PIN_ODR_HIGH(GPIOA_SPI1_MISO) |        \
-                                     PIN_ODR_HIGH(GPIOA_SPI1_MOSI) |        \
-                                     PIN_ODR_HIGH(GPIOA_PIN8) |             \
-                                     PIN_ODR_HIGH(GPIOA_PIN9) |             \
-                                     PIN_ODR_HIGH(GPIOA_PIN10) |            \
-                                     PIN_ODR_HIGH(GPIOA_USB_DM) |           \
-                                     PIN_ODR_HIGH(GPIOA_USB_DP) |           \
-                                     PIN_ODR_HIGH(GPIOA_SWDIO) |            \
-                                     PIN_ODR_HIGH(GPIOA_SWCLK) |            \
-                                     PIN_ODR_HIGH(GPIOA_PIN15))
-#define VAL_GPIOA_AFRL              (PIN_AFIO_AF(GPIOA_BUTTON, 0U) |        \
-                                     PIN_AFIO_AF(GPIOA_PIN1, 0U) |          \
-                                     PIN_AFIO_AF(GPIOA_PIN2, 0U) |          \
-                                     PIN_AFIO_AF(GPIOA_PIN3, 0U) |          \
-                                     PIN_AFIO_AF(GPIOA_PIN4, 0U) |          \
-                                     PIN_AFIO_AF(GPIOA_SPI1_SCK, 5U) |      \
-                                     PIN_AFIO_AF(GPIOA_SPI1_MISO, 5U) |     \
-                                     PIN_AFIO_AF(GPIOA_SPI1_MOSI, 5U))
-#define VAL_GPIOA_AFRH              (PIN_AFIO_AF(GPIOA_PIN8, 0U) |          \
-                                     PIN_AFIO_AF(GPIOA_PIN9, 0U) |          \
-                                     PIN_AFIO_AF(GPIOA_PIN10, 0U) |         \
-                                     PIN_AFIO_AF(GPIOA_USB_DM, 14U) |       \
-                                     PIN_AFIO_AF(GPIOA_USB_DP, 14U) |       \
-                                     PIN_AFIO_AF(GPIOA_SWDIO, 0U) |         \
-                                     PIN_AFIO_AF(GPIOA_SWCLK, 0U) |         \
-                                     PIN_AFIO_AF(GPIOA_PIN15, 0U))
-
-/*
- * GPIOB setup:
- *
- * PB0  - PIN0                      (input pullup).
- * PB1  - PIN1                      (input pullup).
- * PB2  - PIN2                      (input pullup).
- * PB3  - SWO                       (alternate 0).
- * PB4  - PIN4                      (input pullup).
- * PB5  - PIN5                      (input pullup).
- * PB6  - I2C1_SCL LSM303DLHC_SCL   (alternate 4).
- * PB7  - I2C1_SDA LSM303DLHC_SDA   (alternate 4).
- * PB8  - PIN8                      (input pullup).
- * PB9  - PIN9                      (input pullup).
- * PB10 - PIN10                     (input pullup).
- * PB11 - PIN11                     (input pullup).
- * PB12 - PIN12                     (input pullup).
- * PB13 - PIN13                     (input pullup).
- * PB14 - PIN14                     (input pullup).
- * PB15 - PIN15                     (input pullup).
- */
-#define VAL_GPIOB_MODER             (PIN_MODE_INPUT(GPIOB_PIN0) |           \
-                                     PIN_MODE_INPUT(GPIOB_PIN1) |           \
-                                     PIN_MODE_INPUT(GPIOB_PIN2) |           \
-                                     PIN_MODE_ALTERNATE(GPIOB_SWO) |        \
-                                     PIN_MODE_INPUT(GPIOB_PIN4) |           \
-                                     PIN_MODE_INPUT(GPIOB_PIN5) |           \
-                                     PIN_MODE_ALTERNATE(GPIOB_I2C1_SCL) |   \
-                                     PIN_MODE_ALTERNATE(GPIOB_I2C1_SDA) |   \
-                                     PIN_MODE_INPUT(GPIOB_PIN8) |           \
-                                     PIN_MODE_INPUT(GPIOB_PIN9) |           \
-                                     PIN_MODE_INPUT(GPIOB_PIN10) |          \
-                                     PIN_MODE_INPUT(GPIOB_PIN11) |          \
-                                     PIN_MODE_INPUT(GPIOB_PIN12) |          \
-                                     PIN_MODE_INPUT(GPIOB_PIN13) |          \
-                                     PIN_MODE_INPUT(GPIOB_PIN14) |          \
-                                     PIN_MODE_INPUT(GPIOB_PIN15))
-#define VAL_GPIOB_OTYPER            (PIN_OTYPE_PUSHPULL(GPIOB_PIN0) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_PIN1) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_PIN2) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_SWO) |        \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_PIN4) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_PIN5) |       \
-                                     PIN_OTYPE_OPENDRAIN(GPIOB_I2C1_SCL) |  \
-                                     PIN_OTYPE_OPENDRAIN(GPIOB_I2C1_SDA) |  \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_PIN8) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_PIN9) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_PIN10) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_PIN11) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_PIN12) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_PIN13) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_PIN14) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOB_PIN15))
-#define VAL_GPIOB_OSPEEDR           (PIN_OSPEED_VERYLOW(GPIOB_PIN0) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOB_PIN1) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOB_PIN2) |       \
-                                     PIN_OSPEED_HIGH(GPIOB_SWO) |           \
-                                     PIN_OSPEED_VERYLOW(GPIOB_PIN4) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOB_PIN5) |       \
-                                     PIN_OSPEED_HIGH(GPIOB_I2C1_SCL) |      \
-                                     PIN_OSPEED_HIGH(GPIOB_I2C1_SDA) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOB_PIN8) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOB_PIN9) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOB_PIN10) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOB_PIN11) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOB_PIN12) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOB_PIN13) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOB_PIN14) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOB_PIN15))
-#define VAL_GPIOB_PUPDR             (PIN_PUPDR_PULLUP(GPIOB_PIN0) |         \
-                                     PIN_PUPDR_PULLUP(GPIOB_PIN1) |         \
-                                     PIN_PUPDR_PULLUP(GPIOB_PIN2) |         \
-                                     PIN_PUPDR_FLOATING(GPIOB_SWO) |        \
-                                     PIN_PUPDR_PULLUP(GPIOB_PIN4) |         \
-                                     PIN_PUPDR_PULLUP(GPIOB_PIN5) |         \
-                                     PIN_PUPDR_FLOATING(GPIOB_I2C1_SCL) |   \
-                                     PIN_PUPDR_FLOATING(GPIOB_I2C1_SDA) |   \
-                                     PIN_PUPDR_PULLUP(GPIOB_PIN8) |         \
-                                     PIN_PUPDR_PULLUP(GPIOB_PIN9) |         \
-                                     PIN_PUPDR_PULLUP(GPIOB_PIN10) |        \
-                                     PIN_PUPDR_PULLUP(GPIOB_PIN11) |        \
-                                     PIN_PUPDR_PULLUP(GPIOB_PIN12) |        \
-                                     PIN_PUPDR_PULLUP(GPIOB_PIN13) |        \
-                                     PIN_PUPDR_PULLUP(GPIOB_PIN14) |        \
-                                     PIN_PUPDR_PULLUP(GPIOB_PIN15))
-#define VAL_GPIOB_ODR               (PIN_ODR_HIGH(GPIOB_PIN0) |             \
-                                     PIN_ODR_HIGH(GPIOB_PIN1) |             \
-                                     PIN_ODR_HIGH(GPIOB_PIN2) |             \
-                                     PIN_ODR_HIGH(GPIOB_SWO) |              \
-                                     PIN_ODR_HIGH(GPIOB_PIN4) |             \
-                                     PIN_ODR_HIGH(GPIOB_PIN5) |             \
-                                     PIN_ODR_HIGH(GPIOB_I2C1_SCL) |         \
-                                     PIN_ODR_HIGH(GPIOB_I2C1_SDA) |         \
-                                     PIN_ODR_HIGH(GPIOB_PIN8) |             \
-                                     PIN_ODR_HIGH(GPIOB_PIN9) |             \
-                                     PIN_ODR_HIGH(GPIOB_PIN10) |            \
-                                     PIN_ODR_HIGH(GPIOB_PIN11) |            \
-                                     PIN_ODR_HIGH(GPIOB_PIN12) |            \
-                                     PIN_ODR_HIGH(GPIOB_PIN13) |            \
-                                     PIN_ODR_HIGH(GPIOB_PIN14) |            \
-                                     PIN_ODR_HIGH(GPIOB_PIN15))
-#define VAL_GPIOB_AFRL              (PIN_AFIO_AF(GPIOB_PIN0, 0U) |          \
-                                     PIN_AFIO_AF(GPIOB_PIN1, 0U) |          \
-                                     PIN_AFIO_AF(GPIOB_PIN2, 0U) |          \
-                                     PIN_AFIO_AF(GPIOB_SWO, 0U) |           \
-                                     PIN_AFIO_AF(GPIOB_PIN4, 0U) |          \
-                                     PIN_AFIO_AF(GPIOB_PIN5, 0U) |          \
-                                     PIN_AFIO_AF(GPIOB_I2C1_SCL, 4U) |      \
-                                     PIN_AFIO_AF(GPIOB_I2C1_SDA, 4U))
-#define VAL_GPIOB_AFRH              (PIN_AFIO_AF(GPIOB_PIN8, 0U) |          \
-                                     PIN_AFIO_AF(GPIOB_PIN9, 0U) |          \
-                                     PIN_AFIO_AF(GPIOB_PIN10, 0U) |         \
-                                     PIN_AFIO_AF(GPIOB_PIN11, 0U) |         \
-                                     PIN_AFIO_AF(GPIOB_PIN12, 0U) |         \
-                                     PIN_AFIO_AF(GPIOB_PIN13, 0U) |         \
-                                     PIN_AFIO_AF(GPIOB_PIN14, 0U) |         \
-                                     PIN_AFIO_AF(GPIOB_PIN15, 0U))
-
-/*
- * GPIOC setup:
- *
- * PC0  - PIN0                      (input pullup).
- * PC1  - PIN1                      (input pullup).
- * PC2  - PIN2                      (input pullup).
- * PC3  - PIN3                      (input pullup).
- * PC4  - PIN4                      (input pullup).
- * PC5  - PIN5                      (input pullup).
- * PC6  - PIN6                      (input pullup).
- * PC7  - PIN7                      (input pullup).
- * PC8  - PIN8                      (input pullup).
- * PC9  - PIN9                      (input pullup).
- * PC10 - PIN10                     (input pullup).
- * PC11 - PIN11                     (input pullup).
- * PC12 - PIN12                     (input pullup).
- * PC13 - PIN13                     (input pullup).
- * PC14 - OSC32_IN                  (input floating).
- * PC15 - OSC32_OUT                 (input floating).
- */
-#define VAL_GPIOC_MODER             (PIN_MODE_INPUT(GPIOC_PIN0) |           \
-                                     PIN_MODE_INPUT(GPIOC_PIN1) |           \
-                                     PIN_MODE_INPUT(GPIOC_PIN2) |           \
-                                     PIN_MODE_INPUT(GPIOC_PIN3) |           \
-                                     PIN_MODE_INPUT(GPIOC_PIN4) |           \
-                                     PIN_MODE_INPUT(GPIOC_PIN5) |           \
-                                     PIN_MODE_INPUT(GPIOC_PIN6) |           \
-                                     PIN_MODE_INPUT(GPIOC_PIN7) |           \
-                                     PIN_MODE_INPUT(GPIOC_PIN8) |           \
-                                     PIN_MODE_INPUT(GPIOC_PIN9) |           \
-                                     PIN_MODE_INPUT(GPIOC_PIN10) |          \
-                                     PIN_MODE_INPUT(GPIOC_PIN11) |          \
-                                     PIN_MODE_INPUT(GPIOC_PIN12) |          \
-                                     PIN_MODE_INPUT(GPIOC_PIN13) |          \
-                                     PIN_MODE_INPUT(GPIOC_OSC32_IN) |       \
-                                     PIN_MODE_INPUT(GPIOC_OSC32_OUT))
-#define VAL_GPIOC_OTYPER            (PIN_OTYPE_PUSHPULL(GPIOC_PIN0) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN1) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN2) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN3) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN4) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN5) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN6) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN7) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN8) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN9) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN10) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN11) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN12) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_PIN13) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_OSC32_IN) |   \
-                                     PIN_OTYPE_PUSHPULL(GPIOC_OSC32_OUT))
-#define VAL_GPIOC_OSPEEDR           (PIN_OSPEED_VERYLOW(GPIOC_PIN0) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN1) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN2) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN3) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN4) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN5) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN6) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN7) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN8) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN9) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN10) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN11) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN12) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOC_PIN13) |      \
-                                     PIN_OSPEED_HIGH(GPIOC_OSC32_IN) |      \
-                                     PIN_OSPEED_HIGH(GPIOC_OSC32_OUT))
-#define VAL_GPIOC_PUPDR             (PIN_PUPDR_PULLUP(GPIOC_PIN0) |         \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN1) |         \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN2) |         \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN3) |         \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN4) |         \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN5) |         \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN6) |         \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN7) |         \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN8) |         \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN9) |         \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN10) |        \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN11) |        \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN12) |        \
-                                     PIN_PUPDR_PULLUP(GPIOC_PIN13) |        \
-                                     PIN_PUPDR_FLOATING(GPIOC_OSC32_IN) |   \
-                                     PIN_PUPDR_FLOATING(GPIOC_OSC32_OUT))
-#define VAL_GPIOC_ODR               (PIN_ODR_HIGH(GPIOC_PIN0) |             \
-                                     PIN_ODR_HIGH(GPIOC_PIN1) |             \
-                                     PIN_ODR_HIGH(GPIOC_PIN2) |             \
-                                     PIN_ODR_HIGH(GPIOC_PIN3) |             \
-                                     PIN_ODR_HIGH(GPIOC_PIN4) |             \
-                                     PIN_ODR_HIGH(GPIOC_PIN5) |             \
-                                     PIN_ODR_HIGH(GPIOC_PIN6) |             \
-                                     PIN_ODR_HIGH(GPIOC_PIN7) |             \
-                                     PIN_ODR_HIGH(GPIOC_PIN8) |             \
-                                     PIN_ODR_HIGH(GPIOC_PIN9) |             \
-                                     PIN_ODR_HIGH(GPIOC_PIN10) |            \
-                                     PIN_ODR_HIGH(GPIOC_PIN11) |            \
-                                     PIN_ODR_HIGH(GPIOC_PIN12) |            \
-                                     PIN_ODR_HIGH(GPIOC_PIN13) |            \
-                                     PIN_ODR_HIGH(GPIOC_OSC32_IN) |         \
-                                     PIN_ODR_HIGH(GPIOC_OSC32_OUT))
-#define VAL_GPIOC_AFRL              (PIN_AFIO_AF(GPIOC_PIN0, 0U) |          \
-                                     PIN_AFIO_AF(GPIOC_PIN1, 0U) |          \
-                                     PIN_AFIO_AF(GPIOC_PIN2, 0U) |          \
-                                     PIN_AFIO_AF(GPIOC_PIN3, 0U) |          \
-                                     PIN_AFIO_AF(GPIOC_PIN4, 0U) |          \
-                                     PIN_AFIO_AF(GPIOC_PIN5, 0U) |          \
-                                     PIN_AFIO_AF(GPIOC_PIN6, 0U) |          \
-                                     PIN_AFIO_AF(GPIOC_PIN7, 0U))
-#define VAL_GPIOC_AFRH              (PIN_AFIO_AF(GPIOC_PIN8, 0U) |          \
-                                     PIN_AFIO_AF(GPIOC_PIN9, 0U) |          \
-                                     PIN_AFIO_AF(GPIOC_PIN10, 0U) |         \
-                                     PIN_AFIO_AF(GPIOC_PIN11, 0U) |         \
-                                     PIN_AFIO_AF(GPIOC_PIN12, 0U) |         \
-                                     PIN_AFIO_AF(GPIOC_PIN13, 0U) |         \
-                                     PIN_AFIO_AF(GPIOC_OSC32_IN, 0U) |      \
-                                     PIN_AFIO_AF(GPIOC_OSC32_OUT, 0U))
-
-/*
- * GPIOD setup:
- *
- * PD0  - PIN0                      (input pullup).
- * PD1  - PIN1                      (input pullup).
- * PD2  - PIN2                      (input pullup).
- * PD3  - PIN3                      (input pullup).
- * PD4  - PIN4                      (input pullup).
- * PD5  - PIN5                      (input pullup).
- * PD6  - PIN6                      (input pullup).
- * PD7  - PIN7                      (input pullup).
- * PD8  - PIN8                      (input pullup).
- * PD9  - PIN9                      (input pullup).
- * PD10 - PIN10                     (input pullup).
- * PD11 - PIN11                     (input pullup).
- * PD12 - PIN12                     (input pullup).
- * PD13 - PIN13                     (input pullup).
- * PD14 - PIN14                     (input pullup).
- * PD15 - PIN15                     (input pullup).
- */
-#define VAL_GPIOD_MODER             (PIN_MODE_INPUT(GPIOD_PIN0) |           \
-                                     PIN_MODE_INPUT(GPIOD_PIN1) |           \
-                                     PIN_MODE_INPUT(GPIOD_PIN2) |           \
-                                     PIN_MODE_INPUT(GPIOD_PIN3) |           \
-                                     PIN_MODE_INPUT(GPIOD_PIN4) |           \
-                                     PIN_MODE_INPUT(GPIOD_PIN5) |           \
-                                     PIN_MODE_INPUT(GPIOD_PIN6) |           \
-                                     PIN_MODE_INPUT(GPIOD_PIN7) |           \
-                                     PIN_MODE_INPUT(GPIOD_PIN8) |           \
-                                     PIN_MODE_INPUT(GPIOD_PIN9) |           \
-                                     PIN_MODE_INPUT(GPIOD_PIN10) |          \
-                                     PIN_MODE_INPUT(GPIOD_PIN11) |          \
-                                     PIN_MODE_INPUT(GPIOD_PIN12) |          \
-                                     PIN_MODE_INPUT(GPIOD_PIN13) |          \
-                                     PIN_MODE_INPUT(GPIOD_PIN14) |          \
-                                     PIN_MODE_INPUT(GPIOD_PIN15))
-#define VAL_GPIOD_OTYPER            (PIN_OTYPE_PUSHPULL(GPIOD_PIN0) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN1) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN2) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN3) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN4) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN5) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN6) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN7) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN8) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN9) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN10) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN11) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN12) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN13) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN14) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOD_PIN15))
-#define VAL_GPIOD_OSPEEDR           (PIN_OSPEED_VERYLOW(GPIOD_PIN0) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN1) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN2) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN3) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN4) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN5) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN6) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN7) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN8) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN9) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN10) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN11) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN12) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN13) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN14) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOD_PIN15))
-#define VAL_GPIOD_PUPDR             (PIN_PUPDR_PULLUP(GPIOD_PIN0) |         \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN1) |         \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN2) |         \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN3) |         \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN4) |         \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN5) |         \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN6) |         \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN7) |         \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN8) |         \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN9) |         \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN10) |        \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN11) |        \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN12) |        \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN13) |        \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN14) |        \
-                                     PIN_PUPDR_PULLUP(GPIOD_PIN15))
-#define VAL_GPIOD_ODR               (PIN_ODR_HIGH(GPIOD_PIN0) |             \
-                                     PIN_ODR_HIGH(GPIOD_PIN1) |             \
-                                     PIN_ODR_HIGH(GPIOD_PIN2) |             \
-                                     PIN_ODR_HIGH(GPIOD_PIN3) |             \
-                                     PIN_ODR_HIGH(GPIOD_PIN4) |             \
-                                     PIN_ODR_HIGH(GPIOD_PIN5) |             \
-                                     PIN_ODR_HIGH(GPIOD_PIN6) |             \
-                                     PIN_ODR_HIGH(GPIOD_PIN7) |             \
-                                     PIN_ODR_HIGH(GPIOD_PIN8) |             \
-                                     PIN_ODR_HIGH(GPIOD_PIN9) |             \
-                                     PIN_ODR_HIGH(GPIOD_PIN10) |            \
-                                     PIN_ODR_HIGH(GPIOD_PIN11) |            \
-                                     PIN_ODR_HIGH(GPIOD_PIN12) |            \
-                                     PIN_ODR_HIGH(GPIOD_PIN13) |            \
-                                     PIN_ODR_HIGH(GPIOD_PIN14) |            \
-                                     PIN_ODR_HIGH(GPIOD_PIN15))
-#define VAL_GPIOD_AFRL              (PIN_AFIO_AF(GPIOD_PIN0, 0U) |          \
-                                     PIN_AFIO_AF(GPIOD_PIN1, 0U) |          \
-                                     PIN_AFIO_AF(GPIOD_PIN2, 0U) |          \
-                                     PIN_AFIO_AF(GPIOD_PIN3, 0U) |          \
-                                     PIN_AFIO_AF(GPIOD_PIN4, 0U) |          \
-                                     PIN_AFIO_AF(GPIOD_PIN5, 0U) |          \
-                                     PIN_AFIO_AF(GPIOD_PIN6, 0U) |          \
-                                     PIN_AFIO_AF(GPIOD_PIN7, 0U))
-#define VAL_GPIOD_AFRH              (PIN_AFIO_AF(GPIOD_PIN8, 0U) |          \
-                                     PIN_AFIO_AF(GPIOD_PIN9, 0U) |          \
-                                     PIN_AFIO_AF(GPIOD_PIN10, 0U) |         \
-                                     PIN_AFIO_AF(GPIOD_PIN11, 0U) |         \
-                                     PIN_AFIO_AF(GPIOD_PIN12, 0U) |         \
-                                     PIN_AFIO_AF(GPIOD_PIN13, 0U) |         \
-                                     PIN_AFIO_AF(GPIOD_PIN14, 0U) |         \
-                                     PIN_AFIO_AF(GPIOD_PIN15, 0U))
-
-/*
- * GPIOE setup:
- *
- * PE0  - L3GD20_INT1               (input pullup).
- * PE1  - L3GD20_INT2               (input pullup).
- * PE2  - LSM303DLHC_DRDY           (input pullup).
- * PE3  - SPI1_CS L3GD20_CS         (output pushpull maximum).
- * PE4  - LSM303DLHC_INT1           (input pullup).
- * PE5  - LSM303DLHC_INT2           (input pullup).
- * PE6  - PIN6                      (input pullup).
- * PE7  - PIN7                      (input pullup).
- * PE8  - LED4_BLUE                 (output pushpull maximum).
- * PE9  - LED3_RED                  (output pushpull maximum).
- * PE10 - LED5_ORANGE               (output pushpull maximum).
- * PE11 - LED7_GREEN                (output pushpull maximum).
- * PE12 - LED9_BLUE                 (output pushpull maximum).
- * PE13 - LED10_RED                 (output pushpull maximum).
- * PE14 - LED8_ORANGE               (output pushpull maximum).
- * PE15 - LED6_GREEN                (output pushpull maximum).
- */
-#define VAL_GPIOE_MODER             (PIN_MODE_INPUT(GPIOE_L3GD20_INT1) |    \
-                                     PIN_MODE_INPUT(GPIOE_L3GD20_INT2) |    \
-                                     PIN_MODE_INPUT(GPIOE_LSM303DLHC_DRDY) |\
-                                     PIN_MODE_OUTPUT(GPIOE_SPI1_CS) |       \
-                                     PIN_MODE_INPUT(GPIOE_LSM303DLHC_INT1) |\
-                                     PIN_MODE_INPUT(GPIOE_LSM303DLHC_INT2) |\
-                                     PIN_MODE_INPUT(GPIOE_PIN6) |           \
-                                     PIN_MODE_INPUT(GPIOE_PIN7) |           \
-                                     PIN_MODE_OUTPUT(GPIOE_LED4_BLUE) |     \
-                                     PIN_MODE_OUTPUT(GPIOE_LED3_RED) |      \
-                                     PIN_MODE_OUTPUT(GPIOE_LED5_ORANGE) |   \
-                                     PIN_MODE_OUTPUT(GPIOE_LED7_GREEN) |    \
-                                     PIN_MODE_OUTPUT(GPIOE_LED9_BLUE) |     \
-                                     PIN_MODE_OUTPUT(GPIOE_LED10_RED) |     \
-                                     PIN_MODE_OUTPUT(GPIOE_LED8_ORANGE) |   \
-                                     PIN_MODE_OUTPUT(GPIOE_LED6_GREEN))
-#define VAL_GPIOE_OTYPER            (PIN_OTYPE_PUSHPULL(GPIOE_L3GD20_INT1) |\
-                                     PIN_OTYPE_PUSHPULL(GPIOE_L3GD20_INT2) |\
-                                     PIN_OTYPE_PUSHPULL(GPIOE_LSM303DLHC_DRDY) |\
-                                     PIN_OTYPE_PUSHPULL(GPIOE_SPI1_CS) |    \
-                                     PIN_OTYPE_PUSHPULL(GPIOE_LSM303DLHC_INT1) |\
-                                     PIN_OTYPE_PUSHPULL(GPIOE_LSM303DLHC_INT2) |\
-                                     PIN_OTYPE_PUSHPULL(GPIOE_PIN6) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOE_PIN7) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOE_LED4_BLUE) |  \
-                                     PIN_OTYPE_PUSHPULL(GPIOE_LED3_RED) |   \
-                                     PIN_OTYPE_PUSHPULL(GPIOE_LED5_ORANGE) |\
-                                     PIN_OTYPE_PUSHPULL(GPIOE_LED7_GREEN) | \
-                                     PIN_OTYPE_PUSHPULL(GPIOE_LED9_BLUE) |  \
-                                     PIN_OTYPE_PUSHPULL(GPIOE_LED10_RED) |  \
-                                     PIN_OTYPE_PUSHPULL(GPIOE_LED8_ORANGE) |\
-                                     PIN_OTYPE_PUSHPULL(GPIOE_LED6_GREEN))
-#define VAL_GPIOE_OSPEEDR           (PIN_OSPEED_VERYLOW(GPIOE_L3GD20_INT1) |\
-                                     PIN_OSPEED_VERYLOW(GPIOE_L3GD20_INT2) |\
-                                     PIN_OSPEED_VERYLOW(GPIOE_LSM303DLHC_DRDY) |\
-                                     PIN_OSPEED_HIGH(GPIOE_SPI1_CS) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOE_LSM303DLHC_INT1) |\
-                                     PIN_OSPEED_VERYLOW(GPIOE_LSM303DLHC_INT2) |\
-                                     PIN_OSPEED_VERYLOW(GPIOE_PIN6) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOE_PIN7) |       \
-                                     PIN_OSPEED_HIGH(GPIOE_LED4_BLUE) |     \
-                                     PIN_OSPEED_HIGH(GPIOE_LED3_RED) |      \
-                                     PIN_OSPEED_HIGH(GPIOE_LED5_ORANGE) |   \
-                                     PIN_OSPEED_HIGH(GPIOE_LED7_GREEN) |    \
-                                     PIN_OSPEED_HIGH(GPIOE_LED9_BLUE) |     \
-                                     PIN_OSPEED_HIGH(GPIOE_LED10_RED) |     \
-                                     PIN_OSPEED_HIGH(GPIOE_LED8_ORANGE) |   \
-                                     PIN_OSPEED_HIGH(GPIOE_LED6_GREEN))
-#define VAL_GPIOE_PUPDR             (PIN_PUPDR_PULLUP(GPIOE_L3GD20_INT1) |  \
-                                     PIN_PUPDR_PULLUP(GPIOE_L3GD20_INT2) |  \
-                                     PIN_PUPDR_PULLUP(GPIOE_LSM303DLHC_DRDY) |\
-                                     PIN_PUPDR_FLOATING(GPIOE_SPI1_CS) |    \
-                                     PIN_PUPDR_PULLUP(GPIOE_LSM303DLHC_INT1) |\
-                                     PIN_PUPDR_PULLUP(GPIOE_LSM303DLHC_INT2) |\
-                                     PIN_PUPDR_PULLUP(GPIOE_PIN6) |         \
-                                     PIN_PUPDR_PULLUP(GPIOE_PIN7) |         \
-                                     PIN_PUPDR_PULLUP(GPIOE_LED4_BLUE) |    \
-                                     PIN_PUPDR_PULLUP(GPIOE_LED3_RED) |     \
-                                     PIN_PUPDR_PULLUP(GPIOE_LED5_ORANGE) |  \
-                                     PIN_PUPDR_FLOATING(GPIOE_LED7_GREEN) | \
-                                     PIN_PUPDR_PULLUP(GPIOE_LED9_BLUE) |    \
-                                     PIN_PUPDR_FLOATING(GPIOE_LED10_RED) |  \
-                                     PIN_PUPDR_FLOATING(GPIOE_LED8_ORANGE) |\
-                                     PIN_PUPDR_FLOATING(GPIOE_LED6_GREEN))
-#define VAL_GPIOE_ODR               (PIN_ODR_HIGH(GPIOE_L3GD20_INT1) |      \
-                                     PIN_ODR_HIGH(GPIOE_L3GD20_INT2) |      \
-                                     PIN_ODR_HIGH(GPIOE_LSM303DLHC_DRDY) |  \
-                                     PIN_ODR_HIGH(GPIOE_SPI1_CS) |          \
-                                     PIN_ODR_HIGH(GPIOE_LSM303DLHC_INT1) |  \
-                                     PIN_ODR_HIGH(GPIOE_LSM303DLHC_INT2) |  \
-                                     PIN_ODR_HIGH(GPIOE_PIN6) |             \
-                                     PIN_ODR_HIGH(GPIOE_PIN7) |             \
-                                     PIN_ODR_LOW(GPIOE_LED4_BLUE) |         \
-                                     PIN_ODR_LOW(GPIOE_LED3_RED) |          \
-                                     PIN_ODR_LOW(GPIOE_LED5_ORANGE) |       \
-                                     PIN_ODR_LOW(GPIOE_LED7_GREEN) |        \
-                                     PIN_ODR_LOW(GPIOE_LED9_BLUE) |         \
-                                     PIN_ODR_LOW(GPIOE_LED10_RED) |         \
-                                     PIN_ODR_LOW(GPIOE_LED8_ORANGE) |       \
-                                     PIN_ODR_LOW(GPIOE_LED6_GREEN))
-#define VAL_GPIOE_AFRL              (PIN_AFIO_AF(GPIOE_L3GD20_INT1, 0U) |   \
-                                     PIN_AFIO_AF(GPIOE_L3GD20_INT2, 0U) |   \
-                                     PIN_AFIO_AF(GPIOE_LSM303DLHC_DRDY, 0U) |\
-                                     PIN_AFIO_AF(GPIOE_SPI1_CS, 0U) |       \
-                                     PIN_AFIO_AF(GPIOE_LSM303DLHC_INT1, 0U) |\
-                                     PIN_AFIO_AF(GPIOE_LSM303DLHC_INT2, 0U) |\
-                                     PIN_AFIO_AF(GPIOE_PIN6, 0U) |          \
-                                     PIN_AFIO_AF(GPIOE_PIN7, 0U))
-#define VAL_GPIOE_AFRH              (PIN_AFIO_AF(GPIOE_LED4_BLUE, 0U) |     \
-                                     PIN_AFIO_AF(GPIOE_LED3_RED, 0U) |      \
-                                     PIN_AFIO_AF(GPIOE_LED5_ORANGE, 0U) |   \
-                                     PIN_AFIO_AF(GPIOE_LED7_GREEN, 0U) |    \
-                                     PIN_AFIO_AF(GPIOE_LED9_BLUE, 0U) |     \
-                                     PIN_AFIO_AF(GPIOE_LED10_RED, 0U) |     \
-                                     PIN_AFIO_AF(GPIOE_LED8_ORANGE, 0U) |   \
-                                     PIN_AFIO_AF(GPIOE_LED6_GREEN, 0U))
-
-/*
- * GPIOF setup:
- *
- * PF0  - OSC_IN                    (input floating).
- * PF1  - OSC_OUT                   (input floating).
- * PF2  - PIN2                      (input pullup).
- * PF3  - PIN3                      (input pullup).
- * PF4  - PIN4                      (input pullup).
- * PF5  - PIN5                      (input pullup).
- * PF6  - PIN6                      (input pullup).
- * PF7  - PIN7                      (input pullup).
- * PF8  - PIN8                      (input pullup).
- * PF9  - PIN9                      (input pullup).
- * PF10 - PIN10                     (input pullup).
- * PF11 - PIN11                     (input pullup).
- * PF12 - PIN12                     (input pullup).
- * PF13 - PIN13                     (input pullup).
- * PF14 - PIN14                     (input pullup).
- * PF15 - PIN15                     (input pullup).
- */
-#define VAL_GPIOF_MODER             (PIN_MODE_INPUT(GPIOF_OSC_IN) |         \
-                                     PIN_MODE_INPUT(GPIOF_OSC_OUT) |        \
-                                     PIN_MODE_INPUT(GPIOF_PIN2) |           \
-                                     PIN_MODE_INPUT(GPIOF_PIN3) |           \
-                                     PIN_MODE_INPUT(GPIOF_PIN4) |           \
-                                     PIN_MODE_INPUT(GPIOF_PIN5) |           \
-                                     PIN_MODE_INPUT(GPIOF_PIN6) |           \
-                                     PIN_MODE_INPUT(GPIOF_PIN7) |           \
-                                     PIN_MODE_INPUT(GPIOF_PIN8) |           \
-                                     PIN_MODE_INPUT(GPIOF_PIN9) |           \
-                                     PIN_MODE_INPUT(GPIOF_PIN10) |          \
-                                     PIN_MODE_INPUT(GPIOF_PIN11) |          \
-                                     PIN_MODE_INPUT(GPIOF_PIN12) |          \
-                                     PIN_MODE_INPUT(GPIOF_PIN13) |          \
-                                     PIN_MODE_INPUT(GPIOF_PIN14) |          \
-                                     PIN_MODE_INPUT(GPIOF_PIN15))
-#define VAL_GPIOF_OTYPER            (PIN_OTYPE_PUSHPULL(GPIOF_OSC_IN) |     \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_OSC_OUT) |    \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN2) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN3) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN4) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN5) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN6) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN7) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN8) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN9) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN10) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN11) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN12) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN13) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN14) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOF_PIN15))
-#define VAL_GPIOF_OSPEEDR           (PIN_OSPEED_HIGH(GPIOF_OSC_IN) |        \
-                                     PIN_OSPEED_HIGH(GPIOF_OSC_OUT) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN2) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN3) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN4) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN5) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN6) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN7) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN8) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN9) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN10) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN11) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN12) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN13) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN14) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOF_PIN15))
-#define VAL_GPIOF_PUPDR             (PIN_PUPDR_FLOATING(GPIOF_OSC_IN) |     \
-                                     PIN_PUPDR_FLOATING(GPIOF_OSC_OUT) |    \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN2) |         \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN3) |         \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN4) |         \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN5) |         \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN6) |         \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN7) |         \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN8) |         \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN9) |         \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN10) |        \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN11) |        \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN12) |        \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN13) |        \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN14) |        \
-                                     PIN_PUPDR_PULLUP(GPIOF_PIN15))
-#define VAL_GPIOF_ODR               (PIN_ODR_HIGH(GPIOF_OSC_IN) |           \
-                                     PIN_ODR_HIGH(GPIOF_OSC_OUT) |          \
-                                     PIN_ODR_HIGH(GPIOF_PIN2) |             \
-                                     PIN_ODR_HIGH(GPIOF_PIN3) |             \
-                                     PIN_ODR_HIGH(GPIOF_PIN4) |             \
-                                     PIN_ODR_HIGH(GPIOF_PIN5) |             \
-                                     PIN_ODR_HIGH(GPIOF_PIN6) |             \
-                                     PIN_ODR_HIGH(GPIOF_PIN7) |             \
-                                     PIN_ODR_HIGH(GPIOF_PIN8) |             \
-                                     PIN_ODR_HIGH(GPIOF_PIN9) |             \
-                                     PIN_ODR_HIGH(GPIOF_PIN10) |            \
-                                     PIN_ODR_HIGH(GPIOF_PIN11) |            \
-                                     PIN_ODR_HIGH(GPIOF_PIN12) |            \
-                                     PIN_ODR_HIGH(GPIOF_PIN13) |            \
-                                     PIN_ODR_HIGH(GPIOF_PIN14) |            \
-                                     PIN_ODR_HIGH(GPIOF_PIN15))
-#define VAL_GPIOF_AFRL              (PIN_AFIO_AF(GPIOF_OSC_IN, 0U) |        \
-                                     PIN_AFIO_AF(GPIOF_OSC_OUT, 0U) |       \
-                                     PIN_AFIO_AF(GPIOF_PIN2, 0U) |          \
-                                     PIN_AFIO_AF(GPIOF_PIN3, 0U) |          \
-                                     PIN_AFIO_AF(GPIOF_PIN4, 0U) |          \
-                                     PIN_AFIO_AF(GPIOF_PIN5, 0U) |          \
-                                     PIN_AFIO_AF(GPIOF_PIN6, 0U) |          \
-                                     PIN_AFIO_AF(GPIOF_PIN7, 0U))
-#define VAL_GPIOF_AFRH              (PIN_AFIO_AF(GPIOF_PIN8, 0U) |          \
-                                     PIN_AFIO_AF(GPIOF_PIN9, 0U) |          \
-                                     PIN_AFIO_AF(GPIOF_PIN10, 0U) |         \
-                                     PIN_AFIO_AF(GPIOF_PIN11, 0U) |         \
-                                     PIN_AFIO_AF(GPIOF_PIN12, 0U) |         \
-                                     PIN_AFIO_AF(GPIOF_PIN13, 0U) |         \
-                                     PIN_AFIO_AF(GPIOF_PIN14, 0U) |         \
-                                     PIN_AFIO_AF(GPIOF_PIN15, 0U))
-
-/*
- * GPIOG setup:
- *
- * PG0  - PIN0                      (input pullup).
- * PG1  - PIN1                      (input pullup).
- * PG2  - PIN2                      (input pullup).
- * PG3  - PIN3                      (input pullup).
- * PG4  - PIN4                      (input pullup).
- * PG5  - PIN5                      (input pullup).
- * PG6  - PIN6                      (input pullup).
- * PG7  - PIN7                      (input pullup).
- * PG8  - PIN8                      (input pullup).
- * PG9  - PIN9                      (input pullup).
- * PG10 - PIN10                     (input pullup).
- * PG11 - PIN11                     (input pullup).
- * PG12 - PIN12                     (input pullup).
- * PG13 - PIN13                     (input pullup).
- * PG14 - PIN14                     (input pullup).
- * PG15 - PIN15                     (input pullup).
- */
-#define VAL_GPIOG_MODER             (PIN_MODE_INPUT(GPIOG_PIN0) |           \
-                                     PIN_MODE_INPUT(GPIOG_PIN1) |           \
-                                     PIN_MODE_INPUT(GPIOG_PIN2) |           \
-                                     PIN_MODE_INPUT(GPIOG_PIN3) |           \
-                                     PIN_MODE_INPUT(GPIOG_PIN4) |           \
-                                     PIN_MODE_INPUT(GPIOG_PIN5) |           \
-                                     PIN_MODE_INPUT(GPIOG_PIN6) |           \
-                                     PIN_MODE_INPUT(GPIOG_PIN7) |           \
-                                     PIN_MODE_INPUT(GPIOG_PIN8) |           \
-                                     PIN_MODE_INPUT(GPIOG_PIN9) |           \
-                                     PIN_MODE_INPUT(GPIOG_PIN10) |          \
-                                     PIN_MODE_INPUT(GPIOG_PIN11) |          \
-                                     PIN_MODE_INPUT(GPIOG_PIN12) |          \
-                                     PIN_MODE_INPUT(GPIOG_PIN13) |          \
-                                     PIN_MODE_INPUT(GPIOG_PIN14) |          \
-                                     PIN_MODE_INPUT(GPIOG_PIN15))
-#define VAL_GPIOG_OTYPER            (PIN_OTYPE_PUSHPULL(GPIOG_PIN0) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN1) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN2) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN3) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN4) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN5) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN6) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN7) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN8) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN9) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN10) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN11) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN12) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN13) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN14) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOG_PIN15))
-#define VAL_GPIOG_OSPEEDR           (PIN_OSPEED_VERYLOW(GPIOG_PIN0) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN1) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN2) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN3) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN4) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN5) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN6) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN7) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN8) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN9) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN10) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN11) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN12) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN13) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN14) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOG_PIN15))
-#define VAL_GPIOG_PUPDR             (PIN_PUPDR_PULLUP(GPIOG_PIN0) |         \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN1) |         \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN2) |         \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN3) |         \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN4) |         \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN5) |         \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN6) |         \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN7) |         \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN8) |         \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN9) |         \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN10) |        \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN11) |        \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN12) |        \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN13) |        \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN14) |        \
-                                     PIN_PUPDR_PULLUP(GPIOG_PIN15))
-#define VAL_GPIOG_ODR               (PIN_ODR_HIGH(GPIOG_PIN0) |             \
-                                     PIN_ODR_HIGH(GPIOG_PIN1) |             \
-                                     PIN_ODR_HIGH(GPIOG_PIN2) |             \
-                                     PIN_ODR_HIGH(GPIOG_PIN3) |             \
-                                     PIN_ODR_HIGH(GPIOG_PIN4) |             \
-                                     PIN_ODR_HIGH(GPIOG_PIN5) |             \
-                                     PIN_ODR_HIGH(GPIOG_PIN6) |             \
-                                     PIN_ODR_HIGH(GPIOG_PIN7) |             \
-                                     PIN_ODR_HIGH(GPIOG_PIN8) |             \
-                                     PIN_ODR_HIGH(GPIOG_PIN9) |             \
-                                     PIN_ODR_HIGH(GPIOG_PIN10) |            \
-                                     PIN_ODR_HIGH(GPIOG_PIN11) |            \
-                                     PIN_ODR_HIGH(GPIOG_PIN12) |            \
-                                     PIN_ODR_HIGH(GPIOG_PIN13) |            \
-                                     PIN_ODR_HIGH(GPIOG_PIN14) |            \
-                                     PIN_ODR_HIGH(GPIOG_PIN15))
-#define VAL_GPIOG_AFRL              (PIN_AFIO_AF(GPIOG_PIN0, 0U) |          \
-                                     PIN_AFIO_AF(GPIOG_PIN1, 0U) |          \
-                                     PIN_AFIO_AF(GPIOG_PIN2, 0U) |          \
-                                     PIN_AFIO_AF(GPIOG_PIN3, 0U) |          \
-                                     PIN_AFIO_AF(GPIOG_PIN4, 0U) |          \
-                                     PIN_AFIO_AF(GPIOG_PIN5, 0U) |          \
-                                     PIN_AFIO_AF(GPIOG_PIN6, 0U) |          \
-                                     PIN_AFIO_AF(GPIOG_PIN7, 0U))
-#define VAL_GPIOG_AFRH              (PIN_AFIO_AF(GPIOG_PIN8, 0U) |          \
-                                     PIN_AFIO_AF(GPIOG_PIN9, 0U) |          \
-                                     PIN_AFIO_AF(GPIOG_PIN10, 0U) |         \
-                                     PIN_AFIO_AF(GPIOG_PIN11, 0U) |         \
-                                     PIN_AFIO_AF(GPIOG_PIN12, 0U) |         \
-                                     PIN_AFIO_AF(GPIOG_PIN13, 0U) |         \
-                                     PIN_AFIO_AF(GPIOG_PIN14, 0U) |         \
-                                     PIN_AFIO_AF(GPIOG_PIN15, 0U))
-
-/*
- * GPIOH setup:
- *
- * PH0  - PIN0                      (input pullup).
- * PH1  - PIN1                      (input pullup).
- * PH2  - PIN2                      (input pullup).
- * PH3  - PIN3                      (input pullup).
- * PH4  - PIN4                      (input pullup).
- * PH5  - PIN5                      (input pullup).
- * PH6  - PIN6                      (input pullup).
- * PH7  - PIN7                      (input pullup).
- * PH8  - PIN8                      (input pullup).
- * PH9  - PIN9                      (input pullup).
- * PH10 - PIN10                     (input pullup).
- * PH11 - PIN11                     (input pullup).
- * PH12 - PIN12                     (input pullup).
- * PH13 - PIN13                     (input pullup).
- * PH14 - PIN14                     (input pullup).
- * PH15 - PIN15                     (input pullup).
- */
-#define VAL_GPIOH_MODER             (PIN_MODE_INPUT(GPIOH_PIN0) |           \
-                                     PIN_MODE_INPUT(GPIOH_PIN1) |           \
-                                     PIN_MODE_INPUT(GPIOH_PIN2) |           \
-                                     PIN_MODE_INPUT(GPIOH_PIN3) |           \
-                                     PIN_MODE_INPUT(GPIOH_PIN4) |           \
-                                     PIN_MODE_INPUT(GPIOH_PIN5) |           \
-                                     PIN_MODE_INPUT(GPIOH_PIN6) |           \
-                                     PIN_MODE_INPUT(GPIOH_PIN7) |           \
-                                     PIN_MODE_INPUT(GPIOH_PIN8) |           \
-                                     PIN_MODE_INPUT(GPIOH_PIN9) |           \
-                                     PIN_MODE_INPUT(GPIOH_PIN10) |          \
-                                     PIN_MODE_INPUT(GPIOH_PIN11) |          \
-                                     PIN_MODE_INPUT(GPIOH_PIN12) |          \
-                                     PIN_MODE_INPUT(GPIOH_PIN13) |          \
-                                     PIN_MODE_INPUT(GPIOH_PIN14) |          \
-                                     PIN_MODE_INPUT(GPIOH_PIN15))
-#define VAL_GPIOH_OTYPER            (PIN_OTYPE_PUSHPULL(GPIOH_PIN0) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN1) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN2) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN3) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN4) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN5) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN6) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN7) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN8) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN9) |       \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN10) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN11) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN12) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN13) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN14) |      \
-                                     PIN_OTYPE_PUSHPULL(GPIOH_PIN15))
-#define VAL_GPIOH_OSPEEDR           (PIN_OSPEED_VERYLOW(GPIOH_PIN0) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN1) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN2) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN3) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN4) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN5) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN6) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN7) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN8) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN9) |       \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN10) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN11) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN12) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN13) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN14) |      \
-                                     PIN_OSPEED_VERYLOW(GPIOH_PIN15))
-#define VAL_GPIOH_PUPDR             (PIN_PUPDR_PULLUP(GPIOH_PIN0) |         \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN1) |         \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN2) |         \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN3) |         \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN4) |         \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN5) |         \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN6) |         \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN7) |         \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN8) |         \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN9) |         \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN10) |        \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN11) |        \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN12) |        \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN13) |        \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN14) |        \
-                                     PIN_PUPDR_PULLUP(GPIOH_PIN15))
-#define VAL_GPIOH_ODR               (PIN_ODR_HIGH(GPIOH_PIN0) |             \
-                                     PIN_ODR_HIGH(GPIOH_PIN1) |             \
-                                     PIN_ODR_HIGH(GPIOH_PIN2) |             \
-                                     PIN_ODR_HIGH(GPIOH_PIN3) |             \
-                                     PIN_ODR_HIGH(GPIOH_PIN4) |             \
-                                     PIN_ODR_HIGH(GPIOH_PIN5) |             \
-                                     PIN_ODR_HIGH(GPIOH_PIN6) |             \
-                                     PIN_ODR_HIGH(GPIOH_PIN7) |             \
-                                     PIN_ODR_HIGH(GPIOH_PIN8) |             \
-                                     PIN_ODR_HIGH(GPIOH_PIN9) |             \
-                                     PIN_ODR_HIGH(GPIOH_PIN10) |            \
-                                     PIN_ODR_HIGH(GPIOH_PIN11) |            \
-                                     PIN_ODR_HIGH(GPIOH_PIN12) |            \
-                                     PIN_ODR_HIGH(GPIOH_PIN13) |            \
-                                     PIN_ODR_HIGH(GPIOH_PIN14) |            \
-                                     PIN_ODR_HIGH(GPIOH_PIN15))
-#define VAL_GPIOH_AFRL              (PIN_AFIO_AF(GPIOH_PIN0, 0U) |          \
-                                     PIN_AFIO_AF(GPIOH_PIN1, 0U) |          \
-                                     PIN_AFIO_AF(GPIOH_PIN2, 0U) |          \
-                                     PIN_AFIO_AF(GPIOH_PIN3, 0U) |          \
-                                     PIN_AFIO_AF(GPIOH_PIN4, 0U) |          \
-                                     PIN_AFIO_AF(GPIOH_PIN5, 0U) |          \
-                                     PIN_AFIO_AF(GPIOH_PIN6, 0U) |          \
-                                     PIN_AFIO_AF(GPIOH_PIN7, 0U))
-#define VAL_GPIOH_AFRH              (PIN_AFIO_AF(GPIOH_PIN8, 0U) |          \
-                                     PIN_AFIO_AF(GPIOH_PIN9, 0U) |          \
-                                     PIN_AFIO_AF(GPIOH_PIN10, 0U) |         \
-                                     PIN_AFIO_AF(GPIOH_PIN11, 0U) |         \
-                                     PIN_AFIO_AF(GPIOH_PIN12, 0U) |         \
-                                     PIN_AFIO_AF(GPIOH_PIN13, 0U) |         \
-                                     PIN_AFIO_AF(GPIOH_PIN14, 0U) |         \
-                                     PIN_AFIO_AF(GPIOH_PIN15, 0U))
-
-//*****************************************************************************
-
-/*
- * AHB_CLK
- */
-#define AHB_CLK STM32_HCLK
-
-/*
- * LEDs
- */
-/* red */
-#ifndef USE_LED_1
-#define USE_LED_1 1
-#endif
-#define LED_1_GPIO GPIOE
-#define LED_1_GPIO_PIN GPIO9
-#define LED_1_GPIO_ON gpio_clear
-#define LED_1_GPIO_OFF gpio_set
-
-/* blue */
-#ifndef USE_LED_2
-#define USE_LED_2 1
-#endif
-#define LED_2_GPIO GPIOE
-#define LED_2_GPIO_PIN GPIO8
-#define LED_2_GPIO_ON gpio_clear
-#define LED_2_GPIO_OFF gpio_set
-
-/*orange  */
-#ifndef USE_LED_3
-#define USE_LED_3 1
-#endif
-#define LED_3_GPIO GPIOE
-#define LED_3_GPIO_PIN GPIO10
-#define LED_3_GPIO_ON gpio_clear
-#define LED_3_GPIO_OFF gpio_set
-
-/* green */
-#ifndef USE_LED_4
-#define USE_LED_4 1
-#endif
-#define LED_4_GPIO GPIOE
-#define LED_4_GPIO_PIN GPIO11
-#define LED_4_GPIO_ON gpio_clear
-#define LED_4_GPIO_OFF gpio_set
-
-/* blue*/
-#ifndef USE_LED_5
-#define USE_LED_5 0
-#endif
-#define LED_5_GPIO GPIOE
-#define LED_5_GPIO_PIN GPIO12
-#define LED_5_GPIO_ON gpio_set
-#define LED_5_GPIO_OFF gpio_clear
-
-/* red*/
-#ifndef USE_LED_6
-#define USE_LED_6 0
-#endif
-#define LED_6_GPIO GPIOE
-#define LED_6_GPIO_PIN GPIO13
-#define LED_6_GPIO_ON gpio_set
-#define LED_6_GPIO_OFF gpio_clear
-
-/* orange*/
-#ifndef USE_LED_7
-#define USE_LED_7 0
-#endif
-#define LED_7_GPIO GPIOE
-#define LED_7_GPIO_PIN GPIO13
-#define LED_7_GPIO_ON gpio_set
-#define LED_7_GPIO_OFF gpio_clear
-
-/* green*/
-#ifndef USE_LED_8
-#define USE_LED_8 0
-#endif
-#define LED_8_GPIO GPIOE
-#define LED_8_GPIO_PIN GPIO15
-#define LED_8_GPIO_ON gpio_set
-#define LED_8_GPIO_OFF gpio_clear
-
-
-/* Pint to set Uart2 RX polarity, on PB13, output high inverts, low doesn't */
-#define RC_POLARITY_GPIO_PORT GPIOB
-#define RC_POLARITY_GPIO_PIN GPIO13
-
-/*
- * ADCs
- */
-// AUX 1
-#if USE_ADC_1
-#define AD1_1_CHANNEL ADC_CHANNEL_IN9
-#define ADC_1 AD1_1
-#define ADC_1_GPIO_PORT GPIOB
-#define ADC_1_GPIO_PIN GPIO1
-#endif
-
-// AUX 2
-#if USE_ADC_2
-#define AD1_2_CHANNEL ADC_CHANNEL_IN15
-#define ADC_2 AD1_2
-#define ADC_2_GPIO_PORT GPIOC
-#define ADC_2_GPIO_PIN GPIO5
-#endif
-
-// AUX 3
-#if USE_ADC_3
-#define AD1_3_CHANNEL ADC_CHANNEL_IN14
-#define ADC_3 AD1_3
-#define ADC_3_GPIO_PORT GPIOC
-#define ADC_3_GPIO_PIN GPIO4
-#endif
-
-// Internal ADC for battery enabled by default
-#ifndef USE_ADC_4
-#define USE_ADC_4 1
-#endif
-#if USE_ADC_4
-#define AD1_4_CHANNEL ADC_CHANNEL_IN4
-#define ADC_4 AD1_4
-#define ADC_4_GPIO_PORT GPIOA
-#define ADC_4_GPIO_PIN GPIO4
-#endif
-
-/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
-#ifndef ADC_CHANNEL_VSUPPLY
-#define ADC_CHANNEL_VSUPPLY ADC_4
-#endif
-
-#define DefaultVoltageOfAdc(adc) (0.006185*adc)
-
-/*
- * PWM defines
- */
-#ifndef USE_PWM0
-#define USE_PWM0 1
-#endif
-#if USE_PWM0
-#define PWM_SERVO_0 0
-#define PWM_SERVO_0_GPIO GPIOB
-#define PWM_SERVO_0_PIN GPIO0
-#define PWM_SERVO_0_AF GPIO_AF2
-#define PWM_SERVO_0_DRIVER PWMD3
-#define PWM_SERVO_0_CHANNEL 2
-#define PWM_SERVO_0_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
-#else
-#define PWM_SERVO_0_ACTIVE PWM_OUTPUT_DISABLED
-#endif
-
-#ifndef USE_PWM1
-#define USE_PWM1 1
-#endif
-#if USE_PWM1
-#define PWM_SERVO_1 1
-#define PWM_SERVO_1_GPIO GPIOA
-#define PWM_SERVO_1_PIN GPIO2
-#define PWM_SERVO_1_AF GPIO_AF1
-#define PWM_SERVO_1_DRIVER PWMD2
-#define PWM_SERVO_1_CHANNEL 2
-#define PWM_SERVO_1_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
-#else
-#define PWM_SERVO_1_ACTIVE PWM_OUTPUT_DISABLED
-#endif
-
-#ifndef USE_PWM2
-#define USE_PWM2 1
-#endif
-#if USE_PWM2
-#define PWM_SERVO_2 2
-#define PWM_SERVO_2_GPIO GPIOB
-#define PWM_SERVO_2_PIN GPIO5
-#define PWM_SERVO_2_AF GPIO_AF2
-#define PWM_SERVO_2_DRIVER PWMD3
-#define PWM_SERVO_2_CHANNEL 1
-#define PWM_SERVO_2_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
-#else
-#define PWM_SERVO_2_ACTIVE PWM_OUTPUT_DISABLED
-#endif
-
-#ifndef USE_PWM3
-#define USE_PWM3 1
-#endif
-#if USE_PWM3
-#define PWM_SERVO_3 3
-#define PWM_SERVO_3_GPIO GPIOB
-#define PWM_SERVO_3_PIN GPIO4
-#define PWM_SERVO_3_AF GPIO_AF2
-#define PWM_SERVO_3_DRIVER PWMD3
-#define PWM_SERVO_3_CHANNEL 0
-#define PWM_SERVO_3_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
-#else
-#define PWM_SERVO_3_ACTIVE PWM_OUTPUT_DISABLED
-#endif
-
-#ifndef USE_PWM4
-#define USE_PWM4 1
-#endif
-#if USE_PWM4
-#define PWM_SERVO_4 4
-#define PWM_SERVO_4_GPIO GPIOB
-#define PWM_SERVO_4_PIN GPIO3
-#define PWM_SERVO_4_AF GPIO_AF1
-#define PWM_SERVO_4_DRIVER PWMD2
-#define PWM_SERVO_4_CHANNEL 1
-#define PWM_SERVO_4_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
-#else
-#define PWM_SERVO_4_ACTIVE PWM_OUTPUT_DISABLED
-#endif
-
-#ifndef USE_PWM5
-#define USE_PWM5 1
-#endif
-#if USE_PWM5
-#define PWM_SERVO_5 5
-#define PWM_SERVO_5_GPIO GPIOA
-#define PWM_SERVO_5_PIN GPIO15
-#define PWM_SERVO_5_AF GPIO_AF1
-#define PWM_SERVO_5_DRIVER PWMD2
-#define PWM_SERVO_5_CHANNEL 0
-#define PWM_SERVO_5_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
-#else
-#define PWM_SERVO_5_ACTIVE PWM_OUTPUT_DISABLED
-#endif
-
-#if USE_PWM6
-#define PWM_SERVO_6 6
-#define PWM_SERVO_6_GPIO GPIOB
-#define PWM_SERVO_6_PIN GPIO1
-#define PWM_SERVO_6_AF GPIO_AF2
-#define PWM_SERVO_6_DRIVER PWMD3
-#define PWM_SERVO_6_CHANNEL 3
-#define PWM_SERVO_6_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
-#else
-#define PWM_SERVO_6_ACTIVE PWM_OUTPUT_DISABLED
-#endif
-
-
-#ifdef STM32_PWM_USE_TIM2
-#define PWM_CONF_TIM2 STM32_PWM_USE_TIM2
-#else
-#define PWM_CONF_TIM2 1
-#endif
-#define PWM_CONF2_DEF { \
-    PWM_FREQUENCY, \
-    PWM_FREQUENCY/TIM2_SERVO_HZ, \
-    NULL, \
-    { \
-      { PWM_SERVO_5_ACTIVE, NULL }, \
-      { PWM_SERVO_4_ACTIVE, NULL }, \
-      { PWM_SERVO_1_ACTIVE, NULL }, \
-      { PWM_OUTPUT_DISABLED, NULL }, \
-    }, \
-    0, \
-    0 \
-  }
-
-#ifdef STM32_PWM_USE_TIM3
-#define PWM_CONF_TIM3 STM32_PWM_USE_TIM3
-#else
-#define PWM_CONF_TIM3 1
-#endif
-#define PWM_CONF3_DEF { \
-    PWM_FREQUENCY, \
-    PWM_FREQUENCY/TIM3_SERVO_HZ, \
-    NULL, \
-    { \
-      { PWM_SERVO_3_ACTIVE, NULL }, \
-      { PWM_SERVO_2_ACTIVE, NULL }, \
-      { PWM_SERVO_0_ACTIVE, NULL }, \
-      { PWM_SERVO_6_ACTIVE, NULL }, \
-    }, \
-    0, \
-    0 \
-  }
-
-/**
- * PPM radio defines
- */
-#define RC_PPM_TICKS_PER_USEC 2
-#define PPM_TIMER_FREQUENCY 2000000
-#define PPM_CHANNEL ICU_CHANNEL_1
-#define PPM_TIMER ICUD1
-
-/*
- * PWM input
- */
-// PWM_INPUT 1 on PA8 (also PPM IN)
-#define PWM_INPUT1_ICU            ICUD1
-#define PWM_INPUT1_CHANNEL        ICU_CHANNEL_1
-// PPM in (aka PA8) is used: not compatible with PPM RC receiver
-#define PWM_INPUT1_GPIO_PORT      GPIOA
-#define PWM_INPUT1_GPIO_PIN       GPIO8
-#define PWM_INPUT1_GPIO_AF        GPIO_AF1
-
-// PWM_INPUT 2 on PA3 (also SERVO 1)
-#if (USE_PWM1 && USE_PWM_INPUT2)
-#error "PW1 and PWM_INPUT2 are not compatible"
-#endif
-#define PWM_INPUT2_ICU            ICUD9
-#define PWM_INPUT2_CHANNEL        ICU_CHANNEL_1
-#define PWM_INPUT2_GPIO_PORT      GPIOA
-#define PWM_INPUT2_GPIO_PIN       GPIO2
-#define PWM_INPUT2_GPIO_AF        GPIO_AF3
-
-/**
- * I2C defines
- */
-#ifndef I2C1_CLOCK_SPEED
-#define I2C1_CLOCK_SPEED 400000
-#endif
-#if I2C1_CLOCK_SPEED == 400000
-#define I2C1_DUTY_CYCLE FAST_DUTY_CYCLE_2
-#elif I2C1_CLOCK_SPEED == 100000
-#define I2C1_DUTY_CYCLE STD_DUTY_CYCLE
-#else
-#error Invalid I2C1 clock speed
-#endif
-#define I2C1_CFG_DEF {        \
-    OPMODE_I2C,        \
-    I2C1_CLOCK_SPEED,  \
-    I2C1_DUTY_CYCLE,   \
-  }
-
-#ifndef I2C2_CLOCK_SPEED
-#define I2C2_CLOCK_SPEED 400000
-#endif
-#if I2C2_CLOCK_SPEED == 400000
-#define I2C2_DUTY_CYCLE FAST_DUTY_CYCLE_2
-#elif I2C2_CLOCK_SPEED == 100000
-#define I2C2_DUTY_CYCLE STD_DUTY_CYCLE
-#else
-#error Invalid I2C2 clock speed
-#endif
-#define I2C2_CFG_DEF {        \
-    OPMODE_I2C,        \
-    I2C2_CLOCK_SPEED,  \
-    I2C2_DUTY_CYCLE,   \
-  }
-
-/**
- * SPI Config
- */
-#define SPI1_GPIO_AF GPIO_AF5
-#define SPI1_GPIO_PORT_MISO GPIOA
-#define SPI1_GPIO_MISO GPIO6
-#define SPI1_GPIO_PORT_MOSI GPIOA
-#define SPI1_GPIO_MOSI GPIO7
-#define SPI1_GPIO_PORT_SCK GPIOA
-#define SPI1_GPIO_SCK GPIO5
-
-// SLAVE0 on SPI connector
-#define SPI_SELECT_SLAVE0_PORT GPIOB
-#define SPI_SELECT_SLAVE0_PIN GPIO9
-// SLAVE1 on AUX1
-#define SPI_SELECT_SLAVE1_PORT GPIOB
-#define SPI_SELECT_SLAVE1_PIN GPIO1
-// SLAVE2 on AUX2
-#define SPI_SELECT_SLAVE2_PORT GPIOC
-#define SPI_SELECT_SLAVE2_PIN GPIO5
-// SLAVE3 on AUX3
-#define SPI_SELECT_SLAVE3_PORT GPIOC
-#define SPI_SELECT_SLAVE3_PIN GPIO4
-// SLAVE4 on AUX4
-#define SPI_SELECT_SLAVE4_PORT GPIOB
-#define SPI_SELECT_SLAVE4_PIN GPIO15
-
-/**
- * Baro
- *
- * Apparently needed for backwards compatibility
- * with the ancient onboard baro boards
- */
-// #ifndef USE_BARO_BOARD
-// #define USE_BARO_BOARD 1
-// #endif
-
-/*
- * Actuators for fixedwing
- */
-/* Default actuators driver */
-#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
-#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
-#define ActuatorsDefaultInit() ActuatorsPwmInit()
-#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
-
-
-/**
- * SDIO
- */
-#define SDIO_D0_PORT GPIOC
-#define SDIO_D0_PIN GPIOC_SDIO_D0
-#define SDIO_D1_PORT GPIOC
-#define SDIO_D1_PIN GPIOC_SDIO_D1
-#define SDIO_D2_PORT GPIOC
-#define SDIO_D2_PIN GPIOC_SDIO_D2
-#define SDIO_D3_PORT GPIOC
-#define SDIO_D3_PIN GPIOC_SDIO_D3
-#define SDIO_CK_PORT GPIOC
-#define SDIO_CK_PIN GPIOC_SDIO_CK
-#define SDIO_CMD_PORT GPIOD
-#define SDIO_CMD_PIN GPIOD_SDIO_CMD
-#define SDIO_AF 12
-// bat monitoring for file closing
-#define SDLOG_BAT_ADC ADCD1
-#define SDLOG_BAT_CHAN AD1_4_CHANNEL
-// usb led status
-#define SDLOG_USB_LED 4
-#define SDLOG_USB_VBUS_PORT GPIOA
-#define SDLOG_USB_VBUS_PIN GPIO9
-
-
-//*****************************************************************************
-#if !defined(_FROM_ASM_)
-#ifdef __cplusplus
-extern "C" {
-#endif
-void boardInit(void);
-#ifdef __cplusplus
-}
-#endif
-#endif /* _FROM_ASM_ */
-
-#endif /* BOARD_H */
diff --git a/sw/airborne/boards/stm32f3_discovery/chibios/v1.0/board.mk b/sw/airborne/boards/stm32f3_discovery/chibios/v1.0/board.mk
deleted file mode 100644
index 8d560f4385..0000000000
--- a/sw/airborne/boards/stm32f3_discovery/chibios/v1.0/board.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-#
-#    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
-#
-#    Licensed under the Apache License, Version 2.0 (the "License");
-#    you may not use this file except in compliance with the License.
-#    You may obtain a copy of the License at
-#
-#        http://www.apache.org/licenses/LICENSE-2.0
-#
-#    Unless required by applicable law or agreed to in writing, software
-#    distributed under the License is distributed on an "AS IS" BASIS,
-#    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-#    See the License for the specific language governing permissions and
-#    limitations under the License.
-#
-# Required include directories
-BOARDINC = $(CHIBIOS_BOARD_DIR)
-
-# List of all the board related files.
-BOARDSRC = ${BOARDINC}/board.c
-
-# Shared variables
-ALLCSRC += $(BOARDSRC)
-ALLINC  += $(BOARDINC)
diff --git a/sw/airborne/boards/stm32f3_discovery/chibios/v1.0/mcuconf.h b/sw/airborne/boards/stm32f3_discovery/chibios/v1.0/mcuconf.h
deleted file mode 100644
index 2a26642a2f..0000000000
--- a/sw/airborne/boards/stm32f3_discovery/chibios/v1.0/mcuconf.h
+++ /dev/null
@@ -1,301 +0,0 @@
-/*
-    ChibiOS - Copyright (C) 2006..2016 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.
-*/
-
-#ifndef MCUCONF_H
-#define MCUCONF_H
-
-/*
- * STM32F3xx drivers configuration.
- * The following settings override the default settings present in
- * the various device driver implementation headers.
- * Note that the settings for each driver only have effect if the whole
- * driver is enabled in halconf.h.
- *
- * IRQ priorities:
- * 15...0       Lowest...Highest.
- *
- * DMA priorities:
- * 0...3        Lowest...Highest.
- */
-
-#define STM32F3xx_MCUCONF
-
-/*
- * HAL driver system settings.
- */
-#define STM32_NO_INIT                       FALSE
-#define STM32_PVD_ENABLE                    FALSE
-#define STM32_PLS                           STM32_PLS_LEV0
-#define STM32_HSI_ENABLED                   TRUE
-#define STM32_LSI_ENABLED                   TRUE
-#define STM32_HSE_ENABLED                   TRUE
-#define STM32_LSE_ENABLED                   FALSE
-#define STM32_SW                            STM32_SW_PLL
-#define STM32_PLLSRC                        STM32_PLLSRC_HSE
-#define STM32_PREDIV_VALUE                  1
-#define STM32_PLLMUL_VALUE                  9
-#define STM32_HPRE                          STM32_HPRE_DIV1
-#define STM32_PPRE1                         STM32_PPRE1_DIV2
-#define STM32_PPRE2                         STM32_PPRE2_DIV2
-#define STM32_MCOSEL                        STM32_MCOSEL_NOCLOCK
-#define STM32_ADC12PRES                     STM32_ADC12PRES_DIV1
-#define STM32_ADC34PRES                     STM32_ADC34PRES_DIV1
-#define STM32_USART1SW                      STM32_USART1SW_PCLK
-#define STM32_USART2SW                      STM32_USART2SW_PCLK
-#define STM32_USART3SW                      STM32_USART3SW_PCLK
-#define STM32_UART4SW                       STM32_UART4SW_PCLK
-#define STM32_UART5SW                       STM32_UART5SW_PCLK
-#define STM32_I2C1SW                        STM32_I2C1SW_SYSCLK
-#define STM32_I2C2SW                        STM32_I2C2SW_SYSCLK
-#define STM32_TIM1SW                        STM32_TIM1SW_PCLK2
-#define STM32_TIM8SW                        STM32_TIM8SW_PCLK2
-#define STM32_RTCSEL                        STM32_RTCSEL_LSI
-#define STM32_USB_CLOCK_REQUIRED            TRUE
-#define STM32_USBPRE                        STM32_USBPRE_DIV1P5
-
-/*
- * ADC driver system settings.
- */
-#define STM32_ADC_DUAL_MODE                 FALSE
-#define STM32_ADC_COMPACT_SAMPLES           FALSE
-#define STM32_ADC_USE_ADC1                  TRUE
-#define STM32_ADC_USE_ADC2                  FALSE
-#define STM32_ADC_USE_ADC3                  FALSE
-#define STM32_ADC_USE_ADC4                  FALSE
-#define STM32_ADC_ADC1_DMA_STREAM           STM32_DMA_STREAM_ID(1, 1)
-#define STM32_ADC_ADC2_DMA_STREAM           STM32_DMA_STREAM_ID(2, 1)
-#define STM32_ADC_ADC3_DMA_STREAM           STM32_DMA_STREAM_ID(2, 5)
-#define STM32_ADC_ADC4_DMA_STREAM           STM32_DMA_STREAM_ID(2, 2)
-#define STM32_ADC_ADC1_DMA_PRIORITY         2
-#define STM32_ADC_ADC2_DMA_PRIORITY         2
-#define STM32_ADC_ADC3_DMA_PRIORITY         2
-#define STM32_ADC_ADC4_DMA_PRIORITY         2
-#define STM32_ADC_ADC12_IRQ_PRIORITY        5
-#define STM32_ADC_ADC3_IRQ_PRIORITY         5
-#define STM32_ADC_ADC4_IRQ_PRIORITY         5
-#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY     5
-#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY     5
-#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY     5
-#define STM32_ADC_ADC4_DMA_IRQ_PRIORITY     5
-#define STM32_ADC_ADC12_CLOCK_MODE          ADC_CCR_CKMODE_AHB_DIV1
-#define STM32_ADC_ADC34_CLOCK_MODE          ADC_CCR_CKMODE_AHB_DIV1
-
-/*
- * CAN driver system settings.
- */
-#if USE_CAN1
-#define STM32_CAN_USE_CAN1                  TRUE
-#else
-#define STM32_CAN_USE_CAN1                  FALSE
-#endif
-#define STM32_CAN_CAN1_IRQ_PRIORITY         11
-
-/*
- * DAC driver system settings.
- */
-#define STM32_DAC_DUAL_MODE                 FALSE
-#define STM32_DAC_USE_DAC1_CH1              TRUE
-#define STM32_DAC_USE_DAC1_CH2              TRUE
-#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY     10
-#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY     10
-#define STM32_DAC_DAC1_CH1_DMA_PRIORITY     2
-#define STM32_DAC_DAC1_CH2_DMA_PRIORITY     2
-
-/*
- * EXT driver system settings.
- */
-#define STM32_EXT_EXTI0_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI1_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI2_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI3_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI4_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI5_9_IRQ_PRIORITY      6
-#define STM32_EXT_EXTI10_15_IRQ_PRIORITY    6
-#define STM32_EXT_EXTI16_IRQ_PRIORITY       6
-#define STM32_EXT_EXTI17_IRQ_PRIORITY       6
-#define STM32_EXT_EXTI18_IRQ_PRIORITY       6
-#define STM32_EXT_EXTI19_IRQ_PRIORITY       6
-#define STM32_EXT_EXTI20_IRQ_PRIORITY       6
-#define STM32_EXT_EXTI21_22_29_IRQ_PRIORITY 6
-#define STM32_EXT_EXTI30_32_IRQ_PRIORITY    6
-#define STM32_EXT_EXTI33_IRQ_PRIORITY       6
-
-/*
- * GPT driver system settings.
- */
-#define STM32_GPT_USE_TIM1                  FALSE
-#define STM32_GPT_USE_TIM2                  FALSE
-#define STM32_GPT_USE_TIM3                  FALSE
-#define STM32_GPT_USE_TIM4                  FALSE
-#define STM32_GPT_USE_TIM6                  FALSE
-#define STM32_GPT_USE_TIM7                  FALSE
-#define STM32_GPT_USE_TIM8                  FALSE
-#define STM32_GPT_TIM1_IRQ_PRIORITY         7
-#define STM32_GPT_TIM2_IRQ_PRIORITY         7
-#define STM32_GPT_TIM3_IRQ_PRIORITY         7
-#define STM32_GPT_TIM4_IRQ_PRIORITY         7
-#define STM32_GPT_TIM6_IRQ_PRIORITY         7
-#define STM32_GPT_TIM7_IRQ_PRIORITY         7
-#define STM32_GPT_TIM8_IRQ_PRIORITY         7
-
-/*
- * I2C driver system settings.
- */
-#if USE_I2C1
-#define STM32_I2C_USE_I2C1                  TRUE
-#else
-#define STM32_I2C_USE_I2C1                  FALSE
-#endif
-#if USE_I2C2
-#define STM32_I2C_USE_I2C2                  TRUE
-#else
-#define STM32_I2C_USE_I2C2                  FALSE
-#endif
-#define STM32_I2C_BUSY_TIMEOUT              50
-#define STM32_I2C_I2C1_IRQ_PRIORITY         10
-#define STM32_I2C_I2C2_IRQ_PRIORITY         10
-#define STM32_I2C_USE_DMA                   TRUE
-#define STM32_I2C_I2C1_DMA_PRIORITY         1
-#define STM32_I2C_I2C2_DMA_PRIORITY         1
-#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      osalSysHalt("DMA failure")
-
-/*
- * ICU driver system settings.
- */
-#define STM32_ICU_USE_TIM1                  FALSE
-#define STM32_ICU_USE_TIM2                  FALSE
-#define STM32_ICU_USE_TIM3                  FALSE
-#define STM32_ICU_USE_TIM4                  FALSE
-#define STM32_ICU_USE_TIM8                  FALSE
-#define STM32_ICU_TIM1_IRQ_PRIORITY         7
-#define STM32_ICU_TIM2_IRQ_PRIORITY         7
-#define STM32_ICU_TIM3_IRQ_PRIORITY         7
-#define STM32_ICU_TIM4_IRQ_PRIORITY         7
-#define STM32_ICU_TIM8_IRQ_PRIORITY         7
-
-/*
- * PWM driver system settings.
- */
-#define STM32_PWM_USE_ADVANCED              FALSE
-#define STM32_PWM_USE_TIM1                  FALSE
-#ifndef STM32_PWM_USE_TIM2
-#define STM32_PWM_USE_TIM2                  TRUE
-#endif
-#ifndef STM32_PWM_USE_TIM3
-#define STM32_PWM_USE_TIM3                  TRUE
-#endif
-#define STM32_PWM_USE_TIM4                  FALSE
-#define STM32_PWM_USE_TIM8                  FALSE
-#define STM32_PWM_TIM1_IRQ_PRIORITY         7
-#define STM32_PWM_TIM2_IRQ_PRIORITY         7
-#define STM32_PWM_TIM3_IRQ_PRIORITY         7
-#define STM32_PWM_TIM4_IRQ_PRIORITY         7
-#define STM32_PWM_TIM8_IRQ_PRIORITY         7
-
-/*
- * SERIAL driver system settings.
- */
-#if USE_UART1
-#define STM32_SERIAL_USE_USART1             TRUE
-#else
-#define STM32_SERIAL_USE_USART1             FALSE
-#endif
-#if USE_UART2
-#define STM32_SERIAL_USE_USART2             TRUE
-#else
-#define STM32_SERIAL_USE_USART2             FALSE
-#endif
-#if USE_UART3
-#define STM32_SERIAL_USE_USART3             TRUE
-#else
-#define STM32_SERIAL_USE_USART3             FALSE
-#endif
-#if USE_UART4
-#define STM32_SERIAL_USE_UART4              TRUE
-#else
-#define STM32_SERIAL_USE_UART4              FALSE
-#endif
-#if USE_UART5
-#define STM32_SERIAL_USE_UART5              TRUE
-#else
-#define STM32_SERIAL_USE_UART5              FALSE
-#endif
-#define STM32_SERIAL_USART1_PRIORITY        12
-#define STM32_SERIAL_USART2_PRIORITY        12
-#define STM32_SERIAL_USART3_PRIORITY        12
-#define STM32_SERIAL_UART4_PRIORITY         12
-#define STM32_SERIAL_UART5_PRIORITY         12
-
-/*
- * SPI driver system settings.
- */
-#if USE_SPI1
-#define STM32_SPI_USE_SPI1                  TRUE
-#else
-#define STM32_SPI_USE_SPI1                  FALSE
-#endif
-#if USE_SPI2
-#define STM32_SPI_USE_SPI2                  TRUE
-#else
-#define STM32_SPI_USE_SPI2                  FALSE
-#endif
-#if USE_SPI3
-#define STM32_SPI_USE_SPI3                  TRUE
-#else
-#define STM32_SPI_USE_SPI3                  FALSE
-#endif
-#define STM32_SPI_SPI1_DMA_PRIORITY         1
-#define STM32_SPI_SPI2_DMA_PRIORITY         1
-#define STM32_SPI_SPI3_DMA_PRIORITY         1
-#define STM32_SPI_SPI1_IRQ_PRIORITY         10
-#define STM32_SPI_SPI2_IRQ_PRIORITY         10
-#define STM32_SPI_SPI3_IRQ_PRIORITY         10
-#define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
-
-/*
- * ST driver system settings.
- */
-#define STM32_ST_IRQ_PRIORITY               8
-#define STM32_ST_USE_TIMER                  2
-
-/*
- * UART driver system settings.
- */
-#define STM32_UART_USE_USART1               FALSE
-#define STM32_UART_USE_USART2               FALSE
-#define STM32_UART_USE_USART3               FALSE
-#define STM32_UART_USART1_IRQ_PRIORITY      12
-#define STM32_UART_USART2_IRQ_PRIORITY      12
-#define STM32_UART_USART3_IRQ_PRIORITY      12
-#define STM32_UART_USART1_DMA_PRIORITY      0
-#define STM32_UART_USART2_DMA_PRIORITY      0
-#define STM32_UART_USART3_DMA_PRIORITY      0
-#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
-
-/*
- * USB driver system settings.
- */
-#define STM32_USB_USE_USB1                  TRUE
-#define STM32_USB_LOW_POWER_ON_SUSPEND      FALSE
-#define STM32_USB_USB1_HP_IRQ_PRIORITY      13
-#define STM32_USB_USB1_LP_IRQ_PRIORITY      14
-
-/*
- * WDG driver system settings.
- */
-#define STM32_WDG_USE_IWDG                  FALSE
-
-#endif /* MCUCONF_H */
diff --git a/sw/airborne/boards/stm32f4_discovery.h b/sw/airborne/boards/stm32f4_discovery.h
deleted file mode 100644
index bfb66286a5..0000000000
--- a/sw/airborne/boards/stm32f4_discovery.h
+++ /dev/null
@@ -1,601 +0,0 @@
-/*
- * STM32F4 DISCOVERY BOARD DEFINITIONS FOR THE PAPARAZZI AUTOPILOT.
- *
- * DISCOVERY USED FOR THE AUTOPILOT PINS
- * PA0  = PWM9 + user-wake up button switch b1 normaly open.
- * PA1  = PWM8
- * PA2  = PWM7
- * PA3  = PWM6
- * PA4  = ADC_4 (ADC12 IN 4)+CS43L22 DAC out, capacitively coupled+100Kohm, should not interfere.
- * PA5  = SPI1 SCK if STM32F4_DISCOVERY_SPI1_FOR_LIS302
- * PA6  = SPI1 MISO if STM32F4_DISCOVERY_SPI1_FOR_LIS302
- * PA7  = SPI1 MOSI if STM32F4_DISCOVERY_SPI1_FOR_LIS302
- * PA8  = SPECTRUM BIND
- * PA9  = FREE (ONLY if usb is not active during runtime, PC0 must be high or input )
- * PA10 = UART1 RX (Spektrum input)
- * PA11 = FREE if usb is not active during runtime
- * PA12 = FREE if usb is not active during runtime
- * PA13 = FREE
- * PA14 = FREE
- * PA15 = FREE
- *
- * PB0  = FREE
- * PB1  = ADC_1 (ADC12 IN 9)
- * PB2  = FREE
- * PB3  = SPI1 SCL
- * PB4  = SPI1 MISO
- * PB5  = SPI1 MOSI
- * PB6  = UART1 TX + 4K7 Ohm pull up resistor normaly used for i2c
- * PB7  = UART1 RX
- * PB8  = I2C1 SCL
- * PB9  = I2C1 SDA + 4K7 Ohm pull up resistor normaly used for i2c
- * PB10 = I2C2 SCL + MP45DT02 MEMS MIC clock in
- * PB11 = I2C2 SDA
- * PB12 = FREE
- * PB13 = SPI2 SCL
- * PB14 = PWM 10 OR SPI2 MISO
- * PB15 = PWM 11 OR SPI2 MOSI
- *
- * PC0  = CANNOT BE USED, pulled up to 3.3v (10Kohm), low = usb power on directly applied to PA9)
- * PC1  = ADC_5 (ADC123 IN 11)
- * PC2  = ADC_6 (ADC123 IN 12)
- * PC3  = CANNOT BE USED (MEMS microphone output)
- * PC4  = ADC_3 (ADC12 IN 14)
- * PC5  = ADC_2 (ADC12 IN 15)
- * PC6  = UART6 TX
- * PC7  = UART6 RX
- * PC8  = FREE
- * PC9  = PPM INPUT FROM RC RECEIVER
- * PC10 = UART4 TX OR SPI3 SCL
- * PC11 = UART4 RX OR SPI3 MISO
- * PC12 = UART5 TX OR SPI3 MOSI
- * PC13 = FREE max 3ma sink
- * PC14 = FREE max 3ma sink, short circuit the relevant PCB bridge with solder to activate
- * PC15 = FREE max 3ma sink, short circuit the relevant PCB bridge with solder to activate
- *
- * PD0  = FREE
- * PD1  = FREE
- * PD2  = UART5 RX
- * PD3  = FREE
- * PD4  = FREE
- * PD5  = UART2 TX (usb power management fault output open drain)
- * PD6  = UART2 RX
- * PD7  = FREE
- * PD8  = UART3 TX
- * PD9  = UART3 RX
- * PD10 = FREE
- * PD11 = FREE
- * PD12 = LED_4
- * PD13 = LED_3
- * PD14 = LED_5
- * PD15 = LED_6
- *
- * PE0  = CANNOT BE USED (Accel int output)
- * PE1  = CANNOT BE USED (Accel int output)
- * PE2  = SPI SLAVE 0
- * PE3  = SPI SLAVE 2 (used for the LIS302DL accel spi/i2c select pin)
- * PE4  = FREE
- * PE5  = PWM4
- * PE6  = PWM5
- * PE7  = SPI SLAVE 1
- * PE8  = FREE
- * PE9  = PWM0
- * PE10 = FREE
- * PE11 = PWM1
- * PE12 = FREE
- * PE13 = PWM2
- * PE14 = PWM3
- * PE15 = FREE
- *
- * PH0  = CRYSTAL - OSC IN
- * PH1  = CRYSTAL - OSC OUT
- */
-
-#ifndef CONFIG_STM32F4_DISCOVERY_H
-#define CONFIG_STM32F4_DISCOVERY_H
-
-#define BOARD_STM32F4_DISCOVERY
-
-/* STM32F4_DISCOVERY has a 8MHz external clock and 168MHz internal. */
-#define EXT_CLK 8000000
-#define AHB_CLK 168000000
-
-/*
- * Onboard LEDs
- */
-
-/* orange, on PD13 */
-#ifndef USE_LED_3
-#define USE_LED_3 1
-#endif
-#define LED_3_GPIO GPIOD
-#define LED_3_GPIO_PIN GPIO13
-#define LED_3_AFIO_REMAP ((void)0)
-#define LED_3_GPIO_ON gpio_set
-#define LED_3_GPIO_OFF gpio_clear
-
-/* green, on PD12 */
-#ifndef USE_LED_4
-#define USE_LED_4 1
-#endif
-#define LED_4_GPIO GPIOD
-#define LED_4_GPIO_PIN GPIO12
-#define LED_4_AFIO_REMAP ((void)0)
-#define LED_4_GPIO_ON gpio_set
-#define LED_4_GPIO_OFF gpio_clear
-
-/* red, PD14 */
-#ifndef USE_LED_5
-#define USE_LED_5 1
-#endif
-#define LED_5_GPIO GPIOD
-#define LED_5_GPIO_PIN GPIO14
-#define LED_5_AFIO_REMAP ((void)0)
-#define LED_5_GPIO_ON gpio_set
-#define LED_5_GPIO_OFF gpio_clear
-
-/* blue, PD15 */
-#ifndef USE_LED_6
-#define USE_LED_6 1
-#endif
-#define LED_6_GPIO GPIOD
-#define LED_6_GPIO_PIN GPIO15
-#define LED_6_AFIO_REMAP ((void)0)
-#define LED_6_GPIO_ON gpio_set
-#define LED_6_GPIO_OFF gpio_clear
-
-
-
-/*
-// LED 9 (Green) of the STM32F4 discovery board same as USB power (VBUS).
-#ifndef USE_LED_9
-#define USE_LED_9 1
-#endif
-#define LED_9_GPIO GPIOA
-#define LED_9_GPIO_PIN GPIO9
-#define LED_9_AFIO_REMAP ((void)0)
-#define LED_9_GPIO_ON gpio_set
-#define LED_9_GPIO_OFF gpio_clear
-*/
-
-
-/***************************************************************************************************/
-/**************************************    UART    *************************************************/
-/***************************************************************************************************/
-
-// If you don't need all those uarts comment a uart block out to free pins.
-#define UART1_GPIO_AF GPIO_AF7
-#define UART1_GPIO_PORT_TX GPIOB
-#define UART1_GPIO_TX GPIO6
-#define UART1_GPIO_PORT_RX GPIOB
-#define UART1_GPIO_RX GPIO7
-
-// UART2 is used for the Spectrum rx input also
-#define UART2_GPIO_AF GPIO_AF7
-#define UART2_GPIO_PORT_TX GPIOD
-#define UART2_GPIO_TX GPIO5
-#define UART2_GPIO_PORT_RX GPIOD
-#define UART2_GPIO_RX GPIO6
-
-#define UART3_GPIO_AF GPIO_AF7
-#define UART3_GPIO_PORT_TX GPIOD
-#define UART3_GPIO_TX GPIO8
-#define UART3_GPIO_PORT_RX GPIOD
-#define UART3_GPIO_RX GPIO9
-
-// UARTS 4 AND 5 CANT BE USED IF SPI3 IS NEEDED
-#if !USE_SPI3
-#define UART4_GPIO_AF GPIO_AF8
-#define UART4_GPIO_PORT_TX GPIOC
-#define UART4_GPIO_TX GPIO10
-#define UART4_GPIO_PORT_RX GPIOC
-#define UART4_GPIO_RX GPIO11
-
-#define UART5_GPIO_AF GPIO_AF8
-#define UART5_GPIO_PORT_TX GPIOC
-#define UART5_GPIO_TX GPIO12
-#define UART5_GPIO_PORT_RX GPIOD
-#define UART5_GPIO_RX GPIO2
-#endif
-
-#define UART6_GPIO_AF GPIO_AF8
-#define UART6_GPIO_PORT_TX GPIOC
-#define UART6_GPIO_TX GPIO6
-#define UART6_GPIO_PORT_RX GPIOC
-#define UART6_GPIO_RX GPIO7
-
-
-/***************************************************************************************************/
-/**************************************    SPI     *************************************************/
-/***************************************************************************************************/
-
-#if STM32F4_DISCOVERY_SPI1_FOR_LIS302
-#define SPI1_GPIO_AF GPIO_AF5
-#define SPI1_GPIO_PORT_SCK GPIOA
-#define SPI1_GPIO_SCK GPIO5
-#define SPI1_GPIO_PORT_MISO GPIOA
-#define SPI1_GPIO_MISO GPIO6
-#define SPI1_GPIO_PORT_MOSI GPIOA
-#define SPI1_GPIO_MOSI GPIO7
-#else
-#define SPI1_GPIO_AF GPIO_AF5
-#define SPI1_GPIO_PORT_SCK GPIOB
-#define SPI1_GPIO_SCK GPIO3
-#define SPI1_GPIO_PORT_MISO GPIOB
-#define SPI1_GPIO_MISO GPIO4
-#define SPI1_GPIO_PORT_MOSI GPIOB
-#define SPI1_GPIO_MOSI GPIO5
-
-#endif
-
-/* CANNOT BE USED IF PWM CHANNELS 10 & 11 ARE ACTIVE !!! */
-#define SPI2_GPIO_AF GPIO_AF5
-#define SPI2_GPIO_PORT_SCK GPIOB
-#define SPI2_GPIO_SCK GPIO13
-#define SPI2_GPIO_PORT_MISO GPIOB
-#define SPI2_GPIO_MISO GPIO14
-#define SPI2_GPIO_PORT_MOSI GPIOB
-#define SPI2_GPIO_MOSI GPIO15
-
-/* CANNOT BE USED IF UARTS 4 & 5 ARE ACTIVE !!! */
-#define SPI3_GPIO_AF GPIO_AF6
-#define SPI3_GPIO_PORT_SCK GPIOC
-#define SPI3_GPIO_SCK GPIO10
-#define SPI3_GPIO_PORT_MISO GPIOC
-#define SPI3_GPIO_MISO GPIO11
-#define SPI3_GPIO_PORT_MOSI GPIOC
-#define SPI3_GPIO_MOSI GPIO12
-
-#define SPI_SELECT_SLAVE0_PORT GPIOE
-#define SPI_SELECT_SLAVE0_PIN GPIO2
-#define SPI_SELECT_SLAVE1_PORT GPIOE
-#define SPI_SELECT_SLAVE1_PIN GPIO7
-#define SPI_SELECT_SLAVE2_PORT GPIOE
-#define SPI_SELECT_SLAVE2_PIN GPIO3
-
-#define SPI1_GPIO_PORT_NSS GPIOA
-#define SPI1_GPIO_NSS GPIO4
-
-#define SPI2_GPIO_PORT_NSS GPIOB
-#define SPI2_GPIO_NSS GPIO12
-
-#define SPI3_GPIO_PORT_NSS GPIOA
-#define SPI3_GPIO_NSS GPIO15
-
-/***************************************************************************************************/
-/**************************************    I2C     *************************************************/
-/***************************************************************************************************/
-#define I2C1_GPIO_PORT GPIOB
-#define I2C1_GPIO_SCL GPIO8
-#define I2C1_GPIO_SDA GPIO9
-
-#define I2C2_GPIO_PORT GPIOB
-#define I2C2_GPIO_SCL GPIO10
-#define I2C2_GPIO_SDA GPIO11
-
-//#define I2C3_GPIO_PORT_SCL GPIOA
-//#define I2C3_GPIO_SCL GPIO8
-//#define I2C3_GPIO_PORT_SDA GPIOC
-//#define I2C3_GPIO_SDA GPIO9
-
-
-/***************************************************************************************************/
-/**************************************    ADC     *************************************************/
-/***************************************************************************************************/
-
-#define USE_AD_TIM2 1
-
-// For experimenting only
-#define USE_ADC_1   1
-#define USE_ADC_2   1
-#define USE_ADC_3   1
-#define USE_ADC_4   1
-#define USE_ADC_5   1
-#define USE_ADC_6   1
-//#define USE_ADC_7   1
-
-/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file */
-#ifndef ADC_CHANNEL_VSUPPLY
-#define ADC_CHANNEL_VSUPPLY ADC_4
-#endif
-#if !defined(USE_ADC_4)
-#define USE_ADC_4   1
-#endif
-
-#define DefaultVoltageOfAdc(adc) (0.00485*adc)
-
-/* provide defines that can be used to access the ADC_x in the code or airframe file
- * these directly map to the index number of the 4 adc channels defined above
- * 4th (index 3) is used for bat monitoring by default
- */
-
-// AUX 1
-#if USE_ADC_1
-#define AD1_1_CHANNEL 9
-#define ADC_1 AD1_1 // THIS CHANNEL USES THE ADC 1 CONVERTER
-#define ADC_1_GPIO_PORT GPIOB
-#define ADC_1_GPIO_PIN GPIO1
-#endif
-
-// AUX 2
-#if USE_ADC_2
-#define AD1_2_CHANNEL 15
-#define ADC_2 AD1_2 // THIS CHANNEL USES THE ADC 1 CONVERTER
-#define ADC_2_GPIO_PORT GPIOC
-#define ADC_2_GPIO_PIN GPIO5
-#endif
-
-// AUX 3
-#if USE_ADC_3
-#define AD2_1_CHANNEL 14
-#define ADC_3 AD2_1 // THIS CHANNEL USES THE ADC 2 CONVERTER
-#define ADC_3_GPIO_PORT GPIOC
-#define ADC_3_GPIO_PIN GPIO4
-#endif
-
-// BAT
-#if USE_ADC_4
-#define AD2_2_CHANNEL 4
-#define ADC_4 AD2_2 // THIS CHANNEL USES THE ADC 2 CONVERTER
-#define ADC_4_GPIO_PORT GPIOA
-#define ADC_4_GPIO_PIN GPIO4
-#endif
-
-#if USE_ADC_5
-#define AD3_1_CHANNEL 11
-#define ADC_5 AD3_1 // THIS CHANNEL USES THE ADC 3 CONVERTER
-#define ADC_5_GPIO_PORT GPIOC
-#define ADC_5_GPIO_PIN GPIO1
-#endif
-
-#if USE_ADC_6
-#define AD3_2_CHANNEL 12
-#define ADC_6 AD3_2 // THIS CHANNEL USES THE ADC 3 CONVERTER
-#define ADC_6_GPIO_PORT GPIOC
-#define ADC_6_GPIO_PIN GPIO2
-#endif
-
-
-/***************************************************************************************************/
-/************************************   ACTUATORS   ************************************************/
-/***************************************************************************************************/
-
-/* Default actuators driver */
-#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
-#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
-#define ActuatorsDefaultInit() ActuatorsPwmInit()
-#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
-
-
-/***************************************************************************************************/
-/**********************************   SERVO PWM    *************************************************/
-/***************************************************************************************************/
-
-#define PWM_USE_TIM1 1
-//#define PWM_USE_TIM3 1
-#define PWM_USE_TIM5 1
-#define PWM_USE_TIM9 1
-#define PWM_USE_TIM12 1
-
-#define USE_PWM0  1
-#define USE_PWM1  1
-#define USE_PWM2  1
-#define USE_PWM3  1
-#define USE_PWM4  1
-#define USE_PWM5  1
-#define USE_PWM6  1
-#define USE_PWM7  1
-#define USE_PWM8  1
-#define USE_PWM9  1
-#if USE_SPI2
-#define USE_PWM10 0
-#define USE_PWM11 0
-#else
-#define USE_PWM10 1
-#define USE_PWM11 1
-#endif
-
-#define ACTUATORS_PWM_NB 12
-
-// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
-#if USE_PWM0
-#define PWM_SERVO_0 0
-#define PWM_SERVO_0_TIMER TIM1
-#define PWM_SERVO_0_GPIO GPIOE
-#define PWM_SERVO_0_PIN GPIO9
-#define PWM_SERVO_0_AF GPIO_AF1
-#define PWM_SERVO_0_OC TIM_OC1
-#define PWM_SERVO_0_OC_BIT (1<<0)
-#else
-#define PWM_SERVO_0_OC_BIT 0
-#endif
-
-#if USE_PWM1
-#define PWM_SERVO_1 1
-#define PWM_SERVO_1_TIMER TIM1
-#define PWM_SERVO_1_GPIO GPIOE
-#define PWM_SERVO_1_PIN GPIO11
-#define PWM_SERVO_1_AF GPIO_AF1
-#define PWM_SERVO_1_OC TIM_OC2
-#define PWM_SERVO_1_OC_BIT (1<<1)
-#else
-#define PWM_SERVO_1_OC_BIT 0
-#endif
-
-#if USE_PWM2
-#define PWM_SERVO_2 2
-#define PWM_SERVO_2_TIMER TIM1
-#define PWM_SERVO_2_GPIO GPIOE
-#define PWM_SERVO_2_PIN GPIO13
-#define PWM_SERVO_2_AF GPIO_AF1
-#define PWM_SERVO_2_OC TIM_OC3
-#define PWM_SERVO_2_OC_BIT (1<<2)
-#else
-#define PWM_SERVO_2_OC_BIT 0
-#endif
-
-#if USE_PWM3
-#define PWM_SERVO_3 3
-#define PWM_SERVO_3_TIMER TIM1
-#define PWM_SERVO_3_GPIO GPIOE
-#define PWM_SERVO_3_PIN GPIO14
-#define PWM_SERVO_3_AF GPIO_AF1
-#define PWM_SERVO_3_OC TIM_OC4
-#define PWM_SERVO_3_OC_BIT (1<<3)
-#else
-#define PWM_SERVO_3_OC_BIT 0
-#endif
-
-#if USE_PWM4
-#define PWM_SERVO_4 4
-#define PWM_SERVO_4_TIMER TIM9
-#define PWM_SERVO_4_GPIO GPIOE
-#define PWM_SERVO_4_PIN GPIO5
-#define PWM_SERVO_4_AF GPIO_AF3
-#define PWM_SERVO_4_OC TIM_OC1
-#define PWM_SERVO_4_OC_BIT (1<<0)
-#else
-#define PWM_SERVO_4_OC_BIT 0
-#endif
-
-#if USE_PWM5
-#define PWM_SERVO_5 5
-#define PWM_SERVO_5_TIMER TIM9
-#define PWM_SERVO_5_GPIO GPIOE
-#define PWM_SERVO_5_PIN GPIO6
-#define PWM_SERVO_5_AF GPIO_AF3
-#define PWM_SERVO_5_OC TIM_OC2
-#define PWM_SERVO_5_OC_BIT (1<<1)
-#else
-#define PWM_SERVO_5_OC_BIT 0
-#endif
-
-
-#if USE_PWM6
-#define PWM_SERVO_6 6
-#define PWM_SERVO_6_TIMER TIM5
-#define PWM_SERVO_6_GPIO GPIOA
-#define PWM_SERVO_6_PIN GPIO3
-#define PWM_SERVO_6_AF GPIO_AF2
-#define PWM_SERVO_6_OC TIM_OC4
-#define PWM_SERVO_6_OC_BIT (1<<3)
-#else
-#define PWM_SERVO_6_OC_BIT 0
-#endif
-
-#if USE_PWM7
-#define PWM_SERVO_7 7
-#define PWM_SERVO_7_TIMER TIM5
-#define PWM_SERVO_7_GPIO GPIOA
-#define PWM_SERVO_7_PIN GPIO2
-#define PWM_SERVO_7_AF GPIO_AF2
-#define PWM_SERVO_7_OC TIM_OC3
-#define PWM_SERVO_7_OC_BIT (1<<2)
-#else
-#define PWM_SERVO_7_OC_BIT 0
-#endif
-
-#if USE_PWM8
-#define PWM_SERVO_8 8
-#define PWM_SERVO_8_TIMER TIM5
-#define PWM_SERVO_8_GPIO GPIOA
-#define PWM_SERVO_8_PIN GPIO1
-#define PWM_SERVO_8_AF GPIO_AF2
-#define PWM_SERVO_8_OC TIM_OC2
-#define PWM_SERVO_8_OC_BIT (1<<1)
-#else
-#define PWM_SERVO_8_OC_BIT 0
-#endif
-
-#if USE_PWM9
-#define PWM_SERVO_9 9
-#define PWM_SERVO_9_TIMER TIM5
-#define PWM_SERVO_9_GPIO GPIOA
-#define PWM_SERVO_9_PIN GPIO0
-#define PWM_SERVO_9_AF GPIO_AF2
-#define PWM_SERVO_9_OC TIM_OC1
-#define PWM_SERVO_9_OC_BIT (1<<0)
-#else
-#define PWM_SERVO_9_OC_BIT 0
-#endif
-
-/* PWM10 AND PWM11 cannot be used if SPI2 is active. */
-#if USE_PWM10
-#define PWM_SERVO_10 10
-#define PWM_SERVO_10_TIMER TIM12
-#define PWM_SERVO_10_GPIO GPIOB
-#define PWM_SERVO_10_PIN GPIO14
-#define PWM_SERVO_10_AF GPIO_AF9
-#define PWM_SERVO_10_OC TIM_OC1
-#define PWM_SERVO_10_OC_BIT (1<<0)
-#else
-#define PWM_SERVO_10_OC_BIT 0
-#endif
-
-#if USE_PWM11
-#define PWM_SERVO_11 11
-#define PWM_SERVO_11_TIMER TIM12
-#define PWM_SERVO_11_GPIO GPIOB
-#define PWM_SERVO_11_PIN GPIO15
-#define PWM_SERVO_11_AF GPIO_AF9
-#define PWM_SERVO_11_OC TIM_OC2
-#define PWM_SERVO_11_OC_BIT (1<<1)
-#else
-#define PWM_SERVO_11_OC_BIT 0
-#endif
-
-#define PWM_TIM1_CHAN_MASK (PWM_SERVO_0_OC_BIT|PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT)
-#define PWM_TIM9_CHAN_MASK (PWM_SERVO_4_OC_BIT|PWM_SERVO_5_OC_BIT)
-#define PWM_TIM5_CHAN_MASK (PWM_SERVO_6_OC_BIT|PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT|PWM_SERVO_9_OC_BIT)
-#define PWM_TIM12_CHAN_MASK (PWM_SERVO_10_OC_BIT|PWM_SERVO_11_OC_BIT)
-
-/***************************************************************************************************/
-/***********************************   PPM INPUT   *************************************************/
-/***************************************************************************************************/
-
-/*
-#define USE_PPM_TIM1 1
-
-#define PPM_CHANNEL         TIM_IC1
-#define PPM_TIMER_INPUT     TIM_IC_IN_TI1
-#define PPM_IRQ             NVIC_TIM1_CC_IRQ
-#define PPM_IRQ2            NVIC_TIM1_UP_TIM10_IRQ
-// Capture/Compare InteruptEnable and InterruptFlag
-#define PPM_CC_IE           TIM_DIER_CC1IE
-#define PPM_CC_IF           TIM_SR_CC1IF
-#define PPM_GPIO_PORT       GPIOA
-#define PPM_GPIO_PIN        GPIO8
-#define PPM_GPIO_AF         GPIO_AF1
-*/
-
-#define USE_PPM_TIM8 1
-
-#define PPM_CHANNEL         TIM_IC4
-#define PPM_TIMER_INPUT     TIM_IC_IN_TI4
-#define PPM_IRQ             NVIC_TIM8_CC_IRQ
-#define PPM_IRQ2            NVIC_TIM8_UP_TIM13_IRQ
-// Capture/Compare InteruptEnable and InterruptFlag
-#define PPM_CC_IE           TIM_DIER_CC4IE
-#define PPM_CC_IF           TIM_SR_CC4IF
-#define PPM_GPIO_PORT       GPIOC
-#define PPM_GPIO_PIN        GPIO9
-#define PPM_GPIO_AF         GPIO_AF3
-
-/***************************************************************************************************/
-/*********************************  SPECTRUM UART  *************************************************/
-/***************************************************************************************************/
-
-/* The line that is pulled low at power up to initiate the bind process */
-#define SPEKTRUM_BIND_PIN GPIO8
-#define SPEKTRUM_BIND_PIN_PORT GPIOA
-
-#define SPEKTRUM_UART1_RCC RCC_USART1
-#define SPEKTRUM_UART1_BANK GPIOA
-#define SPEKTRUM_UART1_PIN GPIO10
-#define SPEKTRUM_UART1_AF GPIO_AF7
-#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
-#define SPEKTRUM_UART1_ISR usart1_isr
-#define SPEKTRUM_UART1_DEV USART1
-
-
-#endif /* CONFIG_STM32F4_DISCOVERY_H */