AMiRo-OS

/*

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

Copyright (C) 2016..2018  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/>.

*/

/**

 * @file    

 * @brief   DiWheeDrive v1.1 Board specific initializations.

 *

 * @addtogroup diwheeldrive_board

 * @{

 */

#include <hal.h>

#if HAL_USE_PAL || defined(__DOXYGEN__)

/**

 * @brief   PAL setup.

 * @details Digital I/O ports static configuration as defined in @p board.h.

 *          This variable is used by the HAL when initializing the PAL driver.

 */

const PALConfig pal_default_config = {

#if STM32_HAS_GPIOA

  {VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH},

#endif

#if STM32_HAS_GPIOB

  {VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH},

#endif

#if STM32_HAS_GPIOC

  {VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH},

#endif

#if STM32_HAS_GPIOD

  {VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH},

#endif

#if STM32_HAS_GPIOE

  {VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH},

#endif

#if STM32_HAS_GPIOF

  {VAL_GPIOFODR, VAL_GPIOFCRL, VAL_GPIOFCRH},

#endif

#if STM32_HAS_GPIOG

  {VAL_GPIOGODR, VAL_GPIOGCRL, VAL_GPIOGCRH},

#endif

};

#endif

/**

 * @brief   Early initialization code.

 * @details This initialization must be performed just after stack setup

 *          and before any other initialization.

 */

void __early_init(void) {

  stm32_clock_init();

}

/**

 * @brief   Board-specific initialization code.

 * @todo    Add your board-specific code, if any.

 */

void boardInit(void) {

  /*

   * Several I/O pins are re-mapped:

   *   JTAG disabled and SWJ enabled

   *   TIM2 to the PA15/PB3/PA2/PA3 pins.

   *   TIM3 to PC6/PC7 pins.

   *   USART3 to the PC10/PC11 pins.

   *   I2C1 to the PB8/PB9 pins.

   */

  AFIO->MAPR = AFIO_MAPR_SWJ_CFG_DISABLE |

               AFIO_MAPR_TIM2_REMAP_PARTIALREMAP1 |

               AFIO_MAPR_TIM3_REMAP_FULLREMAP |

               AFIO_MAPR_USART3_REMAP_PARTIALREMAP |

               AFIO_MAPR_I2C1_REMAP;

}

/** @} */