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#pragma once
#define VERSION "v2.0"
// 设备ID
#define DEVICE_ID (128 + 3)
// 调试串口
#define DEBUG_UART huart1
// 调试指示灯
#define DEBUG_LIGHT_GPIO PE2
// 微秒延迟定时器，注意该延时定时器需要按照以下文档进行配置
// http://192.168.1.3:3000/zwikipedia/iflytop_wikipedia/src/branch/master/doc/stm32cubemx_us_timer.md
#define DELAY_US_TIMER htim6
// 电机通道编号
#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
/*******************************************************************************
* MotorConfig * *******************************************************************************/
#define MOTOR_REDUCTION_RATIO1 50
#define MOTOR_REDUCTION_RATIO2 50
#define SCARA_L2 (2385) // 0.1mm
#define SCARA_L1 (2150) // 0.1mm
/*******************************************************************************
* REG LIST * *******************************************************************************/// https://iflytop1.feishu.cn/docx/ZBsddjrL1oHAiYx8DdmcccEBnPf
#define DEVICE_BASIC_CTRL_ADD_BASE 0
#define GPIO_INPUT_ADD_BASE 1000 // GPIO输入
#define REG_MOTOR1_CTRL_ADD_BASE 10000 // 机械臂电机1控制基地址
#define REG_MOTOR2_CTRL_ADD_BASE 10100 // 机械臂电机2控制基地址
#define REG_SCARA_CTRL_ADD_BASE 11200 // 机械臂控制基地址
#define REG_BARCODE_CTRL_ADD_BASE 20000 // 扫码器控制基地址
#define REG_GPIO_INPUT0 (GPIO_INPUT_ADD_BASE + 0)
#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 CODE_SCANER_UART huart3
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