#include <zephyr/dt-bindings/gpio/gpio.h>
#include <zephyr/dt-bindings/pwm/pwm.h>
#include <zephyr/dt-bindings/pwm/stm32_pwm.h>

/ {
    aliases {
        encoder-c1 = &encoder_c1;
        encoder-c2 = &encoder_c2;

        motor-bin1-pwm = &motor_bin1_pwm;
        motor-bin2-pwm = &motor_bin2_pwm;
        motor-flt = &motor_flt;
        motor-slp = &motor_slp;
        fault-test-button = &fault_test_button;
    };

    buttons {
        compatible = "gpio-keys";

        encoder_c1: encoder_c1 {
            gpios = <&gpiob 7 GPIO_ACTIVE_HIGH>; /* D4, PB7 */
            label = "Encoder C1";
        };

        encoder_c2: encoder_c2 {
            gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>; /* D5, PB6 */
            label = "Encoder C2";
        };

        motor_flt: motor_flt {
            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_slp: motor_slp {
            gpios = <&gpioa 1 GPIO_ACTIVE_HIGH>; /* A1, PA1 */
            label = "Motor sleep";
        };
    };

    motor_pwm_outputs {
        compatible = "pwm-leds";

        motor_bin1_pwm: motor_bin1_pwm {
            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";
    /* 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 &tim1_ch3n_pb1>;
        pinctrl-names = "default";
    };
};

/* CAN1 to the transceiver: RX on D10 (PA11), TX on D2 (PA12).
 * The bitrate is set in the code with can_set_bitrate(). */
&can1 {
    pinctrl-0 = <&can1_rx_pa11 &can1_tx_pa12>;
    pinctrl-names = "default";
    status = "okay";
};