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82 lines
1.4 KiB
82 lines
1.4 KiB
#pragma once
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#include "uappbase/base.hpp"
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#include "ucomponents/eeprom/m24m02_i2c_eeprom.hpp"
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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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M24M02_I2C_EEPROM eeprom;
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bool hardwareInitedOK = false;
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;
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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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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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if (index == 3) return &MOTO4;
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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 setTJCScreenInDownloadMode();
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};
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} // namespace iflytop
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