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Intelligent_winding_robot_zarm
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Intelligent_winding_robot_zarm/usrc/board.h

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  1. #pragma once
  2. #define TMC_MOTOR_SPI hspi1
  3. #define TMC_DIAG1 PB0
  4. #define TMC_DIAG0 PB1
  6. // MOTOR0
  7. #define MOTOR0_CSN PA4
  8. #define MOTOR0_ENN PE3
  9. #define MOTOR0_SPI_MODE_SELECT PinNull
  10. #define MOTOR0_REFL PD13
  11. #define MOTOR0_REFR PD14
  13. // MOTOR1
  14. #define MOTOR1_CSN PA8
  15. #define MOTOR1_ENN PE6
  16. #define MOTOR1_SPI_MODE_SELECT PinNull
  17. #define MOTOR1_REFL PD11
  18. #define MOTOR1_REFR PD12
  20. #define MOTOR_CFG_FLASH_MARK "MOTOR_CFG_FLASH_MARK"