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/>.

*/

#ifndef _BOARD_H_

#define _BOARD_H_

/*

 * Setup for AMiRo DiWheelDrive board.

 */

/*

 * Board identifier.

 */

#define BOARD_DIWHEELDRIVE

#define BOARD_NAME              "AMiRo DiWheelDrive"

#define BOARD_VERSION           "1.1"

/*

 * Board oscillators-related settings.

 * NOTE: LSE not fitted.

 */

#if !defined(STM32_LSECLK)

#define STM32_LSECLK                0U

#endif

#if !defined(STM32_HSECLK)

#define STM32_HSECLK                8000000U

#endif

/*

 * Board voltages.

 * Required for performance limits calculation.

 */

#define STM32_VDD                   330U

/*

 * MCU type as defined in the ST header.

 */

#define STM32F103xE

/*

 * IO pins assignments.

 */

#define GPIOA_WKUP                  0U

#define GPIOA_LED                   1U

#define GPIOA_DRIVE_PWM1A           2U

#define GPIOA_DRIVE_PWM1B           3U

#define GPIOA_PIN4                  4U

#define GPIOA_MOTION_SCLK           5U

#define GPIOA_MOTION_MISO           6U

#define GPIOA_MOTION_MOSI           7U

#define GPIOA_PIN8                  8U

#define GPIOA_PROG_RX               9U

#define GPIOA_PROG_TX               10U

#define GPIOA_CAN_RX                11U

#define GPIOA_CAN_TX                12U

#define GPIOA_SWDIO                 13U

#define GPIOA_SWCLK                 14U

#define GPIOA_DRIVE_PWM2B           15U

#define GPIOB_PIN0                  0U

#define GPIOB_DRIVE_SENSE2          1U

#define GPIOB_POWER_EN              2U

#define GPIOB_DRIVE_PWM2A           3U

#define GPIOB_PIN4                  4U

#define GPIOB_COMPASS_DRDY          5U

#define GPIOB_DRIVE_ENC1A           6U

#define GPIOB_DRIVE_ENC1B           7U

#define GPIOB_COMPASS_SCL           8U

#define GPIOB_COMPASS_SDA           9U

#define GPIOB_IR_SCL                10U

#define GPIOB_IR_SDA                11U

#define GPIOB_IR_INT                12U

#define GPIOB_GYRO_DRDY             13U

#define GPIOB_SYS_UART_UP           14U

#define GPIOB_ACCEL_INT_N           15U

#define GPIOC_DRIVE_SENSE1          0U

#define GPIOC_SYS_INT_N             1U

#define GPIOC_PIN2                  2U

#define GPIOC_PATH_DCSTAT           3U

#define GPIOC_PIN4                  4U

#define GPIOC_PATH_DCEN             5U

#define GPIOC_DRIVE_ENC2B           6U

#define GPIOC_DRIVE_ENC2A           7U

#define GPIOC_SYS_PD_N              8U

#define GPIOC_SYS_REG_EN            9U

#define GPIOC_SYS_UART_RX           10U

#define GPIOC_SYS_UART_TX           11U

#define GPIOC_PIN12                 12U

#define GPIOC_ACCEL_SS_N            13U

#define GPIOC_GYRO_SS_N             14U

#define GPIOC_PIN15                 15U

#define GPIOD_OSC_IN                0U

#define GPIOD_OSC_OUT               1U

#define GPIOD_SYS_WARMRST_N         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

/*

 * IO lines assignments.

 */

#define LINE_WKUP                   PAL_LINE(GPIOA, GPIOA_WKUP)

#define LINE_LED                    PAL_LINE(GPIOA, GPIOA_LED)

#define LINE_DRIVE_PWM1A            PAL_LINE(GPIOA, GPIOA_DRIVE_PWM1A)

#define LINE_DRIVE_PWM1B            PAL_LINE(GPIOA, GPIOA_DRIVE_PWM1B)

#define LINE_MOTION_SCLK            PAL_LINE(GPIOA, GPIOA_MOTION_SCLK)

#define LINE_MOTION_MISO            PAL_LINE(GPIOA, GPIOA_MOTION_MISO)

#define LINE_MOTION_MOSI            PAL_LINE(GPIOA, GPIOA_MOTION_MOSI)

#define LINE_PROG_RX                PAL_LINE(GPIOA, GPIOA_PROG_RX)

#define LINE_PROG_TX                PAL_LINE(GPIOA, GPIOA_PROG_TX)

#define LINE_CAN_RX                 PAL_LINE(GPIOA, GPIOA_CAN_RX)

#define LINE_CAN_TX                 PAL_LINE(GPIOA, GPIOA_CAN_TX)

#define LINE_SWDIO                  PAL_LINE(GPIOA, GPIOA_SWDIO)

#define LINE_SWCLK                  PAL_LINE(GPIOA, GPIOA_SWCLK)

#define LINE_DRIVE_PWM2B            PAL_LINE(GPIOA, GPIOA_DRIVE_PWM2B)

#define LINE_DRIVE_SENSE2           PAL_LINE(GPIOB, GPIOB_DRIVE_SENSE2)

#define LINE_POWER_EN               PAL_LINE(GPIOB, GPIOB_POWER_EN)

#define LINE_DRIVE_PWM2A            PAL_LINE(GPIOB, GPIOB_DRIVE_PWM2A)

#define LINE_COMPASS_DRDY           PAL_LINE(GPIOB, GPIOB_COMPASS_DRDY)

#define LINE_DRIVE_ENC1A            PAL_LINE(GPIOB, GPIOB_DRIVE_ENC1A)

#define LINE_DRIVE_ENC1B            PAL_LINE(GPIOB, GPIOB_DRIVE_ENC1B)

#define LINE_COMPASS_SCL            PAL_LINE(GPIOB, GPIOB_COMPASS_SCL)

#define LINE_COMPASS_SDA            PAL_LINE(GPIOB, GPIOB_COMPASS_SDA)

#define LINE_IR_SCL                 PAL_LINE(GPIOB, GPIOB_IR_SCL)

#define LINE_IR_SDA                 PAL_LINE(GPIOB, GPIOB_IR_SDA)

#define LINE_IR_INT                 PAL_LINE(GPIOB, GPIOB_IR_INT)

#define LINE_GYRO_DRDY              PAL_LINE(GPIOB, GPIOB_GYRO_DRDY)

#define LINE_SYS_UART_UP            PAL_LINE(GPIOB, GPIOB_SYS_UART_UP)

#define LINE_ACCEL_INT_N            PAL_LINE(GPIOB, GPIOB_ACCEL_INT_N)

#define LINE_DRIVE_SENSE1           PAL_LINE(GPIOC, GPIOC_DRIVE_SENSE1)

#define LINE_SYS_INT_N              PAL_LINE(GPIOC, GPIOC_SYS_INT_N)

#define LINE_PATH_DCSTAT            PAL_LINE(GPIOC, GPIOC_PATH_DCSTAT)

#define LINE_PATH_DCEN              PAL_LINE(GPIOC, GPIOC_PATH_DCEN)

#define LINE_DRIVE_ENC2B            PAL_LINE(GPIOC, GPIOC_DRIVE_ENC2B)

#define LINE_DRIVE_ENC2A            PAL_LINE(GPIOC, GPIOC_DRIVE_ENC2A)

#define LINE_SYS_PD_N               PAL_LINE(GPIOC, GPIOC_SYS_PD_N)

#define LINE_SYS_REG_EN             PAL_LINE(GPIOC, GPIOC_SYS_REG_EN)

#define LINE_SYS_UART_RX            PAL_LINE(GPIOC, GPIOC_SYS_UART_RX)

#define LINE_SYS_UART_TX            PAL_LINE(GPIOC, GPIOC_SYS_UART_TX)

#define LINE_ACCEL_SS_N             PAL_LINE(GPIOC, GPIOC_ACCEL_SS_N)

#define LINE_GYRO_SS_N              PAL_LINE(GPIOC, GPIOC_GYRO_SS_N)

#define LINE_OSC_IN                 PAL_LINE(GPIOD, GPIOD_OSC_IN)

#define LINE_OSC_OUT                PAL_LINE(GPIOD, GPIOD_OSC_OUT)

#define LINE_SYS_WARMRST_N          PAL_LINE(GPIOD, GPIOD_SYS_WARMRST_N)

/*

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

 * in the initialization code.

 * Please refer to the STM32 Reference Ma