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67 lines
4.0 KiB
67 lines
4.0 KiB
#include "hardware.hpp"
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#include "zsdk/zcanreceiver/zcanreceiver.hpp"
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#define TAG "PROTO"
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using namespace iflytop;
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/***********************************************************************************************************************
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* EXT *
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***********************************************************************************************************************/
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void Hardware::init() {
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/***********************************************************************************************************************
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* 水浸传感器初始化 *
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***********************************************************************************************************************/
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m_evaporation_bin_water_sensor.initAsInput(EVAPORATION_BIN_WATER_SENSOR_GPIO, kxs_gpio_nopull, kxs_gpio_no_irq, EVAPORATION_BIN_WATER_SENSOR_MIRROR /*mirror*/);
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m_device_bottom_water_sensor.initAsInput(DEVICE_BOTTOM_WATER_SENSOR_GPIO, kxs_gpio_nopull, kxs_gpio_no_irq, DEVICE_BOTTOM_WATER_SENSOR_MIRROR /*mirror*/);
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/***********************************************************************************************************************
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* 驱动器初始化 *
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***********************************************************************************************************************/
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m_motor_spi.init(&MOTOR_SPI);
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m_motor[0].initialize(&m_motor_spi, MOTOR1_ENN, MOTOR1_CSN);
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m_motor[0].setIHOLD_IRUN(1, 15, 0);
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m_motor[0].setMotorShaft(true);
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m_motor[0].setAcceleration(300000);
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m_motor[0].setDeceleration(300000);
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m_motor[1].initialize(&m_motor_spi, MOTOR2_ENN, MOTOR2_CSN);
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m_motor[1].setIHOLD_IRUN(1, 15, 0);
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m_motor[1].setMotorShaft(true);
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m_motor[1].setAcceleration(300000);
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m_motor[1].setDeceleration(300000);
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int32_t chipv0 = m_motor[0].readChipVERSION(); // 5130:0x11
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int32_t chipv1 = m_motor[1].readChipVERSION(); // 5130:0x11
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// m_motor[0].rotate(500000);
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// m_motor[1].rotate(500000);
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ZLOGI(TAG, "chipv0: %x, chipv1: %x", chipv0, chipv1);
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auto gstate0 = m_motor[0].getGState();
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auto gstate1 = m_motor[1].getGState();
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ZLOGI(TAG, "motor0: reset:%d drv_err:%d uv_cp:%d", gstate0.reset, gstate0.drv_err, gstate0.uv_cp);
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ZLOGI(TAG, "motor1: reset:%d drv_err:%d uv_cp:%d", gstate1.reset, gstate1.drv_err, gstate1.uv_cp);
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gstate0 = m_motor[0].getGState();
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gstate1 = m_motor[1].getGState();
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ZLOGI(TAG, "motor0: reset:%d drv_err:%d uv_cp:%d", gstate0.reset, gstate0.drv_err, gstate0.uv_cp);
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ZLOGI(TAG, "motor1: reset:%d drv_err:%d uv_cp:%d", gstate1.reset, gstate1.drv_err, gstate1.uv_cp);
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/***********************************************************************************************************************
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* 三色指示灯初始化 *
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***********************************************************************************************************************/
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triLight_R.initAsOutput(TRI_LIGHT_R, kxs_gpio_nopull, false, false);
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triLight_G.initAsOutput(TRI_LIGHT_G, kxs_gpio_nopull, false, false);
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triLight_B.initAsOutput(TRI_LIGHT_B, kxs_gpio_nopull, false, false);
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triLight_BEEP.initAsOutput(TRI_LIGHT_BEEP, kxs_gpio_nopull, false, false);
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/***********************************************************************************************************************
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* 压力传感器初始化 *
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***********************************************************************************************************************/
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osDelay(1500); // 等待传感器上电
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m_modbusBlockHost.initialize(&PRESSURE_SENSOR_UART);
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m_pressureSensorBus.init(&m_modbusBlockHost);
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}
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