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Heljarinnar breytingar til þess að laga nokkra hluti í part 1.

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helgie22
2026-10-15 12:15:50 +00:00
parent 782feb2d04
commit 6d384265eb
32 changed files with 188 additions and 696 deletions
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zephyr/boards/nucleo_l432kc.overlay
+19 -8
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@@ -1,5 +1,6 @@
#include <zephyr/dt-bindings/gpio/gpio.h>
#include <zephyr/dt-bindings/pwm/pwm.h>
#include <zephyr/dt-bindings/pwm/stm32_pwm.h>
/ {
aliases {
@@ -7,9 +8,10 @@
encoder-c2 = &encoder_c2;
motor-bin1-pwm = &motor_bin1_pwm;
motor-bin2 = &motor_bin2;
motor-bin2-pwm = &motor_bin2_pwm;
motor-flt = &motor_flt;
motor-slp = &motor_slp;
fault-test-button = &fault_test_button;
};
buttons {
@@ -29,16 +31,16 @@
gpios = <&gpioa 0 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; /* A0, PA0 */
label = "Motor fault";
};
fault_test_button: fault_test_button {
gpios = <&gpiob 0 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; /* D3, PB0 */
label = "Fault test button";
};
};
motor_gpio_outputs {
compatible = "gpio-leds";
motor_bin2: motor_bin2 {
gpios = <&gpiob 1 GPIO_ACTIVE_HIGH>; /* D6, PB1 */
label = "Motor BIN2";
};
motor_slp: motor_slp {
gpios = <&gpioa 1 GPIO_ACTIVE_HIGH>; /* A1, PA1 */
label = "Motor sleep";
@@ -52,16 +54,25 @@
pwms = <&pwm1 1 PWM_USEC(50) 0>; /* D9, PA8; 20 kHz */
label = "Motor BIN1 PWM";
};
/* PB1 has no regular TIM1 channel, only the complementary output
* TIM1_CH3N. With CH3 itself disabled, CH3N outputs the
* non-inverted CH3 reference, so it behaves like a normal channel. */
motor_bin2_pwm: motor_bin2_pwm {
pwms = <&pwm1 3 PWM_USEC(50) (PWM_POLARITY_NORMAL | STM32_PWM_COMPLEMENTARY)>; /* D6, PB1; 20 kHz */
label = "Motor BIN2 PWM";
};
};
};
&timers1 {
status = "okay";
st,prescaler = <79>;
/* No prescaler: 80 MHz timer clock, so a 50 us period is 4000 counts. */
st,prescaler = <0>;
pwm1: pwm {
status = "okay";
pinctrl-0 = <&tim1_ch1_pa8>;
pinctrl-0 = <&tim1_ch1_pa8 &tim1_ch3n_pb1>;
pinctrl-names = "default";
};
};