Setti inn allar skrár frá Project 3 og bætti við overlay í samræmi við controlloerinn og pin out.

2026-10-08 13:11:39 +00:00
parent 9194d71f10
commit 53091f68df
29 changed files with 1645 additions and 0 deletions
@@ -0,0 +1,49 @@
+#include <zephyr/dt-bindings/gpio/gpio.h>
+#include <zephyr/dt-bindings/pwm/pwm.h>
+
+/ {
+    aliases {
+        encoder-c1 = &encoder_c1;
+        encoder-c2 = &encoder_c2;
+
+        motor-bin1-pwm = &motor_bin1_pwm;
+        motor-bin2 = &motor_bin2;
+        motor-flt = &motor_flt;
+        motor-slp = &motor_slp;
+    };
+
+    encoder_c1: encoder_c1 {
+        gpios = <&gpiob 7 GPIO_ACTIVE_HIGH>; /* D4, PB7 */
+    };
+
+    encoder_c2: encoder_c2 {
+        gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>; /* D5, PB6 */
+    };
+
+    motor_bin1_pwm: motor_bin1_pwm {
+        pwms = <&pwm1 1 PWM_USEC(50) 0>; /* D9, PA8; 20 kHz */
+    };
+
+    motor_bin2: motor_bin2 {
+        gpios = <&gpiob 1 GPIO_ACTIVE_HIGH>; /* D6, PB1 */
+    };
+
+    motor_flt: motor_flt {
+        gpios = <&gpioa 0 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; /* A0, PA0 */
+    };
+
+    motor_slp: motor_slp {
+        gpios = <&gpioa 1 GPIO_ACTIVE_HIGH>; /* A1, PA1 */
+    };
+};
+
+&timers1 {
+    status = "okay";
+    st,prescaler = <79>;
+
+    pwm1: pwm {
+        status = "okay";
+        pinctrl-0 = <&tim1_ch1_pa8>;
+        pinctrl-names = "default";
+    };
+};