diff options
Diffstat (limited to 'wirish/boards/opencm904')
| -rw-r--r-- | wirish/boards/opencm904/board.cpp | 112 | ||||
| -rw-r--r-- | wirish/boards/opencm904/include/board/board.h | 105 |
2 files changed, 217 insertions, 0 deletions
diff --git a/wirish/boards/opencm904/board.cpp b/wirish/boards/opencm904/board.cpp new file mode 100644 index 0000000..b3c600b --- /dev/null +++ b/wirish/boards/opencm904/board.cpp @@ -0,0 +1,112 @@ +/****************************************************************************** + * 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(). + */ +/* + * CM904.cpp ported from CM900.cpp + * + * Created on: 2013. 5. 22. + * Author: in2storm + */ + +#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 + + +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, 9, GPIO_OUTPUT_PP); + gpio_write_bit(GPIOB, 9,1); //LED off when start board +} + +extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] = { + /* Top header */ + {GPIOA, NULL, ADC1, 4, 0, 4}, /* D0/PA4 */ + {GPIOA, NULL, ADC1, 5, 0, 5}, /* D1/PA5 */ + {GPIOA, TIMER2, ADC1, 0, 1, 0}, /* D2/PA0 */ + {GPIOA, TIMER2, ADC1, 1, 2, 1}, /* D3/PA1 */ + {GPIOA, TIMER2, ADC1, 2, 3, 2}, /* D4/PA2 */ + {GPIOA, TIMER2, ADC1, 3, 4, 3}, /* D5/PA3 */ + {GPIOA, TIMER3, ADC1, 6, 1, 6}, /* D6/PA6 */ + {GPIOA, TIMER3, ADC1, 7, 2, 7}, /* D7/PA7 */ + {GPIOB, TIMER3, ADC1, 0, 3, 8}, /* D8/PB0 */ + {GPIOB, TIMER3, ADC1, 1, 4, 9}, /* D9/PB1 */ + + {GPIOA, TIMER1, NULL, 8, 1, ADCx}, /* D10/PA8 */ + {GPIOA, TIMER1, NULL, 9, 2, ADCx}, /* D11/PA9 */ + {GPIOA, TIMER1, NULL, 10, 3, ADCx}, /* D12/PA10 */ + {GPIOB, TIMER4, NULL, 8, 3, ADCx}, /* D13/PB8 */ + {GPIOB, TIMER4, NULL, 9, 4, ADCx}, /* D14/PB9 (LED)*/ +// {GPIOA, NULL, NULL, 13, 0, ADCx}, /* D15/PA13 */ +// {GPIOA, NULL, NULL, 14, 0, ADCx}, /* D16/PA14 */ + {GPIOA, NULL, NULL, 15, 0, ADCx}, /* D15/PA15 */ + {GPIOB, NULL, NULL, 3, 0, ADCx}, /* D16/PB3 */ + {GPIOB, NULL, NULL, 4, 0, ADCx}, /* D17/PB4 */ + {GPIOB, NULL, NULL, 12, 0, ADCx}, /* D18/PB12 */ + {GPIOB, NULL, NULL, 13, 0, ADCx}, /* D19/PB13 */ + + {GPIOB, NULL, NULL, 14, 0, ADCx}, /* D20/PB14 */ + {GPIOB, NULL, NULL, 15, 0, ADCx}, /* D21/PB15 */ + {GPIOC, NULL, NULL, 14, 0, ADCx}, /* D22/PC14 */ + {GPIOC, NULL, NULL, 15, 0, ADCx}, /* D23/PC15 (User Button)*/ + {GPIOB, NULL, NULL, 10, 0, ADCx}, /* D24/PB10 */ + {GPIOB, NULL, NULL, 11, 0, ADCx}, /* D25/PB11 */ +/* + * Hidden pin map + * the below pins are used carefully, need to check schematic of OpenCM9.04 + * */ + {GPIOA, NULL, NULL, 13, 0, ADCx}, /* D26/PA13 JTAG SWDIO*/ + {GPIOA, NULL, NULL, 14, 0, ADCx}, /* D27/PA14 JTAG SWDCLK*/ + {GPIOB, NULL, NULL, 5, 0, ADCx}, /* D28/PB5 DXL DIR*/ + {GPIOB, TIMER4, NULL, 6, 1, ADCx}, /* D29/PB6 DXL TXD*/ + {GPIOB, TIMER4, NULL, 7, 2, ADCx} /* D30/PB7 DXL RXD -> dont work as output and input*/ + +}; + +extern const uint8 boardPWMPins[] __FLASH__ = { + 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 27, 28 +}; + +extern const uint8 boardADCPins[] __FLASH__ = { + 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 +}; + +extern const uint8 boardUsedPins[] __FLASH__ = { + BOARD_LED_PIN, BOARD_BUTTON_PIN +}; + + 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_ */ |