#pragma once
#include "stm32f1xx_hal.h"

#define R 0.27
#define P 15
#define PSI 0.02
#define V 23

#define MILLI_R (R * 1000)
#define MILLI_PSI (PSI * 1000)
#define MILLI_V (V * 1000)

#define PWM_FREQ         16000     // PWM frequency in Hz
#define DEAD_TIME        32        // PWM deadtime

//#define DC_CUR_LIMIT     34         // Motor DC current limit in amps
#define DC_CUR_LIMIT     35         // Motor DC current limit in amps

//#define DEBUG_SERIAL_SERVOTERM
#define DEBUG_SERIAL_ASCII
#define DEBUG_SERIAL_USART2
#define DEBUG_BAUD       115200    // UART baud rate
//#define DEBUG_I2C_LCD

//#define CONTROL_PPM                // use PPM CONTROL_PPM
#define PPM_NUM_CHANNELS 6         // number of PPM channels to receive

// #define CONTROL_ADC
#define CONTROL_NUNCHUCK

// #define BEEPS_BACKWARD