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sensei-hacker wants to merge 11 commits into from
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Use explicit PWM timers first #11444

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0fda3d9
Fix SPI GPIO alternate function assignment on STM32H7/F7
sensei-hacker Mar 2, 2026
1e997d0
drivers: explicitly include common/utils.h in SPI AF lookup headers
sensei-hacker Mar 2, 2026
48ca37d
add HAKRCH743 target
niepingyu Dec 15, 2025
5e0aeea
Update src/main/target/HAKRCH743/target.c
HAKRC8899 Dec 16, 2025
96ee3bd
Update target.c
HAKRC8899 Dec 16, 2025
498613f
HAKRCH743: Add DMAR for Dshot on all outputs, fix typo
sensei-hacker Mar 2, 2026
23dceaa
Mark 16 legacy MSP commands as deprecated for removal in INAV 10.0
sensei-hacker Feb 8, 2026
7a02d40
msp_protocol.h change depreciation comment format
sensei-hacker Feb 8, 2026
eb80b70
Mark MSP_STATUS, MSP_DEBUG, and blackbox config commands as deprecated
sensei-hacker Mar 1, 2026
0b3031f
Mark MSP_STATUS_EX as deprecated; accCalibAxisFlags in MSP_CALIBRATIO…
sensei-hacker Mar 1, 2026
e09cbc3
use explicitly assign motor and servo timers before auto timers
sensei-hacker Mar 19, 2026
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1 change: 1 addition & 0 deletions docs/development/msp/format.md
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@
**variable_len**: Optional boolean, if true, message does not have a predefined fixed length and needs appropriate handling\
**variants**: Optional special case, message has different cases of reply/request. Key/description is not a strict expression or code; just a readable condition\
**not_implemented**: Optional special case, message is not implemented (never or deprecated)\
**replaced_by**: Optional array of MSP message names that replace this command. Present when a command is deprecated and scheduled for removal. Empty array if no replacement is needed\
**notes**: String with details of message

## Data dict fields:
Expand Down
21 changes: 20 additions & 1 deletion docs/development/msp/msp_messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -673,6 +673,7 @@
"MSP_POSITION_ESTIMATION_CONFIG": {
"code": 16,
"mspv": 1,
"replaced_by": ["MSP2_COMMON_SETTING"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -727,6 +728,7 @@
"MSP_SET_POSITION_ESTIMATION_CONFIG": {
"code": 17,
"mspv": 1,
"replaced_by": ["MSP2_COMMON_SET_SETTING"],
"request": {
"payload": [
{
Expand Down Expand Up @@ -2360,6 +2362,7 @@
"MSP_BLACKBOX_CONFIG": {
"code": 80,
"mspv": 1,
"replaced_by": ["MSP2_BLACKBOX_CONFIG"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -2399,6 +2402,7 @@
"MSP_SET_BLACKBOX_CONFIG": {
"code": 81,
"mspv": 1,
"replaced_by": ["MSP2_SET_BLACKBOX_CONFIG"],
"not_implemented": true,
"request": null,
"reply": null,
Expand Down Expand Up @@ -2426,6 +2430,7 @@
"MSP_OSD_CONFIG": {
"code": 84,
"mspv": 1,
"replaced_by": ["MSP2_INAV_OSD_LAYOUTS", "MSP2_INAV_OSD_ALARMS", "MSP2_INAV_OSD_PREFERENCES"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -2504,6 +2509,7 @@
"MSP_SET_OSD_CONFIG": {
"code": 85,
"mspv": 1,
"replaced_by": ["MSP2_INAV_OSD_SET_LAYOUT_ITEM", "MSP2_INAV_OSD_SET_ALARMS", "MSP2_INAV_OSD_SET_PREFERENCES"],
"request": null,
"reply": null,
"notes": "Requires `USE_OSD`. Distinguishes formats based on the first byte. Format 1 requires at least 10 bytes. Format 2 requires 3 bytes. Triggers an OSD redraw. See `MSP2_INAV_OSD_SET_*` for more advanced control.",
Expand Down Expand Up @@ -3134,6 +3140,7 @@
"MSP_FILTER_CONFIG": {
"code": 92,
"mspv": 1,
"replaced_by": ["MSP2_COMMON_SETTING"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -3217,6 +3224,7 @@
"MSP_SET_FILTER_CONFIG": {
"code": 93,
"mspv": 1,
"replaced_by": ["MSP2_COMMON_SET_SETTING"],
"request": {
"payload": [
{
Expand Down Expand Up @@ -3293,6 +3301,7 @@
"MSP_PID_ADVANCED": {
"code": 94,
"mspv": 1,
"replaced_by": ["MSP_INAV_PID"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -3370,6 +3379,7 @@
"MSP_SET_PID_ADVANCED": {
"code": 95,
"mspv": 1,
"replaced_by": ["MSP_SET_INAV_PID"],
"request": {
"payload": [
{
Expand Down Expand Up @@ -3599,6 +3609,7 @@
"MSP_STATUS": {
"code": 101,
"mspv": 1,
"replaced_by": ["MSP2_INAV_STATUS"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -3914,6 +3925,7 @@
"MSP_ANALOG": {
"code": 110,
"mspv": 1,
"replaced_by": ["MSP2_INAV_ANALOG"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -4039,6 +4051,7 @@
"MSP_MISC": {
"code": 114,
"mspv": 1,
"replaced_by": ["MSP2_INAV_MISC"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -4168,6 +4181,7 @@
"MSP_PIDNAMES": {
"code": 117,
"mspv": 1,
"replaced_by": [],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -4644,6 +4658,7 @@
"MSP_STATUS_EX": {
"code": 150,
"mspv": 1,
"replaced_by": ["MSP2_INAV_STATUS"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -4701,7 +4716,7 @@
}
]
},
"notes": "Superseded by `MSP2_INAV_STATUS` which provides the full 32-bit `armingFlags` and other enhancements.",
"notes": "Superseded by `MSP2_INAV_STATUS` which provides the full 32-bit `armingFlags` and other enhancements. The `accCalibAxisFlags` field is not present in `MSP2_INAV_STATUS` but is available via `MSP_CALIBRATION_DATA`.",
"description": "Provides extended flight controller status, including CPU load, arming flags, and calibration status, in addition to `MSP_STATUS` fields."
},
"MSP_SENSOR_STATUS": {
Expand Down Expand Up @@ -5135,6 +5150,7 @@
"MSP_SET_MISC": {
"code": 207,
"mspv": 1,
"replaced_by": ["MSP2_INAV_SET_MISC"],
"request": {
"payload": [
{
Expand Down Expand Up @@ -5588,6 +5604,7 @@
"MSP_SERVO_MIX_RULES": {
"code": 241,
"mspv": 1,
"replaced_by": ["MSP2_INAV_SERVO_MIXER"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -5644,6 +5661,7 @@
"MSP_SET_SERVO_MIX_RULE": {
"code": 242,
"mspv": 1,
"replaced_by": ["MSP2_INAV_SET_SERVO_MIXER"],
"request": {
"payload": [
{
Expand Down Expand Up @@ -5803,6 +5821,7 @@
"MSP_DEBUG": {
"code": 254,
"mspv": 1,
"replaced_by": ["MSP2_INAV_DEBUG"],
"request": null,
"reply": {
"payload": [
Expand Down
164 changes: 107 additions & 57 deletions src/main/drivers/bus_spi_hal_ll.c
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Original file line number Diff line number Diff line change
Expand Up @@ -89,109 +89,159 @@ static const uint32_t spiDivisorMapSlow[] = {
#endif

#if defined(STM32H7)
static spiDevice_t spiHardwareMap[SPIDEV_COUNT] = {
#include "bus_spi_stm32h7xx.h"

// Auto-resolve SPI AF per pin from the lookup table in bus_spi_stm32h7xx.h.
// Targets may still define individual SPI*_SCK/MISO/MOSI_AF values in target.h
// to override; explicit defines take priority via these #ifndef guards.
#ifdef USE_SPI_DEVICE_1
#if defined(SPI1_SCK_AF) || defined(SPI1_MISO_AF) || defined(SPI1_MOSI_AF)
#if !defined(SPI1_SCK_AF) || !defined(SPI1_MISO_AF) || !defined(SPI1_MOSI_AF)
#error SPI1: SCK, MISO and MOSI AFs should be defined together in target.h!
#ifndef SPI1_SCK_AF
#define SPI1_SCK_AF SPI_PIN_AF_HELPER(1, SPI1_SCK_PIN)
#endif
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = SPI1_SCK_AF, .misoAF = SPI1_MISO_AF, .mosiAF = SPI1_MOSI_AF, .divisorMap = spiDivisorMapFast },
#else
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = GPIO_AF5_SPI1, .misoAF = GPIO_AF5_SPI1, .mosiAF = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
#ifndef SPI1_MISO_AF
#define SPI1_MISO_AF SPI_PIN_AF_HELPER(1, SPI1_MISO_PIN)
#endif
#ifndef SPI1_MOSI_AF
#define SPI1_MOSI_AF SPI_PIN_AF_HELPER(1, SPI1_MOSI_PIN)
#endif
#else
{ .dev = NULL }, // No SPI1
#endif

#ifdef USE_SPI_DEVICE_2
#if defined(SPI2_SCK_AF) || defined(SPI2_MISO_AF) || defined(SPI2_MOSI_AF)
#if !defined(SPI2_SCK_AF) || !defined(SPI2_MISO_AF) || !defined(SPI2_MOSI_AF)
#error SPI2: SCK, MISO and MOSI AFs should be defined together in target.h!
#ifndef SPI2_SCK_AF
#define SPI2_SCK_AF SPI_PIN_AF_HELPER(2, SPI2_SCK_PIN)
#endif
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1L(SPI2), .sckAF = SPI2_SCK_AF, .misoAF = SPI2_MISO_AF, .mosiAF = SPI2_MOSI_AF, .divisorMap = spiDivisorMapSlow },
#ifndef SPI2_MISO_AF
#define SPI2_MISO_AF SPI_PIN_AF_HELPER(2, SPI2_MISO_PIN)
#endif
#ifndef SPI2_MOSI_AF
#define SPI2_MOSI_AF SPI_PIN_AF_HELPER(2, SPI2_MOSI_PIN)
#endif
#endif

#ifdef USE_SPI_DEVICE_3
#ifndef SPI3_SCK_AF
#define SPI3_SCK_AF SPI_PIN_AF_HELPER(3, SPI3_SCK_PIN)
#endif
#ifndef SPI3_MISO_AF
#define SPI3_MISO_AF SPI_PIN_AF_HELPER(3, SPI3_MISO_PIN)
#endif
#ifndef SPI3_MOSI_AF
#define SPI3_MOSI_AF SPI_PIN_AF_HELPER(3, SPI3_MOSI_PIN)
#endif
#endif

#ifdef USE_SPI_DEVICE_4
#ifndef SPI4_SCK_AF
#define SPI4_SCK_AF SPI_PIN_AF_HELPER(4, SPI4_SCK_PIN)
#endif
#ifndef SPI4_MISO_AF
#define SPI4_MISO_AF SPI_PIN_AF_HELPER(4, SPI4_MISO_PIN)
#endif
#ifndef SPI4_MOSI_AF
#define SPI4_MOSI_AF SPI_PIN_AF_HELPER(4, SPI4_MOSI_PIN)
#endif
#endif

static spiDevice_t spiHardwareMap[SPIDEV_COUNT] = {
#ifdef USE_SPI_DEVICE_1
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = SPI1_SCK_AF, .misoAF = SPI1_MISO_AF, .mosiAF = SPI1_MOSI_AF, .divisorMap = spiDivisorMapFast },
#else
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1L(SPI2), .sckAF = GPIO_AF5_SPI2, .misoAF = GPIO_AF5_SPI2, .mosiAF = GPIO_AF5_SPI2, .divisorMap = spiDivisorMapSlow },
{ .dev = NULL }, // No SPI1
#endif

#ifdef USE_SPI_DEVICE_2
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1L(SPI2), .sckAF = SPI2_SCK_AF, .misoAF = SPI2_MISO_AF, .mosiAF = SPI2_MOSI_AF, .divisorMap = spiDivisorMapSlow },
#else
{ .dev = NULL }, // No SPI2
#endif

#ifdef USE_SPI_DEVICE_3
#if defined(SPI3_SCK_AF) || defined(SPI3_MISO_AF) || defined(SPI3_MOSI_AF)
#if !defined(SPI3_SCK_AF) || !defined(SPI3_MISO_AF) || !defined(SPI3_MOSI_AF)
#error SPI3: SCK, MISO and MOSI AFs should be defined together in target.h!
#endif
{ .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1L(SPI3), .sckAF = SPI3_SCK_AF, .misoAF = SPI3_MISO_AF, .mosiAF = SPI3_MOSI_AF, .divisorMap = spiDivisorMapSlow },
#else
{ .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1L(SPI3), .sckAF = GPIO_AF6_SPI3, .misoAF = GPIO_AF6_SPI3, .mosiAF = GPIO_AF6_SPI3, .divisorMap = spiDivisorMapSlow },
#endif
#else
{ .dev = NULL }, // No SPI3
#endif

#ifdef USE_SPI_DEVICE_4
#if defined(SPI4_SCK_AF) || defined(SPI4_MISO_AF) || defined(SPI4_MOSI_AF)
#if !defined(SPI4_SCK_AF) || !defined(SPI4_MISO_AF) || !defined(SPI4_MOSI_AF)
#error SPI4: SCK, MISO and MOSI AFs should be defined together in target.h!
#endif
{ .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = SPI4_SCK_AF, .misoAF = SPI4_MISO_AF, .mosiAF = SPI4_MOSI_AF, .divisorMap = spiDivisorMapSlow }
#else
{ .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = GPIO_AF5_SPI4, .misoAF = GPIO_AF5_SPI4, .mosiAF = GPIO_AF5_SPI4, .divisorMap = spiDivisorMapSlow }
#endif
#else
{ .dev = NULL } // No SPI4
#endif
};
#else
static spiDevice_t spiHardwareMap[] = {
#elif defined(STM32F7)
#include "bus_spi_stm32f7xx.h"

// Auto-resolve SPI AF per pin from the lookup table in bus_spi_stm32f7xx.h.
// Targets may still define individual SPI*_SCK/MISO/MOSI_AF values in target.h
// to override; explicit defines take priority via these #ifndef guards.
#ifdef USE_SPI_DEVICE_1
#if defined(SPI1_SCK_AF) || defined(SPI1_MISO_AF) || defined(SPI1_MOSI_AF)
#if !defined(SPI1_SCK_AF) || !defined(SPI1_MISO_AF) || !defined(SPI1_MOSI_AF)
#error SPI1: SCK, MISO and MOSI AFs should be defined together in target.h!
#ifndef SPI1_SCK_AF
#define SPI1_SCK_AF SPI_PIN_AF_HELPER(1, SPI1_SCK_PIN)
#endif
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = SPI1_SCK_AF, .misoAF = SPI1_MISO_AF, .mosiAF = SPI1_MOSI_AF, .divisorMap = spiDivisorMapFast },
#else
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = GPIO_AF5_SPI1, .misoAF = GPIO_AF5_SPI1, .mosiAF = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
#ifndef SPI1_MISO_AF
#define SPI1_MISO_AF SPI_PIN_AF_HELPER(1, SPI1_MISO_PIN)
#endif
#ifndef SPI1_MOSI_AF
#define SPI1_MOSI_AF SPI_PIN_AF_HELPER(1, SPI1_MOSI_PIN)
#endif
#else
{ .dev = NULL }, // No SPI1
#endif

#ifdef USE_SPI_DEVICE_2
#if defined(SPI2_SCK_AF) || defined(SPI2_MISO_AF) || defined(SPI2_MOSI_AF)
#if !defined(SPI2_SCK_AF) || !defined(SPI2_MISO_AF) || !defined(SPI2_MOSI_AF)
#error SPI2: SCK, MISO and MOSI AFs should be defined together in target.h!
#ifndef SPI2_SCK_AF
#define SPI2_SCK_AF SPI_PIN_AF_HELPER(2, SPI2_SCK_PIN)
#endif
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .sckAF = SPI2_SCK_AF, .misoAF = SPI2_MISO_AF, .mosiAF = SPI2_MOSI_AF, .divisorMap = spiDivisorMapSlow },
#ifndef SPI2_MISO_AF
#define SPI2_MISO_AF SPI_PIN_AF_HELPER(2, SPI2_MISO_PIN)
#endif
#ifndef SPI2_MOSI_AF
#define SPI2_MOSI_AF SPI_PIN_AF_HELPER(2, SPI2_MOSI_PIN)
#endif
#endif

#ifdef USE_SPI_DEVICE_3
#ifndef SPI3_SCK_AF
#define SPI3_SCK_AF SPI_PIN_AF_HELPER(3, SPI3_SCK_PIN)
#endif
#ifndef SPI3_MISO_AF
#define SPI3_MISO_AF SPI_PIN_AF_HELPER(3, SPI3_MISO_PIN)
#endif
#ifndef SPI3_MOSI_AF
#define SPI3_MOSI_AF SPI_PIN_AF_HELPER(3, SPI3_MOSI_PIN)
#endif
#endif

#ifdef USE_SPI_DEVICE_4
#ifndef SPI4_SCK_AF
#define SPI4_SCK_AF SPI_PIN_AF_HELPER(4, SPI4_SCK_PIN)
#endif
#ifndef SPI4_MISO_AF
#define SPI4_MISO_AF SPI_PIN_AF_HELPER(4, SPI4_MISO_PIN)
#endif
#ifndef SPI4_MOSI_AF
#define SPI4_MOSI_AF SPI_PIN_AF_HELPER(4, SPI4_MOSI_PIN)
#endif
#endif

static spiDevice_t spiHardwareMap[] = {
#ifdef USE_SPI_DEVICE_1
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = SPI1_SCK_AF, .misoAF = SPI1_MISO_AF, .mosiAF = SPI1_MOSI_AF, .divisorMap = spiDivisorMapFast },
#else
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .sckAF = GPIO_AF5_SPI2, .misoAF = GPIO_AF5_SPI2, .mosiAF = GPIO_AF5_SPI2, .divisorMap = spiDivisorMapSlow },
{ .dev = NULL }, // No SPI1
#endif

#ifdef USE_SPI_DEVICE_2
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .sckAF = SPI2_SCK_AF, .misoAF = SPI2_MISO_AF, .mosiAF = SPI2_MOSI_AF, .divisorMap = spiDivisorMapSlow },
#else
{ .dev = NULL }, // No SPI2
#endif

#ifdef USE_SPI_DEVICE_3
#if defined(SPI3_SCK_AF) || defined(SPI3_MISO_AF) || defined(SPI3_MOSI_AF)
#if !defined(SPI3_SCK_AF) || !defined(SPI3_MISO_AF) || !defined(SPI3_MOSI_AF)
#error SPI3: SCK, MISO and MOSI AFs should be defined together in target.h!
#endif
{ .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .sckAF = SPI3_SCK_AF, .misoAF = SPI3_MISO_AF, .mosiAF = SPI3_MOSI_AF, .divisorMap = spiDivisorMapSlow },
#else
{ .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .sckAF = GPIO_AF6_SPI3, .misoAF = GPIO_AF6_SPI3, .mosiAF = GPIO_AF6_SPI3, .divisorMap = spiDivisorMapSlow },
#endif
#else
{ .dev = NULL }, // No SPI3
#endif

#ifdef USE_SPI_DEVICE_4
#if defined(SPI4_SCK_AF) || defined(SPI4_MISO_AF) || defined(SPI4_MOSI_AF)
#if !defined(SPI4_SCK_AF) || !defined(SPI4_MISO_AF) || !defined(SPI4_MOSI_AF)
#error SPI3: SCK, MISO and MOSI AFs should be defined together in target.h!
#endif
{ .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = SPI4_SCK_AF, .misoAF = SPI4_MISO_AF, .mosiAF = SPI4_MOSI_AF, .divisorMap = spiDivisorMapSlow }
#else
{ .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = GPIO_AF5_SPI4, .misoAF = GPIO_AF5_SPI4, .mosiAF = GPIO_AF5_SPI4, .divisorMap = spiDivisorMapSlow }
#endif
#else
{ .dev = NULL } // No SPI4
#endif
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