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Diffstat (limited to 'wirish/boards/robotis_opencm904/include')
| -rw-r--r-- | wirish/boards/robotis_opencm904/include/board/board.h | 105 |
1 files changed, 105 insertions, 0 deletions
diff --git a/wirish/boards/robotis_opencm904/include/board/board.h b/wirish/boards/robotis_opencm904/include/board/board.h new file mode 100644 index 0000000..274a2a7 --- /dev/null +++ b/wirish/boards/robotis_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_ */ |