initial pass at gpio cleanup. removed almost all dependency on stdperiphlib (remaining exti).

slightly modified initial pin configuration, but this needs rework soon anyway.
couple spacing/line ending/formatting fixes in sonar driver file while fixing gpio there.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@357 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

baseflight.uvproj

@@ -348,7 +348,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <VariousControls>
-              <MiscControls></MiscControls>
+              <MiscControls>--c99 --gnu</MiscControls>
               <Define>STM32F10X_MD,USE_STDPERIPH_DRIVER</Define>
               <Undefine></Undefine>
               <IncludePath>lib\CMSIS\CM3\CoreSupport;lib\CMSIS\CM3\DeviceSupport\ST\STM32F10x;lib\STM32F10x_StdPeriph_Driver\inc</IncludePath>
@@ -637,6 +637,11 @@
               <FileType>1</FileType>
               <FilePath>.\src\drv_ms5611.c</FilePath>
             </File>
+            <File>
+              <FileName>drv_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\drv_gpio.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -1154,7 +1159,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <VariousControls>
-              <MiscControls></MiscControls>
+              <MiscControls>--c99 --gnu</MiscControls>
               <Define>STM32F10X_MD,USE_STDPERIPH_DRIVER</Define>
               <Undefine></Undefine>
               <IncludePath>CoOS\portable;CoOS\kernel;lib\CMSIS\CM3\CoreSupport;lib\CMSIS\CM3\DeviceSupport\ST\STM32F10x;lib\STM32F10x_StdPeriph_Driver\inc</IncludePath>
@@ -1443,6 +1448,11 @@
               <FileType>1</FileType>
               <FilePath>.\src\drv_ms5611.c</FilePath>
             </File>
+            <File>
+              <FileName>drv_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\drv_gpio.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -2433,6 +2443,11 @@
               <FileType>1</FileType>
               <FilePath>.\src\drv_ms5611.c</FilePath>
             </File>
+            <File>
+              <FileName>drv_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\drv_gpio.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>

src/board.h

@@ -20,6 +20,9 @@
 #include "printf.h"
 #endif
 
+#include "drv_system.h"         // timers, delays, etc
+#include "drv_gpio.h"
+
 #ifndef M_PI
 #define M_PI       3.14159265358979323846f
 #endif /* M_PI */
@@ -102,12 +105,7 @@ typedef struct baro_t
     baroCalculateFuncPtr calculate;
 } baro_t;
 
-#define digitalHi(p, i)     { p->BSRR = i; }
-#define digitalLo(p, i)     { p->BRR = i; }
-#define digitalToggle(p, i) { p->ODR ^= i; }
-
 // Hardware definitions and GPIO
-
 #ifdef FY90Q
  // FY90Q
 #define LED0_GPIO   GPIOC
@@ -182,7 +180,6 @@ typedef struct baro_t
 
 #ifdef FY90Q
  // FY90Q
-#include "drv_system.h"         // timers, delays, etc
 #include "drv_adc.h"
 #include "drv_i2c.h"
 #include "drv_pwm.h"
@@ -191,7 +188,6 @@ typedef struct baro_t
 
 #ifdef OLIMEXINO
 // OLIMEXINO
-#include "drv_system.h"         // timers, delays, etc
 #include "drv_adc.h"
 #include "drv_i2c.h"
 #include "drv_adxl345.h"
@@ -203,7 +199,6 @@ typedef struct baro_t
 #else
 
  // AfroFlight32
-#include "drv_system.h"         // timers, delays, etc
 #include "drv_adc.h"
 #include "drv_adxl345.h"
 #include "drv_bmp085.h"

src/drv_bmp085.c

@@ -90,7 +90,7 @@ static void bmp085_calculate(int32_t *pressure, int32_t *temperature);
 
 bool bmp085Detect(baro_t *baro)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
+    gpio_config_t gpio;
     EXTI_InitTypeDef EXTI_InitStructure;
     NVIC_InitTypeDef NVIC_InitStructure;
     uint8_t data;
@@ -99,13 +99,13 @@ bool bmp085Detect(baro_t *baro)
         return true;
 
     // PC13, PC14 (Barometer XCLR reset output, EOC input)
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
+    gpio.pin = Pin_13;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    gpio.speed = Speed_2MHz;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+    gpio.mode = Mode_Out_PP;
-    GPIO_Init(GPIOC, &GPIO_InitStructure);
+    gpioInit(GPIOC, &gpio);
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
+    gpio.pin = Pin_14;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+    gpio.mode = Mode_IN_FLOATING;
-    GPIO_Init(GPIOC, &GPIO_InitStructure);
+    gpioInit(GPIOC, &gpio);
     BARO_ON;
 
     // EXTI interrupt for barometer EOC

src/drv_gpio.c

@@ -0,0 +1,33 @@
+#include "board.h"
+
+void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config)
+{
+    uint32_t pinpos;
+    for (pinpos = 0; pinpos < 16; pinpos++) {
+        // are we doing this pin?
+        if (config->pin & (0x1 << pinpos)) {
+            // reference CRL or CRH, depending whether pin number is 0..7 or 8..15
+            __IO uint32_t *cr = &gpio->CRL + (pinpos / 8);
+            // mask out extra bits from pinmode, leaving just CNF+MODE
+            uint32_t currentmode = config->mode & 0x0F;
+            // offset to CNF and MODE portions of CRx register
+            uint32_t shift = (pinpos % 8) * 4;
+            // Read out current CRx value
+            uint32_t tmp = *cr;
+            // if we're in output mode, add speed too.
+            if (config->mode & 0x10)
+                currentmode |= config->speed;
+            // Mask out 4 bits
+            tmp &= ~(0xF << shift);
+            // apply current pinmode
+            tmp |= currentmode << shift;
+            *cr = tmp;
+            // Special handling for IPD/IPU
+            if (config->mode == Mode_IPD) {
+                gpio->ODR &= ~(1U << pinpos);
+            } else if (config->mode == Mode_IPU) {
+                gpio->ODR |= (1U << pinpos);
+            }
+        }
+    }
+}

src/drv_gpio.h

@@ -0,0 +1,55 @@
+#pragma once
+
+typedef enum
+{
+    Mode_AIN = 0x0,
+    Mode_IN_FLOATING = 0x04,
+    Mode_IPD = 0x28,
+    Mode_IPU = 0x48,
+    Mode_Out_OD = 0x14,
+    Mode_Out_PP = 0x10,
+    Mode_AF_OD = 0x1C,
+    Mode_AF_PP = 0x18
+} GPIO_Mode;
+
+typedef enum
+{
+    Speed_10MHz = 1,
+    Speed_2MHz, 
+    Speed_50MHz
+} GPIO_Speed;
+
+typedef enum
+{
+    Pin_0 = 0x0000,
+    Pin_1 = 0x0001,
+    Pin_2 = 0x0004,
+    Pin_3 = 0x0008,
+    Pin_4 = 0x0010,
+    Pin_5 = 0x0020,
+    Pin_6 = 0x0040,
+    Pin_7 = 0x0080,
+    Pin_8 = 0x0100,
+    Pin_9 = 0x0200,
+    Pin_10 = 0x0400,
+    Pin_11 = 0x0800,
+    Pin_12 = 0x1000,
+    Pin_13 = 0x2000,
+    Pin_14 = 0x4000,
+    Pin_15 = 0x8000,
+    Pin_All = 0xFFFF
+} GPIO_Pin;
+
+typedef struct
+{
+    uint16_t pin;
+    GPIO_Mode mode;
+    GPIO_Speed speed;
+} gpio_config_t;
+
+#define digitalHi(p, i)     { p->BSRR = i; }
+#define digitalLo(p, i)     { p->BRR = i; }
+#define digitalToggle(p, i) { p->ODR ^= i; }
+#define digitalIn(p, i)     (p->IDR & i)
+
+void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config);

src/drv_hcsr04.c

@@ -19,30 +19,28 @@ static uint8_t exti_pin_source;
 static IRQn_Type exti_irqn;
 
 static uint32_t last_measurement;
-static volatile int16_t* distance_ptr;
+static volatile int16_t *distance_ptr;
 
 void ECHO_EXTI_IRQHandler(void)
 {
     static uint32_t timing_start;
     uint32_t timing_stop;
-    if(GPIO_ReadInputDataBit(GPIOB, echo_pin) != 0)
+    if (digitalIn(GPIOB, echo_pin) != 0) {
         timing_start = micros();
-    else 
+    } else {
-    {
         timing_stop = micros();
-        if(timing_stop > timing_start) 
+        if (timing_stop > timing_start) {
-        {
             // The speed of sound is 340 m/s or approx. 29 microseconds per centimeter.
             // The ping travels out and back, so to find the distance of the
             // object we take half of the distance traveled.
             //
             // 340 m/s = 0.034 cm/microsecond = 29.41176471 *2 = 58.82352941 rounded to 59
-            int32_t pulse_duration = timing_stop - timing_start;          
+            int32_t pulse_duration = timing_stop - timing_start;
-            *distance_ptr = pulse_duration / 59 ;
+            *distance_ptr = pulse_duration / 59;
         }
     }
 
-    EXTI_ClearITPendingBit(exti_line);   
+    EXTI_ClearITPendingBit(exti_line);
 }
 
 void EXTI1_IRQHandler(void)
@@ -57,40 +55,39 @@ void EXTI9_5_IRQHandler(void)
 
 void hcsr04_init(sonar_config_t config)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
+    gpio_config_t gpio;
     EXTI_InitTypeDef EXTIInit;
 
-    //enable AFIO for EXTI support - already done is drv_system.c
+    // enable AFIO for EXTI support - already done is drv_system.c
-    //RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph, ENABLE); 
+    // RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph, ENABLE); 
 
-    switch(config)
+    switch(config) {
-    {
+        case sonar_pwm56:
-    case sonar_pwm56:
+            trigger_pin = Pin_8;   // PWM5 (PB8) - 5v tolerant
-        trigger_pin = GPIO_Pin_8;   // PWM5 (PB8) - 5v tolerant
+            echo_pin = Pin_9;      // PWM6 (PB9) - 5v tolerant
-        echo_pin = GPIO_Pin_9;      // PWM6 (PB9) - 5v tolerant
+            exti_line = EXTI_Line9;
-        exti_line = EXTI_Line9;
+            exti_pin_source = GPIO_PinSource9;
-        exti_pin_source = GPIO_PinSource9;
+            exti_irqn = EXTI9_5_IRQn;
-        exti_irqn = EXTI9_5_IRQn;
+            break;
-        break;
+        case sonar_rc78:    
-    case sonar_rc78:    
+            trigger_pin = Pin_0;   // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
-        trigger_pin = GPIO_Pin_0;   // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
+            echo_pin = Pin_1;      // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
-        echo_pin = GPIO_Pin_1;      // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
+            exti_line = EXTI_Line1;
-        exti_line = EXTI_Line1;
+            exti_pin_source = GPIO_PinSource1;
-        exti_pin_source = GPIO_PinSource1;
+            exti_irqn = EXTI1_IRQn;
-        exti_irqn = EXTI1_IRQn;
+            break;
-        break;
     }
-    
+
     // tp - trigger pin 
-    GPIO_InitStructure.GPIO_Pin = trigger_pin;
+    gpio.pin = trigger_pin;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+    gpio.mode = Mode_Out_PP;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    gpio.speed = Speed_2MHz;
-    GPIO_Init(GPIOB, &GPIO_InitStructure);
+    gpioInit(GPIOB, &gpio);
 
     // ep - echo pin
-    GPIO_InitStructure.GPIO_Pin = echo_pin;
+    gpio.pin = echo_pin;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+    gpio.mode = Mode_IN_FLOATING;
-    GPIO_Init(GPIOB, &GPIO_InitStructure);
+    gpioInit(GPIOB, &gpio);
 
     // setup external interrupt on echo pin
     GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, exti_pin_source);
@@ -109,24 +106,22 @@ void hcsr04_init(sonar_config_t config)
 }
 
 // distance calculation is done asynchronously, using interrupt
-void hcsr04_get_distance(volatile int16_t* distance)
+void hcsr04_get_distance(volatile int16_t *distance)
-{   
+{
     uint32_t current_time = millis();
 
-    if( current_time < (last_measurement + 60) )
+    if (current_time < (last_measurement + 60)) {
-    {
         // the repeat interval of trig signal should be greater than 60ms
         // to avoid interference between connective measurements.
         return;
     }
-        
+
     last_measurement = current_time;
     distance_ptr = distance;
 
-    GPIO_SetBits(GPIOB, trigger_pin);
+    digitalHi(GPIOB, trigger_pin);
     //  The width of trig signal must be greater than 10us
     delayMicroseconds(11);
-    GPIO_ResetBits(GPIOB, trigger_pin);
+    digitalLo(GPIOB, trigger_pin);
 }
-
 #endif

src/drv_hmc5883l.c

@@ -35,7 +35,7 @@ bool hmc5883lDetect(int8_t *align)
 
 void hmc5883lInit(float *calibrationGain)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
+    gpio_config_t gpio;
     float magGain[3];
     int16_t magADC[3];
     int i;
@@ -43,10 +43,10 @@ void hmc5883lInit(float *calibrationGain)
     bool bret = true;           // Error indicator
 
     // PB12 - MAG_DRDY output on rev4 hardware
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+    gpio.pin = Pin_12;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    gpio.speed = Speed_2MHz;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+    gpio.mode = Mode_IN_FLOATING;
-    GPIO_Init(GPIOB, &GPIO_InitStructure);
+    gpioInit(GPIOB, &gpio);
 
     delay(50);
     i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS);   // Reg A DOR = 0x010 + MS1, MS0 set to pos bias

src/drv_i2c.c

@@ -254,14 +254,14 @@ void i2c_ev_handler(void)
 void i2cInit(I2C_TypeDef *I2C)
 {
     NVIC_InitTypeDef NVIC_InitStructure;
-    GPIO_InitTypeDef GPIO_InitStructure;
     I2C_InitTypeDef I2C_InitStructure;
+    gpio_config_t gpio;
 
     // Init pins
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
+    gpio.pin = Pin_10 | Pin_11;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    gpio.speed = Speed_2MHz;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
+    gpio.mode = Mode_AF_OD;
-    GPIO_Init(GPIOB, &GPIO_InitStructure);
+    gpioInit(GPIOB, &gpio);
 
     I2Cx = I2C;
 
@@ -303,45 +303,44 @@ uint16_t i2cGetErrorCounter(void)
 
 static void i2cUnstick(void)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
+    gpio_config_t gpio;
     uint8_t i;
 
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
+    gpio.pin = Pin_10 | Pin_11;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    gpio.speed = Speed_2MHz;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
+    gpio.mode = Mode_Out_OD;
-    GPIO_Init(GPIOB, &GPIO_InitStructure);
+    gpioInit(GPIOB, &gpio);
 
-    GPIO_SetBits(GPIOB, GPIO_Pin_10 | GPIO_Pin_11);
+    digitalHi(GPIOB, Pin_10 | Pin_11);
     for (i = 0; i < 8; i++) {
         // Wait for any clock stretching to finish
-        while (!GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_10))
+        while (!digitalIn(GPIOB, Pin_10))
             delayMicroseconds(10);
 
         // Pull low
-        GPIO_ResetBits(GPIOB, GPIO_Pin_10); //Set bus low
+        digitalLo(GPIOB, Pin_10); // Set bus low
         delayMicroseconds(10);
         // Release high again
-        GPIO_SetBits(GPIOB, GPIO_Pin_10); //Set bus high
+        digitalHi(GPIOB, Pin_10); // Set bus high
         delayMicroseconds(10);
     }
 
     // Generate a start then stop condition
     // SCL  PB10
     // SDA  PB11
-
+    digitalLo(GPIOB, Pin_11); // Set bus data low
-    GPIO_ResetBits(GPIOB, GPIO_Pin_11); // Set bus data low
     delayMicroseconds(10);
-    GPIO_ResetBits(GPIOB, GPIO_Pin_10); // Set bus scl low
+    digitalLo(GPIOB, Pin_10); // Set bus scl low
     delayMicroseconds(10);
-    GPIO_SetBits(GPIOB, GPIO_Pin_10); // Set bus scl high
+    digitalHi(GPIOB, Pin_10); // Set bus scl high
     delayMicroseconds(10);
-    GPIO_SetBits(GPIOB, GPIO_Pin_11); // Set bus sda high
+    digitalHi(GPIOB, Pin_11); // Set bus sda high
 
     // Init pins
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
+    gpio.pin = Pin_10 | Pin_11;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    gpio.speed = Speed_2MHz;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
+    gpio.mode = Mode_AF_OD;
-    GPIO_Init(GPIOB, &GPIO_InitStructure);
+    gpioInit(GPIOB, &gpio);
 }
 
 #endif

src/drv_i2c_soft.c

@@ -131,12 +131,12 @@ static uint8_t I2C_ReceiveByte(void)
 
 void i2cInit(I2C_TypeDef * I2C)
 {
-    GPIO_InitTypeDef gpio;
+    GPIO_Config gpio;
 
-    gpio.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
+    gpio.pin = Pin_10 | Pin_11;
-    gpio.GPIO_Speed = GPIO_Speed_2MHz;
+    gpio.speed = Speed_2MHz;
-    gpio.GPIO_Mode = GPIO_Mode_Out_OD;
+    gpio.mode = Mode_Out_OD;
-    GPIO_Init(GPIOB, &gpio);
+    gpioInit(GPIOB, &gpio);
 }
 
 bool i2cWriteBuffer(uint8_t addr, uint8_t reg, uint8_t len, uint8_t * data)

src/drv_mma845x.c

@@ -72,14 +72,14 @@ bool mma8452Detect(sensor_t *acc)
 
 static void mma8452Init(void)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
+    gpio_config_t gpio;
 
     // PA5 - ACC_INT2 output on rev3/4 hardware
     // OLIMEXINO - The PA5 pin is wired up to LED1, if you need to use an mma8452 on an Olimexino use a different pin and provide support in code.
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
+    gpio.pin = Pin_5;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    gpio.speed = Speed_2MHz;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+    gpio.mode = Mode_IN_FLOATING;
-    GPIO_Init(GPIOA, &GPIO_InitStructure);
+    gpioInit(GPIOA, &gpio);
 
     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG1, 0); // Put device in standby to configure stuff
     i2cWrite(MMA8452_ADDRESS, MMA8452_XYZ_DATA_CFG, MMA8452_FS_RANGE_8G);

src/drv_mpu6050.c

@@ -266,13 +266,13 @@ static void mpu6050AccAlign(int16_t *accData)
 
 static void mpu6050GyroInit(void)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
+    gpio_config_t gpio;
 
     // PB13 - MPU_INT output on rev4 hardware
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
+    gpio.pin = Pin_13;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    gpio.speed = Speed_2MHz;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+    gpio.mode = Mode_IN_FLOATING;
-    GPIO_Init(GPIOB, &GPIO_InitStructure);
+    gpioInit(GPIOB, &gpio);
 
 #ifndef MPU6050_DMP
     i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1

src/drv_ms5611.c

@@ -36,16 +36,16 @@ static uint8_t ms5611_osr = CMD_ADC_4096;
 
 bool ms5611Detect(baro_t *baro)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
+    gpio_config_t gpio;
     bool ack = false;
     uint8_t sig;
     int i;
 
     // PC13 (BMP085's XCLR reset input, which we use to disable it)
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
+    gpio.pin = Pin_13;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    gpio.speed = Speed_2MHz;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+    gpio.mode = Mode_Out_PP;
-    GPIO_Init(GPIOC, &GPIO_InitStructure);
+    gpioInit(GPIOC, &gpio);
     BMP085_OFF;
 
     delay(10); // No idea how long the chip takes to power-up, but let's make it 10ms

src/drv_pwm.c

@@ -266,16 +266,15 @@ static void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
 
 static void pwmGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, uint8_t input)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
+    gpio_config_t cfg;
 
-    GPIO_StructInit(&GPIO_InitStructure);
+    cfg.pin = pin;
-    GPIO_InitStructure.GPIO_Pin = pin;
     if (input)
-        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
+        cfg.mode = Mode_IPD;
     else
-        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+        cfg.mode = Mode_AF_PP;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    cfg.speed = Speed_2MHz;
-    GPIO_Init(gpio, &GPIO_InitStructure);
+    gpioInit(gpio, &cfg);
 }
 
 static pwmPortData_t *pwmOutConfig(uint8_t port, uint16_t period, uint16_t value)

src/drv_system.c

@@ -1,12 +1,5 @@
 #include "board.h"
 
-typedef struct gpio_config_t
-{
-    GPIO_TypeDef *gpio;
-    uint16_t pin;
-    GPIOMode_TypeDef mode;
-} gpio_config_t;
-
 // cycles per microsecond
 static volatile uint32_t usTicks = 0;
 // current uptime for 1kHz systick timer. will rollover after 49 days. hopefully we won't care.
@@ -44,17 +37,28 @@ uint32_t millis(void)
 
 void systemInit(void)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
+    struct {
-    uint32_t i;
+        GPIO_TypeDef *gpio;
-
+        gpio_config_t cfg;
-    gpio_config_t gpio_cfg[] = {
+    } gpio_setup[] = {
-        { LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP },
+        { 
-        { LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP },
+            .gpio = LED0_GPIO, 
+            .cfg = { LED0_PIN, Mode_Out_PP, Speed_2MHz } 
+        },
+        { 
+            .gpio = LED1_GPIO, 
+            .cfg = { LED1_PIN, Mode_Out_PP, Speed_2MHz } 
+        },
 #ifdef BUZZER
-        { BEEP_GPIO, BEEP_PIN, GPIO_Mode_Out_OD },
+        { 
+            .gpio = BEEP_GPIO, 
+            .cfg = { BEEP_PIN, Mode_Out_OD, Speed_2MHz } 
+        },
 #endif
     };
-    uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]);
+    gpio_config_t gpio;
+    uint32_t i;
+    uint8_t gpio_count = sizeof(gpio_setup) / sizeof(gpio_setup[0]);
 
     // This is needed because some shit inside Keil startup fucks with SystemCoreClock, setting it back to 72MHz even on HSI.
     SystemCoreClockUpdate();
@@ -66,22 +70,19 @@ void systemInit(void)
     RCC_ClearFlag();
 
     // Make all GPIO in by default to save power and reduce noise
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
+    gpio.pin = Pin_All;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
+    gpio.mode = Mode_AIN;
-    GPIO_Init(GPIOA, &GPIO_InitStructure);
+    gpioInit(GPIOA, &gpio);
-    GPIO_Init(GPIOB, &GPIO_InitStructure);
+    gpioInit(GPIOB, &gpio);
-    GPIO_Init(GPIOC, &GPIO_InitStructure);
+    gpioInit(GPIOC, &gpio);
 
     // Turn off JTAG port 'cause we're using the GPIO for leds
-    GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
+#define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW            (0x2 << 24)
+    AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;
 
     // Configure gpio
-    for (i = 0; i < gpio_count; i++) {
+    for (i = 0; i < gpio_count; i++)
-        GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin;
+        gpioInit(gpio_setup[i].gpio, &gpio_setup[i].cfg);
-        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
-        GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode;
-        GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure);
-    }
 
     LED0_OFF;
     LED1_OFF;

src/drv_uart.c

@@ -41,20 +41,20 @@ void DMA1_Channel4_IRQHandler(void)
 
 void uartInit(uint32_t speed)
 {
-    GPIO_InitTypeDef GPIO_InitStructure;
+    gpio_config_t gpio;
     USART_InitTypeDef USART_InitStructure;
     DMA_InitTypeDef DMA_InitStructure;
     NVIC_InitTypeDef NVIC_InitStructure;
 
     // USART1_TX    PA9
     // USART1_RX    PA10
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
+    gpio.pin = Pin_9;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    gpio.speed = Speed_2MHz;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+    gpio.mode = Mode_AF_PP;
-    GPIO_Init(GPIOA, &GPIO_InitStructure);
+    gpioInit(GPIOA, &gpio);
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
+    gpio.pin = Pin_10;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+    gpio.mode = Mode_IPU;
-    GPIO_Init(GPIOA, &GPIO_InitStructure);
+    gpioInit(GPIOA, &gpio);
 
     // DMA TX Interrupt
     NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel4_IRQn;
@@ -183,7 +183,7 @@ static void uart2Open(uint32_t speed)
 void uart2Init(uint32_t speed, uartReceiveCallbackPtr func, bool rxOnly)
 {
     NVIC_InitTypeDef NVIC_InitStructure;
-    GPIO_InitTypeDef GPIO_InitStructure;
+    gpio_config_t gpio;
 
     RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
 
@@ -197,14 +197,14 @@ void uart2Init(uint32_t speed, uartReceiveCallbackPtr func, bool rxOnly)
 
     // USART2_TX    PA2
     // USART2_RX    PA3
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
+    gpio.pin = GPIO_Pin_2;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    gpio.speed = Speed_2MHz;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+    gpio.mode = Mode_AF_PP;
     if (!rxOnly)
-        GPIO_Init(GPIOA, &GPIO_InitStructure);
+        gpioInit(GPIOA, &gpio);
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
+    gpio.pin = Pin_3;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+    gpio.mode = Mode_IPU;
-    GPIO_Init(GPIOA, &GPIO_InitStructure);
+    gpioInit(GPIOA, &gpio);
 
     uart2Open(speed);
     USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);

src/gps.c

@@ -1133,8 +1133,8 @@ static bool UBLOX_parse_gps(void)
         break;
     default:
         return false;
-    }
+    }
-
+
     // we only return true when we get new position and speed data
     // this ensures we don't use stale data
     if (_new_position && _new_speed) {

src/main.c

@@ -6,8 +6,8 @@ extern rcReadRawDataPtr rcReadRawFunc;
 
 // two receiver read functions
 extern uint16_t pwmReadRawRC(uint8_t chan);
-extern uint16_t spektrumReadRawRC(uint8_t chan);
+extern uint16_t spektrumReadRawRC(uint8_t chan);
-
+
 #ifdef USE_LAME_PRINTF
 // gcc/GNU version
 static void _putc(void *p, char c)
@@ -68,8 +68,8 @@ int main(void)
         mcfg.power_adc_channel = 0;
     }
 
-    adcInit(&adc_params);
+    adcInit(&adc_params);
-
+
     // We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
     sensorsSet(SENSORS_SET);
 
@@ -140,8 +140,8 @@ int main(void)
 
     // Check battery type/voltage
     if (feature(FEATURE_VBAT))
-        batteryInit();
+        batteryInit();
-
+
     serialInit(mcfg.serial_baudrate);
 
     previousTime = micros();