Merge pull request #85 from Gregwar/robotis

Adding support for cm900 and opencm904 boards (robotis)

1 files changed, 117 insertions, 0 deletions

diff --git a/wirish/boards/cm900/board.cpp b/wirish/boards/cm900/board.cpp
new file mode 100644
index 0000000..ec747b3
--- /dev/null
+++ b/wirish/boards/cm900/board.cpp
@@ -0,0 +1,117 @@
+/*
+ * cm900.cpp
+ *
+ *  Created on: 2012. 10. 14.
+ *      Author: in2storm
+ */
+
+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2011 LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+/**
+ * @file   maple.cpp
+ * @author Marti Bolivar <mbolivar@leaflabs.com>
+ * @brief  Maple PIN_MAP and boardInit().
+ */
+
+#include <board/board.h>         // For this board's header file
+
+#include <wirish/wirish_types.h> // For stm32_pin_info and its contents
+                                 // (these go into PIN_MAP).
+
+#include "boards_private.h"      // For PMAP_ROW(), which makes
+                                 // PIN_MAP easier to read.
+
+
+
+void boardInit(void) {
+	afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY); //[ROBOTIS] 2013-07-17
+	//[ROBOTIS][CHANGE] add here if you want to initialize something
+	gpio_set_mode(GPIOB, 2, GPIO_OUTPUT_PP);
+	gpio_write_bit(GPIOB, 2,1); //LED off when start board
+}
+
+extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] = {
+
+    /* Top header */
+	{GPIOA, TIMER2, ADC1,  0, 1,    0}, /* D0/PA0 */
+	{GPIOA, TIMER2, ADC1,  1, 2,    1}, /* D1/PA1 */
+	{GPIOA, TIMER2, ADC1,  2, 3,    2}, /* D2/PA2 */
+	{GPIOA, TIMER2, ADC1,  3, 4,    3}, /* D3/PA3 */
+	{GPIOA,   NULL, ADC1,  4, 0,    4}, /* D4/PA4 */
+	{GPIOA,   NULL, ADC1,  5, 0,    5}, /* D5/PA5 */
+	{GPIOA, TIMER3, ADC1,  6, 1,    6}, /* D6/PA6 */
+	{GPIOA, TIMER3, ADC1,  7, 2,    7}, /* D7/PA7 */
+	{GPIOA, TIMER1, NULL,  8, 1, ADCx}, /* D8/PA8 */
+	{GPIOA, TIMER1, NULL,  9, 2, ADCx}, /* D9/PA9 */
+
+	{GPIOA, TIMER1, NULL, 10, 3, ADCx}, /* D10/PA10 */
+	{GPIOA,   NULL, NULL, 13, 0, ADCx}, /* D11/PA13 */
+	{GPIOA,   NULL, NULL, 14, 0, ADCx}, /* D12/PA14 */
+	{GPIOA,   NULL, NULL, 15, 0, ADCx}, /* D13/PA15 */
+	{GPIOB, TIMER3, ADC1,  0, 3,    8}, /* D14/PB0 */
+	{GPIOB, TIMER3, ADC1,  1, 4,    9}, /* D15/PB1 */
+	{GPIOB,   NULL, NULL,  2, 0, ADCx}, /* D16/PB2 (LED)*/
+	{GPIOB,   NULL, NULL,  3, 0, ADCx}, /* D17/PB3  */
+	{GPIOB,   NULL, NULL,  4, 0, ADCx}, /* D18/PB4  */
+	{GPIOB,   NULL, NULL,  5, 0, ADCx}, /* D19/PB5 DIR_485 */
+
+	{GPIOB, TIMER4, NULL,  6, 1, ADCx}, /* D20/PB6 DXL_TX (Writing to dynamixel bus) */
+	{GPIOB, TIMER4, NULL,  7, 2, ADCx}, /* D21/PB7 DXL_RX (Receiving from dynamixel bus) */
+	{GPIOB, TIMER4, NULL,  8, 3, ADCx}, /* D22/PB8 */
+	{GPIOB, TIMER4, NULL,  9, 4, ADCx}, /* D23/PB9 */
+	{GPIOB,   NULL, NULL, 10, 0, ADCx}, /* D24/PB10 */
+	{GPIOB,   NULL, NULL, 11, 0, ADCx}, /* D25/PB11 */
+	{GPIOB,   NULL, NULL, 12, 0, ADCx}, /* D26/PB12 */
+	{GPIOB,   NULL, NULL, 13, 0, ADCx}, /* D27/PB13 */
+	{GPIOB,   NULL, NULL, 14, 0, ADCx}, /* D28/PB14 */
+	{GPIOB,   NULL, NULL, 15, 0, ADCx}, /* D29/PB15 */
+
+	//{GPIOC,   NULL, NULL, 13, 0, ADCx}, /* --/PC13 */
+	{GPIOC,   NULL, NULL, 14, 0, ADCx}, /* D30/PC14 */
+	{GPIOC,   NULL, NULL, 15, 0, ADCx} /* D31/PC15 */
+
+
+    /* JTAG header */
+
+    //{GPIOA,   NULL, NULL, 13, 0, ADCx}, /* D13/PA13 */
+    //{GPIOA,   NULL, NULL, 14, 0, ADCx}, /* D14/PA14 */
+    //{GPIOA,   NULL, NULL, 15, 0, ADCx}, /* D15/PA15 */
+    //{GPIOB,   NULL, NULL,  3, 0, ADCx}, /* D17/PB3  */
+    //{GPIOB,   NULL, NULL,  4, 0, ADCx}, /* D18/PB4  */
+};
+
+extern const uint8 boardPWMPins[] __FLASH__ = {
+    0, 1, 2, 3, 6, 7, 8, 9, 10, 14, 15, 20, 21, 22, 23
+};
+
+extern const uint8 boardADCPins[] __FLASH__ = {
+    0, 1, 2, 3, 4, 5, 6, 7, 14, 15
+};
+
+extern const uint8 boardUsedPins[] __FLASH__ = {
+    BOARD_LED_PIN
+};