board.h
1.79 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
/*
* Copyright (C) 2017 INRIA
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for more
* details.
*/
/**
* @defgroup boards_opencm904 OpenCM9.04
* @ingroup boards
* @brief Board specific files for the OpenCM9.04 board
* @{
*
* @file
* @brief Board specific definitions for the OpenCM9.04 board
*
* @author Loïc Dauphin <loic.dauphin@inria.fr>
* @author Sebastian Meiling <s@mlng.net>
*/
#ifndef BOARD_H
#define BOARD_H
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name xtimer configuration
* @{
*/
#define XTIMER_WIDTH (16)
#define XTIMER_BACKOFF 5
/** @} */
/**
* @name Macros for controlling the on-board LED.
* @{
*/
#define LED0_PIN GPIO_PIN(PORT_B, 9)
#define LED_PORT GPIOB
#define LED0_MASK (1 << 9)
#define LED0_ON (LED_PORT->BRR = LED0_MASK)
#define LED0_OFF (LED_PORT->BSRR = LED0_MASK)
#define LED0_TOGGLE (LED_PORT->ODR ^= LED0_MASK)
/** @} */
/**
* @brief User button
* @{
*/
#define BTN0_PIN GPIO_PIN(PORT_C, 15)
#define BTN0_MODE GPIO_IN
/** @} */
/**
* @brief Pin used to switch RX and TX mode for the Dynamixel TTL bus
*
* set = TX mode
* clear = RX mode
*
*/
#define DXL_DIR_PIN GPIO_PIN(PORT_B, 5)
/**
* @brief Use the USART2 for STDIO on this board
*/
#define UART_STDIO_DEV UART_DEV(0)
/**
* @name Override with ROBOTIS Bluetooth antenna baudrate for STDIO
* @{
*/
#ifndef UART_STDIO_BAUDRATE
#define UART_STDIO_BAUDRATE (921600UL)
#endif
/** @} */
/**
* @brief Initialize board specific hardware, including clock, LEDs and std-IO
*/
void board_init(void);
#ifdef __cplusplus
}
#endif
#endif /* BOARD_H */
/** @} */