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72 lines
1.2 KiB
72 lines
1.2 KiB
#pragma once
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/**
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* @file drv8710.hpp
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* @author zhaohe (h_zhaohe@163.com)
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* @brief
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* @version 0.1
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* @date 2023-04-14
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*
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* @copyright Copyright (c) 2023
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*
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*
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*/
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#include <stdint.h>
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#include "sdk/os/zos.hpp"
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#include "sdk\chip\zpwm_generator_muti_channel.hpp"
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//
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namespace iflytop {
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// SUPPORT REG
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/**
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* @brief Cubemx配置
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*
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* 1. 使能一个定时器，将In1引脚配置成PWM引脚
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*/
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class DRV8710 {
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public:
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typedef struct {
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ZPWMGeneratorMutiChannel::hardware_config_t pwm_cfg;
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int32_t in1_chnannel_index;
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Pin_t in2;
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Pin_t nsleep;
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Pin_t nfault;
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Pin_t sensePin;
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bool shaft;
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bool enableTrace;
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} config_t;
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ZPWMGeneratorMutiChannel m_pwmCtrl;
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ZGPIO m_in2;
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ZGPIO m_nsleep;
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ZGPIO m_nfault;
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ZGPIO m_nsensePin;
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config_t m_cfg;
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// ZGPIO so;
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public:
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DRV8710(){};
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void initialize(config_t* cfg);
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void enable(bool varenable);
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void moveForward(int32_t duty); // 0->100
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void moveBackward(int32_t duty); // 0->100
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void move(int32_t duty); // -100->100
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bool isFault();
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void clearFault() ;
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bool getSensePinState() { return m_nsensePin.getState(); }
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private:
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void set_direcetion(bool direcetion);
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};
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} // namespace iflytop
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