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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.
*****************************************************************************/
/*
* 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
};
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