You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
34 lines
1.0 KiB
34 lines
1.0 KiB
#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
|