hand_acid_mainboard_bak/usrc/apphal/apphardware.hpp

#pragma once
#include "apphal.hpp"
namespace iflytop {
class AppHardware {
 private:
  /* data */
 public:
  M24M02_I2C_EEPROM eeprom;
  TMC51X0           MOTO1;
  TMC51X0           MOTO2;
  TMC51X0           MOTO3;
  TMC51X0           MOTO4;

  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 ID1;
  ZGPIO ID2;
  ZGPIO ID3;
  ZGPIO ID4;
  ZGPIO ID5;
  ZGPIO IO_OUT1;
  ZGPIO IO_OUT2;

  ZGPIO BLE_CONNECTED_STATE_IO_PE6;

  UART_HandleTypeDef* tjcUart;
  UART_HandleTypeDef* remoteContolerUart;

  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;
  }
};

}  // namespace iflytop