Merge branch 'main' into currentsense

sync current sense to main

firmware/include/lemon-pepper.h

@@ -1,55 +1,72 @@
 #pragma once
 
-// MOTOR DRIVER L6226Q
-#define U_PWM       PA10
-#define V_PWM       PA9
-#define W_PWM       PA1
+#ifdef LEMONPEPPER
 
-#define MOT_A1      PA0
-#define MOT_A2      PA10
-#define MOT_B1      PA9
-#define MOT_B2      PA1
+// MOTOR DRIVER L6226
+#define U_PWM       PA10    // TIM2_CH4
+#define V_PWM       PA9     // TIM2_CH3
+#define W_PWM       PA1     // TIM2_CH2
+
+#define MOT_A1      PA0     // TIM2_CH1
+#define MOT_A2      PA10    // TIM2_CH4
+#define MOT_B1      PA9     // TIM2_CH3
+#define MOT_B2      PA1     // TIM2_CH2
 
 #define MOT_EN      PB12
 
 // ENCODER MT6835
-#define ENC_A       PB4
-#define ENC_B       PB5
-#define ENC_Z       PB3
+#define ENC_A       PB4     // TIM3_CH1
+#define ENC_B       PB5     // TIM3_CH2
+#define ENC_Z       PB3     // TIM3_ETR
 
-#define ENC_COPI    PA7
-#define ENC_CIPO    PA6
-#define ENC_SCK     PA5
-#define ENC_CS      PC4
+#define ENC_COPI    PA7     // SPI1_MOSI
+#define ENC_CIPO    PA6     // SPI1_MISO
+#define ENC_SCK     PA5     // SPI1_SCK
+#define ENC_CS      PC4     
+
+#define CAL_EN      PA4
 
 // CURRENT SENSE
-#define ISENSE_U    PA3
-#define ISENSE_V    PB13
-#define ISENSE_W    PB0
+#define ISENSE_U    PA3     // VOPAMP1_P, ADC1_IN4
+#define ISENSE_V    PB13    // VOPAMP3_P
 
 // COMMUNICATION
+/** 
+ * Note that you can only use one input peripheral 
+ * at a time. If  you want to use CANbus you also have 
+ * to remove the resistors that join step-dir to CAN H/L
+ * R104 R105 to protect MCU from high common mode voltages.
+*/
 #define CAN_TX      PB8
 #define CAN_RX      PB9
 
-// PCB REV CHANGES
-#ifdef PCB_REV1
-#define STEP_PIN    PB14
-#define DIR_PIN     PB15
+#define UART3_TX    PC10
+#define UART3_RX    PC11
 
-#define CAL_EN     PB1
-#endif
+#define I2C3_SDA    PC11
+#define I2C3_SCL    PA8
 
-#ifdef PCB_REV2
-#define STEP_PIN    PC11
-#define DIR_PIN     PA8
+#define STEP_PIN    PC10
+#define DIR_PIN     PC11
 
-#define I2C_SDA     PC11
-#define I2C_SCL     PA8
+// USER CONNECTOR
+/**
+ * Additional timer available for encoder interface. 
+ * If not using, there are 5 GPIO available.
+*/
+#define USER_ENCA   PB6     // TIM4_CH1
+#define USER_ENCB   PB7     // TIM4_CH2
 
-#define CAL_EN     PA4
-#endif
+#define USER1       PC6
+#define USER2       PB15
+#define USER3       PB14
+#define USER4       PB7
+#define USER5       PB6
 
-// AUX
+// MISC
+#define USER_BUTTON PC15
 #define LED_GOOD    PB10
 #define LED_FAULT   PB11
+#define MOT_VOLTAGE PA2     //ADC1_IN3
 
+#endif

firmware/include/old.h

@@ -0,0 +1,55 @@
+#pragma once
+
+// MOTOR DRIVER L6226Q
+#define U_PWM       PA10
+#define V_PWM       PA9
+#define W_PWM       PA1
+
+#define MOT_A1      PA0
+#define MOT_A2      PA10
+#define MOT_B1      PA9
+#define MOT_B2      PA1
+
+#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
+
+// CURRENT SENSE
+#define ISENSE_U    PA3
+#define ISENSE_V    PB13
+#define ISENSE_W    PB0
+
+// COMMUNICATION
+#define CAN_TX      PB8
+#define CAN_RX      PB9
+
+// PCB REV CHANGES
+#ifdef PCB_REV1
+#define STEP_PIN    PB14
+#define DIR_PIN     PB15
+
+#define CAL_EN     PB1
+#endif
+
+#ifdef PCB_REV2
+#define STEP_PIN    PC11
+#define DIR_PIN     PA8
+
+#define I2C_SDA     PC11
+#define I2C_SCL     PA8
+
+#define CAL_EN     PA4
+#endif
+
+// AUX
+#define LED_GOOD    PB10
+#define LED_FAULT   PB11
+