#pragma once #include // XRP default pin names #define MOTOR_L_IN_1 (6u) #define MOTOR_L_IN_2 (7u) #define MOTOR_R_IN_1 (14u) #define MOTOR_R_IN_2 (15u) #define MOTOR_3_IN_1 (2u) #define MOTOR_3_IN_2 (3u) #define MOTOR_4_IN_1 (10u) #define MOTOR_4_IN_2 (11u) #define MOTOR_L_ENCODER_A (4u) #define MOTOR_L_ENCODER_B (5u) #define MOTOR_R_ENCODER_A (12u) #define MOTOR_R_ENCODER_B (13u) #define MOTOR_3_ENCODER_A (0u) #define MOTOR_3_ENCODER_B (1u) #define MOTOR_4_ENCODER_A (8u) #define MOTOR_4_ENCODER_B (9u) #define SERVO_1 (16u) #define SERVO_2 (17u) #define I2C_SDA_1 (18u) #define I2C_SCL_1 (19u) #define DISTANCE_TRIGGER (20u) #define DISTANCE_ECHO (21u) #define LINE_L (26u) #define LINE_R (27u) #define BOARD_VIN_MEASURE (28u) #define BOARD_USER_BUTTON (22u) #define BOARD_LED (PIN_LED) // XRP alternate pin names #define ML_IN_1 (6u) #define ML_IN_2 (7u) #define MR_IN_1 (14u) #define MR_IN_2 (15u) #define M3_IN_1 (2u) #define M3_IN_2 (3u) #define M4_IN_1 (10u) #define M4_IN_2 (11u) #define ML_ENC_A (4u) #define ML_ENC_B (5u) #define MR_ENC_A (12u) #define MR_ENC_B (13u) #define M3_ENC_A (0u) #define M3_ENC_B (1u) #define M4_ENC_A (8u) #define M4_ENC_B (9u) #define S1 (16u) #define S2 (17u) #define SDA_1 (18u) #define SCL_1 (19u) #define RANGE_TRIGGER (20u) #define RANGE_ECHO (21u) #define REFLECTANCE_L (26u) #define REFLECTANCE_R (27u) #define BRD_VIN (28u) #define BRD_USR_BTN (22u) #define BRD_LED (PIN_LED) // LEDs #define PIN_LED (64u) // Serial #define PIN_SERIAL1_TX (31u) #define PIN_SERIAL1_RX (31u) #define PIN_SERIAL2_TX (31u) #define PIN_SERIAL2_RX (31u) // SPI #define PIN_SPI0_MISO (31u) #define PIN_SPI0_MOSI (31u) #define PIN_SPI0_SCK (31u) #define PIN_SPI0_SS (31u) #define PIN_SPI1_MISO (31u) #define PIN_SPI1_MOSI (31u) #define PIN_SPI1_SCK (31u) #define PIN_SPI1_SS (31u) // Wire #define PIN_WIRE0_SDA (18u) #define PIN_WIRE0_SCL (19u) #define PIN_WIRE1_SDA (31u) #define PIN_WIRE1_SCL (31u) // XRP Beta Controller uses I2C1 for Qwiic connector, make that the default #ifndef __WIRE0_DEVICE #define __WIRE0_DEVICE i2c1 #endif #ifndef __WIRE1_DEVICE #define __WIRE1_DEVICE i2c0 #endif #define SERIAL_HOWMANY (3u) #define SPI_HOWMANY (2u) #define WIRE_HOWMANY (2u) #include "../generic/common.h"