amiro-os / modules / DiWheelDrive_1-1 / board.c @ 5b0a8e7b
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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 | } |