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#include "apphardware.hpp"
#include <can/can_dbg.h>
#include "apphal.hpp"
#include "LED/led.h"
#include "status/motor_manager.h"
using namespace iflytop;
#define TAG "AppHardware"
extern SPI_HandleTypeDef hspi1;
AppHardware::AppHardware()
{
mutex_ = osMutexNew(NULL);
if (mutex_ == NULL) {
// 处理互斥锁创建失败
ZLOGI(TAG, "mutex_ create failed");
}
}
void AppHardware::initialize() {
AppHal::tmc_spi_init();
// 配置MOTO电源引脚
MOTO_POWER_EN.initAsOutput(MOTO_POWER_EN_IO, kxs_gpio_nopull, false, true);
// 初始化 MOTO1 相关引脚
MOTO1_CSN.initAsOutput(MOTO1_CSN_IO, kxs_gpio_nopull, false, true);
MOTO1_DRV_ENN.initAsOutput(MOTO1_DRV_ENN_IO, kxs_gpio_nopull, false, true);
MOTOR1_REF_L.initAsInput(MOTOR1_REF_L_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
MOTOR1_REF_R.initAsInput(MOTOR1_REF_R_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
// 初始化 MOTO2 相关引脚
MOTO2_CSN.initAsOutput(MOTO2_CSN_IO, kxs_gpio_nopull, false, true);
MOTO2_DRV_ENN.initAsOutput(MOTO2_DRV_ENN_IO, kxs_gpio_nopull, false, true);
MOTOR2_REF_L.initAsInput(MOTOR2_REF_L_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
MOTOR2_REF_R.initAsInput(MOTOR2_REF_R_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
// 初始化 MOTO3 相关引脚
MOTO3_CSN.initAsOutput(MOTO3_CSN_IO, kxs_gpio_nopull, false, true);
MOTO3_DRV_ENN.initAsOutput(MOTO3_DRV_ENN_IO, kxs_gpio_nopull, false, true);
MOTOR3_REF_L.initAsInput(MOTOR3_REF_L_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
MOTOR3_REF_R.initAsInput(MOTOR3_REF_R_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
osDelay(1500);
MOTO_POWER_EN.setState(false);
TMC51X0Cfg tmc5130cfg1 = {&MOTOR_SPI_INS, MOTO1_CSN_IO, MOTO1_DRV_ENN_IO};
MOTO1.initialize(0, tmc5130cfg1);
MOTO1.enable(false);
#if 0
MOTO1.setIHOLD_IRUN(0, 7, 100);
#else
MOTO1.setIHOLD_IRUN(5, 10, 100);
#endif
MOTO1.setScale(1000);
MOTO1.setEncResolution(-1000);
// 配置 MOTO2
TMC51X0Cfg tmc5130cfg2 = {&MOTOR_SPI_INS, MOTO2_CSN_IO, MOTO2_DRV_ENN_IO};
MOTO2.initialize(1, tmc5130cfg2);
MOTO2.enable(false);
#if 0
MOTO2.setIHOLD_IRUN(0, 10, 100);
#else
MOTO2.setIHOLD_IRUN(5, 10, 100);
#endif
MOTO2.setScale(1000);
MOTO2.setEncResolution(-1000);
// 配置 MOTO3
TMC51X0Cfg tmc5130cfg3 = {&MOTOR_SPI_INS, MOTO3_CSN_IO, MOTO3_DRV_ENN_IO};
MOTO3.initialize(2, tmc5130cfg3);
MOTO3.enable(false);
MOTO3.setIHOLD_IRUN(5, 10, 100);
MOTO3.setScale(1000);
MOTO3.setEncResolution(-1000);
MOTO1.enable(true);
osDelay(10);
MOTO2.enable(true);
osDelay(10);
MOTO3.enable(true);
osDelay(10);
MOTO1.setGlobalScale(32);
MOTO2.setGlobalScale(32);
MOTO3.setGlobalScale(32);
ZLOGI(TAG, "motor1 initialize TMC51X0: %02X", MOTO1.readICVersion());
ZLOGI(TAG, "motor2 initialize TMC51X0: %02X", MOTO2.readICVersion());
ZLOGI(TAG, "motor3 initialize TMC51X0: %02X", MOTO3.readICVersion());
// GPIO 初始化
AirValve::initGPIO();
three_way_valve.initGPIO();
pump_controller.init();
high_voltage_pack.init(true);
laser_control.init(true);
temp_control_nozzle.init();
temp_control_slide.init();
// 初始化电机索引
MotorManager::ins()->motors[0].setMotorIndex(0);
MotorManager::ins()->motors[1].setMotorIndex(1);
MotorManager::ins()->motors[2].setMotorIndex(2);
#if 1
RK3588_POWER_OFF; // 3588 下电
#else
RK3588_POWER_ON;
#endif
LED_KEY_OFF; // 按键灯关闭
#if CAN_MODULE_ENABLE
ZLOGI(TAG, "===== CAN Controller Start...");
AppHardware::ins()->can0Controller.start(&hcan1); // 启动CAN
ZLOGI(TAG, "===== CAN Controller Start Suc");
#endif
ZLOGI(TAG, "===== UART Controller Start...");
AppHardware::ins()->uart_control.start(); // 启动CAN
ZLOGI(TAG, "===== UART Controller Start Suc");
isLaunched_ = false;
isStarted_ = false;
}
bool AppHardware::isHardInitOk() { return hardwareInitedOK; }
void AppHardware::SystemPowerOn() {
if(isStarted_) {
return;
}
tri_color_light(COLOR_GREEN); // 开启绿灯
LIGHT_FLOOD_ON; // 照明灯开
osDelay(10);
ZLOGI(TAG, "======================= System Start =======================");
isStarted_ = true;
}
void AppHardware::SystemPowerOff(bool is_force) {
if(!is_force) {
if(!isStarted_) {
return;
}
}
tri_color_light(COLOR_OFF); // 关灯
LIGHT_FLOOD_OFF; // 照明灯关闭
high_voltage_pack.turnOffPower();
pump_controller.powerOff();
three_way_valve.setMode(ThreeWayValve::ON_C);
laser_control.powerOff();
AirValve::closeCleaning();
AirValve::closeDehumidification();
AirValve::closeNozzle();
MotorManager::ins()->motors[0].runE_Stop();
osDelay(10);
MotorManager::ins()->motors[1].runE_Stop();
osDelay(10);
MotorManager::ins()->motors[2].runE_Stop();
osDelay(10);
ZLOGI(TAG, "======================= System Shut Down =======================");
isStarted_ = false;
}
void AppHardware::setE_Stop(bool isE_Stop) {
this->isE_Stop_ = isE_Stop;
}
bool AppHardware::isE_Stop() {
// return isE_Stop_;
return false;
}
void AppHardware::toggleLaunched() {
this->isLaunched_ = !isLaunched_;
}
bool AppHardware::isLaunched() {
return isLaunched_;
}
bool AppHardware::isStarted() {
return isStarted_;
}
void AppHardware::setFlowSpeed(uint16_t flowSpeed) {
osMutexAcquire(mutex_, osWaitForever);
osMutexRelease(mutex_);
}
void AppHardware::setHumidity(int16_t humidity) {
osMutexAcquire(mutex_, osWaitForever);
osMutexRelease(mutex_);
}
void AppHardware::setTemp(int16_t temp) {
osMutexAcquire(mutex_, osWaitForever);
osMutexRelease(mutex_);
}
uint16_t AppHardware::getFlowSpeed() {
osMutexAcquire(mutex_, osWaitForever);
osMutexRelease(mutex_);
}
int16_t AppHardware::getHumidity() {
osMutexAcquire(mutex_, osWaitForever);
osMutexRelease(mutex_);
}
int16_t AppHardware::getTemp() {
osMutexAcquire(mutex_, osWaitForever);
osMutexRelease(mutex_);
}