firmware defines

firmware/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

firmware/include/lemon-pepper.h

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+#pragma once
+
+// MOTOR DRIVER L6226Q
+#define U_PWM       PA10
+#define V_PWM       PA9
+#define W_PWM       PA1
+
+#define A1          PA0
+#define A2          PA1
+#define B1          PA9
+#define B2          PA10
+
+#define MOT_EN      PB12
+
+// ENCODER MT6835
+#define ENC_A       PB4
+#define ENC_B       PB5
+#define ENC_Z       PB3
+
+#define ENC_COPI    PA7
+#define ENC_CIPO    PA6
+#define ENC_SCK     PA5
+#define ENC_CS      PC4
+#define ENC_CAL     PA4
+
+// CURRENT SENSE
+#define ISENSE_U    PA3
+#define ISENSE_V    PB13
+#define ISENSE_W    PB0
+
+// COMMUNICATION
+#define CAN_TX      PB8
+#define CAN_RX      PB9
+
+// AUX
+#define LED_GOOD    PB10
+#define LED_FAULT   PB11
+