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#pragma once
#define VERSION "v1.0.0"
#define MANUFACTURER "http://www.iflytop.com/"
#define PROJECT_NAME "filarobot_arm"
#define DEBUG_UART huart1
#define DEBUG_LIGHT_GPIO PE2
#define DELAY_US_TIMER htim6 // US��ʱ��ʱ��
#define TIM_IRQ_SCHEDULER_TIMER htim7 // �ж϶�ʱ���жϵ�����
#define IFLTYOP_ZTICKET_TIMER TIM11 // ϵͳticket��ʱ��
#define IFLYTOP_ENABLE_OS 1
#define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
#define DEVICE_ID (2)
/*********************************************************************************/
// 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
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