diff options
Diffstat (limited to 'wirish/boards/robotis_cm900/board.cpp')
| -rw-r--r-- | wirish/boards/robotis_cm900/board.cpp | 111 |
1 files changed, 111 insertions, 0 deletions
diff --git a/wirish/boards/robotis_cm900/board.cpp b/wirish/boards/robotis_cm900/board.cpp new file mode 100644 index 0000000..735bf33 --- /dev/null +++ b/wirish/boards/robotis_cm900/board.cpp @@ -0,0 +1,111 @@ +/* + * robotis_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. + *****************************************************************************/ + +#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 +}; |