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/******************************************************************************
* 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_ */
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