board specific driver and module organization

.gitmodules

@@ -2,8 +2,8 @@
 	path = mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git
 	branch = master
-[submodule "src/modules/uavcan/libuavcan"]
-	path = src/modules/uavcan/libuavcan
+[submodule "src/drivers/uavcan/libuavcan"]
+	path = src/drivers/uavcan/libuavcan
 	url = https://github.com/UAVCAN/libuavcan.git
 	branch = master
 [submodule "msg/tools/genmsg"]

CMakeLists.txt

@@ -413,6 +413,10 @@ add_subdirectory(src/modules/systemlib EXCLUDE_FROM_ALL) # TODO: split into libr
 add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
 add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
 
+if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
+	add_subdirectory(${PX4_BOARD_DIR})
+endif()
+
 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()

Tools/astyle/files_to_check_code_style.sh

@@ -8,12 +8,12 @@ then
     PATTERN="$1"
 fi
 
-exec find src platforms \
+exec find boards src platforms \
     -path platforms/nuttx/NuttX -prune -o \
     -path src/lib/DriverFramework -prune -o \
     -path src/lib/ecl -prune -o \
     -path src/lib/matrix -prune -o \
     -path src/modules/micrortps_bridge/micro-CDR -prune -o \
     -path src/modules/systemlib/uthash -prune -o \
-    -path src/modules/uavcan/libuavcan -prune -o \
+    -path src/drivers/uavcan/libuavcan -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

boards/aerotenna/ocpoc/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(ocpoc_adc)

boards/aerotenna/ocpoc/ubuntu.cmake

@@ -15,15 +15,13 @@ px4_add_board(
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
 		gps
+		#imu # all available imu drivers
+		lights/rgbled
 		linux_pwm_out
 		linux_sbus
-		#imu # all available imu drivers
 		#magnetometer # all available magnetometer drivers
-		ocpoc_adc
-		rgbled
 		pwm_out_sim
 		#telemetry # all available telemetry drivers
-		vmount
 
 	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
 		mpu9250
@@ -53,7 +51,7 @@ px4_add_board(
 		position_estimator_inav
 		sensors
 		#simulator
-		#uavcan
+		vmount
 		vtol_att_control
 		wind_estimator
 

boards/airmind/mindpx-v2/default.cmake

@@ -17,7 +17,6 @@ px4_add_board(
 	DRIVERS
 		barometer # all available barometer drivers
 		batt_smbus
-		blinkm
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
@@ -29,23 +28,24 @@ px4_add_board(
 		imu/mpu6000
 		imu/mpu9250
 		irlock
+		lights/blinkm
+		lights/oreoled
+		lights/rgbled
 		magnetometer # all available magnetometer drivers
 		mkblctrl
-		oreoled
 		pca9685
 		pwm_input
 		pwm_out_sim
 		px4flow
 		px4fmu
 		rc_input
-		rgbled
 		stm32
 		stm32/adc
 		stm32/tone_alarm
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
-		vmount
+		uavcan
 
 	MODULES
 		attitude_estimator_q
@@ -69,7 +69,7 @@ px4_add_board(
 		navigator
 		position_estimator_inav
 		sensors
-		uavcan
+		vmount
 		vtol_att_control
 		wind_estimator
 

boards/atlflight/eagle/default.cmake

@@ -52,14 +52,13 @@ px4_add_board(
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
 		gps
-		linux_sbus
 		#imu # all available imu drivers
+		lights/rgbled
+		linux_sbus
 		#magnetometer # all available magnetometer drivers
-		rgbled
 		pwm_out_sim
 		qshell/posix
 		#telemetry # all available telemetry drivers
-		vmount
 
 	MODULES
 		muorb/krait
@@ -87,7 +86,7 @@ px4_add_board(
 		position_estimator_inav
 		sensors
 		simulator
-		#uavcan
+		vmount
 		vtol_att_control
 		wind_estimator
 

boards/atlflight/eagle/qurt-default.cmake

@@ -75,6 +75,7 @@ px4_add_board(
 		mc_pos_control
 		position_estimator_inav
 		sensors
+		vmount
 		vtol_att_control
 		wind_estimator
 

boards/atlflight/excelsior/default.cmake

@@ -52,14 +52,13 @@ px4_add_board(
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
 		gps
-		linux_sbus
 		#imu # all available imu drivers
+		lights/rgbled
+		linux_sbus
 		#magnetometer # all available magnetometer drivers
-		rgbled
 		pwm_out_sim
 		qshell/posix
 		#telemetry # all available telemetry drivers
-		vmount
 
 	MODULES
 		muorb/krait
@@ -87,7 +86,7 @@ px4_add_board(
 		position_estimator_inav
 		sensors
 		simulator
-		#uavcan
+		vmount
 		vtol_att_control
 		wind_estimator
 

boards/atlflight/excelsior/qurt-default.cmake

@@ -75,6 +75,7 @@ px4_add_board(
 		mc_pos_control
 		position_estimator_inav
 		sensors
+		vmount
 		vtol_att_control
 		wind_estimator
 

boards/atmel/same70xplained/default.cmake

@@ -17,35 +17,35 @@ px4_add_board(
 	DRIVERS
 		barometer # all available barometer drivers
 		batt_smbus
-		blinkm
 		#camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
 		gps
 		#heater
 		#imu # all available imu drivers
+		imu/l3gd20
+		imu/lsm303d
 		imu/mpu6000
 		imu/mpu9250
-		imu/lsm303d
-		imu/l3gd20
 		irlock
+		lights/blinkm
+		lights/oreoled
+		lights/rgbled
 		magnetometer # all available magnetometer drivers
 		mkblctrl
-		oreoled
 		pca9685
 		#pwm_input
 		pwm_out_sim
 		px4flow
 		px4fmu
 		#rc_input
-		rgbled
 		samv7
-		#WIP samv7/adc
+		#samv7/adc # WIP
 		samv7/tone_alarm
 		tap_esc
 		telemetry # all available telemetry drivers
 		#test_ppm
-		vmount
+		#uavcan
 
 	MODULES
 		attitude_estimator_q
@@ -69,7 +69,7 @@ px4_add_board(
 		navigator
 		position_estimator_inav
 		sensors
-		#WIP uavcan
+		vmount
 		vtol_att_control
 		wind_estimator
 

boards/atmel/same70xplained/src/board_config.h

@@ -85,10 +85,8 @@ __BEGIN_DECLS
  *   ------ --------- ---------
  */
 
-#define GPIO_EMAC0_INT    (GPIO_INPUT | GPIO_CFG_PULLUP | GPIO_CFG_DEGLITCH | \
-			   GPIO_INT_FALLING | GPIO_PORT_PIOA | GPIO_PIN14)
-#define GPIO_EMAC0_RESET  (GPIO_OUTPUT | GPIO_CFG_PULLUP | GPIO_OUTPUT_SET | \
-			   GPIO_PORT_PIOC | GPIO_PIN10)
+#define GPIO_EMAC0_INT    (GPIO_INPUT | GPIO_CFG_PULLUP | GPIO_CFG_DEGLITCH | GPIO_INT_FALLING | GPIO_PORT_PIOA | GPIO_PIN14)
+#define GPIO_EMAC0_RESET  (GPIO_OUTPUT | GPIO_CFG_PULLUP | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN10)
 
 #define IRQ_EMAC0_INT     SAM_IRQ_PA14
 
@@ -97,8 +95,7 @@ __BEGIN_DECLS
  * A single LED is available driven by PC8.
  */
 
-#define GPIO_LED1     (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | \
-		       GPIO_PORT_PIOC | GPIO_PIN8)
+#define GPIO_LED1     (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN8)
 #define GPIO_LED_RED GPIO_LED1
 #define BOARD_OVERLOAD_LED     LED_RED
 
@@ -114,8 +111,7 @@ __BEGIN_DECLS
  * button.
  */
 
-#define GPIO_SW0      (GPIO_INPUT | GPIO_CFG_PULLUP | GPIO_CFG_DEGLITCH | \
-		       GPIO_INT_BOTHEDGES | GPIO_PORT_PIOA | GPIO_PIN11)
+#define GPIO_SW0      (GPIO_INPUT | GPIO_CFG_PULLUP | GPIO_CFG_DEGLITCH | GPIO_INT_BOTHEDGES | GPIO_PORT_PIOA | GPIO_PIN11)
 #define IRQ_SW0       SAM_IRQ_PA11
 
 /* HSMCI SD Card Detect
@@ -138,8 +134,7 @@ __BEGIN_DECLS
  *   ------ ----------------- ---------------------
  */
 
-#define GPIO_MCI0_CD (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		      GPIO_INT_BOTHEDGES | GPIO_PORT_PIOC | GPIO_PIN16)
+#define GPIO_MCI0_CD (GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_INT_BOTHEDGES | GPIO_PORT_PIOC | GPIO_PIN16)
 #define IRQ_MCI0_CD   SAM_IRQ_PC16
 
 /* USB Host
@@ -150,53 +145,37 @@ __BEGIN_DECLS
  * pin (PC16) low.
  */
 
-#define GPIO_VBUSON (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | \
-		     GPIO_PORT_PIOC | GPIO_PIN16)
+#define GPIO_VBUSON (GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN16)
 
 
 
 /* External interrupts */
 //todo:DBS fix all these
-#define GPIO_EXTI_GYRO_DRDY		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_INT_RISING | GPIO_PORT_PIOD | GPIO_PIN30)
-#define GPIO_EXTI_MAG_DRDY		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_INT_RISING | GPIO_PORT_PIOD | GPIO_PIN30)
-#define GPIO_EXTI_ACCEL_DRDY	(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-				 GPIO_INT_RISING | GPIO_PORT_PIOD | GPIO_PIN30)
-#define GPIO_EXTI_MPU_DRDY		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_INT_RISING | GPIO_PORT_PIOD | GPIO_PIN30)
+#define GPIO_EXTI_GYRO_DRDY		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_INT_RISING | GPIO_PORT_PIOD | GPIO_PIN30)
+#define GPIO_EXTI_MAG_DRDY		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_INT_RISING | GPIO_PORT_PIOD | GPIO_PIN30)
+#define GPIO_EXTI_ACCEL_DRDY		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_INT_RISING | GPIO_PORT_PIOD | GPIO_PIN30)
+#define GPIO_EXTI_MPU_DRDY		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_INT_RISING | GPIO_PORT_PIOD | GPIO_PIN30)
 
 /* Data ready pins off */
-#define GPIO_GYRO_DRDY_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN30)
-#define GPIO_MAG_DRDY_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN30)
-#define GPIO_ACCEL_DRDY_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN30)
-#define GPIO_EXTI_MPU_DRDY_OFF	(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-				 GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN30)
+#define GPIO_GYRO_DRDY_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN30)
+#define GPIO_MAG_DRDY_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN30)
+#define GPIO_ACCEL_DRDY_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN30)
+#define GPIO_EXTI_MPU_DRDY_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN30)
 
 /* SPI1 off */
-#define GPIO_SPI1_SCK_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN22)
-#define GPIO_SPI1_MISO_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN20)
-#define GPIO_SPI1_MOSI_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN21)
+#define GPIO_SPI1_SCK_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN22)
+#define GPIO_SPI1_MISO_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN20)
+#define GPIO_SPI1_MOSI_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN21)
 
 /* SPI1 chip selects off */
-#define GPIO_SPI_CS_GYRO_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_CFG_PULLDOWN | GPIO_PORT_PIOC | GPIO_PIN13)
-#define GPIO_SPI_CS_ACCEL_MAG_OFF	(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_CFG_PULLDOWN | GPIO_PORT_PIOC | GPIO_PIN17 )
-#define GPIO_SPI_CS_BARO_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN11)
-#define GPIO_SPI_CS_MPU_OFF			(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-		GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN27)
+#define GPIO_SPI_CS_GYRO_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOC | GPIO_PIN13)
+#define GPIO_SPI_CS_ACCEL_MAG_OFF	(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOC | GPIO_PIN17)
+#define GPIO_SPI_CS_BARO_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN11)
+#define GPIO_SPI_CS_MPU_OFF		(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOD | GPIO_PIN27)
 
 /* SPI chip selects */
 #define GPIO_SPI_CS_GYRO		(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN13)
-#define GPIO_SPI_CS_ACCEL_MAG	(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN17 )
+#define GPIO_SPI_CS_ACCEL_MAG		(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN17)
 #define GPIO_SPI_CS_BARO		(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOD | GPIO_PIN11)
 #define GPIO_SPI_CS_MPU			(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOD | GPIO_PIN27)
 
@@ -242,14 +221,10 @@ __BEGIN_DECLS
  *
  * GPIO0-3 are the PWM servo outputs.
  */
-#define GPIO_GPIO0_INPUT	(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-				 GPIO_CFG_PULLDOWN | GPIO_PORT_PIOC | GPIO_PIN19)
-#define GPIO_GPIO1_INPUT	(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-				 GPIO_CFG_PULLDOWN | GPIO_PORT_PIOC | GPIO_PIN26)
-#define GPIO_GPIO2_INPUT	(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-				 GPIO_CFG_PULLDOWN | GPIO_PORT_PIOA | GPIO_PIN2)
-#define GPIO_GPIO3_INPUT	(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | \
-				 GPIO_CFG_PULLDOWN | GPIO_PORT_PIOA | GPIO_PIN24)
+#define GPIO_GPIO0_INPUT	(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOC | GPIO_PIN19)
+#define GPIO_GPIO1_INPUT	(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOC | GPIO_PIN26)
+#define GPIO_GPIO2_INPUT	(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOA | GPIO_PIN2)
+#define GPIO_GPIO3_INPUT	(GPIO_INPUT | GPIO_CFG_DEFAULT | GPIO_CFG_DEGLITCH | GPIO_CFG_PULLDOWN | GPIO_PORT_PIOA | GPIO_PIN24)
 #define GPIO_GPIO0_OUTPUT	(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN19)
 #define GPIO_GPIO1_OUTPUT	(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN26)
 #define GPIO_GPIO2_OUTPUT	(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOA | GPIO_PIN2)