board.h

Go to the documentation of this file.

/*
 * Copyright (C) 2016-2017 Freie Universität Berlin
 *
 * 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.
 */
 
#pragma once
 
#include "board_nucleo.h"
#include "arduino_pinmap.h"
#include "motor_driver.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
#if defined(CPU_MODEL_STM32F302R8) || defined(CPU_MODEL_STM32L433RC)
#define LED0_PIN_NUM        13
#define LED0_PORT           GPIO_PORT_B 
#define LED0_PORT_NUM       PORT_B
#else
#define LED0_PIN_NUM        5
#define LED0_PORT           GPIO_PORT_A 
#define LED0_PORT_NUM       PORT_A
#endif
#define BTN0_PIN            GPIO_PIN(PORT_C, 13)
#if defined(CPU_MODEL_STM32L433RC) || defined(CPU_MODEL_STM32G474RE) || \
    defined(CPU_MODEL_STM32G431RB)
#define BTN0_MODE           GPIO_IN_PD
#else
#define BTN0_MODE           GPIO_IN_PU
#endif
static const motor_driver_config_t motor_driver_config[] = {
    {
        .pwm_dev         = 1,
        .mode            = MOTOR_DRIVER_1_DIR,
        .mode_brake      = MOTOR_BRAKE_HIGH,
        .pwm_mode        = PWM_LEFT,
        .pwm_frequency   = 20000U,
        .pwm_resolution  = 2250U,
        .nb_motors       = 1,
        .motors          = {
            {
                .pwm_channel            = 0,
                .gpio_enable            = 0,
                .gpio_dir0              = ARDUINO_PIN_15,
                .gpio_dir1_or_brake     = 0,
                .gpio_dir_reverse       = 0,
                .gpio_enable_invert     = 0,
                .gpio_brake_invert      = 0,
            },
        },
        .cb = NULL,
    },
};
 
#define MOTOR_DRIVER_NUMOF           ARRAY_SIZE(motor_driver_config)
#ifndef MRF24J40_PARAM_SPI
#define MRF24J40_PARAM_SPI      SPI_DEV(0)
#endif
 
#ifndef MRF24J40_PARAM_SPI_CLK
#define MRF24J40_PARAM_SPI_CLK  SPI_CLK_5MHZ
#endif
 
#ifndef MRF24J40_PARAM_CS
#define MRF24J40_PARAM_CS       ARDUINO_PIN_10
#endif
 
#ifndef MRF24J40_PARAM_INT
#define MRF24J40_PARAM_INT      ARDUINO_PIN_7
#endif
 
#ifndef MRF24J40_PARAM_RESET
#define MRF24J40_PARAM_RESET    ARDUINO_PIN_5
#endif
 
#ifdef __cplusplus
}
#endif
 
#include "stm32_leds.h"