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amiro-os / modules / DiWheelDrive_1-1 / board.c @ 96621a83

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1 e545e620 Thomas Schöpping
/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2020  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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 * @file
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 * @brief   DiWheeDrive v1.1 Board specific initializations.
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 *
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 * @addtogroup diwheeldrive_board
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 * @{
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 */
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#include <hal.h>
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/*===========================================================================*/
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/* Driver local definitions.                                                 */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables.                                                */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types.                                         */
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/*===========================================================================*/
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#if HAL_USE_PAL || defined(__DOXYGEN__)
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/**
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 * @brief   PAL setup.
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 * @details Digital I/O ports static configuration as defined in @p board.h.
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 *          This variable is used by the HAL when initializing the PAL driver.
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 */
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const PALConfig pal_default_config = {
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#if STM32_HAS_GPIOA
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  {VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH},
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#endif
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#if STM32_HAS_GPIOB
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  {VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH},
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#endif
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#if STM32_HAS_GPIOC
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  {VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH},
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#endif
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#if STM32_HAS_GPIOD
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  {VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH},
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#endif
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#if STM32_HAS_GPIOE
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  {VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH},
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#endif
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#if STM32_HAS_GPIOF
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  {VAL_GPIOFODR, VAL_GPIOFCRL, VAL_GPIOFCRH},
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#endif
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#if STM32_HAS_GPIOG
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  {VAL_GPIOGODR, VAL_GPIOGCRL, VAL_GPIOGCRH},
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#endif
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};
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#endif
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/*===========================================================================*/
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/* Driver local functions.                                                   */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver interrupt handlers.                                                */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported functions.                                                */
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/*===========================================================================*/
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/**
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 * @brief   Early initialization code.
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 * @details This initialization must be performed just after stack setup
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 *          and before any other initialization.
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 */
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void __early_init(void) {
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  stm32_clock_init();
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}
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/**
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 * @brief   Board-specific initialization code.
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 * @todo    Add your board-specific code, if any.
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 */
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void boardInit(void) {
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  /*
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   * Several I/O pins are re-mapped:
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   *   JTAG disabled and SWJ enabled
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   *   TIM2 to the PA15/PB3/PA2/PA3 pins.
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   *   TIM3 to PC6/PC7 pins.
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   *   USART3 to the PC10/PC11 pins.
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   *   I2C1 to the PB8/PB9 pins.
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   */
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  AFIO->MAPR = AFIO_MAPR_SWJ_CFG_DISABLE |
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               AFIO_MAPR_TIM2_REMAP_PARTIALREMAP1 |
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               AFIO_MAPR_TIM3_REMAP_FULLREMAP |
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               AFIO_MAPR_USART3_REMAP_PARTIALREMAP |
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               AFIO_MAPR_I2C1_REMAP;
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}
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/** @} */