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#include "apphardware.hpp"
#include "ucomponents/zcan/zcan.hpp"
using namespace iflytop;
#define TAG "AppHardware"
void AppHardware::setTJCScreenInDownloadMode() { TJC_UART_CH_SEL.setState(true); TJC_UART_CH_EN.setState(false);}
void AppHardware::initialize() { AppHal::rtc_init();
ZCAN1::ins()->zcaninit(CAN1_TX_PIN, CAN1_RX_PIN); AppHal::tmc_spi_init();
// TJC SCREEN UART INIT
TJC_UART_CH_SEL.initAsOutput(TJC_UART_CH_SEL_PIN, kxs_gpio_nopull, false, false); TJC_UART_CH_EN.initAsOutput(TJC_UART_CH_EN_PIN, kxs_gpio_nopull, false, false); static_assert(&TJC_UART_INS == &huart4); AppHal::UART4_Init(TJC_UART_TX, TJC_UART_RX, 256000); tjcUart = &TJC_UART_INS;
// BLE REMOTER UART INIT
static_assert(&BLE_UART_INS == &huart3); AppHal::UART3_Init(BLE_UART_TX, BLE_UART_RX, 115200); remoteContolerUart = &BLE_UART_INS;
MOTO_POWER_EN.initAsOutput(MOTO_POWER_EN_IO, kxs_gpio_nopull, false, true); MOTO1_CSN.initAsOutput(MOTO1_CSN_IO, kxs_gpio_nopull, false, true); MOTO2_CSN.initAsOutput(MOTO2_CSN_IO, kxs_gpio_nopull, false, true); MOTO3_CSN.initAsOutput(MOTO3_CSN_IO, kxs_gpio_nopull, false, true); MOTO4_CSN.initAsOutput(MOTO4_CSN_IO, kxs_gpio_nopull, false, true); MOTO1_DRV_ENN.initAsOutput(MOTO1_DRV_ENN_IO, kxs_gpio_nopull, false, true); MOTO2_DRV_ENN.initAsOutput(MOTO2_DRV_ENN_IO, kxs_gpio_nopull, false, true); MOTO3_DRV_ENN.initAsOutput(MOTO3_DRV_ENN_IO, kxs_gpio_nopull, false, true); MOTO4_DRV_ENN.initAsOutput(MOTO4_DRV_ENN_IO, kxs_gpio_nopull, false, true);
MOTO1_DRV_ENN.initAsOutput(MOTO1_DRV_ENN_IO, kxs_gpio_nopull, false, true); MOTO1_DRV_ENN.initAsOutput(MOTO1_DRV_ENN_IO, kxs_gpio_nopull, false, true); MOTO1_DRV_ENN.initAsOutput(MOTO1_DRV_ENN_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); 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); 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); MOTOR4_REF_L.initAsInput(MOTOR4_REF_L_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false); MOTOR4_REF_R.initAsInput(MOTOR4_REF_R_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
id.ID0.initAsInput(ID0_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false); id.ID1.initAsInput(ID1_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false); id.ID2.initAsInput(ID2_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false); id.ID3.initAsInput(ID3_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false); id.ID4.initAsInput(ID4_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
IO_OUT1.initAsOutput(IO_OUT1_IO, kxs_gpio_nopull, true, false); IO_OUT2.initAsOutput(IO_OUT2_IO, kxs_gpio_nopull, true, false);
BLE_CONNECTED_STATE.initAsInput(BLE_CONNECTED_STATE_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}; TMC51X0Cfg tmc5130cfg2 = {&MOTOR_SPI_INS, MOTO2_CSN_IO, MOTO2_DRV_ENN_IO}; TMC51X0Cfg tmc5130cfg3 = {&MOTOR_SPI_INS, MOTO3_CSN_IO, MOTO3_DRV_ENN_IO}; TMC51X0Cfg tmc5130cfg4 = {&MOTOR_SPI_INS, MOTO4_CSN_IO, MOTO4_DRV_ENN_IO};
MOTO1.initialize(0, tmc5130cfg1); MOTO2.initialize(1, tmc5130cfg2); MOTO3.initialize(2, tmc5130cfg3); MOTO4.initialize(3, tmc5130cfg4);
ZLOGI(TAG, "motor1 initialize TMC51X0:%x", MOTO1.readICVersion()); ZLOGI(TAG, "motor2 initialize TMC51X0:%x", MOTO2.readICVersion()); ZLOGI(TAG, "motor3 initialize TMC51X0:%x", MOTO3.readICVersion()); ZLOGI(TAG, "motor4 initialize TMC51X0:%x", MOTO4.readICVersion());
MOTO1.setGlobalScale(64); MOTO2.setGlobalScale(64); MOTO3.setGlobalScale(64); MOTO4.setGlobalScale(64);
MOTO1.setIHOLD_IRUN(10, 31, 100); MOTO2.setIHOLD_IRUN(10, 31, 100); MOTO3.setIHOLD_IRUN(10, 31, 100); MOTO4.setIHOLD_IRUN(10, 31, 100);
MOTO1.setScale(1000); MOTO2.setScale(1000); MOTO3.setScale(1000); MOTO4.setScale(1000);
// MOTO1.enable(1);
// MOTO2.enable(1);
// MOTO3.enable(1);
// MOTO4.enable(1);
// MOTO1.rotate(1000);
// MOTO2.rotate(1000);
// MOTO3.rotate(1000);
// MOTO4.rotate(1000);
IO_OUT1.setState(false); IO_OUT2.setState(false);
AppHal::MX_I2C1_Init(); eeprom.initialize(&hi2c1); if (!eeprom.isOnline()) { ZLOGE(TAG, "eeprom is not online"); return; }
hardwareInitedOK = true; ZLOGI(TAG, "hardware initialize ok");}
bool AppHardware::isHardInitOk() { return hardwareInitedOK; }
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