omnitiles/hw/
pins_f767zi.rs

1// SPDX-License-Identifier: MIT
2// © 2025–2026 Christopher Liu
3
4//! Pin definitions for STM32F767ZI devboard.
5
6use stm32f7xx_hal::{
7    gpio::{
8        gpioa, gpiob, gpioc, gpiod, Alternate, Analog, Floating, Input, OpenDrain, Output, PushPull,
9    },
10    pac,
11    prelude::*,
12};
13#[cfg(feature = "mobile-base")]
14use stm32f7xx_hal::gpio::gpioe;
15
16pub struct BoardPins {
17    pub leds: Leds,
18    pub usart3: Usart3Pins,
19    pub spi1: Spi1Pins,
20    pub m1: Motor1Pins,
21    pub m2: Motor2Pins,
22    pub i2c1: I2c1Pins,
23    #[cfg(feature = "mobile-base")]
24    pub wheels: WheelPins,
25}
26
27pub struct Leds {
28    pub green: gpiob::PB0<Output<PushPull>>, // LD1
29    pub blue: gpiob::PB7<Output<PushPull>>,  // LD3
30    pub red: gpiob::PB14<Output<PushPull>>,  // LD2
31}
32
33pub struct Usart3Pins {
34    pub tx: gpiod::PD8<Alternate<7>>,
35    pub rx: gpiod::PD9<Alternate<7>>,
36}
37
38pub struct Spi1Pins {
39    pub sck: gpioa::PA5<Alternate<5>>,
40    pub miso: gpioa::PA6<Alternate<5>>,
41    pub mosi: gpioa::PA7<Alternate<5>>,
42    pub cs: gpioc::PC3<Output<PushPull>>,
43    pub drdy: gpioa::PA3<Input<Floating>>,
44}
45
46pub struct Motor1Pins {
47    pub in1: gpioc::PC6<Alternate<2>>, // TIM3_CH1 (PWM)
48    pub in2: gpioc::PC7<Alternate<2>>, // TIM3_CH2 (PWM)
49    pub cs: gpiod::PD0<Output<PushPull>>,
50    pub nsleep: gpiod::PD1<Output<PushPull>>,
51    pub disable: gpiod::PD2<Output<PushPull>>,
52    pub adc: gpiob::PB1<Analog>,
53}
54
55pub struct I2c1Pins {
56    pub scl: gpiob::PB8<Alternate<4, OpenDrain>>,
57    pub sda: gpiob::PB9<Alternate<4, OpenDrain>>,
58}
59
60pub struct Motor2Pins {
61    pub in1: gpioc::PC8<Alternate<2>>, // TIM3_CH3 (PWM)
62    pub in2: gpioc::PC9<Alternate<2>>, // TIM3_CH4 (PWM)
63    pub cs: gpiod::PD3<Output<PushPull>>,
64    pub nsleep: gpiod::PD4<Output<PushPull>>,
65    pub disable: gpiod::PD5<Output<PushPull>>,
66    pub adc: gpioc::PC2<Analog>,
67}
68
69#[cfg(feature = "mobile-base")]
70pub struct WheelPins {
71    pub fl_pwm: gpiod::PD12<Alternate<2>>, // TIM4_CH1
72    pub fl_in1: gpiod::PD6<Output<PushPull>>,
73    pub fl_in2: gpiod::PD7<Output<PushPull>>,
74    pub fr_pwm: gpiod::PD13<Alternate<2>>, // TIM4_CH2
75    pub fr_in1: gpiod::PD11<Output<PushPull>>,
76    pub fr_in2: gpioe::PE2<Output<PushPull>>,
77    pub bl_pwm: gpiod::PD14<Alternate<2>>, // TIM4_CH3
78    pub bl_in1: gpioa::PA1<Output<PushPull>>,
79    pub bl_in2: gpioa::PA2<Output<PushPull>>,
80    pub br_pwm: gpiod::PD15<Alternate<2>>, // TIM4_CH4
81    pub br_in1: gpioa::PA4<Output<PushPull>>,
82    pub br_in2: gpioa::PA8<Output<PushPull>>,
83}
84
85impl BoardPins {
86    pub fn new(
87        gpioa: pac::GPIOA,
88        gpiob: pac::GPIOB,
89        gpioc: pac::GPIOC,
90        gpiod: pac::GPIOD,
91        #[cfg(feature = "mobile-base")] gpioe: pac::GPIOE,
92    ) -> Self {
93        let gpioa = gpioa.split();
94        let gpiob = gpiob.split();
95        let gpioc = gpioc.split();
96        let gpiod = gpiod.split();
97        #[cfg(feature = "mobile-base")]
98        let gpioe = gpioe.split();
99
100        Self {
101            leds: Leds {
102                green: gpiob.pb0.into_push_pull_output(),
103                blue: gpiob.pb7.into_push_pull_output(),
104                red: gpiob.pb14.into_push_pull_output(),
105            },
106
107            usart3: Usart3Pins {
108                tx: gpiod.pd8.into_alternate::<7>(),
109                rx: gpiod.pd9.into_alternate::<7>(),
110            },
111
112            spi1: Spi1Pins {
113                sck: gpioa.pa5.into_alternate::<5>(),
114                miso: gpioa.pa6.into_alternate::<5>(),
115                mosi: gpioa.pa7.into_alternate::<5>(),
116                cs: gpioc.pc3.into_push_pull_output(),
117                drdy: gpioa.pa3.into_floating_input(),
118            },
119
120            m1: Motor1Pins {
121                in1: gpioc.pc6.into_alternate::<2>(),
122                in2: gpioc.pc7.into_alternate::<2>(),
123                cs: gpiod.pd0.into_push_pull_output(),
124                nsleep: gpiod.pd1.into_push_pull_output(),
125                disable: gpiod.pd2.into_push_pull_output(),
126                adc: gpiob.pb1.into_analog(),
127            },
128
129            m2: Motor2Pins {
130                in1: gpioc.pc8.into_alternate::<2>(),
131                in2: gpioc.pc9.into_alternate::<2>(),
132                cs: gpiod.pd3.into_push_pull_output(),
133                nsleep: gpiod.pd4.into_push_pull_output(),
134                disable: gpiod.pd5.into_push_pull_output(),
135                adc: gpioc.pc2.into_analog(),
136            },
137
138            i2c1: I2c1Pins {
139                scl: gpiob.pb8.into_alternate_open_drain::<4>(),
140                sda: gpiob.pb9.into_alternate_open_drain::<4>(),
141            },
142
143            #[cfg(feature = "mobile-base")]
144            wheels: WheelPins {
145                fl_pwm: gpiod.pd12.into_alternate::<2>(),
146                fl_in1: gpiod.pd6.into_push_pull_output(),
147                fl_in2: gpiod.pd7.into_push_pull_output(),
148                fr_pwm: gpiod.pd13.into_alternate::<2>(),
149                fr_in1: gpiod.pd11.into_push_pull_output(),
150                fr_in2: gpioe.pe2.into_push_pull_output(),
151                bl_pwm: gpiod.pd14.into_alternate::<2>(),
152                bl_in1: gpioa.pa1.into_push_pull_output(),
153                bl_in2: gpioa.pa2.into_push_pull_output(),
154                br_pwm: gpiod.pd15.into_alternate::<2>(),
155                br_in1: gpioa.pa4.into_push_pull_output(),
156                br_in2: gpioa.pa8.into_push_pull_output(),
157            },
158        }
159    }
160}
omnitiles/hw/pins_f767zi.rs

omnitiles/hw/
pins_f767zi.rs
