diff options
Diffstat (limited to 'wirish/boards')
| -rw-r--r-- | wirish/boards/VLDiscovery/board.cpp | 104 | ||||
| -rw-r--r-- | wirish/boards/VLDiscovery/include/board/board.h | 91 | ||||
| -rw-r--r-- | wirish/boards/cm900/board.cpp | 117 | ||||
| -rw-r--r-- | wirish/boards/cm900/include/board/board.h | 107 | ||||
| -rw-r--r-- | wirish/boards/maple/board.cpp | 143 | ||||
| -rw-r--r-- | wirish/boards/maple/include/board/board.h | 107 | ||||
| -rw-r--r-- | wirish/boards/maple_RET6/board.cpp | 115 | ||||
| -rw-r--r-- | wirish/boards/maple_RET6/include/board/board.h | 96 | ||||
| -rw-r--r-- | wirish/boards/maple_mini/board.cpp | 105 | ||||
| -rw-r--r-- | wirish/boards/maple_mini/include/board/board.h | 83 | ||||
| -rw-r--r-- | wirish/boards/maple_native/board.cpp | 197 | ||||
| -rw-r--r-- | wirish/boards/maple_native/include/board/board.h | 95 | ||||
| -rw-r--r-- | wirish/boards/olimex_stm32_h103/board.cpp | 119 | ||||
| -rw-r--r-- | wirish/boards/olimex_stm32_h103/include/board/board.h | 99 | ||||
| -rw-r--r-- | wirish/boards/opencm904/board.cpp | 112 | ||||
| -rw-r--r-- | wirish/boards/opencm904/include/board/board.h | 105 | ||||
| -rw-r--r-- | wirish/boards/st_stm3220g_eval/board.cpp | 60 | ||||
| -rw-r--r-- | wirish/boards/st_stm3220g_eval/include/board/board.h | 53 |
18 files changed, 1908 insertions, 0 deletions
diff --git a/wirish/boards/VLDiscovery/board.cpp b/wirish/boards/VLDiscovery/board.cpp new file mode 100644 index 0000000..c86204d --- /dev/null +++ b/wirish/boards/VLDiscovery/board.cpp @@ -0,0 +1,104 @@ +/****************************************************************************** + * 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 wirish/boards/VLDiscovery/board.cpp + * @author Anton Eltchaninov <anton.eltchaninov@gmail.com> + * @brief VLDiscovery board file. + */ + +#include <board/board.h> + +#include <libmaple/gpio.h> +#include <libmaple/timer.h> +#include <wirish/wirish_types.h> + +void boardInit(void) { + afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY); +} + +extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] = { + + {GPIOA, TIMER2, ADC1, 3, 4, 3}, /* D0/PA3 */ + {GPIOA, TIMER2, ADC1, 2, 3, 2}, /* D1/PA2 */ + {GPIOA, TIMER2, ADC1, 0, 1, 0}, /* D2/PA0 (BUT) */ + {GPIOA, TIMER2, ADC1, 1, 2, 1}, /* D3/PA1 */ + {GPIOB, NULL, NULL, 5, 0, ADCx}, /* D4/PB5 */ + {GPIOB, TIMER4, NULL, 6, 1, ADCx}, /* D5/PB6 */ + {GPIOA, TIMER1, NULL, 8, 1, ADCx}, /* D6/PA8 */ + {GPIOA, TIMER1, NULL, 9, 2, ADCx}, /* D7/PA9 */ + {GPIOA, TIMER1, NULL, 10, 3, ADCx}, /* D8/PA10 */ + {GPIOB, TIMER4, NULL, 7, 2, ADCx}, /* D9/PB7 */ + {GPIOA, NULL, ADC1, 4, 0, 4}, /* D10/PA4 */ + {GPIOA, TIMER3, ADC1, 7, 2, 7}, /* D11/PA7 */ + {GPIOA, TIMER3, ADC1, 6, 1, 6}, /* D12/PA6 */ + {GPIOA, NULL, ADC1, 5, 0, 5}, /* D13/PA5 */ + {GPIOB, TIMER4, NULL, 8, 3, ADCx}, /* D14/PB8 */ + {GPIOC, NULL, ADC1, 0, 0, 10}, /* D15/PC0 */ + {GPIOC, NULL, ADC1, 1, 0, 11}, /* D16/PC1 */ + {GPIOC, NULL, ADC1, 2, 0, 12}, /* D17/PC2 */ + {GPIOC, NULL, ADC1, 3, 0, 13}, /* D18/PC3 */ + {GPIOC, NULL, ADC1, 4, 0, 14}, /* D19/PC4 */ + {GPIOC, NULL, ADC1, 5, 0, 15}, /* D20/PC5 */ + {GPIOC, NULL, NULL, 13, 0, ADCx}, /* D21/PC13 */ + {GPIOC, NULL, NULL, 14, 0, ADCx}, /* D22/PC14 */ + {GPIOC, NULL, NULL, 15, 0, ADCx}, /* D23/PC15 */ + {GPIOB, TIMER4, NULL, 9, 4, ADCx}, /* D24/PB9 */ + {GPIOD, NULL, NULL, 2, 0, ADCx}, /* D25/PD2 */ + {GPIOC, NULL, NULL, 10, 0, ADCx}, /* D26/PC10 */ + {GPIOB, TIMER3, ADC1, 0, 3, 8}, /* D27/PB0 */ + {GPIOB, TIMER3, ADC1, 1, 4, 9}, /* D28/PB1 */ + {GPIOB, NULL, NULL, 10, 0, ADCx}, /* D29/PB10 */ + {GPIOB, NULL, NULL, 11, 0, ADCx}, /* D30/PB11 */ + {GPIOB, NULL, NULL, 12, 0, ADCx}, /* D31/PB12 */ + {GPIOB, NULL, NULL, 13, 0, ADCx}, /* D32/PB13 */ + {GPIOB, NULL, NULL, 14, 0, ADCx}, /* D33/PB14 */ + {GPIOB, NULL, NULL, 15, 0, ADCx}, /* D34/PB15 */ + {GPIOC, NULL, NULL, 6, 0, ADCx}, /* D35/PC6 */ + {GPIOC, NULL, NULL, 7, 0, ADCx}, /* D36/PC7 */ + {GPIOC, NULL, NULL, 8, 0, ADCx}, /* D37/PC8 (Blue led) */ + {GPIOC, NULL, NULL, 9, 0, ADCx}, /* D38/PC9 (Green led) */ + {GPIOA, TIMER1, NULL, 11, 4, ADCx}, /* D39/PA11 */ + {GPIOA, NULL, NULL, 12, 0, ADCx}, /* D40/PA12 */ + {GPIOA, NULL, NULL, 15, 0, ADCx}, /* D41/PA15 */ + {GPIOB, NULL, NULL, 2, 0, ADCx}, /* D42/PB2 */ + {GPIOB, NULL, NULL, 3, 0, ADCx}, /* D43/PB3 */ + {GPIOB, NULL, NULL, 4, 0, ADCx}, /* D44/PB4 */ + {GPIOC, NULL, NULL, 11, 0, ADCx}, /* D45/PC11 */ + {GPIOC, NULL, NULL, 12, 0, ADCx} /* D46/PC12 */ +}; + +extern const uint8 boardPWMPins[] __FLASH__ = { + 0, 1, 2, 3, 5, 6, 7, 8, 9, 11, 12, 14, 24, 27, 28 +}; + +extern const uint8 boardADCPins[] __FLASH__ = { + 0, 1, 2, 3, 10, 11, 12, 15, 16, 17, 18, 19, 20, 27, 28 +}; + +extern const uint8 boardUsedPins[] __FLASH__ = { + BOARD_BLUE_LED_PIN, BOARD_GREEN_LED_PIN, BOARD_BUTTON_PIN +}; diff --git a/wirish/boards/VLDiscovery/include/board/board.h b/wirish/boards/VLDiscovery/include/board/board.h new file mode 100644 index 0000000..04d21c7 --- /dev/null +++ b/wirish/boards/VLDiscovery/include/board/board.h @@ -0,0 +1,91 @@ +/****************************************************************************** + * 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 wirish/boards/VLDiscovery/include/board/board.h + * @author Anton Eltchaninov <anton.eltchaninov@gmail.com> + * @brief VLDiscovery board header. + */ + +#ifndef _BOARD_VLDISCOVERY_H_ +#define _BOARD_VLDISCOVERY_H_ + +#define BOARD_RCC_PLLMUL RCC_PLLMUL_3 + +#define CYCLES_PER_MICROSECOND 24 +#define SYSTICK_RELOAD_VAL 23999 /* takes a cycle to reload */ + +#define BOARD_BUTTON_PIN 2 /* PA0 USER */ +#define BOARD_BLUE_LED_PIN 37 /* blue led LD4 */ +#define BOARD_GREEN_LED_PIN 38 /* green led LD3 */ +#define BOARD_LED_PIN BOARD_BLUE_LED_PIN + +/* 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 7 +#define BOARD_USART1_RX_PIN 8 +#define BOARD_USART2_TX_PIN 1 +#define BOARD_USART2_RX_PIN 0 +#define BOARD_USART3_TX_PIN 29 +#define BOARD_USART3_RX_PIN 30 + +/* Number of SPI ports */ +#define BOARD_NR_SPI 2 + +/* Default SPI pin numbers (not considering AFIO remap) */ +#define BOARD_SPI1_NSS_PIN 10 +#define BOARD_SPI1_MOSI_PIN 11 +#define BOARD_SPI1_MISO_PIN 12 +#define BOARD_SPI1_SCK_PIN 13 +#define BOARD_SPI2_NSS_PIN 31 +#define BOARD_SPI2_MOSI_PIN 34 +#define BOARD_SPI2_MISO_PIN 33 +#define BOARD_SPI2_SCK_PIN 32 + +/* Total number of GPIO pins that are broken out to headers and + * intended for general use. */ +#define BOARD_NR_GPIO_PINS 47 + +/* 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 15 + +/* Number of pins already connected to external hardware. */ +#define BOARD_NR_USED_PINS 3 + +/* Save Maple pin order and define aliases */ +enum { +PA3, PA2, PA0, PA1, PB5, PB6, PA8, PA9, PA10, PB7, PA4, PA7, PA6, PA5, +PB8, PC0, PC1, PC2, PC3, PC4, PC5, PC13, PC14, PC15, PB9, PD2, PC10, +PB0, PB1, PB10, PB11, PB12, PB13, PB14, PB15, PC6, PC7, PC8, PC9, +PA11, PA12, PA15, PB2, PB3, PB4, PC11, PC12 }; + + +#endif 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 +}; diff --git a/wirish/boards/cm900/include/board/board.h b/wirish/boards/cm900/include/board/board.h new file mode 100644 index 0000000..fed1a1b --- /dev/null +++ b/wirish/boards/cm900/include/board/board.h @@ -0,0 +1,107 @@ + +/****************************************************************************** + * 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. + *****************************************************************************/ + + +/* + * CM900.h + * + * Created on: 2012. 10. 14. + * Author: ROBOTIS[sm6787@robotis.com] + * ported from maple.h(leaflabs.com) + * @brief Private include file for cm-900 in boards.h + */ + +#ifndef CM_900_H_ +#define CM_900_H_ + +//#include "gpio.h" + + +#define CYCLES_PER_MICROSECOND 72 +#define SYSTICK_RELOAD_VAL 71999 /* takes a cycle to reload */ +/* + * [ROBOTIS][CHANGE] CM-900 Do not have built-in button. + * 2013-04-22 + * */ +#define BOARD_BUTTON_PIN 23//38 +#define BOARD_LED_PIN 16 + +/* 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 9 //D9(PA9) +#define BOARD_USART1_RX_PIN 10 //D10(PA10) +#define BOARD_USART2_TX_PIN 2 //D2 (PA2) +#define BOARD_USART2_RX_PIN 3 //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 10 //D10 (PA4) +#define BOARD_SPI1_MOSI_PIN 11 //D11 PA7 +#define BOARD_SPI1_MISO_PIN 12 //D12 PA6 +#define BOARD_SPI1_SCK_PIN 13 //D13 PA5 +#define BOARD_SPI2_NSS_PIN 26 //D26 PB12 +#define BOARD_SPI2_MOSI_PIN 29 //D29 PB15 +#define BOARD_SPI2_MISO_PIN 28 //D28 PB14 +#define BOARD_SPI2_SCK_PIN 27 //D27 PB13 + +/* Total number of GPIO pins that are broken out to headers and + * intended for general use. */ +#define BOARD_NR_GPIO_PINS 32//44 + +/* 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 1 + +/* Debug port pins */ +#define BOARD_JTMS_SWDIO_PIN 11 +#define BOARD_JTCK_SWCLK_PIN 12 +#define BOARD_JTDI_PIN 13 +#define BOARD_JTDO_PIN 17 +#define BOARD_NJTRST_PIN 18 + +#define BOARD_USB_DISC_DEV GPIOC +#define BOARD_USB_DISC_BIT 13 + +void boardInit(void); + +#define BOARD_DYNAMIXEL_DIR 19 +#define BOARD_DYNAMIXEL_TX 20 +#define BOARD_DYNAMIXEL_RX 21 + +#endif /* CM_900_H_ */ diff --git a/wirish/boards/maple/board.cpp b/wirish/boards/maple/board.cpp new file mode 100644 index 0000000..a585ea1 --- /dev/null +++ b/wirish/boards/maple/board.cpp @@ -0,0 +1,143 @@ +/****************************************************************************** + * 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 wirish/boards/maple/board.cpp + * @author Marti Bolivar <mbolivar@leaflabs.com> + * @brief Maple board file. + */ + +#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. + +// boardInit(): nothing special to do for Maple. +// +// When defining your own board.cpp, you can put extra code in this +// function if you have anything you want done on reset, before main() +// or setup() are called. +// +// If there's nothing special you need done, feel free to leave this +// function out, as we do here. +/* +void boardInit(void) { +} +*/ + +// Pin map: this lets the basic I/O functions (digitalWrite(), +// analogRead(), pwmWrite()) translate from pin numbers to STM32 +// peripherals. +// +// PMAP_ROW() lets us specify a row (really a struct stm32_pin_info) +// in the pin map. Its arguments are: +// +// - GPIO device for the pin (GPIOA, etc.) +// - GPIO bit for the pin (0 through 15) +// - Timer device, or NULL if none +// - Timer channel (1 to 4, for PWM), or 0 if none +// - ADC device, or NULL if none +// - ADC channel, or ADCx if none +extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] = { + + /* Top header */ + + PMAP_ROW(GPIOA, 3, TIMER2, 4, ADC1, 3), /* D0/PA3 */ + PMAP_ROW(GPIOA, 2, TIMER2, 3, ADC1, 2), /* D1/PA2 */ + PMAP_ROW(GPIOA, 0, TIMER2, 1, ADC1, 0), /* D2/PA0 */ + PMAP_ROW(GPIOA, 1, TIMER2, 2, ADC1, 1), /* D3/PA1 */ + PMAP_ROW(GPIOB, 5, NULL, 0, NULL, ADCx), /* D4/PB5 */ + PMAP_ROW(GPIOB, 6, TIMER4, 1, NULL, ADCx), /* D5/PB6 */ + PMAP_ROW(GPIOA, 8, TIMER1, 1, NULL, ADCx), /* D6/PA8 */ + PMAP_ROW(GPIOA, 9, TIMER1, 2, NULL, ADCx), /* D7/PA9 */ + PMAP_ROW(GPIOA, 10, TIMER1, 3, NULL, ADCx), /* D8/PA10 */ + PMAP_ROW(GPIOB, 7, TIMER4, 2, NULL, ADCx), /* D9/PB7 */ + PMAP_ROW(GPIOA, 4, NULL, 0, ADC1, 4), /* D10/PA4 */ + PMAP_ROW(GPIOA, 7, TIMER3, 2, ADC1, 7), /* D11/PA7 */ + PMAP_ROW(GPIOA, 6, TIMER3, 1, ADC1, 6), /* D12/PA6 */ + PMAP_ROW(GPIOA, 5, NULL, 0, ADC1, 5), /* D13/PA5 (LED) */ + PMAP_ROW(GPIOB, 8, TIMER4, 3, NULL, ADCx), /* D14/PB8 */ + + /* Little header */ + + PMAP_ROW(GPIOC, 0, NULL, 0, ADC1, 10), /* D15/PC0 */ + PMAP_ROW(GPIOC, 1, NULL, 0, ADC1, 11), /* D16/PC1 */ + PMAP_ROW(GPIOC, 2, NULL, 0, ADC1, 12), /* D17/PC2 */ + PMAP_ROW(GPIOC, 3, NULL, 0, ADC1, 13), /* D18/PC3 */ + PMAP_ROW(GPIOC, 4, NULL, 0, ADC1, 14), /* D19/PC4 */ + PMAP_ROW(GPIOC, 5, NULL, 0, ADC1, 15), /* D20/PC5 */ + + /* External header */ + + PMAP_ROW(GPIOC, 13, NULL, 0, NULL, ADCx), /* D21/PC13 */ + PMAP_ROW(GPIOC, 14, NULL, 0, NULL, ADCx), /* D22/PC14 */ + PMAP_ROW(GPIOC, 15, NULL, 0, NULL, ADCx), /* D23/PC15 */ + PMAP_ROW(GPIOB, 9, TIMER4, 4, NULL, ADCx), /* D24/PB9 */ + PMAP_ROW(GPIOD, 2, NULL, 0, NULL, ADCx), /* D25/PD2 */ + PMAP_ROW(GPIOC, 10, NULL, 0, NULL, ADCx), /* D26/PC10 */ + PMAP_ROW(GPIOB, 0, TIMER3, 3, ADC1, 8), /* D27/PB0 */ + PMAP_ROW(GPIOB, 1, TIMER3, 4, ADC1, 9), /* D28/PB1 */ + PMAP_ROW(GPIOB, 10, NULL, 0, NULL, ADCx), /* D29/PB10 */ + PMAP_ROW(GPIOB, 11, NULL, 0, NULL, ADCx), /* D30/PB11 */ + PMAP_ROW(GPIOB, 12, NULL, 0, NULL, ADCx), /* D31/PB12 */ + PMAP_ROW(GPIOB, 13, NULL, 0, NULL, ADCx), /* D32/PB13 */ + PMAP_ROW(GPIOB, 14, NULL, 0, NULL, ADCx), /* D33/PB14 */ + PMAP_ROW(GPIOB, 15, NULL, 0, NULL, ADCx), /* D34/PB15 */ + PMAP_ROW(GPIOC, 6, NULL, 0, NULL, ADCx), /* D35/PC6 */ + PMAP_ROW(GPIOC, 7, NULL, 0, NULL, ADCx), /* D36/PC7 */ + PMAP_ROW(GPIOC, 8, NULL, 0, NULL, ADCx), /* D37/PC8 */ + PMAP_ROW(GPIOC, 9, NULL, 0, NULL, ADCx), /* D38/PC9 (BUT) */ + + /* JTAG header */ + + PMAP_ROW(GPIOA, 13, NULL, 0, NULL, ADCx), /* D39/PA13 */ + PMAP_ROW(GPIOA, 14, NULL, 0, NULL, ADCx), /* D40/PA14 */ + PMAP_ROW(GPIOA, 15, NULL, 0, NULL, ADCx), /* D41/PA15 */ + PMAP_ROW(GPIOB, 3, NULL, 0, NULL, ADCx), /* D42/PB3 */ + PMAP_ROW(GPIOB, 4, NULL, 0, NULL, ADCx), /* D43/PB4 */ +}; + +// Array of pins you can use for pwmWrite(). Keep it in Flash because +// it doesn't change, and so we don't waste RAM. +extern const uint8 boardPWMPins[] __FLASH__ = { + 0, 1, 2, 3, 5, 6, 7, 8, 9, 11, 12, 14, 24, 27, 28 +}; + +// Array of pins you can use for analogRead(). +extern const uint8 boardADCPins[] __FLASH__ = { + 0, 1, 2, 3, 10, 11, 12, 15, 16, 17, 18, 19, 20, 27, 28 +}; + +// Array of pins that the board uses for something special. Other than +// the button and the LED, it's usually best to leave these pins alone +// unless you know what you're doing. +extern const uint8 boardUsedPins[] __FLASH__ = { + BOARD_LED_PIN, BOARD_BUTTON_PIN, BOARD_JTMS_SWDIO_PIN, + BOARD_JTCK_SWCLK_PIN, BOARD_JTDI_PIN, BOARD_JTDO_PIN, BOARD_NJTRST_PIN +}; diff --git a/wirish/boards/maple/include/board/board.h b/wirish/boards/maple/include/board/board.h new file mode 100644 index 0000000..e675806 --- /dev/null +++ b/wirish/boards/maple/include/board/board.h @@ -0,0 +1,107 @@ +/****************************************************************************** + * 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 wirish/boards/maple/include/board/board.h + * @author Marti Bolivar <mbolivar@leaflabs.com> + * @brief Maple board header. + */ + +#ifndef _BOARD_MAPLE_H_ +#define _BOARD_MAPLE_H_ + +/* 72 MHz -> 72 cycles per microsecond. */ +#define CYCLES_PER_MICROSECOND 72 + +/* Pin number for the built-in button. */ +#define BOARD_BUTTON_PIN 38 + +/* Pin number for the built-in LED. */ +#define BOARD_LED_PIN 13 + +/* Number of USARTs/UARTs whose pins are broken out to headers. */ +#define BOARD_NR_USARTS 3 + +/* USART pin numbers. */ +#define BOARD_USART1_TX_PIN 7 +#define BOARD_USART1_RX_PIN 8 +#define BOARD_USART2_TX_PIN 1 +#define BOARD_USART2_RX_PIN 0 +#define BOARD_USART3_TX_PIN 29 +#define BOARD_USART3_RX_PIN 30 + +/* Number of SPI ports broken out to headers. */ +#define BOARD_NR_SPI 2 + +/* SPI pin numbers. */ +#define BOARD_SPI1_NSS_PIN 10 +#define BOARD_SPI1_MOSI_PIN 11 +#define BOARD_SPI1_MISO_PIN 12 +#define BOARD_SPI1_SCK_PIN 13 +#define BOARD_SPI2_NSS_PIN 31 +#define BOARD_SPI2_MOSI_PIN 34 +#define BOARD_SPI2_MISO_PIN 33 +#define BOARD_SPI2_SCK_PIN 32 + +/* Total number of GPIO pins that are broken out to headers and + * intended for use. This includes pins like the LED, button, and + * debug port (JTAG/SWD) pins. */ +#define BOARD_NR_GPIO_PINS 44 + +/* 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 15 + +/* Number of pins already connected to external hardware. For Maple, + * these are just BOARD_LED_PIN, BOARD_BUTTON_PIN, and the debug port + * pins (see below). */ +#define BOARD_NR_USED_PINS 7 + +/* Debug port pins. */ +#define BOARD_JTMS_SWDIO_PIN 39 +#define BOARD_JTCK_SWCLK_PIN 40 +#define BOARD_JTDI_PIN 41 +#define BOARD_JTDO_PIN 42 +#define BOARD_NJTRST_PIN 43 + +/* USB configuration. BOARD_USB_DISC_DEV is the GPIO port containing + * the USB_DISC pin, and BOARD_USB_DISC_BIT is that pin's bit. */ +#define BOARD_USB_DISC_DEV GPIOC +#define BOARD_USB_DISC_BIT 12 + +/* Pin aliases: these give the GPIO port/bit for each pin as an + * enum. These are optional, but recommended. They make it easier to + * write code using low-level GPIO functionality. */ +enum { + PA3, PA2, PA0, PA1, PB5, PB6, PA8, PA9, PA10, PB7, PA4, PA7, PA6, PA5, PB8, + PC0, PC1, PC2, PC3, PC4, PC5, PC13, PC14, PC15, PB9, PD2, PC10, PB0, PB1, + PB10, PB11, PB12, PB13, PB14, PB15, PC6, PC7, PC8, PC9, PA13, PA14, PA15, + PB3, PB4 +}; + +#endif diff --git a/wirish/boards/maple_RET6/board.cpp b/wirish/boards/maple_RET6/board.cpp new file mode 100644 index 0000000..2ef7de7 --- /dev/null +++ b/wirish/boards/maple_RET6/board.cpp @@ -0,0 +1,115 @@ +/****************************************************************************** + * 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 wirish/boards/maple_RET6/board.cpp + * @author Marti Bolivar <mbolivar@leaflabs.com> + * @brief Maple RET6 Edition board file + */ + +#include <board/board.h> + +#include <libmaple/gpio.h> +#include <libmaple/timer.h> + +#include <wirish/wirish_types.h> + +void boardInit(void) { +} + +extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] = { + + /* Top header */ + + {GPIOA, TIMER2, ADC1, 3, 4, 3}, /* D0/PA3 */ + {GPIOA, TIMER2, ADC1, 2, 3, 2}, /* D1/PA2 */ + {GPIOA, TIMER2, ADC1, 0, 1, 0}, /* D2/PA0 */ + {GPIOA, TIMER2, ADC1, 1, 2, 1}, /* D3/PA1 */ + {GPIOB, NULL, NULL, 5, 0, ADCx}, /* D4/PB5 */ + {GPIOB, TIMER4, NULL, 6, 1, ADCx}, /* D5/PB6 */ + {GPIOA, TIMER1, NULL, 8, 1, ADCx}, /* D6/PA8 */ + {GPIOA, TIMER1, NULL, 9, 2, ADCx}, /* D7/PA9 */ + {GPIOA, TIMER1, NULL, 10, 3, ADCx}, /* D8/PA10 */ + {GPIOB, TIMER4, NULL, 7, 2, ADCx}, /* D9/PB7 */ + {GPIOA, NULL, ADC1, 4, 0, 4}, /* D10/PA4 */ + {GPIOA, TIMER3, ADC1, 7, 2, 7}, /* D11/PA7 */ + {GPIOA, TIMER3, ADC1, 6, 1, 6}, /* D12/PA6 */ + {GPIOA, NULL, ADC1, 5, 0, 5}, /* D13/PA5 (LED) */ + {GPIOB, TIMER4, NULL, 8, 3, ADCx}, /* D14/PB8 */ + + /* Little header */ + + {GPIOC, NULL, ADC1, 0, 0, 10}, /* D15/PC0 */ + {GPIOC, NULL, ADC1, 1, 0, 11}, /* D16/PC1 */ + {GPIOC, NULL, ADC1, 2, 0, 12}, /* D17/PC2 */ + {GPIOC, NULL, ADC1, 3, 0, 13}, /* D18/PC3 */ + {GPIOC, NULL, ADC1, 4, 0, 14}, /* D19/PC4 */ + {GPIOC, NULL, ADC1, 5, 0, 15}, /* D20/PC5 */ + + /* External header */ + + {GPIOC, NULL, NULL, 13, 0, ADCx}, /* D21/PC13 */ + {GPIOC, NULL, NULL, 14, 0, ADCx}, /* D22/PC14 */ + {GPIOC, NULL, NULL, 15, 0, ADCx}, /* D23/PC15 */ + {GPIOB, TIMER4, NULL, 9, 4, ADCx}, /* D24/PB9 */ + {GPIOD, NULL, NULL, 2, 0, ADCx}, /* D25/PD2 */ + {GPIOC, NULL, NULL, 10, 0, ADCx}, /* D26/PC10 */ + {GPIOB, TIMER3, ADC1, 0, 3, 8}, /* D27/PB0 */ + {GPIOB, TIMER3, ADC1, 1, 4, 9}, /* D28/PB1 */ + {GPIOB, NULL, NULL, 10, 0, ADCx}, /* D29/PB10 */ + {GPIOB, NULL, NULL, 11, 0, ADCx}, /* D30/PB11 */ + {GPIOB, NULL, NULL, 12, 0, ADCx}, /* D31/PB12 */ + {GPIOB, NULL, NULL, 13, 0, ADCx}, /* D32/PB13 */ + {GPIOB, NULL, NULL, 14, 0, ADCx}, /* D33/PB14 */ + {GPIOB, NULL, NULL, 15, 0, ADCx}, /* D34/PB15 */ + {GPIOC, TIMER8, NULL, 6, 1, ADCx}, /* D35/PC6 */ + {GPIOC, TIMER8, NULL, 7, 2, ADCx}, /* D36/PC7 */ + {GPIOC, TIMER8, NULL, 8, 3, ADCx}, /* D37/PC8 */ + {GPIOC, TIMER8, NULL, 9, 4, ADCx}, /* D38/PC9 (BUT) */ + + /* JTAG header */ + + {GPIOA, NULL, NULL, 13, 0, ADCx}, /* D39/PA13 */ + {GPIOA, NULL, NULL, 14, 0, ADCx}, /* D40/PA14 */ + {GPIOA, NULL, NULL, 15, 0, ADCx}, /* D41/PA15 */ + {GPIOB, NULL, NULL, 3, 0, ADCx}, /* D42/PB3 */ + {GPIOB, NULL, NULL, 4, 0, ADCx}, /* D43/PB4 */ +}; + +/* Note: Do NOT include pin 38 (TIM8_CH4), as that's BOARD_BUTTON_PIN + * and thus not broken out to a header. */ +extern const uint8 boardPWMPins[BOARD_NR_PWM_PINS] __FLASH__ = { + 0, 1, 2, 3, 5, 6, 7, 8, 9, 11, 12, 14, 24, 27, 28, 35, 36, 37 +}; + +extern const uint8 boardADCPins[BOARD_NR_ADC_PINS] __FLASH__ = { + 0, 1, 2, 3, 10, 11, 12, 15, 16, 17, 18, 19, 20, 27, 28 +}; + +extern const uint8 boardUsedPins[BOARD_NR_USED_PINS] __FLASH__ = { + BOARD_LED_PIN, BOARD_BUTTON_PIN, BOARD_JTMS_SWDIO_PIN, + BOARD_JTCK_SWCLK_PIN, BOARD_JTDI_PIN, BOARD_JTDO_PIN, BOARD_NJTRST_PIN +}; diff --git a/wirish/boards/maple_RET6/include/board/board.h b/wirish/boards/maple_RET6/include/board/board.h new file mode 100644 index 0000000..7c6851b --- /dev/null +++ b/wirish/boards/maple_RET6/include/board/board.h @@ -0,0 +1,96 @@ +/****************************************************************************** + * 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 wirish/boards/maple_RET6/include/board/board.h + * @author Marti Bolivar <mbolivar@leaflabs.com> + * @brief Maple RET6 Edition board header. + * + * See wirish/boards/maple/include/board/board.h for more information + * on these definitions. + */ + +#ifndef _BOARDS_MAPLE_RET6_H_ +#define _BOARDS_MAPLE_RET6_H_ + +#define CYCLES_PER_MICROSECOND 72 +#define SYSTICK_RELOAD_VAL 71999 /* takes a cycle to reload */ + +#define BOARD_BUTTON_PIN 38 +#define BOARD_LED_PIN 13 + +/* UART4 and UART5 have pins which aren't broken out :( */ +#define BOARD_NR_USARTS 3 +#define BOARD_USART1_TX_PIN 7 +#define BOARD_USART1_RX_PIN 8 +#define BOARD_USART2_TX_PIN 1 +#define BOARD_USART2_RX_PIN 0 +#define BOARD_USART3_TX_PIN 29 +#define BOARD_USART3_RX_PIN 30 + +/* Note: + * + * SPI3 is unusable due to pin 43 (PB4) and NRST tie-together :(, but + * leave the definitions so as not to clutter things up. This is only + * OK since RET6 Ed. is specifically advertised as a beta board. */ +#define BOARD_NR_SPI 2 +#define BOARD_SPI1_NSS_PIN 10 +#define BOARD_SPI1_MOSI_PIN 11 +#define BOARD_SPI1_MISO_PIN 12 +#define BOARD_SPI1_SCK_PIN 13 +#define BOARD_SPI2_NSS_PIN 31 +#define BOARD_SPI2_MOSI_PIN 34 +#define BOARD_SPI2_MISO_PIN 33 +#define BOARD_SPI2_SCK_PIN 32 +#define BOARD_SPI3_NSS_PIN 41 +#define BOARD_SPI3_MOSI_PIN 4 +#define BOARD_SPI3_MISO_PIN 43 +#define BOARD_SPI3_SCK_PIN 42 + +#define BOARD_NR_GPIO_PINS 44 +/* Note: NOT 19. The missing one is D38 a.k.a. BOARD_BUTTON_PIN, which + * isn't broken out to a header and is thus unusable for PWM. */ +#define BOARD_NR_PWM_PINS 18 +#define BOARD_NR_ADC_PINS 15 +#define BOARD_NR_USED_PINS 7 + +#define BOARD_JTMS_SWDIO_PIN 39 +#define BOARD_JTCK_SWCLK_PIN 40 +#define BOARD_JTDI_PIN 41 +#define BOARD_JTDO_PIN 42 +#define BOARD_NJTRST_PIN 43 + +#define BOARD_USB_DISC_DEV GPIOC +#define BOARD_USB_DISC_BIT 12 + +enum { + PA3, PA2, PA0, PA1, PB5, PB6, PA8, PA9, PA10, PB7, PA4, PA7, PA6, PA5, PB8, + PC0, PC1, PC2, PC3, PC4, PC5, PC13, PC14, PC15, PB9, PD2, PC10, PB0, PB1, + PB10, PB11, PB12, PB13, PB14, PB15, PC6, PC7, PC8, PC9, PA13, PA14, PA15, + PB3, PB4 +}; + +#endif diff --git a/wirish/boards/maple_mini/board.cpp b/wirish/boards/maple_mini/board.cpp new file mode 100644 index 0000000..009ec51 --- /dev/null +++ b/wirish/boards/maple_mini/board.cpp @@ -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. + *****************************************************************************/ + +/** + * @file wirish/boards/maple_mini/board.cpp + * @author Marti Bolivar <mbolivar@leaflabs.com> + * @brief Maple Mini board file. + */ + +#include <board/board.h> + +#include <libmaple/gpio.h> +#include <libmaple/timer.h> + +#include <wirish/wirish_debug.h> +#include <wirish/wirish_types.h> + +/* Since we want the Serial Wire/JTAG pins as GPIOs, disable both SW + * and JTAG debug support, unless configured otherwise. */ +void boardInit(void) { +#ifndef CONFIG_MAPLE_MINI_NO_DISABLE_DEBUG + disableDebugPorts(); +#endif +} + +extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] = { + + /* Top header */ + + {GPIOB, NULL, NULL, 11, 0, ADCx}, /* D0/PB11 */ + {GPIOB, NULL, NULL, 10, 0, ADCx}, /* D1/PB10 */ + {GPIOB, NULL, NULL, 2, 0, ADCx}, /* D2/PB2 */ + {GPIOB, TIMER3, ADC1, 0, 3, 8}, /* D3/PB0 */ + {GPIOA, TIMER3, ADC1, 7, 2, 7}, /* D4/PA7 */ + {GPIOA, TIMER3, ADC1, 6, 1, 6}, /* D5/PA6 */ + {GPIOA, NULL, ADC1, 5, 0, 5}, /* D6/PA5 */ + {GPIOA, NULL, ADC1, 4, 0, 4}, /* D7/PA4 */ + {GPIOA, TIMER2, ADC1, 3, 4, 3}, /* D8/PA3 */ + {GPIOA, TIMER2, ADC1, 2, 3, 2}, /* D9/PA2 */ + {GPIOA, TIMER2, ADC1, 1, 2, 1}, /* D10/PA1 */ + {GPIOA, TIMER2, ADC1, 0, 1, 0}, /* D11/PA0 */ + {GPIOC, NULL, NULL, 15, 0, ADCx}, /* D12/PC15 */ + {GPIOC, NULL, NULL, 14, 0, ADCx}, /* D13/PC14 */ + {GPIOC, NULL, NULL, 13, 0, ADCx}, /* D14/PC13 */ + + /* Bottom header */ + + {GPIOB, TIMER4, NULL, 7, 2, ADCx}, /* D15/PB7 */ + {GPIOB, TIMER4, NULL, 6, 1, ADCx}, /* D16/PB6 */ + {GPIOB, NULL, NULL, 5, 0, ADCx}, /* D17/PB5 */ + {GPIOB, NULL, NULL, 4, 0, ADCx}, /* D18/PB4 */ + {GPIOB, NULL, NULL, 3, 0, ADCx}, /* D19/PB3 */ + {GPIOA, NULL, NULL, 15, 0, ADCx}, /* D20/PA15 */ + {GPIOA, NULL, NULL, 14, 0, ADCx}, /* D21/PA14 */ + {GPIOA, NULL, NULL, 13, 0, ADCx}, /* D22/PA13 */ + {GPIOA, NULL, NULL, 12, 0, ADCx}, /* D23/PA12 */ + {GPIOA, TIMER1, NULL, 11, 4, ADCx}, /* D24/PA11 */ + {GPIOA, TIMER1, NULL, 10, 3, ADCx}, /* D25/PA10 */ + {GPIOA, TIMER1, NULL, 9, 2, ADCx}, /* D26/PA9 */ + {GPIOA, TIMER1, NULL, 8, 1, ADCx}, /* D27/PA8 */ + {GPIOB, NULL, NULL, 15, 0, ADCx}, /* D28/PB15 */ + {GPIOB, NULL, NULL, 14, 0, ADCx}, /* D29/PB14 */ + {GPIOB, NULL, NULL, 13, 0, ADCx}, /* D30/PB13 */ + {GPIOB, NULL, NULL, 12, 0, ADCx}, /* D31/PB12 */ + {GPIOB, TIMER4, NULL, 8, 3, ADCx}, /* D32/PB8 */ + {GPIOB, TIMER3, ADC1, 1, 4, 9}, /* D33/PB1 */ +}; + +extern const uint8 boardPWMPins[BOARD_NR_PWM_PINS] __FLASH__ = { + 3, 4, 5, 8, 9, 10, 11, 15, 16, 25, 26, 27 +}; + +extern const uint8 boardADCPins[BOARD_NR_ADC_PINS] __FLASH__ = { + 3, 4, 5, 6, 7, 8, 9, 10, 11 +}; + +#define USB_DP 23 +#define USB_DM 24 + +extern const uint8 boardUsedPins[BOARD_NR_USED_PINS] __FLASH__ = { + BOARD_LED_PIN, BOARD_BUTTON_PIN, USB_DP, USB_DM +}; diff --git a/wirish/boards/maple_mini/include/board/board.h b/wirish/boards/maple_mini/include/board/board.h new file mode 100644 index 0000000..ac2e5e5 --- /dev/null +++ b/wirish/boards/maple_mini/include/board/board.h @@ -0,0 +1,83 @@ +/****************************************************************************** + * 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 wirish/boards/maple_mini/include/board/board.h + * @author Marti Bolivar <mbolivar@leaflabs.com> + * @brief Maple Mini board header. + * + * See wirish/boards/maple/include/board/board.h for more information + * on these definitions. + */ + +#ifndef _BOARD_MAPLE_MINI_H_ +#define _BOARD_MAPLE_MINI_H_ + +#define CYCLES_PER_MICROSECOND 72 +#define SYSTICK_RELOAD_VAL 71999 /* takes a cycle to reload */ + +#define BOARD_BUTTON_PIN 32 +#define BOARD_LED_PIN 33 + +#define BOARD_NR_USARTS 3 +#define BOARD_USART1_TX_PIN 26 +#define BOARD_USART1_RX_PIN 25 +#define BOARD_USART2_TX_PIN 9 +#define BOARD_USART2_RX_PIN 8 +#define BOARD_USART3_TX_PIN 1 +#define BOARD_USART3_RX_PIN 0 + +#define BOARD_NR_SPI 2 +#define BOARD_SPI1_NSS_PIN 7 +#define BOARD_SPI1_MOSI_PIN 4 +#define BOARD_SPI1_MISO_PIN 5 +#define BOARD_SPI1_SCK_PIN 6 +#define BOARD_SPI2_NSS_PIN 31 +#define BOARD_SPI2_MOSI_PIN 28 +#define BOARD_SPI2_MISO_PIN 29 +#define BOARD_SPI2_SCK_PIN 30 + +#define BOARD_NR_GPIO_PINS 34 +#define BOARD_NR_PWM_PINS 12 +#define BOARD_NR_ADC_PINS 9 +#define BOARD_NR_USED_PINS 4 + +#define BOARD_JTMS_SWDIO_PIN 22 +#define BOARD_JTCK_SWCLK_PIN 21 +#define BOARD_JTDI_PIN 20 +#define BOARD_JTDO_PIN 19 +#define BOARD_NJTRST_PIN 18 + +#define BOARD_USB_DISC_DEV GPIOB +#define BOARD_USB_DISC_BIT 9 + +enum { + PB11, PB10, PB2, PB0, PA7, PA6, PA5, PA4, PA3, PA2, PA1, PA0, PC15, PC14, + PC13, PB7, PB6, PB5, PB4, PB3, PA15, PA14, PA13, PA12, PA11, PA10, PA9, + PA8, PB15, PB14, PB13, PB12, PB8, PB1 +}; + +#endif diff --git a/wirish/boards/maple_native/board.cpp b/wirish/boards/maple_native/board.cpp new file mode 100644 index 0000000..515cf5b --- /dev/null +++ b/wirish/boards/maple_native/board.cpp @@ -0,0 +1,197 @@ +/****************************************************************************** + * 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 wirish/boards/maple_native/board.cpp + * @author Marti Bolivar <mbolivar@leaflabs.com> + * @brief Maple Native board file. + */ + +#include <board/board.h> + +#include <libmaple/fsmc.h> +#include <libmaple/gpio.h> +#include <libmaple/rcc.h> +#include <libmaple/timer.h> + +#include <wirish/wirish_types.h> + +static void initSRAMChip(void); + +void boardInit(void) { + initSRAMChip(); +} + +extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] = { + + /* Top header */ + + {GPIOB, NULL, NULL, 10, 0, ADCx}, /* D0/PB10 */ + {GPIOB, NULL, NULL, 11, 0, ADCx}, /* D1/PB11 */ + {GPIOB, NULL, NULL, 12, 0, ADCx}, /* D2/PB12 */ + {GPIOB, NULL, NULL, 13, 0, ADCx}, /* D3/PB13 */ + {GPIOB, NULL, NULL, 14, 0, ADCx}, /* D4/PB14 */ + {GPIOB, NULL, NULL, 15, 0, ADCx}, /* D5/PB15 */ + {GPIOG, NULL, NULL, 15, 0, ADCx}, /* D6/PG15 (BUT) */ + {GPIOC, NULL, ADC1, 0, 0, 10}, /* D7/PC0 */ + {GPIOC, NULL, ADC1, 1, 0, 11}, /* D8/PC1 */ + {GPIOC, NULL, ADC1, 2, 0, 12}, /* D9/PC2 */ + {GPIOC, NULL, ADC1, 3, 0, 13}, /* D10/PC3 */ + {GPIOC, NULL, ADC1, 4, 0, 14}, /* D11/PC4 */ + {GPIOC, NULL, ADC1, 5, 0, 15}, /* D12/PC5 */ + {GPIOC, TIMER8, NULL, 6, 1, ADCx}, /* D13/PC6 */ + {GPIOC, TIMER8, NULL, 7, 2, ADCx}, /* D14/PC7 */ + {GPIOC, TIMER8, NULL, 8, 3, ADCx}, /* D15/PC8 */ + {GPIOC, TIMER8, NULL, 9, 4, ADCx}, /* D16/PC9 */ + {GPIOC, NULL, NULL, 10, 0, ADCx}, /* D17/PC10 */ + {GPIOC, NULL, NULL, 11, 0, ADCx}, /* D18/PC11 */ + {GPIOC, NULL, NULL, 12, 0, ADCx}, /* D19/PC12 */ + {GPIOC, NULL, NULL, 13, 0, ADCx}, /* D20/PC13 */ + {GPIOC, NULL, NULL, 14, 0, ADCx}, /* D21/PC14 */ + {GPIOC, NULL, NULL, 15, 0, ADCx}, /* D22/PC15 (LED) */ + {GPIOA, TIMER1, NULL, 8, 1, ADCx}, /* D23/PA8 */ + {GPIOA, TIMER1, NULL, 9, 2, ADCx}, /* D24/PA9 */ + {GPIOA, TIMER1, NULL, 10, 3, ADCx}, /* D25/PA10 */ + {GPIOB, TIMER4, NULL, 9, 4, ADCx}, /* D26/PB9 */ + + /* Bottom header */ + /* Note: D{48, 49, 50, 51} are also TIMER2_CH{1, 2, 3, 4}, respectively. */ + /* TODO remap timer 2 in boardInit(); make the appropriate changes here */ + + {GPIOD, NULL, NULL, 2, 0, ADCx}, /* D27/PD2 */ + {GPIOD, NULL, NULL, 3, 0, ADCx}, /* D28/PD3 */ + {GPIOD, NULL, NULL, 6, 0, ADCx}, /* D29/PD6 */ + {GPIOG, NULL, NULL, 11, 0, ADCx}, /* D30/PG11 */ + {GPIOG, NULL, NULL, 12, 0, ADCx}, /* D31/PG12 */ + {GPIOG, NULL, NULL, 13, 0, ADCx}, /* D32/PG13 */ + {GPIOG, NULL, NULL, 14, 0, ADCx}, /* D33/PG14 */ + {GPIOG, NULL, NULL, 8, 0, ADCx}, /* D34/PG8 */ + {GPIOG, NULL, NULL, 7, 0, ADCx}, /* D35/PG7 */ + {GPIOG, NULL, NULL, 6, 0, ADCx}, /* D36/PG6 */ + {GPIOB, NULL, NULL, 5, 0, ADCx}, /* D37/PB5 */ + {GPIOB, TIMER4, NULL, 6, 1, ADCx}, /* D38/PB6 */ + {GPIOB, TIMER4, NULL, 7, 2, ADCx}, /* D39/PB7 */ + {GPIOF, NULL, NULL, 11, 0, ADCx}, /* D40/PF11 */ + {GPIOF, NULL, ADC3, 6, 0, 4}, /* D41/PF6 */ + {GPIOF, NULL, ADC3, 7, 0, 5}, /* D42/PF7 */ + {GPIOF, NULL, ADC3, 8, 0, 6}, /* D43/PF8 */ + {GPIOF, NULL, ADC3, 9, 0, 7}, /* D44/PF9 */ + {GPIOF, NULL, ADC3, 10, 0, 8}, /* D45/PF10 */ + {GPIOB, TIMER3, ADC1, 1, 4, 9}, /* D46/PB1 */ + {GPIOB, TIMER3, ADC1, 0, 3, 8}, /* D47/PB0 */ + {GPIOA, TIMER5, ADC1, 0, 1, 0}, /* D48/PA0 */ + {GPIOA, TIMER5, ADC1, 1, 2, 1}, /* D49/PA1 */ + {GPIOA, TIMER5, ADC1, 2, 3, 2}, /* D50/PA2 */ + {GPIOA, TIMER5, ADC1, 3, 4, 3}, /* D51/PA3 */ + {GPIOA, NULL, ADC1, 4, 0, 4}, /* D52/PA4 */ + {GPIOA, NULL, ADC1, 5, 0, 5}, /* D53/PA5 */ + {GPIOA, TIMER3, ADC1, 6, 1, 6}, /* D54/PA6 */ + {GPIOA, TIMER3, ADC1, 7, 2, 7}, /* D55/PA7 */ + + /* FSMC (triple) header */ + + {GPIOF, NULL, NULL, 0, 0, ADCx}, /* D56/PF0 */ + {GPIOD, NULL, NULL, 11, 0, ADCx}, /* D57/PD11 */ + {GPIOD, NULL, NULL, 14, 0, ADCx}, /* D58/PD14 */ + {GPIOF, NULL, NULL, 1, 0, ADCx}, /* D59/PF1 */ + {GPIOD, NULL, NULL, 12, 0, ADCx}, /* D60/PD12 */ + {GPIOD, NULL, NULL, 15, 0, ADCx}, /* D61/PD15 */ + {GPIOF, NULL, NULL, 2, 0, ADCx}, /* D62/PF2 */ + {GPIOD, NULL, NULL, 13, 0, ADCx}, /* D63/PD13 */ + {GPIOD, NULL, NULL, 0, 0, ADCx}, /* D64/PD0 */ + {GPIOF, NULL, NULL, 3, 0, ADCx}, /* D65/PF3 */ + {GPIOE, NULL, NULL, 3, 0, ADCx}, /* D66/PE3 */ + {GPIOD, NULL, NULL, 1, 0, ADCx}, /* D67/PD1 */ + {GPIOF, NULL, NULL, 4, 0, ADCx}, /* D68/PF4 */ + {GPIOE, NULL, NULL, 4, 0, ADCx}, /* D69/PE4 */ + {GPIOE, NULL, NULL, 7, 0, ADCx}, /* D70/PE7 */ + {GPIOF, NULL, NULL, 5, 0, ADCx}, /* D71/PF5 */ + {GPIOE, NULL, NULL, 5, 0, ADCx}, /* D72/PE5 */ + {GPIOE, NULL, NULL, 8, 0, ADCx}, /* D73/PE8 */ + {GPIOF, NULL, NULL, 12, 0, ADCx}, /* D74/PF12 */ + {GPIOE, NULL, NULL, 6, 0, ADCx}, /* D75/PE6 */ + {GPIOE, NULL, NULL, 9, 0, ADCx}, /* D76/PE9 */ + {GPIOF, NULL, NULL, 13, 0, ADCx}, /* D77/PF13 */ + {GPIOE, NULL, NULL, 10, 0, ADCx}, /* D78/PE10 */ + {GPIOF, NULL, NULL, 14, 0, ADCx}, /* D79/PF14 */ + {GPIOG, NULL, NULL, 9, 0, ADCx}, /* D80/PG9 */ + {GPIOE, NULL, NULL, 11, 0, ADCx}, /* D81/PE11 */ + {GPIOF, NULL, NULL, 15, 0, ADCx}, /* D82/PF15 */ + {GPIOG, NULL, NULL, 10, 0, ADCx}, /* D83/PG10 */ + {GPIOE, NULL, NULL, 12, 0, ADCx}, /* D84/PE12 */ + {GPIOG, NULL, NULL, 0, 0, ADCx}, /* D85/PG0 */ + {GPIOD, NULL, NULL, 5, 0, ADCx}, /* D86/PD5 */ + {GPIOE, NULL, NULL, 13, 0, ADCx}, /* D87/PE13 */ + {GPIOG, NULL, NULL, 1, 0, ADCx}, /* D88/PG1 */ + {GPIOD, NULL, NULL, 4, 0, ADCx}, /* D89/PD4 */ + {GPIOE, NULL, NULL, 14, 0, ADCx}, /* D90/PE14 */ + {GPIOG, NULL, NULL, 2, 0, ADCx}, /* D91/PG2 */ + {GPIOE, NULL, NULL, 1, 0, ADCx}, /* D92/PE1 */ + {GPIOE, NULL, NULL, 15, 0, ADCx}, /* D93/PE15 */ + {GPIOG, NULL, NULL, 3, 0, ADCx}, /* D94/PG3 */ + {GPIOE, NULL, NULL, 0, 0, ADCx}, /* D95/PE0 */ + {GPIOD, NULL, NULL, 8, 0, ADCx}, /* D96/PD8 */ + {GPIOG, NULL, NULL, 4, 0, ADCx}, /* D97/PG4 */ + {GPIOD, NULL, NULL, 9, 0, ADCx}, /* D98/PD9 */ + {GPIOG, NULL, NULL, 5, 0, ADCx}, /* D99/PG5 */ + {GPIOD, NULL, NULL, 10, 0, ADCx}, /* D100/PD10 */ + + /* JTAG header */ + + {GPIOA, NULL, NULL, 13, 0, ADCx}, /* D101/PA13 */ + {GPIOA, NULL, NULL, 14, 0, ADCx}, /* D102/PA14 */ + {GPIOA, NULL, NULL, 15, 0, ADCx}, /* D103/PA15 */ + {GPIOB, NULL, NULL, 3, 0, ADCx}, /* D104/PB3 */ + {GPIOB, NULL, NULL, 4, 0, ADCx} /* D105/PB4 */ +}; + +extern const uint8 boardPWMPins[BOARD_NR_PWM_PINS] __FLASH__ = { + 13, 14, 15, 16, 23, 24, 25, 26, 38, 39, 46, 47, 48, 49, 50, 51, 54, 55 +}; + +extern const uint8 boardADCPins[BOARD_NR_ADC_PINS] __FLASH__ = { + 7, 8, 9, 10, 11, 12, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, + 54, 55 +}; + +extern const uint8 boardUsedPins[BOARD_NR_USED_PINS] __FLASH__ = { + BOARD_LED_PIN, BOARD_BUTTON_PIN, BOARD_JTMS_SWDIO_PIN, + BOARD_JTCK_SWCLK_PIN, BOARD_JTDI_PIN, BOARD_JTDO_PIN, BOARD_NJTRST_PIN, + 56, 58, 59, 61, 62, 64, 65, 67, 68, 70, 71, 73, 74, 76, 77, 78, 79, 81, + 82, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100 +}; + +static void initSRAMChip(void) { + fsmc_nor_psram_reg_map *regs = FSMC_NOR_PSRAM1_BASE; + + fsmc_sram_init_gpios(); + rcc_clk_enable(RCC_FSMC); + + regs->BCR = (FSMC_BCR_WREN | FSMC_BCR_MWID_16BITS | FSMC_BCR_MTYP_SRAM | + FSMC_BCR_MBKEN); + fsmc_nor_psram_set_addset(regs, 0); + fsmc_nor_psram_set_datast(regs, 3); +} diff --git a/wirish/boards/maple_native/include/board/board.h b/wirish/boards/maple_native/include/board/board.h new file mode 100644 index 0000000..b63aace --- /dev/null +++ b/wirish/boards/maple_native/include/board/board.h @@ -0,0 +1,95 @@ +/****************************************************************************** + * 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 wirish/boards/maple_native/include/board/board.h + * @author Marti Bolivar <mbolivar@leaflabs.com> + * @brief Maple Native board header file. + * + * See wirish/boards/maple/include/board/board.h for more information + * on these definitions. + */ + +#ifndef _BOARD_MAPLE_NATIVE_H_ +#define _BOARD_MAPLE_NATIVE_H_ + +#define CYCLES_PER_MICROSECOND 72 +#define SYSTICK_RELOAD_VAL 71999 + +#define BOARD_LED_PIN 22 +#define BOARD_BUTTON_PIN 6 + +#define BOARD_NR_USARTS 5 +#define BOARD_USART1_TX_PIN 24 +#define BOARD_USART1_RX_PIN 25 +#define BOARD_USART2_TX_PIN 50 +#define BOARD_USART2_RX_PIN 51 +#define BOARD_USART3_TX_PIN 0 +#define BOARD_USART3_RX_PIN 1 +#define BOARD_UART4_TX_PIN 17 +#define BOARD_UART4_RX_PIN 18 +#define BOARD_UART5_TX_PIN 19 +#define BOARD_UART5_RX_PIN 27 + +#define BOARD_NR_SPI 3 +#define BOARD_SPI1_NSS_PIN 52 +#define BOARD_SPI1_MOSI_PIN 55 +#define BOARD_SPI1_MISO_PIN 54 +#define BOARD_SPI1_SCK_PIN 53 +#define BOARD_SPI2_NSS_PIN 2 +#define BOARD_SPI2_MOSI_PIN 5 +#define BOARD_SPI2_MISO_PIN 4 +#define BOARD_SPI2_SCK_PIN 3 +#define BOARD_SPI3_NSS_PIN 103 +#define BOARD_SPI3_MOSI_PIN 37 +#define BOARD_SPI3_MISO_PIN 105 +#define BOARD_SPI3_SCK_PIN 104 + +#define BOARD_NR_GPIO_PINS 106 +#define BOARD_NR_PWM_PINS 18 +#define BOARD_NR_ADC_PINS 21 +#define BOARD_NR_USED_PINS 43 +#define BOARD_JTMS_SWDIO_PIN 101 +#define BOARD_JTCK_SWCLK_PIN 102 +#define BOARD_JTDI_PIN 103 +#define BOARD_JTDO_PIN 104 +#define BOARD_NJTRST_PIN 105 + +#define BOARD_USB_DISC_DEV GPIOB +#define BOARD_USB_DISC_BIT 8 + +enum { + PB10, PB11, PB12, PB13, PB14, PB15, PG15, PC0, PC1, PC2, PC3, PC4, PC5, + PC6, PC7, PC8, PC9, PC10, PC11, PC12, PC13, PC14, PC15, PA8, PA9, PA10, + PB9, PD2, PD3, PD6, PG11, PG12, PG13, PG14, PG8, PG7, PG6, PB5, PB6, PB7, + PF11, PF6, PF7, PF8, PF9, PF10, PB1, PB0, PA0, PA1, PA2, PA3, PA4, PA5, + PA6, PA7, PF0, PD11, PD14, PF1, PD12, PD15, PF2, PD13, PD0, PF3, PE3, PD1, + PF4, PE4, PE7, PF5, PE5, PE8, PF12, PE6, PE9, PF13, PE10, PF14, PG9, PE11, + PF15, PG10, PE12, PG0, PD5, PE13, PG1, PD4, PE14, PG2, PE1, PE15, PG3, PE0, + PD8, PG4, PD9, PG5, PD10, PA13, PA14, PA15, PB3, PB4 +}; + +#endif diff --git a/wirish/boards/olimex_stm32_h103/board.cpp b/wirish/boards/olimex_stm32_h103/board.cpp new file mode 100644 index 0000000..d9b8033 --- /dev/null +++ b/wirish/boards/olimex_stm32_h103/board.cpp @@ -0,0 +1,119 @@ +/****************************************************************************** + * The MIT License + * + * Copyright (c) 2011 LeafLabs, LLC. + * Copyright (c) 2011 David Kiliani. + * + * 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 wirish/boards/olimex_stm32_h103/board.cpp + * @author David Kiliani <mail@davidkiliani.de> + * @brief Olimex STM32_H103 board file. + */ + +#include <board/board.h> + +#include <libmaple/gpio.h> +#include <libmaple/timer.h> + +#include <wirish/wirish_types.h> + +void boardInit(void) { +} + +extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] = { + + /* Header EXT1 */ + + {GPIOA, TIMER1, NULL, 11, 4, ADCx}, /* D0/EXT1_1/PA11 (USBDM) */ + {GPIOA, TIMER1, NULL, 8, 1, ADCx}, /* D1/EXT1_2/PA8 */ + {GPIOA, NULL, NULL, 12, 0, ADCx}, /* D2/EXT1_3/PA12 (USBDP) */ + {GPIOA, TIMER1, NULL, 9, 2, ADCx}, /* D3/EXT1_4/PA9 */ + + {GPIOA, TIMER1, NULL, 10, 3, ADCx}, /* D4/EXT1_7/PA10 */ + {GPIOC, NULL, NULL, 10, 0, ADCx}, /* D5/EXT1_8/PC10 */ + {GPIOC, NULL, NULL, 11, 0, ADCx}, /* D6/EXT1_9/PC11 (USBpull) */ + {GPIOC, NULL, NULL, 12, 0, ADCx}, /* D7/EXT1_10/PC12 (LED) */ + {GPIOD, NULL, NULL, 2, 0, ADCx}, /* D8/EXT1_11/PD2 */ + {GPIOB, NULL, NULL, 5, 0, ADCx}, /* D9/EXT1_12/PB5 */ + {GPIOB, TIMER4, NULL, 6, 1, ADCx}, /* D10/EXT1_13/PB6 */ + {GPIOA, TIMER3, ADC1, 6, 1, 6}, /* D11/EXT1_14/PA6 */ + {GPIOB, TIMER4, NULL, 7, 2, ADCx}, /* D12/EXT1_15/PB7 */ + {GPIOB, TIMER4, NULL, 8, 3, ADCx}, /* D13/EXT1_16/PB8 */ + {GPIOB, TIMER4, NULL, 9, 4, ADCx}, /* D14/EXT1_17/PB9 */ + {GPIOA, NULL, ADC1, 5, 0, 5}, /* D15/EXT1_18/PA5 */ + {GPIOC, NULL, ADC1, 0, 0, 10}, /* D16/EXT1_19/PC0 */ + {GPIOC, NULL, ADC1, 1, 0, 11}, /* D17/EXT1_20/PC1 */ + {GPIOB, TIMER3, ADC1, 0, 3, 8}, /* D18/EXT1_21/PB0 */ + {GPIOA, TIMER3, ADC1, 7, 2, 7}, /* D19/EXT1_22/PA7 */ + + {GPIOC, NULL, NULL, 13, 0, ADCx}, /* D20/EXT1_24/PC13 */ + + {GPIOB, TIMER3, ADC1, 1, 4, 9}, /* D21/EXT1_26/PB1 */ + + /* Header EXT2 */ + + {GPIOC, NULL, ADC1, 2, 0, 12}, /* D22/EXT2_2/PC2 */ + + {GPIOA, TIMER2, ADC1, 0, 1, 0}, /* D23/EXT2_4/PA0 (BUT) */ + + {GPIOA, TIMER2, ADC1, 2, 3, 2}, /* D24/EXT2_7/PA2 */ + {GPIOA, TIMER2, ADC1, 1, 2, 1}, /* D25/EXT2_8/PA1 */ + {GPIOC, NULL, ADC1, 3, 0, 13}, /* D26/EXT2_9/PC3 */ + {GPIOA, TIMER2, ADC1, 3, 4, 3}, /* D27/EXT2_10/PA3 */ + {GPIOA, NULL, ADC1, 4, 0, 4}, /* D28/EXT2_11/PA4 */ + {GPIOC, NULL, ADC1, 4, 0, 14}, /* D29/EXT2_12/PC4 (USB-P) */ + {GPIOC, NULL, ADC1, 5, 0, 15}, /* D30/EXT2_13/PC5 */ + {GPIOB, NULL, NULL, 10, 0, ADCx}, /* D31/EXT2_14/PB10 */ + {GPIOB, NULL, NULL, 11, 0, ADCx}, /* D32/EXT2_15/PB11 */ + {GPIOB, NULL, NULL, 13, 0, ADCx}, /* D33/EXT2_16/PB13 */ + {GPIOB, NULL, NULL, 12, 0, ADCx}, /* D34/EXT2_17/PB12 */ + {GPIOB, NULL, NULL, 14, 0, ADCx}, /* D35/EXT2_18/PB14 */ + {GPIOB, NULL, NULL, 15, 0, ADCx}, /* D36/EXT2_19/PB15 */ + {GPIOC, NULL, NULL, 6, 0, ADCx}, /* D37/EXT2_20/PC6 */ + {GPIOC, NULL, NULL, 7, 0, ADCx}, /* D38/EXT2_21/PC7 */ + {GPIOC, NULL, NULL, 8, 0, ADCx}, /* D39/EXT2_22/PC8 */ + + {GPIOC, NULL, NULL, 9, 0, ADCx}, /* D40/EXT2_24/PC9 */ + + /* JTAG header */ + + {GPIOA, NULL, NULL, 13, 0, ADCx}, /* D41/JTAG7/PA13 */ + {GPIOA, NULL, NULL, 14, 0, ADCx}, /* D42/JTAG9/PA14 */ + {GPIOA, NULL, NULL, 15, 0, ADCx}, /* D43/JTAG5/PA15 */ + {GPIOB, NULL, NULL, 3, 0, ADCx}, /* D44/JTAG13/PB3 */ + {GPIOB, NULL, NULL, 4, 0, ADCx}, /* D45/JTAG3/PB4 */ +}; + +extern const uint8 boardPWMPins[] __FLASH__ = { + 0, 1, 3, 4, 10, 11, 12, 13, 14, 18, 19, 21, 23, 24, 25, 27 +}; + +extern const uint8 boardADCPins[] __FLASH__ = { + 11, 15, 16, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30 +}; + +extern const uint8 boardUsedPins[] __FLASH__ = { + BOARD_LED_PIN, BOARD_BUTTON_PIN, BOARD_JTMS_SWDIO_PIN, + BOARD_JTCK_SWCLK_PIN, BOARD_JTDI_PIN, BOARD_JTDO_PIN, BOARD_NJTRST_PIN +}; diff --git a/wirish/boards/olimex_stm32_h103/include/board/board.h b/wirish/boards/olimex_stm32_h103/include/board/board.h new file mode 100644 index 0000000..a9f0e7b --- /dev/null +++ b/wirish/boards/olimex_stm32_h103/include/board/board.h @@ -0,0 +1,99 @@ +/****************************************************************************** + * The MIT License + * + * Copyright (c) 2011 LeafLabs, LLC. + * Copyright (c) 2011 David Kiliani. + * + * 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 wirish/boards/olimex_stm32_h103/include/board/board.h + * @author David Kiliani <mail@davidkiliani.de> + * @brief Olimex STM32_H103 board header. + */ + +#ifndef _BOARD_OLIMEX_STM32_H103_H_ +#define _BOARD_OLIMEX_STM32_H103_H_ + +#define CYCLES_PER_MICROSECOND 72 +#define SYSTICK_RELOAD_VAL 71999 /* takes a cycle to reload */ + +#define BOARD_BUTTON_PIN 23 +#define BOARD_LED_PIN 7 + +/* 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 3 +#define BOARD_USART1_RX_PIN 4 +#define BOARD_USART2_TX_PIN 24 +#define BOARD_USART2_RX_PIN 27 +#define BOARD_USART3_TX_PIN 31 +#define BOARD_USART3_RX_PIN 32 + +/* Number of SPI ports */ +#define BOARD_NR_SPI 2 + +/* Default SPI pin numbers (not considering AFIO remap) */ +#define BOARD_SPI1_NSS_PIN 28 +#define BOARD_SPI1_MOSI_PIN 19 +#define BOARD_SPI1_MISO_PIN 11 +#define BOARD_SPI1_SCK_PIN 15 +#define BOARD_SPI2_NSS_PIN 34 +#define BOARD_SPI2_MOSI_PIN 36 +#define BOARD_SPI2_MISO_PIN 35 +#define BOARD_SPI2_SCK_PIN 33 + +/* Total number of GPIO pins that are broken out to headers and + * intended for general use. */ +#define BOARD_NR_GPIO_PINS 46 + +/* Number of pins capable of PWM output */ +#define BOARD_NR_PWM_PINS 16 + +/* Number of pins capable of ADC conversion */ +#define BOARD_NR_ADC_PINS 16 + +/* 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 7 + +/* Debug port pins */ +#define BOARD_JTMS_SWDIO_PIN 41 +#define BOARD_JTCK_SWCLK_PIN 42 +#define BOARD_JTDI_PIN 43 +#define BOARD_JTDO_PIN 44 +#define BOARD_NJTRST_PIN 45 + +/* USB configuration */ +#define BOARD_USB_DISC_DEV GPIOC +#define BOARD_USB_DISC_BIT 11 + +enum { + PA11, PA8, PA12, PA9, PA10, PC10, PC11, PC12, PD2, PB5, PB6, PA6, PB7, PB8, + PB9, PA5, PC0, PC1, PB0, PA7, PC13, PB1, PC2, PA0, PA2, PA1, PC3, PA3, PA4, + PC4, PC5, PB10, PB11, PB13, PB12, PB14, PB15, PC6, PC7, PC8, PC9, PA13, + PA14, PA15, PB3, PB4 +}; + +#endif 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_ */ diff --git a/wirish/boards/st_stm3220g_eval/board.cpp b/wirish/boards/st_stm3220g_eval/board.cpp new file mode 100644 index 0000000..674fc67 --- /dev/null +++ b/wirish/boards/st_stm3220g_eval/board.cpp @@ -0,0 +1,60 @@ +/****************************************************************************** + * 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 wirish/boards/st_stm3220g_eval/board.cpp + * @author Marti Bolivar <mbolivar@leaflabs.com> + * @brief STM3220G-EVAL board file. + */ + +#include <board/board.h> + +#include <libmaple/gpio.h> +#include <libmaple/timer.h> +#include <wirish/wirish_types.h> + +/* Board initialization. Unused. */ +void boardInit(void) { +} + +/* Pin map. Current restrictions: + * - LEDs and user button only + * - GPIO devices only (no timers etc. yet) + */ +#define pmap_row(dev, bit) {dev, NULL, NULL, bit, 0, ADCx} +extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] = { + pmap_row(GPIOG, 6), /* D0/PG6 (LED1) */ + pmap_row(GPIOG, 8), /* D1/PG8 (LED2) */ + pmap_row(GPIOI, 9), /* D2/PI9 (LED3) */ + pmap_row(GPIOC, 7), /* D4/PC7 (LED4) */ + pmap_row(GPIOG, 15), /* D5/PG15 (BUT) */ +}; +#undef pmap_row + +/* Special pin arrays. Unused. */ +extern const uint8 boardPWMPins[] __FLASH__ = {}; +extern const uint8 boardADCPins[] __FLASH__ = {}; +extern const uint8 boardUsedPins[] __FLASH__ = {}; diff --git a/wirish/boards/st_stm3220g_eval/include/board/board.h b/wirish/boards/st_stm3220g_eval/include/board/board.h new file mode 100644 index 0000000..fe9658a --- /dev/null +++ b/wirish/boards/st_stm3220g_eval/include/board/board.h @@ -0,0 +1,53 @@ +/****************************************************************************** + * The MIT License + * + * Copyright (c) 2012 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 wirish/boards/st_stm3220g_eval/include/board/board.h + * @author Marti Bolivar <mbolivar@leaflabs.com> + * @brief STM3220G-EVAL board stub header. + * + * This (and the corresponding board.cpp) needs to be fixed and + * fleshed out. Do it later? Maybe someone who wants support for this + * board will do it. + */ + +#ifndef _BOARD_ST_STM3220G_EVAL_H_ +#define _BOARD_ST_STM3220G_EVAL_H_ + +#define CYCLES_PER_MICROSECOND 120 +#define SYSTICK_RELOAD_VAL 119999 /* takes a cycle to reload */ + +#define BOARD_BUTTON_PIN 5 +#define BOARD_LED_PIN 0 + +#define BOARD_NR_USARTS 0 +#define BOARD_NR_SPI 0 +#define BOARD_NR_GPIO_PINS 6 +#define BOARD_NR_PWM_PINS 0 +#define BOARD_NR_ADC_PINS 0 +#define BOARD_NR_USED_PINS 6 + +#endif |