Code for the motor controller
This is basically what we used in Detroit.
Change-Id: If2820d7ec5fcbc5f33b4082025027a6e969ad0e1
diff --git a/motors/peripheral/configuration.h b/motors/peripheral/configuration.h
new file mode 100644
index 0000000..3fa686a
--- /dev/null
+++ b/motors/peripheral/configuration.h
@@ -0,0 +1,24 @@
+#ifndef MOTORS_PERIPHERAL_CONFIGURATION_H_
+#define MOTORS_PERIPHERAL_CONFIGURATION_H_
+
+// We're just going to leave the default DMA priorities which correspond to the
+// channel numbers and fixed priority mode, so channel 0 is the lowest priority
+// and 15 is the highest.
+// We're also going to leave DMA_CR alone except for setting EMLM.
+
+// The frequency of the peripheral bus(es) in hz.
+#define BUS_CLOCK_FREQUENCY (F_CPU / 2)
+
+// The frequency we switch the motor FETs at in hz.
+#define SWITCHING_FREQUENCY 20000
+
+#if 0
+// Which PDB the ADC triggering uses.
+#define ADC_TRIGGER_PDB 0
+// The DMA channel which copies ADC results.
+#define ADC_RESULT_DMA_CHANNEL 7
+// The DMA channel which reconfigures the ADCs to take the next samples.
+#define ADC_RECONFIGURE_DMA_CHANNEL 8
+#endif
+
+#endif // MOTORS_PERIPHERAL_CONFIGURATION_H_