#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";
    };
};