From a1f09df5fb39bd1d53f06b45b06c0d26ef0a182c Mon Sep 17 00:00:00 2001 From: bnewbold Date: Sat, 28 Feb 2015 23:45:52 -0800 Subject: board support: cm900 -> robotis_cm900 --- wirish/boards/cm900/board.cpp | 117 ---------------------- wirish/boards/cm900/include/board/board.h | 107 -------------------- wirish/boards/robotis_cm900/board.cpp | 111 ++++++++++++++++++++ wirish/boards/robotis_cm900/include/board/board.h | 107 ++++++++++++++++++++ 4 files changed, 218 insertions(+), 224 deletions(-) delete mode 100644 wirish/boards/cm900/board.cpp delete mode 100644 wirish/boards/cm900/include/board/board.h create mode 100644 wirish/boards/robotis_cm900/board.cpp create mode 100644 wirish/boards/robotis_cm900/include/board/board.h (limited to 'wirish') diff --git a/wirish/boards/cm900/board.cpp b/wirish/boards/cm900/board.cpp deleted file mode 100644 index ec747b3..0000000 --- a/wirish/boards/cm900/board.cpp +++ /dev/null @@ -1,117 +0,0 @@ -/* - * 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 - * @brief Maple PIN_MAP and boardInit(). - */ - -#include // For this board's header file - -#include // 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 deleted file mode 100644 index fed1a1b..0000000 --- a/wirish/boards/cm900/include/board/board.h +++ /dev/null @@ -1,107 +0,0 @@ - -/****************************************************************************** - * 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/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 // For this board's header file + +#include // 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/robotis_cm900/include/board/board.h b/wirish/boards/robotis_cm900/include/board/board.h new file mode 100644 index 0000000..7eab980 --- /dev/null +++ b/wirish/boards/robotis_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. + *****************************************************************************/ + + +/* + * robotis_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