Pinout of LEG1 and LEG2 on board ?

[stemartin31]

Is it possible to know where pinouts of OwnTech board is defined for LEG1 and LEG2 ?

[luizvilla]

Yes @stemartin31.
In our code, we use the pinout as referenced by the TWIST board.

This means LEG1 and LEG2 are linked to PWMA and PWMC respectively.

To find this out, activate advanced mode :

Go to

zephyr/boards/shields/twist/twist_v_1_4_2.overlay

There you will find the .overlay of the TWIST board.

	powershield: power-shield{
        compatible = "power-leg";
        default-frequency = <200000>;
        min-frequency = <50000>;
        leg1: leg1{
            leg-name = "LEG1";
            
            pwms = <&pwma 1 0>, <&pwma 2 0>;
            pwm-pin-num = <12 14>;
            
            capa-pin-num = <7>;
            driver-pin-num = <19>;
            current-pin-num = <30>;
            default-adc = "ADC_1";
            default-adc-decim = <1>;
            default-edge-trigger = "EdgeTrigger_up";
            default-dead-time = <100 100>;
            default-modulation = "UpDwn";
            default-phase-shift = <0>;
			status = "okay";
        };

        leg2: leg2{
            leg-name = "LEG2";

            pwms = <&pwmc 1 0>, <&pwmc 2 0>;
            pwm-pin-num = <2 4>;
            
            capa-pin-num = <56>;
            driver-pin-num = <22>;
            current-pin-num = <25>;
            default-adc = "ADC_2";
            default-adc-decim = <1>;
            default-edge-trigger = "EdgeTrigger_up";
            default-dead-time = <100 100>;
            default-modulation = "UpDwn";
            default-phase-shift = <0>;
			status = "okay";
        };
    };

The pins correspond to the pin number of the SPIN Board:

[stemartin31]

La procédure fonctionne à partir d'un exemple provenant du "Core", car tous les fichiers sont présents dans le dossier d'origine (notamment platformio.ini). Par contre, dans le dépôt Git du projet "test_bench_code", les dossiers /src, /zephyr et platformio.ini sont absents.

[stemartin31]

Could we modify the .overlay file to change the pinout directly or in another file in VS code ? For example if pins are out of order ?