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#include "drv8710.hpp"
using namespace iflytop;
void DRV8710::initialize(config_t* cfg) { //
m_cfg = *cfg; cfg->pwm_cfg.calltrace = cfg->enableTrace; m_pwmCtrl.initialize(&cfg->pwm_cfg); m_pwmCtrl.settrace(cfg->enableTrace);
ZASSERT(cfg->nsleep != PinNull); ZASSERT(cfg->nfault != PinNull); ZASSERT(cfg->sensePin != PinNull);
m_nsleep.initAsOutput(cfg->nsleep, ZGPIO::kMode_nopull, false, false); m_nsleep.enableTrace(cfg->enableTrace); m_nfault.initAsInput(cfg->nfault, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, false); m_nsensePin.initAsInput(cfg->sensePin, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, false);
m_in2.initAsOutput(cfg->in2, ZGPIO::kMode_nopull, false, false); m_in2.enableTrace(cfg->enableTrace); osDelay(5); enable(true); }
void DRV8710::moveForward(int32_t duty) { if (duty > 100) duty = 100; if (duty < 0) duty = 0;
if (m_cfg.shaft) duty = 100 - duty;
set_direcetion(true); m_pwmCtrl.startPWM(m_cfg.in1_chnannel_index, duty); } void DRV8710::moveBackward(int32_t duty) { if (duty > 100) duty = 100; if (duty < 0) duty = 0;
if (!m_cfg.shaft) duty = 100 - duty;
set_direcetion(false); m_pwmCtrl.startPWM(m_cfg.in1_chnannel_index, duty); }
bool DRV8710::isFault() { return !m_nfault.getState(); }
void DRV8710::clearFault() { move(0); }
void DRV8710::move(int32_t duty) { if (duty >= 0) { moveForward(duty); } else if (duty < 0) { moveBackward(-duty); } }
void DRV8710::set_direcetion(bool direcetion) { if (m_cfg.shaft) direcetion = !direcetion; m_in2.setState(direcetion); }
void DRV8710::enable(bool varenable) { m_nsleep.setState(varenable); }
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