dbdb_ext_valve_board_pv1/usrc/base/hardware.cpp

#include "hardware.hpp"

#include "zsdk/zcanreceiver/zcanreceiver.hpp"
#define TAG "PROTO"
using namespace iflytop;

/***********************************************************************************************************************
 *                                                         EXT                                                         *
 ***********************************************************************************************************************/
void Hardware::init() {
  m_motor_spi.init(&MOTOR_SPI);
  m_modbusBlockHost.initialize(&huart3);

  m_sl_mini_ac_ctrl.initAsOutput(PD14, kxs_gpio_nopull, true, false);                // m_sl_mini_ac_ctrl
  m_atta_mini_air_compressor_ctrl.initAsOutput(PD15, kxs_gpio_nopull, true, false);  // m_atta_mini_air_compressor_ctrl

  m_motor[0].initialize(&m_motor_spi, MOTOR1_ENN, MOTOR1_CSN);
  m_motor[0].setIHOLD_IRUN(1, 15, 0);
  m_motor[0].setMotorShaft(true);
  m_motor[0].setAcceleration(300000);
  m_motor[0].setDeceleration(300000);

  m_motor[1].initialize(&m_motor_spi, MOTOR2_ENN, MOTOR2_CSN);
  m_motor[1].setIHOLD_IRUN(1, 15, 0);
  m_motor[1].setMotorShaft(true);
  m_motor[1].setAcceleration(300000);
  m_motor[1].setDeceleration(300000);

  int32_t chipv0 = m_motor[0].readChipVERSION();  // 5130:0x11
  int32_t chipv1 = m_motor[1].readChipVERSION();  // 5130:0x11
  // m_motor[0].rotate(500000);
  // m_motor[1].rotate(500000);
  ZLOGI(TAG, "chipv0: %x, chipv1: %x", chipv0, chipv1);

  auto gstate0 = m_motor[0].getGState();
  auto gstate1 = m_motor[1].getGState();

  ZLOGI(TAG, "motor0: reset:%d  drv_err:%d uv_cp:%d", gstate0.reset, gstate0.drv_err, gstate0.uv_cp);
  ZLOGI(TAG, "motor1: reset:%d  drv_err:%d uv_cp:%d", gstate1.reset, gstate1.drv_err, gstate1.uv_cp);

   gstate0 = m_motor[0].getGState();
   gstate1 = m_motor[1].getGState();

  ZLOGI(TAG, "motor0: reset:%d  drv_err:%d uv_cp:%d", gstate0.reset, gstate0.drv_err, gstate0.uv_cp);
  ZLOGI(TAG, "motor1: reset:%d  drv_err:%d uv_cp:%d", gstate1.reset, gstate1.drv_err, gstate1.uv_cp);

  m_pressureSensorBus.init(&m_modbusBlockHost);
}