From dee88e422839ee0b2c5c17841feabc41fcc6b8ed Mon Sep 17 00:00:00 2001 From: Gregwar Date: Thu, 20 Feb 2014 22:39:04 +0100 Subject: Adding support for cm900 and opencm904 boards (robotis) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Grégoire Passault --- wirish/boards/cm900/include/board/board.h | 107 ++++++++++++++++++++++++++++++ 1 file changed, 107 insertions(+) create mode 100644 wirish/boards/cm900/include/board/board.h (limited to 'wirish/boards/cm900/include/board') 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_ */ -- cgit v1.2.3