AMiRo-OS

/*

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

Copyright (C) 2016..2019  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

/*===========================================================================*/

/* Driver constants.                                                         */

/*===========================================================================*/

/*

 * Setup for STMicroelectronics STM32F4-Discovery board.

 */

/*

 * Board identifier.

 */

#define BOARD_ST_STM32F4_DISCOVERY

#define BOARD_NAME                  "STMicroelectronics STM32F4-Discovery"

/*

 * 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                   300U

/*

 * MCU type as defined in the ST header.

 */

#define STM32F407xx

/*

 * IO pins assignments.

 */

#define GPIOA_BUTTON                0U

#define GPIOA_PIN1                  1U

#define GPIOA_PIN2                  2U

#define GPIOA_PIN3                  3U

#define GPIOA_LRCK                  4U

#define GPIOA_SPC                   5U

#define GPIOA_SDO                   6U

#define GPIOA_SDI                   7U

#define GPIOA_PIN8                  8U

#define GPIOA_VBUS_FS               9U

#define GPIOA_OTG_FS_ID             10U

#define GPIOA_OTG_FS_DM             11U

#define GPIOA_OTG_FS_DP             12U

#define GPIOA_SWDIO                 13U

#define GPIOA_SWCLK                 14U

#define GPIOA_PIN15                 15U

#define GPIOB_PIN0                  0U

#define GPIOB_PIN1                  1U

#define GPIOB_PIN2                  2U

#define GPIOB_SWO                   3U

#define GPIOB_PIN4                  4U

#define GPIOB_PIN5                  5U

#define GPIOB_SCL                   6U

#define GPIOB_PIN7                  7U

#define GPIOB_PIN8                  8U

#define GPIOB_SDA                   9U

#define GPIOB_CLK_IN                10U

#define GPIOB_PIN11                 11U

#define GPIOB_PIN12                 12U

#define GPIOB_PIN13                 13U

#define GPIOB_PIN14                 14U

#define GPIOB_PIN15                 15U

#define GPIOC_OTG_FS_POWER_ON       0U

#define GPIOC_PIN1                  1U

#define GPIOC_PIN2                  2U

#define GPIOC_PDM_OUT               3U

#define GPIOC_PIN4                  4U

#define GPIOC_PIN5                  5U

#define GPIOC_PIN6                  6U

#define GPIOC_MCLK                  7U

#define GPIOC_PIN8                  8U

#define GPIOC_PIN9                  9U

#define GPIOC_SCLK                  10U

#define GPIOC_PIN11                 11U

#define GPIOC_SDIN                  12U

#define GPIOC_PIN13                 13U

#define GPIOC_PIN14                 14U

#define GPIOC_PIN15                 15U

#define GPIOD_PIN0                  0U

#define GPIOD_PIN1                  1U

#define GPIOD_PIN2                  2U

#define GPIOD_PIN3                  3U

#define GPIOD_RESET                 4U

#define GPIOD_OVER_CURRENT          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_LED4                  12U

#define GPIOD_LED3                  13U

#define GPIOD_LED5                  14U

#define GPIOD_LED6                  15U

#define GPIOE_INT1                  0U

#define GPIOE_INT2                  1U

#define GPIOE_PIN2                  2U

#define GPIOE_CS_SPI                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

#define GPIOH_OSC_IN                0U

#define GPIOH_OSC_OUT               1U

#define GPIOH_PIN2                  2U

#define GPIOH_PIN3                  3U

#define GPIOH_PIN4                  4U

#define GPIOH_PIN5                  5U

#define GPIOH_PIN6                  6U

#define GPIOH_PIN7                  7U

#define GPIOH_PIN8                  8U

#define GPIOH_PIN9                  9U

#define GPIOH_PIN10                 10U

#define GPIOH_PIN11                 11U

#define GPIOH_PIN12                 12U

#define GPIOH_PIN13                 13U

#define GPIOH_PIN14                 14U

#define GPIOH_PIN15                 15U

#define GPIOI_PIN0                  0U

#define GPIOI_PIN1                  1U

#define GPIOI_PIN2                  2U

#define GPIOI_PIN3                  3U

#define GPIOI_PIN4                  4U

#define GPIOI_PIN5                  5U

#define GPIOI_PIN6                  6U

#define GPIOI_PIN7                  7U

#define GPIOI_PIN8                  8U

#define GPIOI_PIN9                  9U

#define GPIOI_PIN10                 10U

#define GPIOI_PIN11                 11U

#define GPIOI_PIN12                 12U

#define GPIOI_PIN13                 13U

#define GPIOI_PIN14                 14U

#define GPIOI_PIN15                 15U

/*

 * IO lines assignments.

 */

#define LINE_BUTTON                 PAL_LINE(GPIOA, GPIOA_BUTTON)

#define LINE_LRCK                   PAL_LINE(GPIOA, GPIOA_LRCK)

#define LINE_SPC                    PAL_LINE(GPIOA, GPIOA_SPC)

#define LINE_SDO                    PAL_LINE(GPIOA, GPIOA_SDO)

#define LINE_SDI                    PAL_LINE(GPIOA, GPIOA_SDI)

#define LINE_VBUS_FS                PAL_LINE(GPIOA, GPIOA_VBUS_FS)

#define LINE_OTG_FS_ID              PAL_LINE(GPIOA, GPIOA_OTG_FS_ID)

#define LINE_OTG_FS_DM              PAL_LINE(GPIOA, GPIOA_FS_DM)

#define LINE_OTG_FS_DP              PAL_LINE(GPIOA, GPIOA_FS_DP)

#define LINE_SWDIO                  PAL_LINE(GPIOA, GPIOA_SWDIO)

#define LINE_SWCLK                  PAL_LINE(GPIOA, GPIOA_SWCLK)

#define LINE_SWO                    PAL_LINE(GPIOB, GPIOB_SWO)

#define LINE_SCL                    PAL_LINE(GPIOB, GPIOA_SCL)

#define LINE_SDA                    PAL_LINE(GPIOB, GPIOA_SDA)

#define LINE_CLK_IN                 PAL_LINE(GPIOB, GPIOA_CLK_IN)

#define LINE_OTG_FS_POWER_ON        PAL_LINE(GPIOC, GPIOC_OTG_FS_POWER_ON)

#define LINE_PDM_OUT                PAL_LINE(GPIOC, GPIOC_PDM_OUT)

#define LINE_MCLK                   PAL_LINE(GPIOC, GPIOC_MCLK)

#define LINE_SCLK                   PAL_LINE(GPIOC, GPIOC_SCLK)

#define LINE_SDIN                   PAL_LINE(GPIOC, GPIOC_SDIN)

#define LINE_RESET                  PAL_LINE(GPIOD, GPIOD_RESET)

#define LINE_OVER_CURRENT           PAL_LINE(GPIOD, GPIOD_OVER_CURRENT)

#define LINE_LED4                   PAL_LINE(GPIOD, GPIOD_LED4)

#define LINE_LED3                   PAL_LINE(GPIOD, GPIOD_LED3)

#define LINE_LED5                   PAL_LINE(GPIOD, GPIOD_LED5)

#define LINE_LED6                   PAL_LINE(GPIOD, GPIOD_LED6)

#define LINE_INT1                   PAL_LINE(GPIOE, GPIOE_INT1)

#define LINE_INT2                   PAL_LINE(GPIOE, GPIOE_INT2)

#define LINE_CS_SPI                 PAL_LINE(GPIOE, GPIOE_VS_SPI)

#define LINE_OSC_IN                 PAL_LINE(GPIOH, GPIOH_OSC_IN)

#define LINE_OSC_OUT                PAL_LINE(GPIOH, GPIOE_OSC_OUT)

/*===========================================================================*/

/* Driver pre-compile time settings.                                         */

/*===========================================================================*/

/*===========================================================================*/

/* Derived constants and error checks.                                       */

/*===========================================================================*/

/*===========================================================================*/

/* Driver data structures and types.                                         */

/*===========================================================================*/

/*===========================================================================*/

/* Driver macros.                                                            */

/*===========================================================================*/

/*

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

 * in the initialization code.

 * Please refer to the STM32 Reference Manual for details.

 */

#define PIN_MODE_INPUT(n)           (0U << ((n) * 2U))

#define PIN_MODE_OUTPUT(n)          (1U << ((n) * 2U))

#define PIN_MODE_ALTERNATE(n)       (2U << ((n) * 2U))

#define PIN_MODE_ANALOG(n)          (3U << ((n) * 2U))

#define PIN_ODR_LOW(n)              (0U << (n))

#define PIN_ODR_HIGH(n)             (1U << (n))

#define PIN_OTYPE_PUSHPULL(n)       (0U << (n))

#define PIN_OTYPE_OPENDRAIN(n)      (1U << (n))

#define PIN_OSPEED_VERYLOW(n)       (0U << ((n) * 2U))

#define PIN_OSPEED_LOW(n)           (1U << ((n) * 2U))

#define PIN_OSPEED_MEDIUM(n)        (2U << ((n) * 2U))

#define PIN_OSPEED_HIGH(n)          (3U << ((n) * 2U))

#define PIN_PUPDR_FLOATING(n)       (0U << ((n) * 2U))

#define PIN_PUPDR_PULLUP(n)         (1U << ((n) * 2U))

#define PIN_PUPDR_PULLDOWN(n)       (2U << ((n) * 2U))

#define PIN_AFIO_AF(n, v)           ((v) << (((n) % 8U) * 4U))

/*

 * GPIOA setup:

 *

 * PA0  - BUTTON                    (input floating).

 * PA1  - PIN1                      (input pullup).

 * PA2  - PIN2                      (input pullup).

 * PA3  - PIN3                      (input pullup).

 * PA4  - LRCK                      (alternate 6).

 * PA5  - SPC                       (alternate 5).

 * PA6  - SDO                       (alternate 5).

 * PA7  - SDI                       (alternate 5).

 * PA8  - PIN8                      (input pullup).

 * PA9  - VBUS_FS                   (input floating).

 * PA10 - OTG_FS_ID                 (alternate 10).

 * PA11 - OTG_FS_DM                 (alternate 10).

 * PA12 - OTG_FS_DP                 (alternate 10).

 * PA13 - SWDIO                     (alternate 0).

 * PA14 - SWCLK                     (alternate 0).

 * PA15 - PIN15                     (input pullup).

 */

#define VAL_GPIOA_MODER             (PIN_MODE_INPUT(GPIOA_BUTTON) |         \

                                     PIN_MODE_INPUT(GPIOA_PIN1) |           \

                                     PIN_MODE_ALTERNATE(GPIOA_PIN2) |       \

                                     PIN_MODE_ALTERNATE(GPIOA_PIN3) |       \

                                     PIN_MODE_ALTERNATE(GPIOA_LRCK) |       \

                                     PIN_MODE_ALTERNATE(GPIOA_SPC) |        \

                                     PIN_MODE_ALTERNATE(GPIOA_SDO) |        \

                                     PIN_MODE_ALTERNATE(GPIOA_SDI) |        \

                                     PIN_MODE_INPUT(GPIOA_PIN8) |           \

                                     PIN_MODE_INPUT(GPIOA_VBUS_FS) |        \

                                     PIN_MODE_ALTERNATE(GPIOA_OTG_FS_ID) |  \

                                     PIN_MODE_ALTERNATE(GPIOA_OTG_FS_DM) |  \

                                     PIN_MODE_ALTERNATE(GPIOA_OTG_FS_DP) |  \