[stm32f4] some header cleaning

conf/boards/apogee_0.99.makefile

@@ -2,7 +2,6 @@
 #
 # apogee_0.99.makefile
 #
-# 
 #
 
 BOARD=apogee

sw/airborne/arch/stm32/led_hw.h

@@ -22,13 +22,8 @@
 #ifndef LED_HW_H
 #define LED_HW_H
 
-#if defined(STM32F1)
-#include <libopencm3/stm32/f1/gpio.h>
-#include <libopencm3/stm32/f1/rcc.h>
-#elif defined(STM32F4)
-#include <libopencm3/stm32/f4/gpio.h>
-#include <libopencm3/stm32/f4/rcc.h>
-#endif
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/rcc.h>
 
 #include BOARD_CONFIG
 

sw/airborne/arch/stm32/mcu_arch.c

@@ -31,13 +31,11 @@
 #include BOARD_CONFIG
 
 #include <inttypes.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/rcc.h>
 #if defined(STM32F1)
-#include <libopencm3/stm32/f1/gpio.h>
-#include <libopencm3/stm32/f1/rcc.h>
 #include <libopencm3/stm32/f1/flash.h>
 #elif defined(STM32F4)
-#include <libopencm3/stm32/f4/rcc.h>
-#include <libopencm3/stm32/f4/gpio.h>
 #include <libopencm3/stm32/f4/flash.h>
 #endif
 #include <libopencm3/cm3/scb.h>

sw/airborne/arch/stm32/mcu_periph/adc_arch.c

@@ -84,17 +84,15 @@
 */
 
 #include "mcu_periph/adc.h"
+
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
 #if defined(STM32F1)
-#include <libopencm3/stm32/f1/rcc.h>
 #include <libopencm3/stm32/f1/adc.h>
-#include <libopencm3/stm32/f1/gpio.h>
-#include <libopencm3/stm32/f1/nvic.h>
 #elif defined(STM32F4)
-#include <libopencm3/stm32/f4/rcc.h>
 #include <libopencm3/stm32/f4/adc.h>
-#include <libopencm3/stm32/f4/gpio.h>
-#include <libopencm3/stm32/f4/nvic.h>
 #endif
+#include <libopencm3/cm3/nvic.h>
 #include <libopencm3/stm32/timer.h>
 #include <string.h>
 #include "std.h"
@@ -263,9 +261,9 @@ static inline void adc_init_rcc( void )
   rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN |
                               RCC_APB2ENR_IOPCEN);
 #elif defined(STM32F4)
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN |
-														RCC_AHB1ENR_IOPCEN);
-	adc_set_clk_prescale(ADC_CCR_ADCPRE_BY2);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN |
+                              RCC_AHB1ENR_IOPCEN);
+  adc_set_clk_prescale(ADC_CCR_ADCPRE_BY2);
 #endif
 
   /* Enable ADC peripheral clocks. */
@@ -284,7 +282,7 @@ static inline void adc_init_rcc( void )
   timer_set_period(timer, 0xFF);
   timer_set_prescaler(timer, 0x8);
 #elif defined(STM32F4)
-	timer_set_period(timer, 0xFFFF);
+  timer_set_period(timer, 0xFFFF);
   timer_set_prescaler(timer, 0x53);
 #endif
   //timer_set_clock_division(timer, 0x0);
@@ -302,7 +300,7 @@ static inline void adc_init_irq( void )
   nvic_set_priority(NVIC_ADC1_2_IRQ, 0);
   nvic_enable_irq(NVIC_ADC1_2_IRQ);
 #elif defined(STM32F4)
-	nvic_set_priority(NVIC_ADC_IRQ, 0);
+  nvic_set_priority(NVIC_ADC_IRQ, 0);
   nvic_enable_irq(NVIC_ADC_IRQ);
 #endif
 }
@@ -410,21 +408,21 @@ PRINT_CONFIG_MSG("Info: Using TIM4 for ADC")
 #if defined(STM32F1)
   adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM4_TRGO);
 #elif defined(STM32F4)
-	adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM4_TRGO, ADC_CR2_JEXTEN_BOTH_EDGES);
+  adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM4_TRGO, ADC_CR2_JEXTEN_BOTH_EDGES);
 #endif
 #elif USE_AD_TIM1
 PRINT_CONFIG_MSG("Info: Using TIM1 for ADC")
 #if defined(STM32F1)
   adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM1_TRGO);
 #elif defined(STM32F4)
-	adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM1_TRGO, ADC_CR2_JEXTEN_BOTH_EDGES);
+  adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM1_TRGO, ADC_CR2_JEXTEN_BOTH_EDGES);
 #endif
 #else
 PRINT_CONFIG_MSG("Info: Using default TIM2 for ADC")
 #if defined(STM32F1)
   adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM2_TRGO);
 #elif defined(STM32F4)
-	adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM2_TRGO, ADC_CR2_JEXTEN_BOTH_EDGES);
+  adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM2_TRGO, ADC_CR2_JEXTEN_BOTH_EDGES);
 #endif
 #endif
 

sw/airborne/arch/stm32/mcu_periph/i2c_arch.c

@@ -28,15 +28,11 @@
 
 #include "mcu_periph/i2c.h"
 
-#if defined(STM32F1)
-#include <libopencm3/stm32/f1/rcc.h>
-#include <libopencm3/stm32/f1/gpio.h>
-#include <libopencm3/stm32/f1/nvic.h>
-#elif defined(STM32F4)
-#include <libopencm3/stm32/f4/rcc.h>
-#include <libopencm3/stm32/f4/gpio.h>
-#include <libopencm3/stm32/f4/nvic.h>
-#endif
+#include BOARD_CONFIG
+
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/cm3/nvic.h>
 #include <libopencm3/cm3/scb.h>
 
 
@@ -880,13 +876,8 @@ void i2c1_hw_init(void) {
 
   i2c1.reg_addr = (void *)I2C1;
   i2c1.init_struct = NULL;
-#if defined(STM32F1)
   i2c1.scl_pin = GPIO_I2C1_SCL;
   i2c1.sda_pin = GPIO_I2C1_SDA;
-#elif defined(STM32F4)
-	i2c2.scl_pin = GPIO8;
-  i2c2.sda_pin = GPIO9;
-#endif
   i2c1.errors = &i2c1_errors;
   i2c1_watchdog_counter = 0;
 
@@ -922,10 +913,10 @@ void i2c1_hw_init(void) {
                 GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN,
                 i2c1.scl_pin | i2c1.sda_pin);
 #elif defined(STM32F4)
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN);
   gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, i2c1.scl_pin | i2c1.sda_pin);
-	gpio_set_output_options(GPIOB, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ, i2c1.scl_pin | i2c1.sda_pin);
-	gpio_set_af(GPIOB, GPIO_AF4, i2c1.scl_pin | i2c1.sda_pin);
+  gpio_set_output_options(GPIOB, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ, i2c1.scl_pin | i2c1.sda_pin);
+  gpio_set_af(GPIOB, GPIO_AF4, i2c1.scl_pin | i2c1.sda_pin);
 #endif
 
   i2c_reset(I2C1);
@@ -980,13 +971,8 @@ void i2c2_hw_init(void) {
 
   i2c2.reg_addr = (void *)I2C2;
   i2c2.init_struct = NULL;
-#if defined(STM32F1)
   i2c2.scl_pin = GPIO_I2C2_SCL;
   i2c2.sda_pin = GPIO_I2C2_SDA;
-#elif defined(STM32F4)
-	i2c2.scl_pin = GPIO10;
-  i2c2.sda_pin = GPIO11;
-#endif
   i2c2.errors = &i2c2_errors;
   i2c2_watchdog_counter = 0;
 
@@ -1017,10 +1003,10 @@ void i2c2_hw_init(void) {
                 GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN,
                 i2c2.scl_pin | i2c2.sda_pin);
 #elif defined(STM32F4)
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN);
   gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, i2c2.scl_pin | i2c2.sda_pin);
-	gpio_set_output_options(GPIOB, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ, i2c2.scl_pin | i2c2.sda_pin);
-	gpio_set_af(GPIOB, GPIO_AF4, i2c2.scl_pin | i2c2.sda_pin);
+  gpio_set_output_options(GPIOB, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ, i2c2.scl_pin | i2c2.sda_pin);
+  gpio_set_af(GPIOB, GPIO_AF4, i2c2.scl_pin | i2c2.sda_pin);
 #endif
 
   i2c_reset(I2C2);

sw/airborne/arch/stm32/mcu_periph/spi_arch.c

@@ -51,9 +51,9 @@
  * - The after_cb callback happens BEFORE the slave is unselected as configured.
  */
 
-#include <libopencm3/stm32/f1/nvic.h>
-#include <libopencm3/stm32/f1/gpio.h>
-#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/rcc.h>
 #include <libopencm3/stm32/exti.h>
 #include <libopencm3/stm32/spi.h>
 #include <libopencm3/stm32/f1/dma.h>

sw/airborne/arch/stm32/mcu_periph/sys_time_arch.h

@@ -34,13 +34,8 @@
 
 #include "mcu_periph/sys_time.h"
 
-#if defined(STM32F1)
-#include <libopencm3/stm32/f1/gpio.h>
-#include <libopencm3/stm32/f1/rcc.h>
-#elif defined(STM32F4)
-#include <libopencm3/stm32/f4/gpio.h>
-#include <libopencm3/stm32/f4/rcc.h>
-#endif
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/rcc.h>
 #include <libopencm3/cm3/systick.h>
 #include "std.h"
 

sw/airborne/arch/stm32/mcu_periph/uart_arch.c

@@ -27,19 +27,12 @@
  */
 
 #include "mcu_periph/uart.h"
-#if defined(STM32F1)
-#include <libopencm3/stm32/f1/nvic.h>
-#include <libopencm3/stm32/f1/gpio.h>
-#include <libopencm3/stm32/f1/rcc.h>
-#elif defined(STM32F4)
-#include <libopencm3/stm32/f4/nvic.h>
-#include <libopencm3/stm32/f4/gpio.h>
-#include <libopencm3/stm32/f4/rcc.h>
-#endif
-#include <libopencm3/stm32/usart.h>
-#include <libopencm3/stm32/f1/rcc.h>
 
-#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/cm3/nvic.h>
+
 #include "std.h"
 
 void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud, bool_t hw_flow_control) {
@@ -135,8 +128,8 @@ void uart1_init( void ) {
 
   /* init RCC */
 #if defined(STM32F4)
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN);
-	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART1EN);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN);
+  rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART1EN);
 #elif defined(STM32F1)
   rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART1EN);
   rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
@@ -147,14 +140,14 @@ void uart1_init( void ) {
 
   /* Init GPIOS */
 #if defined(STM32F4)
-	gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE,
-			GPIO13 | GPIO14 | GPIO15);
-	gpio_set_af(GPIOA, GPIO_AF7, GPIO2);
+  gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE,
+      GPIO13 | GPIO14 | GPIO15);
+  gpio_set_af(GPIOA, GPIO_AF7, GPIO2);
 #elif defined(STM32F1)
   gpio_set_mode(GPIO_BANK_USART1_TX, GPIO_MODE_OUTPUT_50_MHZ,
-	  GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_TX);
+      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_TX);
   gpio_set_mode(GPIO_BANK_USART1_RX, GPIO_MODE_INPUT,
-	  GPIO_CNF_INPUT_FLOAT, GPIO_USART1_RX);
+      GPIO_CNF_INPUT_FLOAT, GPIO_USART1_RX);
 #endif
 
 #if UART1_HW_FLOW_CONTROL
@@ -185,7 +178,7 @@ void uart2_init( void ) {
 
   /* init RCC */
 #if defined(STM32F4)
-	#warning "UART2 is not yet working on STM32F4"
+#warning "UART2 is not yet working on STM32F4"
 #elif defined(STM32F1)
   rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
   rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
@@ -196,7 +189,7 @@ void uart2_init( void ) {
 
   /* Init GPIOS */
 #if defined(STM32F4)
-	#warning "UART2 is not yet working on STM32F4"
+#warning "UART2 is not yet working on STM32F4"
 #elif defined(STM32F1)
   gpio_set_mode(GPIO_BANK_USART2_TX, GPIO_MODE_OUTPUT_50_MHZ,
 	  GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
@@ -221,8 +214,8 @@ void uart3_init( void ) {
 
   /* init RCC */
 #if defined(STM32F4)
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPCEN);
-	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART3EN);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPCEN);
+  rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART3EN);
 #elif defined(STM32F1)
   rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART3EN);
   rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
@@ -233,8 +226,8 @@ void uart3_init( void ) {
 
   /* Init GPIOS */
 #if defined(STM32F4)
-	gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO10 | GPIO11);
-	gpio_set_af(GPIOC, GPIO_AF7, GPIO10 | GPIO11);
+  gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO10 | GPIO11);
+  gpio_set_af(GPIOC, GPIO_AF7, GPIO10 | GPIO11);
 #elif defined(STM32F1)
   AFIO_MAPR |= AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP;
   gpio_set_mode(GPIO_BANK_USART3_PR_TX, GPIO_MODE_OUTPUT_50_MHZ,
@@ -260,9 +253,9 @@ void uart5_init( void ) {
 
   /* init RCC */
 #if defined(STM32F4)
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPCEN);
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPDEN);
-	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_UART5EN);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPCEN);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPDEN);
+  rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_UART5EN);
 #elif defined(STM32F1)
   rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_UART5EN);
   rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
@@ -273,15 +266,15 @@ void uart5_init( void ) {
 
   /* Init GPIOS */
 #if defined(STM32F4)
-	gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO12);
-	gpio_mode_setup(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO2);
-	gpio_set_af(GPIOC, GPIO_AF8, GPIO12);
-	gpio_set_af(GPIOD, GPIO_AF8, GPIO2);
+  gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO12);
+  gpio_mode_setup(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO2);
+  gpio_set_af(GPIOC, GPIO_AF8, GPIO12);
+  gpio_set_af(GPIOD, GPIO_AF8, GPIO2);
 #elif defined(STM32F1)
   gpio_set_mode(GPIO_BANK_UART5_TX, GPIO_MODE_OUTPUT_50_MHZ,
-	  GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_UART5_TX);
+      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_UART5_TX);
   gpio_set_mode(GPIO_BANK_UART5_RX, GPIO_MODE_INPUT,
-	  GPIO_CNF_INPUT_FLOAT, GPIO_UART5_RX);
+      GPIO_CNF_INPUT_FLOAT, GPIO_UART5_RX);
 #endif
 
   /* Configure USART */

sw/airborne/arch/stm32/peripherals/hmc5843_arch.h

@@ -22,11 +22,7 @@
 #ifndef HMC5843_ARCH_H
 #define HMC5843_ARCH_H
 
-#if defined(STM32F1)
-#include <libopencm3/stm32/f1/gpio.h>
-#elif defined(STM32F4)
-#include <libopencm3/stm32/f4/gpio.h>
-#endif
+#include <libopencm3/stm32/gpio.h>
 
 /* returns true if conversion done */
 static inline int mag_eoc(void)

sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c

@@ -26,14 +26,8 @@
 #include "subsystems/actuators/actuators_pwm_arch.h"
 #include "subsystems/actuators/actuators_pwm.h"
 
-#if defined(STM32F1)
-#include <libopencm3/stm32/f1/gpio.h>
-#include <libopencm3/stm32/f1/rcc.h>
-#elif defined(STM32F4)
-#include <libopencm3/stm32/f4/gpio.h>
-#include <libopencm3/stm32/f4/rcc.h>
-#endif
-
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/rcc.h>
 #include <libopencm3/stm32/timer.h>
 
 #include BOARD_CONFIG
@@ -93,19 +87,19 @@ void actuators_pwm_arch_init(void) {
   rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_TIM4EN);
 #endif
 #else // BOARD_KROOZ
-	rcc_peripheral_enable_clock(&RCC_APB1ENR, PWM_1_4_RCC_TIM);
-#	if USE_SERVOS_5AND6
-	rcc_peripheral_enable_clock(&RCC_APB1ENR, PWM_5AND6_RCC_TIM);
+  rcc_peripheral_enable_clock(&RCC_APB1ENR, PWM_1_4_RCC_TIM);
+#if USE_SERVOS_5AND6
+  rcc_peripheral_enable_clock(&RCC_APB1ENR, PWM_5AND6_RCC_TIM);
+#endif
+#if USE_SERVOS_7AND8
+  rcc_peripheral_enable_clock(&RCC_APB1ENR, PWM_7AND8_RCC_TIM);
+#endif
+#if USE_SERVOS_9AND10
+  rcc_peripheral_enable_clock(&RCC_APB1ENR, PWM_9AND10_RCC_TIM);
+#endif
+#if USE_SERVO_11
+  rcc_peripheral_enable_clock(&RCC_APB1ENR, PWM_11_RCC_TIM);
 #endif
-#	if USE_SERVOS_7AND8
-	rcc_peripheral_enable_clock(&RCC_APB1ENR, PWM_7AND8_RCC_TIM);
-#	endif
-#	if USE_SERVOS_9AND10
-	rcc_peripheral_enable_clock(&RCC_APB1ENR, PWM_9AND10_RCC_TIM);
-#	endif
-#	if USE_SERVO_11
-	rcc_peripheral_enable_clock(&RCC_APB1ENR, PWM_11_RCC_TIM);
-#	endif
 #endif // BOARD_KROOZ
 
   /*----------------
@@ -114,24 +108,24 @@ void actuators_pwm_arch_init(void) {
 #if defined(STM32F1)
   /* GPIO A,B and C clock enable */
   rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
-			  RCC_APB2ENR_IOPBEN |
-			  RCC_APB2ENR_IOPCEN |
-			  RCC_APB2ENR_AFIOEN);
+      RCC_APB2ENR_IOPBEN |
+      RCC_APB2ENR_IOPCEN |
+      RCC_APB2ENR_AFIOEN);
 
   /* TIM3 GPIO for PWM1..4 */
   AFIO_MAPR |= AFIO_MAPR_TIM3_REMAP_FULL_REMAP;
   gpio_set_mode(GPIO_BANK_TIM3_FR,
-	  GPIO_MODE_OUTPUT_50_MHZ,
-	  GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
-	  GPIO_TIM3_FR_CH1 |
-	  GPIO_TIM3_FR_CH2 |
-	  GPIO_TIM3_FR_CH3 |
-	  GPIO_TIM3_FR_CH4);
+      GPIO_MODE_OUTPUT_50_MHZ,
+      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
+      GPIO_TIM3_FR_CH1 |
+      GPIO_TIM3_FR_CH2 |
+      GPIO_TIM3_FR_CH3 |
+      GPIO_TIM3_FR_CH4);
 #elif defined(STM32F4)
 #ifdef BOARD_KROOZ
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, PWM_1_4_RCC_IOP);
-	gpio_mode_setup(PWM_1_4_GPIO, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_1_4_Pins);
-	gpio_set_af(PWM_1_4_GPIO, GPIO_AF2, PWM_1_4_Pins);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, PWM_1_4_RCC_IOP);
+  gpio_mode_setup(PWM_1_4_GPIO, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_1_4_Pins);
+  gpio_set_af(PWM_1_4_GPIO, GPIO_AF2, PWM_1_4_Pins);
 #endif
 #endif
 
@@ -139,15 +133,15 @@ void actuators_pwm_arch_init(void) {
 #if USE_SERVOS_7AND8
 #if defined(STM32F1)
   gpio_set_mode(GPIO_BANK_TIM4,
-	  GPIO_MODE_OUTPUT_50_MHZ,
-	  GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
-	  GPIO_TIM4_CH1 |
-	  GPIO_TIM4_CH2);
+      GPIO_MODE_OUTPUT_50_MHZ,
+      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
+      GPIO_TIM4_CH1 |
+      GPIO_TIM4_CH2);
 #elif defined(STM32F4)
 #ifdef BOARD_KROOZ
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, PWM_7AND8_RCC_IOP);
-	gpio_mode_setup(PWM_7AND8_GPIO, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_7AND8_Pins);
-	gpio_set_af(PWM_7AND8_GPIO, GPIO_AF2, PWM_7AND8_Pins);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, PWM_7AND8_RCC_IOP);
+  gpio_mode_setup(PWM_7AND8_GPIO, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_7AND8_Pins);
+  gpio_set_af(PWM_7AND8_GPIO, GPIO_AF2, PWM_7AND8_Pins);
 #endif
 #endif
 #endif
@@ -156,23 +150,23 @@ void actuators_pwm_arch_init(void) {
 #if defined(STM32F1)
 #if REMAP_SERVOS_5AND6
   gpio_set_mode(GPIO_BANK_TIM5,
-	  GPIO_MODE_OUTPUT_50_MHZ,
-	  GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
-	  GPIO_TIM5_CH1 |
-	  GPIO_TIM5_CH2);
+      GPIO_MODE_OUTPUT_50_MHZ,
+      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
+      GPIO_TIM5_CH1 |
+      GPIO_TIM5_CH2);
 #else
   gpio_set_mode(GPIO_BANK_TIM4,
-	  GPIO_MODE_OUTPUT_50_MHZ,
-	  GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
-	  GPIO_TIM4_CH3 |
-	  GPIO_TIM4_CH4);
+      GPIO_MODE_OUTPUT_50_MHZ,
+      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
+      GPIO_TIM4_CH3 |
+      GPIO_TIM4_CH4);
 #endif
 #elif defined(STM32F4)
 #if USE_SERVOS_5AND6
 #ifdef BOARD_KROOZ
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, PWM_5AND6_RCC_IOP);
-	gpio_mode_setup(PWM_5AND6_GPIO, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_5AND6_Pins);
-	gpio_set_af(PWM_5AND6_GPIO, GPIO_AF2, PWM_5AND6_Pins);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, PWM_5AND6_RCC_IOP);
+  gpio_mode_setup(PWM_5AND6_GPIO, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_5AND6_Pins);
+  gpio_set_af(PWM_5AND6_GPIO, GPIO_AF2, PWM_5AND6_Pins);
 #endif
 #endif
 #endif
@@ -183,9 +177,9 @@ void actuators_pwm_arch_init(void) {
 #warning "No servo 9 and 10 outputs on this hardware"
 #elif defined(STM32F4)
 #ifdef BOARD_KROOZ
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, PWM_9AND10_RCC_IOP);
-	gpio_mode_setup(PWM_9AND10_GPIO, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_9AND10_Pins);
-	gpio_set_af(PWM_9AND10_GPIO, GPIO_AF2, PWM_9AND10_Pins);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, PWM_9AND10_RCC_IOP);
+  gpio_mode_setup(PWM_9AND10_GPIO, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_9AND10_Pins);
+  gpio_set_af(PWM_9AND10_GPIO, GPIO_AF2, PWM_9AND10_Pins);
 #endif
 #endif
 #endif
@@ -196,9 +190,9 @@ void actuators_pwm_arch_init(void) {
 #warning "No servo 11 output on this hardware"
 #elif defined(STM32F4)
 #ifdef BOARD_KROOZ
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, PWM_11_RCC_IOP);
-	gpio_mode_setup(PWM_11_GPIO, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_11_Pin);
-	gpio_set_af(PWM_11_GPIO, GPIO_AF2, PWM_11_Pin);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, PWM_11_RCC_IOP);
+  gpio_mode_setup(PWM_11_GPIO, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_11_Pin);
+  gpio_set_af(PWM_11_GPIO, GPIO_AF2, PWM_11_Pin);
 #endif
 #endif
 #endif
@@ -214,7 +208,7 @@ void actuators_pwm_arch_init(void) {
    * - Direction up.
    */
   timer_set_mode(TIM3, TIM_CR1_CKD_CK_INT,
-	  TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+      TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
 
   timer_set_prescaler(TIM3, (PCLK / ONE_MHZ_CLK) - 1); // 1uS
 
@@ -276,7 +270,7 @@ PRINT_CONFIG_MSG("Enabling sevros 7 and 8 on PB6, PB7 -> TIM4")
    * - Direction up.
    */
   timer_set_mode(TIM4, TIM_CR1_CKD_CK_INT,
-	  TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+      TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
 
   timer_set_prescaler(TIM4, (PCLK / ONE_MHZ_CLK) - 1); // 1uS
 
@@ -287,7 +281,7 @@ PRINT_CONFIG_MSG("Enabling sevros 7 and 8 on PB6, PB7 -> TIM4")
 #ifdef SERVO_HZ_SECONDARY
   timer_set_period(TIM4, (ONE_MHZ_CLK / SERVO_HZ_SECONDARY) - 1);
 #elif defined SERVO_HZ_CAM
-	timer_set_period(TIM4, (ONE_MHZ_CLK / SERVO_HZ_CAM) - 1);
+  timer_set_period(TIM4, (ONE_MHZ_CLK / SERVO_HZ_CAM) - 1);
 #else
   timer_set_period(TIM4, (ONE_MHZ_CLK / SERVO_HZ) - 1);
 #endif
@@ -362,7 +356,7 @@ PRINT_CONFIG_MSG("Using servo outputs 5 and 6 to PA0,PA1 -> TIM5")
    * - Direction up.
    */
   timer_set_mode(TIM5, TIM_CR1_CKD_CK_INT,
-	  TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+      TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
 
   timer_set_prescaler(TIM5, (PCLK / ONE_MHZ_CLK) - 1); // 1uS
 
@@ -380,7 +374,7 @@ PRINT_CONFIG_MSG("Using servo outputs 5 and 6 to PA0,PA1 -> TIM5")
   timer_disable_oc_output(TIM5, TIM_OC1);
   timer_disable_oc_output(TIM5, TIM_OC2);
 #ifdef BOARD_KROOZ
-	timer_disable_oc_output(TIM5, TIM_OC3);
+  timer_disable_oc_output(TIM5, TIM_OC3);
   timer_disable_oc_output(TIM5, TIM_OC4);
 #endif
 
@@ -388,7 +382,7 @@ PRINT_CONFIG_MSG("Using servo outputs 5 and 6 to PA0,PA1 -> TIM5")
   actuators_pwm_arch_channel_init(TIM5, TIM_OC1);
   actuators_pwm_arch_channel_init(TIM5, TIM_OC2);
 #ifdef BOARD_KROOZ
-	actuators_pwm_arch_channel_init(TIM5, TIM_OC3);
+  actuators_pwm_arch_channel_init(TIM5, TIM_OC3);
   actuators_pwm_arch_channel_init(TIM5, TIM_OC4);
 #endif
 
@@ -422,7 +416,7 @@ PRINT_CONFIG_MSG("Using servo outputs 5 and 6 to PA0,PA1 -> TIM5")
    * - Direction up.
    */
   timer_set_mode(PWM_11_TIMER, TIM_CR1_CKD_CK_INT,
-	  TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+      TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
   timer_set_prescaler(PWM_11_TIMER, (PCLK / ONE_MHZ_CLK) - 1); // 1uS
   timer_disable_preload(PWM_11_TIMER);
   timer_continuous_mode(PWM_11_TIMER);

sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c

@@ -34,16 +34,11 @@
 #include "subsystems/radio_control.h"
 #include "subsystems/radio_control/ppm.h"
 
-#if defined(STM32F1)
-#include <libopencm3/stm32/f1/rcc.h>
-#include <libopencm3/stm32/f1/gpio.h>
-#include <libopencm3/stm32/f1/nvic.h>
-#elif defined(STM32F4)
-#include <libopencm3/stm32/f4/rcc.h>
-#include <libopencm3/stm32/f4/gpio.h>
-#include <libopencm3/stm32/f4/nvic.h>
-#endif
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
 #include <libopencm3/stm32/timer.h>
+#include <libopencm3/cm3/nvic.h>
+
 #include "mcu_periph/sys_time.h"
 
 
@@ -95,13 +90,13 @@ void ppm_arch_init ( void ) {
   rcc_peripheral_enable_clock(&RCC_APB2ENR, PPM_GPIO_PERIPHERAL);
   /* timer gpio configuration */
   gpio_set_mode(PPM_GPIO_PORT, GPIO_MODE_INPUT,
-		GPIO_CNF_INPUT_FLOAT, PPM_GPIO_PIN);
+      GPIO_CNF_INPUT_FLOAT, PPM_GPIO_PIN);
 #elif defined(STM32F4)
-	/* GPIOB clock enable */
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN);
-	/* TIM2 channel 2 pin (PB.03) configuration */
-	gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO3);
-	gpio_set_af(GPIOB, GPIO_AF1, GPIO3);
+  /* GPIOB clock enable */
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN);
+  /* TIM2 channel 2 pin (PB.03) configuration */
+  gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO3);
+  gpio_set_af(GPIOB, GPIO_AF1, GPIO3);
 #endif
 
   /* Time Base configuration */
@@ -109,13 +104,13 @@ void ppm_arch_init ( void ) {
   timer_reset(PPM_TIMER);
 #endif
   timer_set_mode(PPM_TIMER, TIM_CR1_CKD_CK_INT,
-		 TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+      TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
   timer_set_period(PPM_TIMER, 0xFFFF);
 #if defined(STM32F1)
   /* run ppm timer at cpu freq / 9 = 8MHz */
-	timer_set_prescaler(PPM_TIMER, 0x8);
+  timer_set_prescaler(PPM_TIMER, 0x8);
 #elif defined(STM32F4)
-	timer_set_prescaler(PPM_TIMER, 0x53);
+  timer_set_prescaler(PPM_TIMER, 0x53);
 #endif
 
  /* TIM configuration: Input Capture mode ---------------------

sw/airborne/arch/stm32/subsystems/settings_arch.c

@@ -200,9 +200,8 @@ static int32_t pflash_program_bytes(struct FlashInfo* flash,
                     uint32_t   src,
                     uint32_t   size,
                     uint32_t   chksum) {
-#if defined(STM32F1)  
-	uint32_t i;
-	
+#if defined(STM32F1)
+  uint32_t i;
 
   /* erase */
   flash_unlock();

sw/airborne/boards/apogee_0.99.h

@@ -73,6 +73,13 @@
 #define ADC_CHANNEL_VSUPPLY ADC_4
 #endif
 
+/* I2C mapping (really at this place ?) */
+#define GPIO_I2C1_SCL GPIO8
+#define GPIO_I2C1_SDA GPIO7
+#define GPIO_I2C2_SCL GPIO10
+#define GPIO_I2C2_SDA GPIO11
+
+
 #define BOARD_HAS_BARO 1
 
 #define PWM_1_4_TIMER TIM3