Pimpest
a4691caeed
* Added primary stepper motor driver code to repo * Added odometery encoder code to repo * Added the ability to update encoder wheel ratio via ros service Co-authored-by: Pimpest <82343504+Pimpest@users.noreply.github.com> Co-committed-by: Pimpest <82343504+Pimpest@users.noreply.github.com>
48 lines
1.0 KiB
C
48 lines
1.0 KiB
C
#pragma once
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#ifdef PICO_STDIO_USB_RESET_INTERFACE_SUPPORT_MS_OS_20_DESCRIPTOR
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#undef PICO_STDIO_USB_RESET_INTERFACE_SUPPORT_MS_OS_20_DESCRIPTOR
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#endif
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#define CFG_TUSB_RHPORT0_MODE (OPT_MODE_DEVICE | OPT_MODE_FULL_SPEED)
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#ifndef BOARD_TUD_RHPORT
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#define BOARD_TUD_RHPORT 0
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#endif
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#ifndef BOARD_TUD_MAX_SPEED
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#define BOARD_TUD_MAX_SPEED OPT_MODE_DEFAULT_SPEED
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#endif
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#ifndef CFG_TUSB_MCU
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#error CFG_TUSB_MCU must be defined
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#endif
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#ifndef CFG_TUSB_OS
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#define CFG_TUSB_OS OPT_OS_NONE
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#endif
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#ifndef CFG_TUD_ENABLED
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#define CFG_TUD_ENABLED 1
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#endif
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#ifndef CFG_TUD_MAX_SPEED
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#define CFG_TUD_MAX_SPEED BOARD_TUD_MAX_SPEED
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#endif
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#ifndef CFG_TUD_ENDPOINT0_SIZE
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#define CFG_TUD_ENDPOINT0_SIZE 64
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#endif
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#define CFG_TUD_CDC 2
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#define CFG_TUD_MSC 0
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#define CFG_TUD_HID 0
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#define CFG_TUD_MIDI 0
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#define CFG_TUD_VENDOR 0
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#define CFG_TUD_CDC_RX_BUFSIZE (TUD_OPT_HIGH_SPEED ? 512 : 64)
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#define CFG_TUD_CDC_TX_BUFSIZE (TUD_OPT_HIGH_SPEED ? 512 : 64)
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#define CFG_TUD_CDC_EP_BUFSIZE (TUD_OPT_HIGH_SPEED ? 512 : 64)
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#define CFG_TUD_MSC_EP_BUFSIZE 512
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