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
14pub struct BoardPins {
15    pub leds: Leds,
16    pub usart3: Usart3Pins,
17    pub spi1: Spi1Pins,
18    pub m1: Motor1Pins,
19    pub m2: Motor2Pins,
20    pub i2c1: I2c1Pins,
21}
22
23pub struct Leds {
24    pub green: gpiob::PB0<Output<PushPull>>, // LD1
25    pub blue: gpiob::PB7<Output<PushPull>>,  // LD3
26    pub red: gpiob::PB14<Output<PushPull>>,  // LD2
27}
28
29pub struct Usart3Pins {
30    pub tx: gpiod::PD8<Alternate<7>>,
31    pub rx: gpiod::PD9<Alternate<7>>,
32}
33
34pub struct Spi1Pins {
35    pub sck: gpioa::PA5<Alternate<5>>,
36    pub miso: gpioa::PA6<Alternate<5>>,
37    pub mosi: gpioa::PA7<Alternate<5>>,
38    pub cs: gpioc::PC3<Output<PushPull>>,
39    pub drdy: gpioa::PA3<Input<Floating>>,
40}
41
42pub struct Motor1Pins {
43    pub in1: gpioc::PC6<Alternate<2>>, // TIM3_CH1 (PWM)
44    pub in2: gpioc::PC7<Alternate<2>>, // TIM3_CH2 (PWM)
45    pub cs: gpiod::PD0<Output<PushPull>>,
46    pub nsleep: gpiod::PD1<Output<PushPull>>,
47    pub disable: gpiod::PD2<Output<PushPull>>,
48    pub adc: gpiob::PB1<Analog>,
49}
50
51pub struct I2c1Pins {
52    pub scl: gpiob::PB8<Alternate<4, OpenDrain>>,
53    pub sda: gpiob::PB9<Alternate<4, OpenDrain>>,
54}
55
56pub struct Motor2Pins {
57    pub in1: gpioc::PC8<Alternate<2>>, // TIM3_CH3 (PWM)
58    pub in2: gpioc::PC9<Alternate<2>>, // TIM3_CH4 (PWM)
59    pub cs: gpiod::PD3<Output<PushPull>>,
60    pub nsleep: gpiod::PD4<Output<PushPull>>,
61    pub disable: gpiod::PD5<Output<PushPull>>,
62    pub adc: gpioc::PC2<Analog>,
63}
64
65impl BoardPins {
66    pub fn new(gpioa: pac::GPIOA, gpiob: pac::GPIOB, gpioc: pac::GPIOC, gpiod: pac::GPIOD) -> Self {
67        let gpioa = gpioa.split();
68        let gpiob = gpiob.split();
69        let gpioc = gpioc.split();
70        let gpiod = gpiod.split();
71
72        Self {
73            leds: Leds {
74                green: gpiob.pb0.into_push_pull_output(),
75                blue: gpiob.pb7.into_push_pull_output(),
76                red: gpiob.pb14.into_push_pull_output(),
77            },
78
79            usart3: Usart3Pins {
80                tx: gpiod.pd8.into_alternate::<7>(),
81                rx: gpiod.pd9.into_alternate::<7>(),
82            },
83
84            spi1: Spi1Pins {
85                sck: gpioa.pa5.into_alternate::<5>(),
86                miso: gpioa.pa6.into_alternate::<5>(),
87                mosi: gpioa.pa7.into_alternate::<5>(),
88                cs: gpioc.pc3.into_push_pull_output(),
89                drdy: gpioa.pa3.into_floating_input(),
90            },
91
92            m1: Motor1Pins {
93                in1: gpioc.pc6.into_alternate::<2>(),
94                in2: gpioc.pc7.into_alternate::<2>(),
95                cs: gpiod.pd0.into_push_pull_output(),
96                nsleep: gpiod.pd1.into_push_pull_output(),
97                disable: gpiod.pd2.into_push_pull_output(),
98                adc: gpiob.pb1.into_analog(),
99            },
100
101            m2: Motor2Pins {
102                in1: gpioc.pc8.into_alternate::<2>(),
103                in2: gpioc.pc9.into_alternate::<2>(),
104                cs: gpiod.pd3.into_push_pull_output(),
105                nsleep: gpiod.pd4.into_push_pull_output(),
106                disable: gpiod.pd5.into_push_pull_output(),
107                adc: gpioc.pc2.into_analog(),
108            },
109
110            i2c1: I2c1Pins {
111                scl: gpiob.pb8.into_alternate_open_drain::<4>(),
112                sda: gpiob.pb9.into_alternate_open_drain::<4>(),
113            },
114        }
115    }
116}
omnitiles/hw/pins_f767zi.rs

omnitiles/hw/
pins_f767zi.rs
