Merge pull request #85 from Gregwar/robotis

Adding support for cm900 and opencm904 boards (robotis)

1 files changed, 105 insertions, 0 deletions

diff --git a/wirish/boards/opencm904/include/board/board.h b/wirish/boards/opencm904/include/board/board.h
new file mode 100644
index 0000000..274a2a7
--- /dev/null
+++ b/wirish/boards/opencm904/include/board/board.h
@@ -0,0 +1,105 @@
+/*
+ * 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.
+ *****************************************************************************/
+
+
+/*
+ * CM904.h
+ *
+ *  Created on: 2013. 05. 22.
+ *      Author: ROBOTIS[sm6787@robotis.com]
+ *      ported from maple.h(leaflabs.com)
+ *      @brief  Private include file for cm-904 in boards.h
+ */
+#ifndef CM904_H_
+#define CM904_H_
+
+//#include "gpio.h"
+
+
+#define CYCLES_PER_MICROSECOND  72
+#define SYSTICK_RELOAD_VAL      71999 /* takes a cycle to reload */
+/*
+ * [ROBOTIS][CHANGE]2013-04-22 CM-900 Do not have built-in button.
+ * 2013-08-03 CM-9.04 has built-in button -> inserted it again.
+ * */
+#define BOARD_BUTTON_PIN        23//PC15
+#define BOARD_LED_PIN           14//PB9
+//#define BOOT1_PIN				28// added
+
+/* Total number of GPIO pins that are broken out to headers and
+ * intended for general use. */
+#define BOARD_NR_GPIO_PINS      31
+
+/* Number of pins capable of PWM output */
+#define BOARD_NR_PWM_PINS       15
+
+/* Number of pins capable of ADC conversion */
+#define BOARD_NR_ADC_PINS       10
+
+/* Number of pins already connected to external hardware.  For Maple,
+ * these are just BOARD_LED_PIN and BOARD_BUTTON_PIN. */
+#define BOARD_NR_USED_PINS       2
+
+/* Number of USARTs/UARTs whose pins are broken out to headers */
+//#define BOARD_NR_USARTS         3
+
+/* Default USART pin numbers (not considering AFIO remap) */
+#define BOARD_USART1_TX_PIN     11   //D9(PA9)
+#define BOARD_USART1_RX_PIN     12	//D10(PA10)
+#define BOARD_USART2_TX_PIN     4	//D2 (PA2)
+#define BOARD_USART2_RX_PIN     5	//D3 (PA3)
+#define BOARD_USART3_TX_PIN     24	//D24 (PB10)
+#define BOARD_USART3_RX_PIN     25	//D25 (PB11)
+
+/* Number of SPI ports */
+//#define BOARD_NR_SPI            2
+
+/* Default SPI pin numbers (not considering AFIO remap) */
+#define BOARD_SPI1_NSS_PIN      0 //D10 (PA4)
+#define BOARD_SPI1_MOSI_PIN     7 //D11 PA7
+#define BOARD_SPI1_MISO_PIN     6 //D12 PA6
+#define BOARD_SPI1_SCK_PIN      1 //D13 PA5
+#define BOARD_SPI2_NSS_PIN      18 //D26 PB12
+#define BOARD_SPI2_MOSI_PIN     21 //D29 PB15
+#define BOARD_SPI2_MISO_PIN     20 //D28 PB14
+#define BOARD_SPI2_SCK_PIN      19 //D27 PB13
+
+#define BOARD_USB_DISC_DEV      GPIOC
+#define BOARD_USB_DISC_BIT      13
+
+void boardInit(void);
+
+#define BOARD_DYNAMIXEL_DIR     28
+#define BOARD_DYNAMIXEL_TX      29
+#define BOARD_DYNAMIXEL_RX      30
+
+#define BOARD_JTMS_SWDIO_PIN      26
+#define BOARD_JTCK_SWCLK_PIN      27
+#define BOARD_JTDI_PIN            15
+#define BOARD_JTDO_PIN            16
+#define BOARD_NJTRST_PIN          17
+
+#endif /* CM904_H_ */