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132 lines
2.5 KiB
132 lines
2.5 KiB
#pragma once
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#include "can_control/can_controller.h"
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#include "LED/pump_controller.h"
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#include "LED/air_valve.h"
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#include "LED/three_way_valve.h"
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#include "LED/high_voltage_pack.h"
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#include "LED/laser_control.h"
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#include "zgpio.hpp"
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#include "appcfg.h"
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#include "stm32components.hpp"
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#include "uart_control/uart_control.h"
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namespace iflytop {
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class ID {
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public:
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ZGPIO ID0;
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ZGPIO ID1;
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ZGPIO ID2;
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ZGPIO ID3;
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ZGPIO ID4;
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};
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class AppHardware {
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private:
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/* data */
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public:
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ZGPIO MOTO_POWER_EN;
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ZGPIO MOTO1_CSN;
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ZGPIO MOTO2_CSN;
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ZGPIO MOTO3_CSN;
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ZGPIO MOTO4_CSN;
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ZGPIO MOTO1_DRV_ENN;
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ZGPIO MOTO2_DRV_ENN;
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ZGPIO MOTO3_DRV_ENN;
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ZGPIO MOTO4_DRV_ENN;
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ZGPIO MOTOR1_REF_L;
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ZGPIO MOTOR1_REF_R;
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ZGPIO MOTOR2_REF_L;
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ZGPIO MOTOR2_REF_R;
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ZGPIO MOTOR3_REF_L;
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ZGPIO MOTOR3_REF_R;
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ZGPIO MOTOR4_REF_L;
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ZGPIO MOTOR4_REF_R;
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TMC51X0 MOTO1;
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TMC51X0 MOTO2;
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TMC51X0 MOTO3;
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// TMC51X0 MOTO4;
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ID id;
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ZGPIO IO_OUT1;
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ZGPIO IO_OUT2;
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ZGPIO BLE_CONNECTED_STATE;
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UART_HandleTypeDef* tjcUart;
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ZGPIO TJC_UART_CH_SEL;
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ZGPIO TJC_UART_CH_EN;
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UART_HandleTypeDef* remoteContolerUart;
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#if CAN_MODULE_ENABLE
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CanController can0Controller; // CAN 收发控制
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#endif
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UartControl uart_control;
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AirValve valve_controller; // 阀门控制
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ThreeWayValve three_way_valve; // 三通阀控制
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PumpController pump_controller; // 电机泵
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HighVoltagePack high_voltage_pack; // 注射泵
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LaserControl laser_control; // 激光
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bool hardwareInitedOK = false;
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static AppHardware* ins() {
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static AppHardware instance;
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return &instance;
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}
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AppHardware();
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void initialize();
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TMC51X0* getPump(int32_t index) {
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if (index == 0) return &MOTO1;
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if (index == 1) return &MOTO2;
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if (index == 2) return &MOTO3;
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ZASSERT(false);
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return nullptr;
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}
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bool isHardInitOk();
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void SystemPowerOn();
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void SystemPowerOff(bool is_force = false);
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void setTJCScreenInDownloadMode();
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void setE_Stop(bool isE_Stop);
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bool isE_Stop();
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void toggleLaunched();
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bool isLaunched();
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bool isStarted();
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void setFlowSpeed(uint16_t flowSpeed);
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void setHumidity(int16_t humidity);
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void setTemp(int16_t temp);
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uint16_t getFlowSpeed();
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int16_t getHumidity();
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int16_t getTemp();
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private:
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bool isLaunched_ { false };
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bool isE_Stop_ { false };
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bool isStarted_;
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osMutexId_t mutex_; // 锁
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uint16_t flowSpeed_; // 流速
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int16_t humidity_; // 湿度
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int16_t temp_; // 温度
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};
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} // namespace iflytop
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