hand_acid_mainboard/usrc/apphardware/apphardware.hpp

#pragma once
#include "uappbase/base.hpp"
 #include "ucomponents/eeprom/m24m02_i2c_eeprom.hpp"

namespace iflytop {

class ID {
 public:
  ZGPIO ID0;
  ZGPIO ID1;
  ZGPIO ID2;
  ZGPIO ID3;
  ZGPIO ID4;
};

class AppHardware {
 private:
  /* data */
 public:
  ZGPIO MOTO_POWER_EN;
  ZGPIO MOTO1_CSN;
  ZGPIO MOTO2_CSN;
  ZGPIO MOTO3_CSN;
  ZGPIO MOTO4_CSN;
  ZGPIO MOTO1_DRV_ENN;
  ZGPIO MOTO2_DRV_ENN;
  ZGPIO MOTO3_DRV_ENN;
  ZGPIO MOTO4_DRV_ENN;

  ZGPIO MOTOR1_REF_L;
  ZGPIO MOTOR1_REF_R;
  ZGPIO MOTOR2_REF_L;
  ZGPIO MOTOR2_REF_R;
  ZGPIO MOTOR3_REF_L;
  ZGPIO MOTOR3_REF_R;
  ZGPIO MOTOR4_REF_L;
  ZGPIO MOTOR4_REF_R;

  TMC51X0 MOTO1;
  TMC51X0 MOTO2;
  TMC51X0 MOTO3;
  TMC51X0 MOTO4;

  ID id;

  ZGPIO IO_OUT1;
  ZGPIO IO_OUT2;

  ZGPIO BLE_CONNECTED_STATE;

  UART_HandleTypeDef* tjcUart;
  ZGPIO               TJC_UART_CH_SEL;
  ZGPIO               TJC_UART_CH_EN;

  UART_HandleTypeDef* remoteContolerUart;

  M24M02_I2C_EEPROM eeprom;

  bool hardwareInitedOK = false;
  ;

  static AppHardware* ins() {
    static AppHardware instance;
    return &instance;
  }

  void     initialize();
  TMC51X0* getPump(int32_t index) {
    if (index == 0) return &MOTO1;
    if (index == 1) return &MOTO2;
    if (index == 2) return &MOTO3;
    if (index == 3) return &MOTO4;
    ZASSERT(false);
    return nullptr;
  }

  bool isHardInitOk();

  void setTJCScreenInDownloadMode();
};

}  // namespace iflytop