Add support for Nano pinmuxing

Author: facchinm

extras/D11-Firmware/Battery.cpp

@@ -1,8 +1,13 @@
 #include "Battery.h"
 #include "Events.h"
 #include "Wire.h"
+#include "config.h"
 
+#ifdef NANO_MOTOR_CARRIER
+#define SCALE_FACTOR  (236)
+#else
 #define SCALE_FACTOR  (77)
+#endif
 
 void Battery::readBattery() {
   index++;

extras/D11-Firmware/Common.h

@@ -41,12 +41,28 @@ enum IRQCause {
 #define LED_BUILTIN   3
 
 #define MOTOR_2_COUNTER   TC1
+#define MOTOR_1_COUNTER   TC2
+
+#include "config.h"
+#ifdef NANO_MOTOR_CARRIER
+#define MOTOR_2_PIN_A     5
+#define MOTOR_2_PIN_B     4
+#define MOTOR_1_PIN_A     6
+#define MOTOR_1_PIN_B     7
+#define ENCODER_1_PIN_A   8
+#define ENCODER_1_PIN_B   9
+#define ENCODER_2_PIN_A   11
+#define ENCODER_2_PIN_B   10
+#else
 #define MOTOR_2_PIN_A     4
 #define MOTOR_2_PIN_B     5
-
-#define MOTOR_1_COUNTER   TC2
 #define MOTOR_1_PIN_A     7
 #define MOTOR_1_PIN_B     6
+#define ENCODER_1_PIN_A   9
+#define ENCODER_1_PIN_B   8
+#define ENCODER_2_PIN_A   10
+#define ENCODER_2_PIN_B   11
+#endif
 
 #define PWM_PIN_SERVO_COUNTER   TCC0
 
@@ -55,9 +71,4 @@ enum IRQCause {
 #define PWM_PIN_SERVO_3   16
 #define PWM_PIN_SERVO_4   22
 
-#define ENCODER_1_PIN_A   9
-#define ENCODER_1_PIN_B   8
-#define ENCODER_2_PIN_A   10
-#define ENCODER_2_PIN_B   11
-
 void requestAttention(int cause);

extras/D11-Firmware/config.h

@@ -0,0 +1,3 @@
+// uncomment to compile for nano motor carrier
+
+// #define NANO_MOTOR_CARRIER

src/Common.h

@@ -53,10 +53,17 @@ enum IRQCause {
 #define I2C_ADDRESS   0x66
 #define IRQ_PIN       6
 
+#ifdef ARDUINO_SAMD_NANO_33_IOT
+#define MOTOR_3_PIN_A 2
+#define MOTOR_3_PIN_B 3
+#define MOTOR_4_PIN_A 5
+#define MOTOR_4_PIN_B 4
+#else
 #define MOTOR_3_PIN_A 3
 #define MOTOR_3_PIN_B 2
 #define MOTOR_4_PIN_A 4
 #define MOTOR_4_PIN_B 5
+#endif
 
 
 #ifdef ARDUINO_SAMD_NANO_33_IOT