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79 lines
2.7 KiB
79 lines
2.7 KiB
#include "apphardware.hpp"
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using namespace iflytop;
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#define TAG "AppHardware"
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void AppHardware::initialize() {
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AppHal::UART3_Init();
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AppHal::UART4_Init();
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AppHal::MX_I2C1_Init();
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AppHal::MX_HSPI1_Init();
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tjcUart = &huart4;
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remoteContolerUart = &huart3;
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MOTO_POWER_EN.initAsOutput(MOTO_POWER_EN_IO, kxs_gpio_nopull, false, true);
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MOTO1_CSN.initAsOutput(MOTO1_CSN_IO, kxs_gpio_nopull, false, true);
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MOTO2_CSN.initAsOutput(MOTO2_CSN_IO, kxs_gpio_nopull, false, true);
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MOTO3_CSN.initAsOutput(MOTO3_CSN_IO, kxs_gpio_nopull, false, true);
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MOTO4_CSN.initAsOutput(MOTO4_CSN_IO, kxs_gpio_nopull, false, true);
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MOTO1_DRV_ENN.initAsOutput(MOTO1_DRV_ENN_IO, kxs_gpio_nopull, false, true);
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MOTO2_DRV_ENN.initAsOutput(MOTO2_DRV_ENN_IO, kxs_gpio_nopull, false, true);
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MOTO3_DRV_ENN.initAsOutput(MOTO3_DRV_ENN_IO, kxs_gpio_nopull, false, true);
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MOTO4_DRV_ENN.initAsOutput(MOTO4_DRV_ENN_IO, kxs_gpio_nopull, false, true);
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ID1.initAsInput(ID1_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
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ID2.initAsInput(ID2_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
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ID3.initAsInput(ID3_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
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ID4.initAsInput(ID4_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
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ID5.initAsInput(ID5_IO, kxs_gpio_nopull, kxs_gpio_no_irq, false);
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IO_OUT1.initAsOutput(IO_OUT1_IO, kxs_gpio_nopull, true, false);
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IO_OUT2.initAsOutput(IO_OUT2_IO, kxs_gpio_nopull, true, false);
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BLE_CONNECTED_STATE_IO_PE6.initAsInput(PE6, kxs_gpio_nopull, kxs_gpio_no_irq, false);
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osDelay(10);
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MOTO_POWER_EN.setState(false);
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TMC51X0Cfg tmc5130cfg1 = {&MOTOR_SPI_INS, MOTO1_CSN_IO, MOTO1_DRV_ENN_IO};
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TMC51X0Cfg tmc5130cfg2 = {&MOTOR_SPI_INS, MOTO2_CSN_IO, MOTO2_DRV_ENN_IO};
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TMC51X0Cfg tmc5130cfg3 = {&MOTOR_SPI_INS, MOTO3_CSN_IO, MOTO3_DRV_ENN_IO};
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TMC51X0Cfg tmc5130cfg4 = {&MOTOR_SPI_INS, MOTO4_CSN_IO, MOTO4_DRV_ENN_IO};
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MOTO1.initialize(tmc5130cfg1);
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MOTO2.initialize(tmc5130cfg2);
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MOTO3.initialize(tmc5130cfg3);
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MOTO4.initialize(tmc5130cfg4);
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ZLOGI(TAG, "motor1 initialize TMC51X0:%x", MOTO1.readICVersion());
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ZLOGI(TAG, "motor2 initialize TMC51X0:%x", MOTO2.readICVersion());
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ZLOGI(TAG, "motor3 initialize TMC51X0:%x", MOTO3.readICVersion());
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ZLOGI(TAG, "motor4 initialize TMC51X0:%x", MOTO4.readICVersion());
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MOTO1.setIHOLD_IRUN(10, 31, 100);
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MOTO2.setIHOLD_IRUN(10, 31, 100);
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MOTO3.setIHOLD_IRUN(10, 31, 100);
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MOTO4.setIHOLD_IRUN(10, 31, 100);
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MOTO1.setScale(1000);
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MOTO2.setScale(1000);
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MOTO3.setScale(1000);
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MOTO4.setScale(1000);
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MOTO1.enable(1);
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MOTO2.enable(1);
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MOTO3.enable(1);
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MOTO4.enable(1);
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// MOTO1.rotate(1000);
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// MOTO2.rotate(1000);
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// MOTO3.rotate(1000);
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// MOTO4.rotate(1000);
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IO_OUT1.setState(false);
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IO_OUT2.setState(false);
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// ZCAN1::ins()->init();
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}
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