board.h

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/*
 * SPDX-FileCopyrightText: 2025 TU Dresden
 * SPDX-License-Identifier: LGPL-2.1-only
 */
 
#pragma once

 
#include "cpu.h"
#include "motor_driver.h"
 
#ifdef __cplusplus
extern "C" {
#endif

#define LED0_IS_INVERTED    1
#define LED0_PIN_NUM        3 /* LED top right red */
#define LED0_PORT           GPIO_PORT_C
#define LED0_PORT_NUM       PORT_C
 
#define LED1_IS_INVERTED    1
#define LED1_PIN_NUM        2 /* LED top right green */
#define LED1_PORT           GPIO_PORT_C
#define LED1_PORT_NUM       PORT_C
 
#define LED2_PIN_NUM        2 /* LED bottom left blue */
#define LED2_PORT           GPIO_PORT_D
#define LED2_PORT_NUM       PORT_D
 
#define LED3_IS_INVERTED    1
#define LED3_PIN_NUM        0 /* LED top left red*/
#define LED3_PORT           GPIO_PORT_C
#define LED3_PORT_NUM       PORT_C
 
#define LED4_IS_INVERTED    1
#define LED4_PIN_NUM        1 /* LED top left green */
#define LED4_PORT           GPIO_PORT_C
#define LED4_PORT_NUM       PORT_C

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 = 4200U,
        .nb_motors = 3,
        .motors = {
            {
                .pwm_channel = 1,
                .gpio_enable = 0,
                .gpio_dir0 = 0,
                .gpio_dir1_or_brake = 0,
                .gpio_dir_reverse = 0,
                .gpio_enable_invert = 0,
                .gpio_brake_invert = 0,
            },
            {
                .pwm_channel = 3,
                .gpio_enable = 0,
                .gpio_dir0 = 0,
                .gpio_dir1_or_brake = 0,
                .gpio_dir_reverse = 0,
                .gpio_enable_invert = 0,
                .gpio_brake_invert = 0,
            },
            {
                .pwm_channel = 0,
                .gpio_enable = 0,
                .gpio_dir0 = 0,
                .gpio_dir1_or_brake = 0,
                .gpio_dir_reverse = 0,
                .gpio_enable_invert = 0,
                .gpio_brake_invert = 0,
            },
        },
        .cb = NULL,
    },
    {
        .pwm_dev = 2,
        .mode = MOTOR_DRIVER_1_DIR,
        .mode_brake = MOTOR_BRAKE_HIGH,
        .pwm_mode = PWM_LEFT,
        .pwm_frequency = 20000U,
        .pwm_resolution = 4200U,
        .nb_motors = 1,
        .motors = {
            {
                .pwm_channel = 0,
                .gpio_enable = 0,
                .gpio_dir0 = 0,
                .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)
 
#ifdef __cplusplus
}
#endif
 
#include "stm32_leds.h"