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46 lines
1.4 KiB
46 lines
1.4 KiB
#pragma once
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#define VERSION "v1.0.0"
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#define MANUFACTURER "http://www.iflytop.com/"
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#define PROJECT_NAME "xy_robot_board"
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#define DEBUG_UART huart1
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#define DEBUG_LIGHT_GPIO PE2
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#define DELAY_US_TIMER htim6 // US延时定时器
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#define TIM_IRQ_SCHEDULER_TIMER htim7 // 中断定时器中断调度器
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#define IFLTYOP_ZTICKET_TIMER TIM11 // 系统ticket定时器
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#define IFLYTOP_ENABLE_OS 1
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#define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
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#define MODULE_ID (3)
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#define BOARD_ID (3)
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/****************************************FLASH***************************************/
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#define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8
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/*********************************************************************************/
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// MOTOR1
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#define TMC_MOTOR1_CHANNEL 1
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#define TMC_MOTOR1_SPI_SELECT1_IO PA4
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#define TMC_MOTOR1_nFREEZE_IO PC2
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#define TMC_MOTOR1_nRESET_IO PB3
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#define TMC_MOTOR1_SUB_IC_ENN_IO PC3
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#define TMC_MOTOR1_ENN_IO // unused
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// MOTOR2
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#define TMC_MOTOR2_CHANNEL 2
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#define TMC_MOTOR2_SPI_SELECT1_IO PA8
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#define TMC_MOTOR2_nFREEZE_IO PC6
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#define TMC_MOTOR2_nRESET_IO PB2
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#define TMC_MOTOR2_SUB_IC_ENN_IO PC7
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#define TMC_MOTOR2_ENN_IO // unused
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#define ARM_SENSOR1_GPIO PD0
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#define ARM_SENSOR2_GPIO PD1
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#define ARM_SENSOR3_GPIO PD2
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#define ARM_SENSOR4_GPIO PD3
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#define ARM_SENSOR5_GPIO PD4
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#define ARM_SENSOR6_GPIO PD5
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#define ARM_SENSOR7_GPIO PD6
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#define ARM_SENSOR8_GPIO PD7
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