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boards/crazyflie21: migrate to motor_driver_params.h
Migrate motor driver configuration from inline definition in board.h to the new board-specific motor_driver_params.h header file. The old approach defined motor_driver_config[] directly in board.h and unconditionally included motor_driver.h, causing compilation failures for applications that do not use the motor_driver module. This allows the motor driver header to be included only when the module is actually used, while board-specific parameters take precedence over driver defaults due to include path ordering. Configuration migrated: - Driver 0: PWM device 1, 3 motors (channels 1, 3, 0) - Driver 1: PWM device 2, 1 motor (channel 0) - Mode: MOTOR_DRIVER_1_DIR with inverted brake for both drivers Signed-off-by: Gilles DOFFE <[email protected]>
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‎boards/bitcraze-crazyflie21-main/include/board.h‎

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*/
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#include "cpu.h"
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#include "motor_driver.h"
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#ifdef __cplusplus
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extern "C" {
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#define LED4_PORT_NUM PORT_C
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/** @} */
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/**
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* @name Describe DC motors with PWM channel and GPIOs
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* @{
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*/
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/** Motor driver config. Two driver with three and one motor attached respectively */
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static const motor_driver_config_t motor_driver_config[] = {
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{
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.pwm_dev = 1,
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.mode = MOTOR_DRIVER_1_DIR,
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.mode_brake = MOTOR_BRAKE_HIGH,
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.pwm_mode = PWM_LEFT,
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.pwm_frequency = 20000U,
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.pwm_resolution = 4200U,
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.nb_motors = 3,
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.motors = {
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{
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.pwm_channel = 1,
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.gpio_enable = 0,
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.gpio_dir0 = 0,
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.gpio_dir1_or_brake = 0,
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.gpio_dir_reverse = 0,
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.gpio_enable_invert = 0,
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.gpio_brake_invert = 0,
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},
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{
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.pwm_channel = 3,
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.gpio_enable = 0,
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.gpio_dir0 = 0,
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.gpio_dir1_or_brake = 0,
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.gpio_dir_reverse = 0,
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.gpio_enable_invert = 0,
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.gpio_brake_invert = 0,
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},
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{
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.pwm_channel = 0,
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.gpio_enable = 0,
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.gpio_dir0 = 0,
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.gpio_dir1_or_brake = 0,
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.gpio_dir_reverse = 0,
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.gpio_enable_invert = 0,
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.gpio_brake_invert = 0,
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},
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},
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.cb = NULL,
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},
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{
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.pwm_dev = 2,
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.mode = MOTOR_DRIVER_1_DIR,
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.mode_brake = MOTOR_BRAKE_HIGH,
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.pwm_mode = PWM_LEFT,
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.pwm_frequency = 20000U,
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.pwm_resolution = 4200U,
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.nb_motors = 1,
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.motors = {
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{
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.pwm_channel = 0,
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.gpio_enable = 0,
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.gpio_dir0 = 0,
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.gpio_dir1_or_brake = 0,
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.gpio_dir_reverse = 0,
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.gpio_enable_invert = 0,
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.gpio_brake_invert = 0,
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},
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},
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.cb = NULL,
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}
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};
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/** Number of motor drivers */
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#define MOTOR_DRIVER_NUMOF ARRAY_SIZE(motor_driver_config)
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/** @} */
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#ifdef __cplusplus
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}
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#endif

‎boards/bitcraze-crazyflie21-main/include/motor_driver_params.h‎

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/*
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* SPDX-FileCopyrightText: 2025 COGIP Robotics association
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* SPDX-License-Identifier: LGPL-2.1-only
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*/
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#pragma once
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/**
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* @ingroup boards_bitcraze_crazyflie21_main
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* @{
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*
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* @file
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* @brief Configuration for motor driver on Crazyflie 2.1
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*
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* @author Gilles DOFFE <[email protected]>
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*/
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#include "board.h"
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#include "motor_driver.h"
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#include "saul_reg.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @name Motor driver configuration for Crazyflie 2.1
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* @{
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*/
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/**
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* @brief Motor driver 0 parameters (3 motors on PWM device 1)
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*/
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#define MOTOR_DRIVER_0_PARAMS \
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{ \
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.mode = MOTOR_DRIVER_1_DIR, \
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.pwm_dev = 1, \
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.pwm_mode = PWM_LEFT, \
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.pwm_frequency = 20000U, \
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.pwm_resolution = 4200U, \
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.brake_inverted = true, \
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.enable_inverted = false, \
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.nb_motors = 3, \
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.motors = { \
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{ \
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.pwm_channel = 1, \
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.gpio_enable = GPIO_UNDEF, \
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.gpio_dir0 = GPIO_UNDEF, \
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.gpio_dir1 = GPIO_UNDEF, \
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.gpio_dir_reverse = GPIO_UNDEF, \
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}, \
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{ \
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.pwm_channel = 3, \
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.gpio_enable = GPIO_UNDEF, \
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.gpio_dir0 = GPIO_UNDEF, \
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.gpio_dir1 = GPIO_UNDEF, \
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.gpio_dir_reverse = GPIO_UNDEF, \
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}, \
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{ \
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.pwm_channel = 0, \
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.gpio_enable = GPIO_UNDEF, \
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.gpio_dir0 = GPIO_UNDEF, \
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.gpio_dir1 = GPIO_UNDEF, \
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.gpio_dir_reverse = GPIO_UNDEF, \
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} \
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}, \
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.motor_set_post_cb = NULL \
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}
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/**
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* @brief Motor driver 1 parameters (1 motor on PWM device 2)
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*/
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#define MOTOR_DRIVER_1_PARAMS \
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{ \
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.mode = MOTOR_DRIVER_1_DIR, \
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.pwm_dev = 2, \
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.pwm_mode = PWM_LEFT, \
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.pwm_frequency = 20000U, \
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.pwm_resolution = 4200U, \
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.brake_inverted = true, \
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.enable_inverted = false, \
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.nb_motors = 1, \
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.motors = { \
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{ \
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.pwm_channel = 0, \
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.gpio_enable = GPIO_UNDEF, \
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.gpio_dir0 = GPIO_UNDEF, \
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.gpio_dir1 = GPIO_UNDEF, \
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.gpio_dir_reverse = GPIO_UNDEF, \
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} \
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}, \
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.motor_set_post_cb = NULL \
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}
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#ifndef MOTOR_DRIVER_PARAMS
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/**
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* @brief Motor driver configuration array
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*/
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# define MOTOR_DRIVER_PARAMS \
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MOTOR_DRIVER_0_PARAMS, \
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MOTOR_DRIVER_1_PARAMS
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#endif
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#ifndef MOTOR_DRIVER_SAUL_INFO
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/**
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* @brief SAUL registry information for motor drivers
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*/
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# define MOTOR_DRIVER_SAUL_INFO \
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{ .name = "motor_driver_0" }, \
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{ .name = "motor_driver_1" }
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#endif
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/**@}*/
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/**
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* @brief MOTOR_DRIVER configuration
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*/
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static const motor_driver_params_t motor_driver_params[] =
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{
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MOTOR_DRIVER_PARAMS,
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};
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/**
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* @brief Additional meta information to keep in the SAUL registry
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*/
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static const saul_reg_info_t motor_driver_saul_info[] =
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{
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MOTOR_DRIVER_SAUL_INFO
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};
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#ifdef __cplusplus
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}
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#endif
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/** @} */

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