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