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20 lines
512 B
20 lines
512 B
#include <stdint.h>
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#include "sdk\components\tmc\ic\ztmc4361A.hpp"
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#include "sdk\components\tmc\ic\ztmc5130.hpp"
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namespace iflytop {
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class Hardware {
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public:
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typedef enum { kcan, kuart } from_where_t;
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int32_t m_device_id = 0;
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public:
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void initialize(int deviceId);
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int32_t process_rx_packet(from_where_t fromwhere, uint8_t *packet, int32_t len, uint8_t *receipt, int32_t &receiptsize, bool &matching);
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void loop();
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TMC5130 *getMotor1();
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TMC5130 *getMotor2();
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};
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} // namespace iflytop
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