AMiRo-OS

#ifndef _BOARD_H_

#define _BOARD_H_

/*

 * Setup for AMiRo DiWheelDrive board.

 */

/*

 * Board identifier.

 */

#define BOARD_DI_WHEEL_DRIVE

#define BOARD_NAME              "AMiRo DiWheelDrive"

#define BOARD_VERSION           "1.1"

/*

 * Board frequencies.

 */

#define STM32_LSECLK            0

#define STM32_HSECLK            8000000

/*

 * MCU type as defined in the ST header file stm32f1xx.h.

 */

#define STM32F10X_HD

/*

 * IO pins assignments.

 */

#define GPIOA_WKUP              0

#define GPIOA_LED               1

#define GPIOA_DRIVE_PWM1A       2

#define GPIOA_DRIVE_PWM1B       3

#define GPIOA_MOTION_SCLK       5

#define GPIOA_MOTION_MISO       6

#define GPIOA_MOTION_MOSI       7

#define GPIOA_PROG_RX           9

#define GPIOA_PROG_TX           10

#define GPIOA_CAN_RX            11

#define GPIOA_CAN_TX            12

#define GPIOA_SWDIO             13

#define GPIOA_SWCLK             14

#define GPIOA_DRIVE_PWM2B       15

#define GPIOB_DRIVE_SENSE2      1

#define GPIOB_POWER_EN          2

#define GPIOB_DRIVE_PWM2A       3

#define GPIOB_COMPASS_DRDY      5

#define GPIOB_DRIVE_ENC1A       6

#define GPIOB_DRIVE_ENC1B       7

#define GPIOB_COMPASS_SCL       8

#define GPIOB_COMPASS_SDA       9

#define GPIOB_IR_SCL            10

#define GPIOB_IR_SDA            11

#define GPIOB_IR_INT            12

#define GPIOB_GYRO_DRDY         13

#define GPIOB_SYS_UART_UP       14

#define GPIOB_ACCEL_INT_N       15

#define GPIOC_DRIVE_SENSE1      0

#define GPIOC_SYS_INT_N         1

#define GPIOC_PATH_DCSTAT       3

#define GPIOC_PATH_DCEN         5

#define GPIOC_DRIVE_ENC2B       6

#define GPIOC_DRIVE_ENC2A       7

#define GPIOC_SYS_PD_N          8

#define GPIOC_SYS_REG_EN        9

#define GPIOC_SYS_UART_RX       10

#define GPIOC_SYS_UART_TX       11

#define GPIOC_ACCEL_SS_N        13

#define GPIOC_GYRO_SS_N         14

#define GPIOD_OSC_IN            0

#define GPIOD_OSC_OUT           1

#define GPIOD_SYS_WARMRST_N     2

/*

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

 * in the initialization code.

 */

#define PIN_MODE_INPUT(n)               (0x4U << (((n) % 8) * 4))

#define PIN_MODE_INPUT_PULLX(n)         (0x8U << (((n) % 8) * 4))

#define PIN_MODE_INPUT_ANALOG(n)        (0x0U << (((n) % 8) * 4))

/* Push Pull output 50MHz */

#define PIN_MODE_OUTPUT_PUSHPULL(n)     (0x3U << (((n) % 8) * 4))

/* Open Drain output 50MHz */

#define PIN_MODE_OUTPUT_OPENDRAIN(n)    (0x7U << (((n) % 8) * 4))

/* Alternate Push Pull output 50MHz */

#define PIN_MODE_ALTERNATE_PUSHPULL(n)  (0xbU << (((n) % 8) * 4))

/* Alternate Open Drain output 50MHz */

#define PIN_MODE_ALTERNATE_OPENDRAIN(n) (0xfU << (((n) % 8) * 4))

/*

 * Port A setup.

 */

#define VAL_GPIOACRL            (PIN_MODE_INPUT(GPIOA_WKUP) | \

                                 PIN_MODE_OUTPUT_OPENDRAIN(GPIOA_LED) | \

                                 PIN_MODE_ALTERNATE_PUSHPULL(GPIOA_DRIVE_PWM1A) | \

                                 PIN_MODE_ALTERNATE_PUSHPULL(GPIOA_DRIVE_PWM1B) | \

                                 PIN_MODE_INPUT_PULLX(4) | \

                                 PIN_MODE_ALTERNATE_PUSHPULL(GPIOA_MOTION_SCLK) | \

                                 PIN_MODE_INPUT_PULLX(GPIOA_MOTION_MISO) | \

                                 PIN_MODE_ALTERNATE_PUSHPULL(GPIOA_MOTION_MOSI))

#define VAL_GPIOACRH            (PIN_MODE_INPUT_PULLX(8) | \

                                 PIN_MODE_ALTERNATE_PUSHPULL(GPIOA_PROG_RX) | \

                                 PIN_MODE_INPUT_PULLX(GPIOA_PROG_TX) | \

                                 PIN_MODE_INPUT_PULLX(GPIOA_CAN_RX) | \

                                 PIN_MODE_ALTERNATE_PUSHPULL(GPIOA_CAN_TX) | \

                                 PIN_MODE_INPUT_PULLX(GPIOA_SWDIO) | \

                                 PIN_MODE_INPUT_PULLX(GPIOA_SWCLK) | \

                                 PIN_MODE_ALTERNATE_PUSHPULL(GPIOA_DRIVE_PWM2B))

#define VAL_GPIOAODR            0xF7FF /* prevent power over CAN bug */

/*

 * Port B setup.

 */

#define VAL_GPIOBCRL            (PIN_MODE_INPUT_PULLX(0) | \

                                 PIN_MODE_INPUT_ANALOG(GPIOB_DRIVE_SENSE2) | \

                                 PIN_MODE_OUTPUT_PUSHPULL(GPIOB_POWER_EN) | \

                                 PIN_MODE_ALTERNATE_PUSHPULL(GPIOB_DRIVE_PWM2A) | \

                                 PIN_MODE_INPUT_PULLX(4) | \

                                 PIN_MODE_INPUT_PULLX(GPIOB_COMPASS_DRDY) | \

                                 PIN_MODE_INPUT(GPIOB_DRIVE_ENC1A) | \

                                 PIN_MODE_INPUT(GPIOB_DRIVE_ENC1B))

#define VAL_GPIOBCRH            (PIN_MODE_ALTERNATE_OPENDRAIN(GPIOB_COMPASS_SCL) | \

                                 PIN_MODE_ALTERNATE_OPENDRAIN(GPIOB_COMPASS_SDA) | \

                                 PIN_MODE_ALTERNATE_OPENDRAIN(GPIOB_IR_SCL) | \

                                 PIN_MODE_ALTERNATE_OPENDRAIN(GPIOB_IR_SDA) | \

                                 PIN_MODE_INPUT(GPIOB_IR_INT) | \

                                 PIN_MODE_INPUT_PULLX(GPIOB_GYRO_DRDY) | \

                                 PIN_MODE_OUTPUT_OPENDRAIN(GPIOB_SYS_UART_UP) | \

                                 PIN_MODE_INPUT_PULLX(GPIOB_ACCEL_INT_N))

#define VAL_GPIOBODR            0xFFFB /* initially the motors are not powered */

/*

 * Port C setup.

 */

#define VAL_GPIOCCRL            (PIN_MODE_INPUT_ANALOG(GPIOC_DRIVE_SENSE1) | \

                                 PIN_MODE_OUTPUT_OPENDRAIN(GPIOC_SYS_INT_N) | \

                                 PIN_MODE_INPUT_PULLX(2) | \

                                 PIN_MODE_INPUT(GPIOC_PATH_DCSTAT) | \

                                 PIN_MODE_INPUT_PULLX(4) | \

                                 PIN_MODE_OUTPUT_PUSHPULL(GPIOC_PATH_DCEN) | \

                                 PIN_MODE_INPUT(GPIOC_DRIVE_ENC2B) | \

                                 PIN_MODE_INPUT(GPIOC_DRIVE_ENC2A))

#define VAL_GPIOCCRH            (PIN_MODE_OUTPUT_OPENDRAIN(GPIOC_SYS_PD_N) | \

                                 PIN_MODE_INPUT(GPIOC_SYS_REG_EN) | \

                                 PIN_MODE_INPUT(GPIOC_SYS_UART_RX) | \

                                 PIN_MODE_INPUT(GPIOC_SYS_UART_TX) | \

                                 PIN_MODE_INPUT_PULLX(12) | \

                                 PIN_MODE_OUTPUT_PUSHPULL(GPIOC_ACCEL_SS_N) | \

                                 PIN_MODE_OUTPUT_PUSHPULL(GPIOC_GYRO_SS_N) | \

                                 PIN_MODE_INPUT_PULLX(15))

#define VAL_GPIOCODR            0xFFDD /* initially charging via the pins is disabled and SYSNIN_N indicates that the OS is busy */

/*

 * Port D setup.

 */

#define VAL_GPIODCRL            (PIN_MODE_INPUT(GPIOD_OSC_IN) | \

                                 PIN_MODE_INPUT(GPIOD_OSC_OUT) | \

                                 PIN_MODE_OUTPUT_OPENDRAIN(GPIOD_SYS_WARMRST_N) | \

                                 PIN_MODE_INPUT_PULLX(3) | \

                                 PIN_MODE_INPUT_PULLX(4) | \

                                 PIN_MODE_INPUT_PULLX(5) | \

                                 PIN_MODE_INPUT_PULLX(6) | \

                                 PIN_MODE_INPUT_PULLX(7))

#define VAL_GPIODCRH            0x88888888

#define VAL_GPIODODR            0xFFFF

/*

 * Port E setup.

 */

#define VAL_GPIOECRL            0x88888888 /*  PE7...PE0 */

#define VAL_GPIOECRH            0x88888888 /* PE15...PE8 */

#define VAL_GPIOEODR            0xFFFF

/*

 * Port F setup.

 */

#define VAL_GPIOFCRL            0x88888888 /*  PF7...PF0 */

#define VAL_GPIOFCRH            0x88888888 /* PF15...PF8 */

#define VAL_GPIOFODR            0xFFFF

/*

 * Port G setup.

 */

#define VAL_GPIOGCRL            0x88888888 /*  PG7...PG0 */

#define VAL_GPIOGCRH            0x88888888 /* PG15...PG8 */

#define VAL_GPIOGODR            0xFFFF

#if !defined(_FROM_ASM_)

#ifdef __cplusplus

extern "C" {

#endif

  void boardInit(void);

  void boardWriteIoPower(const uint8_t value);

  void boardWriteLed(int value);

  void boardRequestShutdown(void);

  void boardStandby(void);

  void boardWakeup(void);

  void boardClearI2CBus(const uint8_t scl_pad);

#ifdef __cplusplus

}

#endif

#endif /* _FROM_ASM_ */

#endif /* _BOARD_H_ */