extern const Pin2PortMapArray g_Pin2PortMapArray[]=
{
  {GPIOC, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 0  UART6_RX
  {GPIOC, GPIO_PIN_6,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 1  UART6_TX
  {GPIOG, GPIO_PIN_6,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , 0       },  // 2              EXTI_0
  {GPIOB, GPIO_PIN_4,   NULL,     NO_ADC        , &hTIM3 ,   TIM_CHANNEL_1, 1       },  // 3  TIM3_CH1    EXTI_1
  {GPIOG, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , 2       },  // 4              EXTI_2
  {GPIOA, GPIO_PIN_8,   NULL,     NO_ADC        , &hTIM1 ,   TIM_CHANNEL_1, NO_EXTI },  // 5  TIM1_CH1
  {GPIOA, GPIO_PIN_2,   NULL,     NO_ADC        , &hTIM2 ,   TIM_CHANNEL_3, NO_EXTI },  // 6  TIM2_CH3
  {GPIOC, GPIO_PIN_1,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , 3       },  // 7              EXTI_3
  {GPIOC, GPIO_PIN_2,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , 4       },  // 8              EXTI_4
  {GPIOA, GPIO_PIN_3,   NULL,     NO_ADC        , &hTIM9 ,   TIM_CHANNEL_2, NO_EXTI },  // 9  TIM9_CH2
  {GPIOB, GPIO_PIN_9,   NULL,     NO_ADC        , &hTIM11,   TIM_CHANNEL_1, NO_EXTI },  // 10 TIM11_CH1   SPI2_NSS
  {GPIOB, GPIO_PIN_15,  NULL,     NO_ADC        , &hTIM12,   TIM_CHANNEL_2, NO_EXTI },  // 11 TIM12_CH2   SPI2_MOSI
  {GPIOB, GPIO_PIN_14,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 12             SPI2_MISO
  {GPIOA, GPIO_PIN_9,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 13 LED         SPI2_SCK
  {GPIOB, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 14             I2C1_SDA
  {GPIOB, GPIO_PIN_8,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 15             I2C1_SCL

  {GPIOA, GPIO_PIN_0,   &hADC3,   ADC_CHANNEL_0 , NULL   ,   NO_PWM       , NO_EXTI },  // 16 A0
  {GPIOF, GPIO_PIN_10,  &hADC3,   ADC_CHANNEL_8 , NULL   ,   NO_PWM       , NO_EXTI },  // 17 A1
  {GPIOF, GPIO_PIN_9,   &hADC3,   ADC_CHANNEL_7 , NULL   ,   NO_PWM       , NO_EXTI },  // 18 A2
  {GPIOF, GPIO_PIN_8,   &hADC3,   ADC_CHANNEL_6 , NULL   ,   NO_PWM       , NO_EXTI },  // 19 A3
  {GPIOF, GPIO_PIN_7,   &hADC3,   ADC_CHANNEL_5 , NULL   ,   NO_PWM       , NO_EXTI },  // 20 A4
  {GPIOF, GPIO_PIN_6,   &hADC3,   ADC_CHANNEL_4 , NULL   ,   NO_PWM       , NO_EXTI },  // 21 A5

  {GPIOG, GPIO_PIN_12,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 22 BDPIN_LED_USER_1
  {GPIOE, GPIO_PIN_5,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 23 BDPIN_LED_USER_2
  {GPIOE, GPIO_PIN_4,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 24 BDPIN_LED_USER_3
  {GPIOG, GPIO_PIN_10,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 25 BDPIN_LED_USER_4
  {GPIOG, GPIO_PIN_11,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 26 BDPIN_DIP_SW_1
  {GPIOE, GPIO_PIN_6,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 27 BDPIN_DIP_SW_2
  {GPIOA, GPIO_PIN_4,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 28 BDPIN_SPI_CS_IMU
  {GPIOC, GPIO_PIN_0,   &hADC3,   ADC_CHANNEL_10, NULL   ,   NO_PWM       , NO_EXTI },  // 29 BDPIN_BAT_PWR_ADC
  {GPIOC, GPIO_PIN_3,   &hADC3,   ADC_CHANNEL_13, NULL   ,   NO_PWM       , NO_EXTI },  // 30
  {GPIOF, GPIO_PIN_14,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 31 BDPIN_BUZZER
  {GPIOF, GPIO_PIN_15,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 32 BDPIN_DXL_PWR_EN
  {GPIOG, GPIO_PIN_14,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 33
  {GPIOG, GPIO_PIN_3,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 34 BDPIN_PUSH_SW_1
  {GPIOC, GPIO_PIN_12,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 35 BDPIN_PUSH_SW_2
  {GPIOG, GPIO_PIN_9,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 36 BDPIN_LED_STATUS
  {GPIOA, GPIO_PIN_5,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 37 BDPIN_SPI_CLK_IMU
  {GPIOA, GPIO_PIN_6,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 38 BDPIN_SPI_SDO_IMU
  {GPIOB, GPIO_PIN_5,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 39 BDPIN_SPI_SDI_IMU

  {GPIOB, GPIO_PIN_0,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 40 OLLO_P1_SIG1
  {GPIOC, GPIO_PIN_8,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 41 OLLO_P1_SIG2
  {GPIOA, GPIO_PIN_7,   &hADC1,   ADC_CHANNEL_7 , NULL   ,   NO_PWM       , 5       },  // 42 OLLO_P1_ADC    EXTI_5
  {GPIOC, GPIO_PIN_5,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 43 OLLO_P2_SIG1
  {GPIOB, GPIO_PIN_1,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 44 OLLO_P2_SIG2
  {GPIOC, GPIO_PIN_4,   &hADC1,   ADC_CHANNEL_14, NULL   ,   NO_PWM       , 6       },  // 45 OLLO_P2_ADC    EXTI_6
  {GPIOD, GPIO_PIN_10,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 46 OLLO_SLEEP
  {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 47
  {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 48
  {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 49

  {GPIOB, GPIO_PIN_10,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 50 BDPIN_GPIO_1
  {GPIOB, GPIO_PIN_11,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 51 BDPIN_GPIO_2
  {GPIOC, GPIO_PIN_13,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 52 BDPIN_GPIO_3
  {GPIOD, GPIO_PIN_2,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 53 BDPIN_GPIO_4
  {GPIOE, GPIO_PIN_3,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 54 BDPIN_GPIO_5
  {GPIOG, GPIO_PIN_2,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 55 BDPIN_GPIO_6
  {GPIOE, GPIO_PIN_10,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 56 BDPIN_GPIO_7
  {GPIOE, GPIO_PIN_11,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 57 BDPIN_GPIO_8
  {GPIOE, GPIO_PIN_12,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 58 BDPIN_GPIO_9
  {GPIOE, GPIO_PIN_13,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 59 BDPIN_GPIO_10
  {GPIOE, GPIO_PIN_14,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 60 BDPIN_GPIO_11
  {GPIOE, GPIO_PIN_15,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 61 BDPIN_GPIO_12
  {GPIOF, GPIO_PIN_0,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 62 BDPIN_GPIO_13
  {GPIOF, GPIO_PIN_1,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 63 BDPIN_GPIO_14
  {GPIOF, GPIO_PIN_2,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 64 BDPIN_GPIO_15
  {GPIOD, GPIO_PIN_8,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 65 BDPIN_GPIO_16
  {GPIOF, GPIO_PIN_4,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 66 BDPIN_GPIO_17
  {GPIOD, GPIO_PIN_9,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 67 BDPIN_GPIO_18
  {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 68
  {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 69

  {GPIOF, GPIO_PIN_12,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 70 OLLO_P3_SIG1
  {GPIOF, GPIO_PIN_11,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 71 OLLO_P3_SIG2
  {GPIOF, GPIO_PIN_5,   &hADC3,   ADC_CHANNEL_15, NULL   ,   NO_PWM       , 7       },  // 72 OLLO_P3_ADC    EXTI_7
  {GPIOE, GPIO_PIN_9,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 73 OLLO_P4_SIG1
  {GPIOE, GPIO_PIN_8,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 74 OLLO_P4_SIG2
  {GPIOF, GPIO_PIN_3,   &hADC3,   ADC_CHANNEL_9 , NULL   ,   NO_PWM       , 8       },  // 75 OLLO_P4_ADC    EXTI_8
  {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 76
  {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 77
  {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 78
  {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 79

  {GPIOD, GPIO_PIN_6,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 80 BDPIN_UART1_RX
  {GPIOD, GPIO_PIN_5,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 81 BDPIN_UART1_TX
  {GPIOE, GPIO_PIN_0,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 82 BDPIN_UART2_RX
  {GPIOE, GPIO_PIN_1,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 83 BDPIN_UART2_TX

  {NULL , 0          ,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI }
};

#define BDPIN_LED_USER_1        22
#define BDPIN_LED_USER_2        23
#define BDPIN_LED_USER_3        24
#define BDPIN_LED_USER_4        25

int led_pin = 13;
int led_pin_user[4] = { BDPIN_LED_USER_1, BDPIN_LED_USER_2, BDPIN_LED_USER_3, BDPIN_LED_USER_4 };

void setup() {
  // Set up the built-in LED pin as an output:
  pinMode(led_pin, OUTPUT);
  pinMode(led_pin_user[0], OUTPUT);
  pinMode(led_pin_user[1], OUTPUT);
  pinMode(led_pin_user[2], OUTPUT);
  pinMode(led_pin_user[3], OUTPUT);
}

void loop() {
  int i;

  digitalWrite(led_pin, HIGH);  // set to as HIGH LED is turn-off
  delay(100);                   // Wait for 0.1 second
  digitalWrite(led_pin, LOW);   // set to as LOW LED is turn-on
  delay(100);                   // Wait for 0.1 second

  for( i=0; i<4; i++ )
  {
    digitalWrite(led_pin_user[i], HIGH);
    delay(100);
  }
  for( i=0; i<4; i++ )
  {
    digitalWrite(led_pin_user[i], LOW);
    delay(100);
  }
}

#define BDPIN_DIP_SW_1          26
#define BDPIN_DIP_SW_2          27
#define BDPIN_PUSH_SW_1         34
#define BDPIN_PUSH_SW_2         35

void setup(){
  Serial.begin(115200);

  pinMode(BDPIN_DIP_SW_1, INPUT);
  pinMode(BDPIN_DIP_SW_2, INPUT);
  pinMode(BDPIN_PUSH_SW_1, INPUT);
  pinMode(BDPIN_PUSH_SW_2, INPUT);

}
void loop(){
  int dip_state;
  int push_state;

  dip_state  = digitalRead(BDPIN_DIP_SW_1)<<0;
  dip_state |= digitalRead(BDPIN_DIP_SW_2)<<1;

  push_state  = digitalRead(BDPIN_PUSH_SW_1)<<0;
  push_state |= digitalRead(BDPIN_PUSH_SW_2)<<1;

  Serial.print("dip_state = ");
  Serial.print(dip_state, BIN);

  Serial.print("\tpush_state = ");
  Serial.println(push_state, BIN);


  delay(100);
}

#define BDPIN_BUZZER            31

#include "pitches.h"

// notes in the melody:
int melody[] = {
  NOTE_C4, NOTE_G3, NOTE_G3, NOTE_A3, NOTE_G3, 0, NOTE_B3, NOTE_C4
};

// note durations: 4 = quarter note, 8 = eighth note, etc.:
int noteDurations[] = {
  4, 8, 8, 4, 4, 4, 4, 4
};

void setup() {
  // iterate over the notes of the melody:
  for (int thisNote = 0; thisNote < 8; thisNote++) {

    // to calculate the note duration, take one second
    // divided by the note type.
    //e.g. quarter note = 1000 / 4, eighth note = 1000/8, etc.
    int noteDuration = 1000 / noteDurations[thisNote];
    tone(BDPIN_BUZZER, melody[thisNote], noteDuration);

    // to distinguish the notes, set a minimum time between them.
    // the note's duration + 30% seems to work well:
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    // stop the tone playing:
    noTone(BDPIN_BUZZER);
  }
}

int pwm_pins[6] = { 3, 5, 6, 9, 10, 11 };

void setup() {
  // put your setup code here, to run once:
}

void loop() {
  // put your main code here, to run repeatedly:
  int i;
  static uint8_t pwm_out = 0;

  for( i=0; i<6; i++ )
  {
    analogWrite(pwm_pins[i], pwm_out++);
  }
  delay(100);
}

#include <EEPROM.h>

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
}

void loop() {
  // put your main code here, to run repeatedly:
  uint32_t tTime;
  static int i = 0;


  if( (millis()-tTime) > 100 )
  {
    Serial.print(EEPROM.read(0));
    Serial.print("\t");
    Serial.print(EEPROM.read(1));
    Serial.print("\t");
    Serial.print(EEPROM.read(2));
    Serial.println("\t");

    tTime = millis();
  }

  if (Serial.available())
  {
    uint8_t inByte = Serial.read();

    if( inByte == '1' )
    {
      EEPROM.write(0, i+1);
      EEPROM.write(1, i+2);
      EEPROM.write(2, i+3);
      i++;
    }
  }
}

#define BDPIN_LED_USER_1     23
#define BDPIN_LED_USER_2     24
#define BDPIN_LED_USER_3     25

void setup()
{
  Serial.begin(9600);
  pinMode(BDPIN_LED_USER_1, OUTPUT);
  pinMode(BDPIN_LED_USER_2, OUTPUT);
  pinMode(BDPIN_LED_USER_3, OUTPUT);
}

void loop()
{
  if(analogRead(0)<200)
  {
    digitalWrite(BDPIN_LED_USER_1, LOW);
    digitalWrite(BDPIN_LED_USER_2, LOW);
    digitalWrite(BDPIN_LED_USER_3, LOW);
  }
  else if(analogRead(0)>200 && analogRead(0)<300)
  {
    digitalWrite(BDPIN_LED_USER_1, HIGH);
    digitalWrite(BDPIN_LED_USER_2, LOW);
    digitalWrite(BDPIN_LED_USER_3, LOW);
  }
  else if(analogRead(0)>300 && analogRead(0)<400)
  {
    digitalWrite(BDPIN_LED_USER_1, HIGH);
    digitalWrite(BDPIN_LED_USER_2, HIGH);
    digitalWrite(BDPIN_LED_USER_3, LOW);
  }
  else if(analogRead(0)>400 && analogRead(0)<500)
  {
    digitalWrite(BDPIN_LED_USER_1, HIGH);
    digitalWrite(BDPIN_LED_USER_2, HIGH);
    digitalWrite(BDPIN_LED_USER_3, HIGH);
  }
  Serial.println(analogRead(0), DEC);
  delay(100);
}

#define tilt     0
#define led_blue 1
#define led_red  2

void setup()
{
  pinMode(tilt, INPUT);
  pinMode(led_blue, OUTPUT);
  pinMode(led_red, OUTPUT);
}

void loop()
{
  if(digitalRead(tilt) == HIGH)
  {
    digitalWrite(led_blue, HIGH);
    digitalWrite(led_red, LOW);
  }
  else
  {
    digitalWrite(led_blue, LOW);
    digitalWrite(led_red, HIGH);
  }
}

#define BDPIN_LED_USER_1        22
#define BDPIN_LED_USER_2        23
#define BDPIN_LED_USER_3        24
#define BDPIN_LED_USER_4        25

const int analogInPin = A0;
int sensorValue = 0;

void setup()
{
  Serial.begin(9600);
  pinMode(BDPIN_LED_USER_4, OUTPUT);
  pinMode(BDPIN_LED_USER_3, OUTPUT);
  pinMode(BDPIN_LED_USER_2, OUTPUT);
  pinMode(BDPIN_LED_USER_1, OUTPUT);
}

void loop()
{
  sensorValue = analogRead(analogInPin);
  Serial.print(" sensorValue : ");
  Serial.println(sensorValue);

  if(sensorValue>0 && sensorValue<50)
  {
    digitalWrite(BDPIN_LED_USER_4, LOW);
    digitalWrite(BDPIN_LED_USER_3, HIGH);
    digitalWrite(BDPIN_LED_USER_2, HIGH);
    digitalWrite(BDPIN_LED_USER_1, HIGH);
  }
  if(sensorValue>50 && sensorValue<100)
  {
    digitalWrite(BDPIN_LED_USER_4, LOW);
    digitalWrite(BDPIN_LED_USER_3, LOW);
    digitalWrite(BDPIN_LED_USER_2, HIGH);
    digitalWrite(BDPIN_LED_USER_1, HIGH);
  }
  if(sensorValue>100 && sensorValue<150)
  {
    digitalWrite(BDPIN_LED_USER_4, LOW);
    digitalWrite(BDPIN_LED_USER_3, LOW);
    digitalWrite(BDPIN_LED_USER_2, LOW);
    digitalWrite(BDPIN_LED_USER_1, HIGH);
  }
  if(sensorValue>200 && sensorValue<250)
  {
    digitalWrite(BDPIN_LED_USER_4, LOW);
    digitalWrite(BDPIN_LED_USER_3, LOW);
    digitalWrite(BDPIN_LED_USER_2, LOW);
    digitalWrite(BDPIN_LED_USER_1, LOW);
  }
  delay(100);
}

#define SensorINPUT             0
#define BDPIN_LED_USER_1        22
#define BDPIN_LED_USER_2        23
#define BDPIN_LED_USER_3        24
#define BDPIN_LED_USER_4        25

int LED[] = {BDPIN_LED_USER_1, BDPIN_LED_USER_2, BDPIN_LED_USER_3, BDPIN_LED_USER_4};
int i = 0;

void setup()
{
  pinMode(SensorINPUT, INPUT);
  pinMode(BDPIN_LED_USER_1, OUTPUT);
  pinMode(BDPIN_LED_USER_2, OUTPUT);
  pinMode(BDPIN_LED_USER_3, OUTPUT);
  pinMode(BDPIN_LED_USER_4, OUTPUT);
}

void loop()
{
  if (digitalRead(SensorINPUT) == HIGH )
  {
    for(i=0; i<4; i++)
    {
      digitalWrite(LED[i], LOW);
      delay(100);
      digitalWrite(LED[i], HIGH);
    }
  }
  if (digitalRead(SensorINPUT) == LOW )
  {
    for(i=0; i<4; i++)
    {
      digitalWrite(LED[i], HIGH);
    }
  }
}

#define BDPIN_LED_USER_1 22
#define flame            0

void setup()
{
  Serial.begin(9600);
  pinMode(BDPIN_LED_USER_1, OUTPUT);
}

void loop()
{
  int val;
  val=analogRead(flame);

  if(val>800)
  {
    digitalWrite(BDPIN_LED_USER_1, LOW);
  }
  else
  {
    digitalWrite(BDPIN_LED_USER_1, HIGH);
  }

  Serial.println(val,DEC);
  delay(100);
}

#define X A0
#define Y A1
#define Z A2

void setup()
{
  Serial.begin(9600);
}
void loop()
{
  int x,y,z;
  x=analogRead(X);
  y=analogRead(Y);
  z=analogRead(Z);
.
  Serial.print(" X = ");
  Serial.print(x,DEC);

  Serial.print(" Y = ");
  Serial.print(y,DEC);

  Serial.print(" Z = ");
  Serial.println(z,DEC);
  delay(100);
}

void cmd_read_version( msg_t *p_msg );
void cmd_read_board_name( msg_t *p_msg );
void cmd_jump_to_fw( msg_t *p_msg );
void cmd_flash_fw_write_packet( msg_t *p_msg );
void cmd_flash_fw_write_begin( msg_t *p_msg );
void cmd_flash_fw_write_end( msg_t *p_msg );
void cmd_flash_fw_write_block( msg_t *p_msg );
void cmd_flash_fw_erase( msg_t *p_msg );
void cmd_flash_fw_verify( msg_t *p_msg );
void cmd_flash_fw_read_block( msg_t *p_msg );

int main(void)
{
  tTime = millis();
  while(1)
  {
    msg_process_vcp();
  }
}

void msg_process_vcp(void)
{
  BOOL ret;
  uint8_t ch;
  msg_t msg;


  while(vcp_is_available())
  {
    ch = vcp_getch();
    ret = msg_recv( 0, ch, &msg );

    if( ret == TRUE )
    {
      switch( msg.p_msg->msgid )
      {
        case MAVLINK_MSG_ID_READ_VERSION:
          cmd_read_version(&msg);
          break;

        case MAVLINK_MSG_ID_READ_BOARD_NAME:
          cmd_read_board_name(&msg);
          break;

        ... omit ...

       default:
         cmd_send_error(&msg, ERR_INVALID_CMD);
         break;
      }
    }
  }
}

void cmd_read_version( msg_t *p_msg )
{
  err_code_t err_code = OK;
  mavlink_ack_t     mav_ack;
  mavlink_read_version_t mav_data;


  mavlink_msg_read_version_decode(p_msg->p_msg, &mav_data);


  if( mav_data.resp == 1 )
  {
    mav_ack.msg_id   = p_msg->p_msg->msgid;
    mav_ack.err_code = err_code;
    mav_ack.data[0] = boot_version;
    mav_ack.data[1] = boot_version>>8;
    mav_ack.data[2] = boot_version>>16;
    mav_ack.data[3] = boot_version>>24;
    mav_ack.data[4] = boot_revision;
    mav_ack.data[5] = boot_revision>>8;
    mav_ack.data[6] = boot_revision>>16;
    mav_ack.data[7] = boot_revision>>24;
    mav_ack.length  = 8;
    resp_ack(p_msg->ch, &mav_ack);
  }
}