amiro-os / modules / DiWheelDrive_1-1 / board.c @ 4f3a1f5e
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | #include <hal.h> |
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| 20 | |||
| 21 | #if HAL_USE_PAL || defined(__DOXYGEN__)
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| 22 | /**
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| 23 | * @brief PAL setup.
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| 24 | * @details Digital I/O ports static configuration as defined in @p board.h.
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| 25 | * This variable is used by the HAL when initializing the PAL driver.
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| 26 | */
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| 27 | const PALConfig pal_default_config = {
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| 28 | #if STM32_HAS_GPIOA
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| 29 | {VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH},
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| 30 | #endif
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| 31 | #if STM32_HAS_GPIOB
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| 32 | {VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH},
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| 33 | #endif
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| 34 | #if STM32_HAS_GPIOC
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| 35 | {VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH},
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| 36 | #endif
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| 37 | #if STM32_HAS_GPIOD
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| 38 | {VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH},
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| 39 | #endif
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| 40 | #if STM32_HAS_GPIOE
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| 41 | {VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH},
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| 42 | #endif
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| 43 | #if STM32_HAS_GPIOF
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| 44 | {VAL_GPIOFODR, VAL_GPIOFCRL, VAL_GPIOFCRH},
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| 45 | #endif
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| 46 | #if STM32_HAS_GPIOG
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| 47 | {VAL_GPIOGODR, VAL_GPIOGCRL, VAL_GPIOGCRH},
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| 48 | #endif
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| 49 | }; |
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| 50 | #endif
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| 51 | |||
| 52 | /**
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| 53 | * @brief Early initialization code.
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| 54 | * @details This initialization must be performed just after stack setup
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| 55 | * and before any other initialization.
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| 56 | */
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| 57 | void __early_init(void) { |
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| 58 | |||
| 59 | stm32_clock_init(); |
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| 60 | } |
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| 61 | |||
| 62 | /**
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| 63 | * @brief Board-specific initialization code.
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| 64 | * @todo Add your board-specific code, if any.
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| 65 | */
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| 66 | void boardInit(void) { |
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| 67 | /*
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| 68 | * Several I/O pins are re-mapped:
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| 69 | * JTAG disabled and SWJ enabled
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| 70 | * TIM2 to the PA15/PB3/PA2/PA3 pins.
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| 71 | * TIM3 to PC6/PC7 pins.
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| 72 | * USART3 to the PC10/PC11 pins.
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| 73 | * I2C1 to the PB8/PB9 pins.
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| 74 | */
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| 75 | AFIO->MAPR = AFIO_MAPR_SWJ_CFG_DISABLE | |
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| 76 | AFIO_MAPR_TIM2_REMAP_PARTIALREMAP1 | |
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| 77 | AFIO_MAPR_TIM3_REMAP_FULLREMAP | |
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| 78 | AFIO_MAPR_USART3_REMAP_PARTIALREMAP | |
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| 79 | AFIO_MAPR_I2C1_REMAP; |
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| 80 | } |