#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 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