From 25ae16828a70bb58f7b9e6138810c5faf1d34cbd Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sat, 11 Nov 2023 11:39:13 +0800
Subject: [PATCH] init

---
 .cproject                |   2 +-
 Core/Inc/stm32f4xx_it.h  |   1 +
 Core/Src/dma.c           |   4 ++
 Core/Src/stm32f4xx_it.c  |  15 +++++++
 Core/Src/usart.c         |  24 ++++++++++-
 hbot_robot_controler.ioc |  16 +++++++-
 sdk                      |   2 +-
 usrc/board.h             |  29 ++++++++++++++
 usrc/main.cpp            | 102 +++++++++++++++++++----------------------------
 usrc/project_configs.h   |  55 +++++++------------------
 10 files changed, 143 insertions(+), 107 deletions(-)
 create mode 100644 usrc/board.h

diff --git a/.cproject b/.cproject
index c08840d..cd3e105 100644
--- a/.cproject
+++ b/.cproject
@@ -90,7 +90,7 @@
 									<listOptionValue builtIn="false" value="-Wno-sign-compare"/>
 									<listOptionValue builtIn="false" value="-Wno-unused-variable"/>
 								</option>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti.878350755" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti" value="false" valueType="boolean"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti.878350755" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti" useByScannerDiscovery="false" value="false" valueType="boolean"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.54112860" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.163881313" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/>
diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index 3873247..31b3500 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -62,6 +62,7 @@ void TIM1_TRG_COM_TIM11_IRQHandler(void);
 void USART3_IRQHandler(void);
 void TIM6_DAC_IRQHandler(void);
 void TIM7_IRQHandler(void);
+void DMA2_Stream2_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/Core/Src/dma.c b/Core/Src/dma.c
index a942cde..d203027 100644
--- a/Core/Src/dma.c
+++ b/Core/Src/dma.c
@@ -41,6 +41,7 @@ void MX_DMA_Init(void)
 
   /* DMA controller clock enable */
   __HAL_RCC_DMA1_CLK_ENABLE();
+  __HAL_RCC_DMA2_CLK_ENABLE();
 
   /* DMA interrupt init */
   /* DMA1_Stream5_IRQn interrupt configuration */
@@ -49,6 +50,9 @@ void MX_DMA_Init(void)
   /* DMA1_Stream6_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
+  /* DMA2_Stream2_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
 
 }
 
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index 6ac79a6..20dc61e 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -59,6 +59,7 @@ extern CAN_HandleTypeDef hcan1;
 extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim6;
 extern TIM_HandleTypeDef htim7;
+extern DMA_HandleTypeDef hdma_usart1_rx;
 extern DMA_HandleTypeDef hdma_usart2_rx;
 extern DMA_HandleTypeDef hdma_usart2_tx;
 extern UART_HandleTypeDef huart3;
@@ -307,6 +308,20 @@ void TIM7_IRQHandler(void)
   /* USER CODE END TIM7_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA2 stream2 global interrupt.
+  */
+void DMA2_Stream2_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream2_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart1_rx);
+  /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream2_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index 284b650..0af0b83 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -27,6 +27,7 @@
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
 UART_HandleTypeDef huart3;
+DMA_HandleTypeDef hdma_usart1_rx;
 DMA_HandleTypeDef hdma_usart2_rx;
 DMA_HandleTypeDef hdma_usart2_tx;
 
@@ -43,7 +44,7 @@ void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 1000000;
+  huart1.Init.BaudRate = 1500000;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;
@@ -142,6 +143,25 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* USART1 DMA Init */
+    /* USART1_RX Init */
+    hdma_usart1_rx.Instance = DMA2_Stream2;
+    hdma_usart1_rx.Init.Channel = DMA_CHANNEL_4;
+    hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart1_rx.Init.Mode = DMA_NORMAL;
+    hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx);
+
   /* USER CODE BEGIN USART1_MspInit 1 */
 
   /* USER CODE END USART1_MspInit 1 */
@@ -253,6 +273,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
 
+    /* USART1 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmarx);
   /* USER CODE BEGIN USART1_MspDeInit 1 */
 
   /* USER CODE END USART1_MspDeInit 1 */
diff --git a/hbot_robot_controler.ioc b/hbot_robot_controler.ioc
index 01b7056..276a99a 100644
--- a/hbot_robot_controler.ioc
+++ b/hbot_robot_controler.ioc
@@ -17,7 +17,18 @@ CAN1.TTCM=ENABLE
 CAN1.TXFP=DISABLE
 Dma.Request0=USART2_RX
 Dma.Request1=USART2_TX
-Dma.RequestsNb=2
+Dma.Request2=USART1_RX
+Dma.RequestsNb=3
+Dma.USART1_RX.2.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART1_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART1_RX.2.Instance=DMA2_Stream2
+Dma.USART1_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_RX.2.MemInc=DMA_MINC_ENABLE
+Dma.USART1_RX.2.Mode=DMA_NORMAL
+Dma.USART1_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_RX.2.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_RX.2.Priority=DMA_PRIORITY_LOW
+Dma.USART1_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.USART2_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
 Dma.USART2_RX.0.Instance=DMA1_Stream5
@@ -112,6 +123,7 @@ NVIC.CAN1_SCE_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -208,7 +220,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_CRC_Init-CRC-false-HAL-true,7-MX_RNG_Init-RNG-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM6_Init-TIM6-false-HAL-true,11-MX_TIM1_Init-TIM1-false-HAL-true,12-MX_CAN1_Init-CAN1-false-HAL-true,13-MX_USART2_UART_Init-USART2-false-HAL-true,14-MX_USART3_UART_Init-USART3-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_CRC_Init-CRC-false-HAL-true,7-MX_RNG_Init-RNG-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM6_Init-TIM6-false-HAL-true,11-MX_TIM1_Init-TIM1-false-HAL-true,12-MX_CAN1_Init-CAN1-false-HAL-true,13-MX_USART2_UART_Init-USART2-false-HAL-true,14-MX_USART3_UART_Init-USART3-false-HAL-true,15-MX_I2C1_Init-I2C1-false-HAL-true
 RCC.48MHZClocksFreq_Value=48000000
 RCC.AHBFreq_Value=144000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
diff --git a/sdk b/sdk
index 8ce6efe..14654f9 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 8ce6efeeb5117fb2d1cd878178dec0aff4d7ed63
+Subproject commit 14654f98532a65013384eb1582845af08c9cf327
diff --git a/usrc/board.h b/usrc/board.h
new file mode 100644
index 0000000..aa5f605
--- /dev/null
+++ b/usrc/board.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#define BOARD_ID 1
+#define TMC_MOTOR_SPI hspi1
+
+// MOTOR1
+#define TMC_MOTOR1_CHANNEL        1
+#define TMC_MOTOR1_SPI_SELECT1_IO PA4
+#define TMC_MOTOR1_nFREEZE_IO     PC2
+#define TMC_MOTOR1_nRESET_IO      PB3
+#define TMC_MOTOR1_SUB_IC_ENN_IO  PC3
+#define TMC_MOTOR1_ENN_IO  // unused
+
+// MOTOR2
+#define TMC_MOTOR2_CHANNEL        2
+#define TMC_MOTOR2_SPI_SELECT1_IO PA8
+#define TMC_MOTOR2_nFREEZE_IO     PC6
+#define TMC_MOTOR2_nRESET_IO      PB2
+#define TMC_MOTOR2_SUB_IC_ENN_IO  PC7
+#define TMC_MOTOR2_ENN_IO  // unused
+
+#define ARM_SENSOR1_GPIO PD0
+#define ARM_SENSOR2_GPIO PD1
+#define ARM_SENSOR3_GPIO PD2
+#define ARM_SENSOR4_GPIO PD3
+#define ARM_SENSOR5_GPIO PD4
+#define ARM_SENSOR6_GPIO PD5
+#define ARM_SENSOR7_GPIO PD6
+#define ARM_SENSOR8_GPIO PD7
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 2b41da3..bb58f65 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -7,59 +7,44 @@
 #include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
 #include "sdk\components\tmc\ic\ztmc4361A.hpp"
 #include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
+#include "sdk\components\zcancmder\zcan_board_module.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
 #include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
 #include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
+
 //
+#include "board.h"
 #include "sdk\components\flash\znvs.hpp"
+#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
 //
 
 #define TAG "main"
 using namespace iflytop;
 using namespace std;
 
+static ZCancmderSubboardIniter initer;
+
 extern void umain();
 extern "C" {
 void StartDefaultTask(void const* argument) { umain(); }
 }
-#define TMC_MOTOR_SPI hspi1
-
-static TMC4361A  motora;
-static TMC4361A  motorb;
-static ZCanCmder zcanCmder;
-
-static StepMotorCtrlModule stepMotorCtrlModule;
-static XYRobotCtrlModule   xyRobotCtrlModule;
-static ZIProtocolParser    g_ziProtocolParser;
-
-#define XYRobotCtrlModule_1_FLASH_MARK "XYRobotCtrlModule_1"
-
-void umain() {
-  chip_cfg_t chipcfg;
-  chipcfg.us_dleay_tim          = &DELAY_US_TIMER;
-  chipcfg.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER;
-  chipcfg.huart                 = &DEBUG_UART;
-  chipcfg.debuglight            = DEBUG_LIGHT_GPIO;
-
-  chip_init(&chipcfg);
-
-  zos_cfg_t zoscfg;
-  zos_init(&zoscfg);
-
-  ZLOGI(TAG, "boardid:%d moduleid:%d", BOARD_ID, MODULE_ID);
-
-  /*******************************************************************************
-   *                                   NVSINIT                                   *
-   *******************************************************************************/
-  ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR);
-  {
-    static I_XYRobotCtrlModule::flash_config_t cfg;
-    XYRobotCtrlModule::create_default_cfg(cfg);
-    ZNVS::ins().alloc_config(XYRobotCtrlModule_1_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg));
-  }
-  ZNVS::ins().init_config();
 
-  osDelay(1000);
+#define FLASH_MASK_XYRobotCtrlModule1 "XYRobotCtrlModule_1"
+
+void           initmodule() {}
+static int32_t getDeviceId() { return BOARD_ID; }
+void           nvs_init_cb() {
+  /**
+   * @brief 初始化配置，系统中需要配置都需要在这里进行初始化
+   */
+  static I_XYRobotCtrlModule::flash_config_t cfg;
+  XYRobotCtrlModule::create_default_cfg(cfg);
+  ZNVS::ins().alloc_config(FLASH_MASK_XYRobotCtrlModule1, (uint8_t*)&cfg, sizeof(cfg));
+}
+static void initsubmodule() {
+  static XYRobotCtrlModule xyRobotCtrlModule;
+  static TMC4361A          motora;
+  static TMC4361A          motorb;
   {
     TMC4361A::cfg_t cfg = {
         .spi               = &TMC_MOTOR_SPI,             //
@@ -100,23 +85,6 @@ void umain() {
 
   motora.rotate(0);
   motorb.rotate(0);
-  auto zcanCmder_cfg = zcanCmder.createCFG(BOARD_ID);
-  zcanCmder.init(zcanCmder_cfg);
-
-  /*******************************************************************************
-   *                            zcanBasicOrderModule                             *
-   *******************************************************************************/
-#if 0
-  zcanBasicOrderModule.reg_set_io(1, [](bool val) { ZLOGI(TAG, "write io 1:%d", val); });
-  zcanBasicOrderModule.reg_read_io(1, []() {
-    ZLOGI(TAG, "read io 1");
-    return 1;
-  });
-  zcanBasicOrderModule.reg_read_adc(1, []() {
-    ZLOGI(TAG, "read adc 1");
-    return 123;
-  });
-#endif
 
   /*******************************************************************************
    *                            zcanXYRobotCtrlModule                            *
@@ -131,15 +99,25 @@ void umain() {
   input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
   input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
 
-  xyRobotCtrlModule.initialize(BOARD_ID, &motora, &motorb, &input[0], 8, XYRobotCtrlModule_1_FLASH_MARK);
+  xyRobotCtrlModule.initialize(initer.get_module_id(1), &motora, &motorb, &input[0], 8, FLASH_MASK_XYRobotCtrlModule1);
   xyRobotCtrlModule.dumpcfg();
-  // zcanXYRobotCtrlModule.initialize(&zcanCmder, MODULE_ID, &xyRobotCtrlModule);
 
-  g_ziProtocolParser.initialize(&zcanCmder);
-  g_ziProtocolParser.registerModule(&xyRobotCtrlModule);
+  initer.register_module(&xyRobotCtrlModule);
+}
 
-  while (true) {
-    OSDefaultSchduler::getInstance()->loop();
-    zcanCmder.loop();
-  }
+void umain() {
+  ZCancmderSubboardIniter::cfg_t cfg =  //
+      {
+          .deviceId = getDeviceId(),
+          .input_gpio =
+              {
+                  //  {PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true},
+              },
+          .output_gpio =
+              {
+                  //  {PD0, ZGPIO::kMode_nopull, false, false},
+              },
+      };
+  initer.init(&cfg);
+  initer.loop();
 }
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 0aaa3db..e7c7d4a 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,46 +1,21 @@
 #pragma once
 
-#define VERSION          "v1.0.0"
-#define MANUFACTURER     "http://www.iflytop.com/"
-#define PROJECT_NAME     "xy_robot_board"
-#define DEBUG_UART       huart1
-#define DEBUG_LIGHT_GPIO PE2
+#define PC_VERSION                "v1.0.0"
+#define PC_MANUFACTURER           "http://www.iflytop.com/"
+#define PC_PROJECT_NAME           "xy_robot_board"
+#define PC_IFLYTOP_ENABLE_OS      1
 
-#define DELAY_US_TIMER          htim6  // US延时定时器
-#define TIM_IRQ_SCHEDULER_TIMER htim7  // 中断定时器中断调度器
-#define IFLTYOP_ZTICKET_TIMER   TIM11  // 系统ticket定时器
+#define PC_DEBUG_UART             huart1
+#define PC_DEBUG_UART_DMA_HANDLER hdma_usart1_rx
+#define PC_DEBUG_UART_RX_BUF_SIZE 1024
+#define PC_DEBUG_LIGHT_GPIO       PE2
 
-#define IFLYTOP_ENABLE_OS               1
-#define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
+#define PC_SYS_DELAY_US_TIMER          htim6  // US延时定时器
+#define PC_SYS_ZTICKET_TIMER           TIM11  // 系统ticket定时器
+#define PC_SYS_TIM_IRQ_SCHEDULER_TIMER htim7  // 中断定时器中断调度器
 
-#define MODULE_ID (1)
-#define BOARD_ID  (1)
+#define PC_IRQ_PREEMPTPRIORITY_DEFAULT 5
 
-/****************************************FLASH***************************************/
-#define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8
-/*********************************************************************************/
-
-// MOTOR1
-#define TMC_MOTOR1_CHANNEL        1
-#define TMC_MOTOR1_SPI_SELECT1_IO PA4
-#define TMC_MOTOR1_nFREEZE_IO     PC2
-#define TMC_MOTOR1_nRESET_IO      PB3
-#define TMC_MOTOR1_SUB_IC_ENN_IO  PC3
-#define TMC_MOTOR1_ENN_IO  // unused
-
-// MOTOR2
-#define TMC_MOTOR2_CHANNEL        2
-#define TMC_MOTOR2_SPI_SELECT1_IO PA8
-#define TMC_MOTOR2_nFREEZE_IO     PC6
-#define TMC_MOTOR2_nRESET_IO      PB2
-#define TMC_MOTOR2_SUB_IC_ENN_IO  PC7
-#define TMC_MOTOR2_ENN_IO  // unused
-
-#define ARM_SENSOR1_GPIO PD0
-#define ARM_SENSOR2_GPIO PD1
-#define ARM_SENSOR3_GPIO PD2
-#define ARM_SENSOR4_GPIO PD3
-#define ARM_SENSOR5_GPIO PD4
-#define ARM_SENSOR6_GPIO PD5
-#define ARM_SENSOR7_GPIO PD6
-#define ARM_SENSOR8_GPIO PD7
+#define PC_NVS_ENABLE              1
+#define PC_NVS_CONFIG_FLASH_SECTOR 8
+#define PC_NVS_INIT_CB             nvs_init_cb