56 lines
902 B
C
56 lines
902 B
C
#pragma once
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// MOTOR DRIVER L6226Q
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#define U_PWM PA10
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#define V_PWM PA9
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#define W_PWM PA1
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#define MOT_A1 PA0
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#define MOT_A2 PA10
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#define MOT_B1 PA9
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#define MOT_B2 PA1
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#define MOT_EN PB12
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// ENCODER MT6835
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#define ENC_A PB4
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#define ENC_B PB5
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#define ENC_Z PB3
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#define ENC_COPI PA7
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#define ENC_CIPO PA6
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#define ENC_SCK PA5
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#define ENC_CS PC4
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// CURRENT SENSE
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#define ISENSE_U PA3
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#define ISENSE_V PB13
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#define ISENSE_W PB0
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// COMMUNICATION
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#define CAN_TX PB8
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#define CAN_RX PB9
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// PCB REV CHANGES
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#ifdef PCB_REV1
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#define STEP_PIN PB14
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#define DIR_PIN PB15
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#define CAL_EN PB1
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#endif
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#ifdef PCB_REV2
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#define STEP_PIN PC11
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#define DIR_PIN PA8
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#define I2C_SDA PC11
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#define I2C_SCL PA8
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#define CAL_EN PA4
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#endif
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// AUX
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#define LED_GOOD PB10
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#define LED_FAULT PB11
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