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f3130a3a81
Add motor_driver driver configuration example. The most simple motor driver type is used here (MOTOR_DRIVER_1_DIR) which needs only one pin to work. This example uses already configured PWM channels and 2 free GPIOS. Signed-off-by: Gilles DOFFE <g.doffe@gmail.com>
101 lines
2.5 KiB
C
101 lines
2.5 KiB
C
/*
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* Copyright (C) 2016-2017 Freie Universität Berlin
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @defgroup boards_common_nucleo64 STM32 Nucleo-64
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* @ingroup boards
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* @brief Support for STM32 Nucleo-64 boards
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* @{
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*
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* @file
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* @brief Common pin definitions and board configuration options
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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* @author Sebastian Meiling <s@mlng.net>
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*/
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#ifndef BOARD_H
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#define BOARD_H
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#include "board_nucleo.h"
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#include "arduino_pinmap.h"
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#include "motor_driver.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @name LED pin definitions and handlers
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* @{
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*/
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#if defined(CPU_MODEL_STM32F302R8) || defined(CPU_MODEL_STM32L433RC)
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#define LED0_PORT GPIOB
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#define LED0_PIN GPIO_PIN(PORT_B, 13)
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#define LED0_MASK (1 << 13)
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#else
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#define LED0_PORT GPIOA
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#define LED0_PIN GPIO_PIN(PORT_A, 5)
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#define LED0_MASK (1 << 5)
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#endif
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#define LED0_ON (LED0_PORT->BSRR = LED0_MASK)
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#define LED0_OFF (LED0_PORT->BSRR = (LED0_MASK << 16))
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#define LED0_TOGGLE (LED0_PORT->ODR ^= LED0_MASK)
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/** @} */
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/**
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* @name User button
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* @{
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*/
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#define BTN0_PIN GPIO_PIN(PORT_C, 13)
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#ifdef CPU_MODEL_STM32L433RC
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#define BTN0_MODE GPIO_IN_PD
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#else
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#define BTN0_MODE GPIO_IN_PU
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#endif
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/** @} */
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/**
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* @name Describe DC motors with PWM channel and GPIOs
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* @{
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*/
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static const motor_driver_config_t motor_driver_config[] = {
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{
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.pwm_dev = 1,
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.mode = MOTOR_DRIVER_1_DIR,
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.mode_brake = MOTOR_BRAKE_HIGH,
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.pwm_mode = PWM_LEFT,
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.pwm_frequency = 20000U,
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.pwm_resolution = 2250U,
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.nb_motors = 1,
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.motors = {
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{
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.pwm_channel = 0,
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.gpio_enable = 0,
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.gpio_dir0 = ARDUINO_PIN_15,
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.gpio_dir1_or_brake = 0,
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.gpio_dir_reverse = 0,
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.gpio_enable_invert = 0,
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.gpio_brake_invert = 0,
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},
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},
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.cb = NULL,
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},
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};
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#define MOTOR_DRIVER_NUMOF (sizeof(motor_driver_config) / sizeof(motor_driver_config[0]))
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/** @} */
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#ifdef __cplusplus
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}
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#endif
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#endif /* BOARD_H */
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/** @} */
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