AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef BOARD_H

#define BOARD_H

/*===========================================================================*/

/* Driver constants.                                                         */

/*===========================================================================*/

/*

 * Setup for STMicroelectronics STM32 Nucleo64-L476RG board.

 */

/*

 * Board identifier.

 */

#define BOARD_ST_NUCLEO64_L476RG

#define BOARD_NAME                  "STMicroelectronics STM32 Nucleo64-L476RG"

/*

 * Board oscillators-related settings.

 */

#if !defined(STM32_LSECLK)

#define STM32_LSECLK                32768U

#endif

#define STM32_LSEDRV                (3U << 3U)

#if !defined(STM32_HSECLK)

#define STM32_HSECLK                8000000U

#endif

#define STM32_HSE_BYPASS

/*

 * Board voltages.

 * Required for performance limits calculation.

 */

#define STM32_VDD                   300U

/*

 * MCU type as defined in the ST header.

 */

#define STM32L476xx

/*

 * IO pins assignments.

 */

#define GPIOA_ARD_A0                0U

#define GPIOA_ACD12_IN5             0U

#define GPIOA_ARD_A1                1U

#define GPIOA_ACD12_IN6             1U

#define GPIOA_ARD_D1                2U

#define GPIOA_USART2_TX             2U

#define GPIOA_ARD_D0                3U

#define GPIOA_USART2_RX             3U

#define GPIOA_ARD_A2                4U

#define GPIOA_ACD12_IN9             4U

#define GPIOA_ARD_D13               5U

#define GPIOA_LED_GREEN             5U

#define GPIOA_ARD_D12               6U

#define GPIOA_ARD_D11               7U

#define GPIOA_ARD_D7                8U

#define GPIOA_ARD_D8                9U

#define GPIOA_ARD_D2                10U

#define GPIOA_PIN11                 11U

#define GPIOA_PIN12                 12U

#define GPIOA_SWDIO                 13U

#define GPIOA_SWCLK                 14U

#define GPIOA_PIN15                 15U

#define GPIOB_ARD_A3                0U

#define GPIOB_ACD12_IN15            0U

#define GPIOB_PIN1                  1U

#define GPIOB_PIN2                  2U

#define GPIOB_ARD_D3                3U

#define GPIOB_SWO                   3U

#define GPIOB_ARD_D5                4U

#define GPIOB_ARD_D4                5U

#define GPIOB_ARD_D10               6U

#define GPIOB_PIN7                  7U

#define GPIOB_ARD_D15               8U

#define GPIOB_ARD_D14               9U

#define GPIOB_ARD_D6                10U

#define GPIOB_PIN11                 11U

#define GPIOB_PIN12                 12U

#define GPIOB_PIN13                 13U

#define GPIOB_PIN14                 14U

#define GPIOB_PIN15                 15U

#define GPIOC_ARD_A5                0U

#define GPIOC_ACD123_IN1            0U

#define GPIOC_ARD_A4                1U

#define GPIOC_ACD123_IN2            1U

#define GPIOC_PIN2                  2U

#define GPIOC_PIN3                  3U

#define GPIOC_PIN4                  4U

#define GPIOC_PIN5                  5U

#define GPIOC_PIN6                  6U

#define GPIOC_ARD_D9                7U

#define GPIOC_PIN8                  8U

#define GPIOC_PIN9                  9U

#define GPIOC_PIN10                 10U

#define GPIOC_PIN11                 11U

#define GPIOC_PIN12                 12U

#define GPIOC_BUTTON                13U

#define GPIOC_OSC32_IN              14U

#define GPIOC_OSC32_OUT             15U

#define GPIOD_PIN0                  0U

#define GPIOD_PIN1                  1U

#define GPIOD_PIN2                  2U

#define GPIOD_PIN3                  3U

#define GPIOD_PIN4                  4U

#define GPIOD_PIN5                  5U

#define GPIOD_PIN6                  6U

#define GPIOD_PIN7                  7U

#define GPIOD_PIN8                  8U

#define GPIOD_PIN9                  9U

#define GPIOD_PIN10                 10U

#define GPIOD_PIN11                 11U

#define GPIOD_PIN12                 12U

#define GPIOD_PIN13                 13U

#define GPIOD_PIN14                 14U

#define GPIOD_PIN15                 15U

#define GPIOE_PIN0                  0U

#define GPIOE_PIN1                  1U

#define GPIOE_PIN2                  2U

#define GPIOE_PIN3                  3U

#define GPIOE_PIN4                  4U

#define GPIOE_PIN5                  5U

#define GPIOE_PIN6                  6U

#define GPIOE_PIN7                  7U

#define GPIOE_PIN8                  8U

#define GPIOE_PIN9                  9U

#define GPIOE_PIN10                 10U

#define GPIOE_PIN11                 11U

#define GPIOE_PIN12                 12U

#define GPIOE_PIN13                 13U

#define GPIOE_PIN14                 14U

#define GPIOE_PIN15                 15U

#define GPIOF_PIN0                  0U

#define GPIOF_PIN1                  1U

#define GPIOF_PIN2                  2U

#define GPIOF_PIN3                  3U

#define GPIOF_PIN4                  4U

#define GPIOF_PIN5                  5U

#define GPIOF_PIN6                  6U

#define GPIOF_PIN7                  7U

#define GPIOF_PIN8                  8U

#define GPIOF_PIN9                  9U

#define GPIOF_PIN10                 10U

#define GPIOF_PIN11                 11U

#define GPIOF_PIN12                 12U

#define GPIOF_PIN13                 13U

#define GPIOF_PIN14                 14U

#define GPIOF_PIN15                 15U

#define GPIOG_PIN0                  0U

#define GPIOG_PIN1                  1U

#define GPIOG_PIN2                  2U

#define GPIOG_PIN3                  3U

#define GPIOG_PIN4                  4U

#define GPIOG_PIN5                  5U

#define GPIOG_PIN6                  6U

#define GPIOG_PIN7                  7U

#define GPIOG_PIN8                  8U

#define GPIOG_PIN9                  9U

#define GPIOG_PIN10                 10U

#define GPIOG_PIN11                 11U

#define GPIOG_PIN12                 12U

#define GPIOG_PIN13                 13U

#define GPIOG_PIN14                 14U

#define GPIOG_PIN15                 15U

#define GPIOH_OSC_IN                0U

#define GPIOH_OSC_OUT               1U

#define GPIOH_PIN2                  2U

#define GPIOH_PIN3                  3U

#define GPIOH_PIN4                  4U

#define GPIOH_PIN5                  5U

#define GPIOH_PIN6                  6U

#define GPIOH_PIN7                  7U

#define GPIOH_PIN8                  8U

#define GPIOH_PIN9                  9U

#define GPIOH_PIN10                 10U

#define GPIOH_PIN11                 11U

#define GPIOH_PIN12                 12U

#define GPIOH_PIN13                 13U

#define GPIOH_PIN14                 14U

#define GPIOH_PIN15                 15U

/*

 * IO lines assignments.

 */

#define LINE_ARD_A0                 PAL_LINE(GPIOA, 0U)

#define LINE_ACD12_IN5              PAL_LINE(GPIOA, 0U)

#define LINE_ARD_A1                 PAL_LINE(GPIOA, 1U)

#define LINE_ACD12_IN6              PAL_LINE(GPIOA, 1U)

#define LINE_ARD_D1                 PAL_LINE(GPIOA, 2U)

#define LINE_USART2_TX              PAL_LINE(GPIOA, 2U)

#define LINE_ARD_D0                 PAL_LINE(GPIOA, 3U)

#define LINE_USART2_RX              PAL_LINE(GPIOA, 3U)

#define LINE_ARD_A2                 PAL_LINE(GPIOA, 4U)

#define LINE_ACD12_IN9              PAL_LINE(GPIOA, 4U)

#define LINE_ARD_D13                PAL_LINE(GPIOA, 5U)

#define LINE_LED_GREEN              PAL_LINE(GPIOA, 5U)

#define LINE_ARD_D12                PAL_LINE(GPIOA, 6U)

#define LINE_ARD_D11                PAL_LINE(GPIOA, 7U)

#define LINE_ARD_D7                 PAL_LINE(GPIOA, 8U)

#define LINE_ARD_D8                 PAL_LINE(GPIOA, 9U)

#define LINE_ARD_D2                 PAL_LINE(GPIOA, 10U)

#define LINE_SWDIO                  PAL_LINE(GPIOA, 13U)

#define LINE_SWCLK                  PAL_LINE(GPIOA, 14U)

#define LINE_ARD_A3                 PAL_LINE(GPIOB, 0U)

#define LINE_ACD12_IN15             PAL_LINE(GPIOB, 0U)

#define LINE_ARD_D3                 PAL_LINE(GPIOB, 3U)

#define LINE_SWO                    PAL_LINE(GPIOB, 3U)

#define LINE_ARD_D5                 PAL_LINE(GPIOB, 4U)

#define LINE_ARD_D4                 PAL_LINE(GPIOB, 5U)

#define LINE_ARD_D10                PAL_LINE(GPIOB, 6U)

#define LINE_ARD_D15                PAL_LINE(GPIOB, 8U)

#define LINE_ARD_D14                PAL_LINE(GPIOB, 9U)

#define LINE_ARD_D6                 PAL_LINE(GPIOB, 10U)

#define LINE_ARD_A5                 PAL_LINE(GPIOC, 0U)

#define LINE_ACD123_IN1             PAL_LINE(GPIOC, 0U)

#define LINE_ARD_A4                 PAL_LINE(GPIOC, 1U)

#define LINE_ACD123_IN2             PAL_LINE(GPIOC, 1U)

#define LINE_ARD_D9                 PAL_LINE(GPIOC, 7U)

#define LINE_BUTTON                 PAL_LINE(GPIOC, 13U)

#define LINE_OSC32_IN               PAL_LINE(GPIOC, 14U)

#define LINE_OSC32_OUT              PAL_LINE(GPIOC, 15U)

#define LINE_OSC_IN                 PAL_LINE(GPIOH, 0U)

#define LINE_OSC_OUT                PAL_LINE(GPIOH, 1U)

/*===========================================================================*/

/* Driver pre-compile time settings.                                         */

/*===========================================================================*/

/*===========================================================================*/

/* Derived constants and error checks.                                       */

/*===========================================================================*/

/*===========================================================================*/

/* Driver data structures and types.                                         */

/*===========================================================================*/

/*===========================================================================*/

/* Driver macros.                                                            */

/*===========================================================================*/

/*

 * I/O ports initial setup, this configuration is established soon after reset

 * in the initialization code.

 * Please refer to the STM32 Reference Manual for details.

 */

#define PIN_MODE_INPUT(n)           (0U << ((n) * 2U))

#define PIN_MODE_OUTPUT(n)          (1U << ((n) * 2U))

#define PIN_MODE_ALTERNATE(n)       (2U << ((n) * 2U))

#define PIN_MODE_ANALOG(n)          (3U << ((n) * 2U))

#define PIN_ODR_LOW(n)              (0U << (n))

#define PIN_ODR_HIGH(n)             (1U << (n))

#define PIN_OTYPE_PUSHPULL(n)       (0U << (n))

#define PIN_OTYPE_OPENDRAIN(n)      (1U << (n))

#define PIN_OSPEED_VERYLOW(n)       (0U << ((n) * 2U))

#define PIN_OSPEED_LOW(n)           (1U << ((n) * 2U))

#define PIN_OSPEED_MEDIUM(n)        (2U << ((n) * 2U))

#define PIN_OSPEED_HIGH(n)          (3U << ((n) * 2U))

#define PIN_PUPDR_FLOATING(n)       (0U << ((n) * 2U))

#define PIN_PUPDR_PULLUP(n)         (1U << ((n) * 2U))

#define PIN_PUPDR_PULLDOWN(n)       (2U << ((n) * 2U))

#define PIN_AFIO_AF(n, v)           ((v) << (((n) % 8U) * 4U))

#define PIN_ASCR_DISABLED(n)        (0U << (n))

#define PIN_ASCR_ENABLED(n)         (1U << (n))

#define PIN_LOCKR_DISABLED(n)       (0U << (n))

#define PIN_LOCKR_ENABLED(n)        (1U << (n))

/*

 * GPIOA setup:

 *

 * PA0  - ARD_A0 ACD12_IN5          (analog).

 * PA1  - ARD_A1 ACD12_IN6          (analog).

 * PA2  - ARD_D1 USART2_TX          (alternate 7).

 * PA3  - ARD_D0 USART2_RX          (alternate 7).

 * PA4  - ARD_A2 ACD12_IN9          (analog).

 * PA5  - ARD_D13 LED_GREEN         (output pushpull maximum).

 * PA6  - ARD_D12                   (analog).

 * PA7  - ARD_D11                   (analog).

 * PA8  - ARD_D7                    (analog).

 * PA9  - ARD_D8                    (analog).

 * PA10 - ARD_D2                    (analog).

 * PA11 - PIN11                     (analog).

 * PA12 - PIN12                     (analog).

 * PA13 - SWDIO                     (alternate 0).

 * PA14 - SWCLK                     (alternate 0).

 * PA15 - PIN15                     (analog).

 */

#define VAL_GPIOA_MODER             (PIN_MODE_ANALOG(GPIOA_ARD_A0) |        \

                                     PIN_MODE_ANALOG(GPIOA_ARD_A1) |        \

                                     PIN_MODE_ALTERNATE(GPIOA_ARD_D1) |     \

                                     PIN_MODE_ALTERNATE(GPIOA_ARD_D0) |     \

                                     PIN_