tmc5160_motor/usrc/driver.hpp

#pragma once
#include <stddef.h>
#include <stdio.h>

#include "board.h"
#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
/*******************************************************************************
 *                               PROJECT_INCLUDE                               *
 *******************************************************************************/
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
//
#include "sdk\components\sensors\tmp117\tmp117.hpp"
#include "sdk\components\ti\drv8710.hpp"
#include "sdk\components\water_cooling_temperature_control_module\pwm_ctrl_module.hpp"
#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module.hpp"

namespace iflytop {

class FanCtrlModule : public ZIPWMFanCtrlModule {
 public:
  typedef enum {
    kfan0,
    kfan1,
    kfan0and1,
  } fan_index_t;

 private:
  /* data */
  PWMSpeedCtrlModule fan0;
  PWMSpeedCtrlModule fan1;

  fan_index_t m_fanindex = kfan0and1;

 public:
  void initialize(fan_index_t index);

  virtual void setFanSpeed(int32_t duty) override;
  virtual void stop() override;

  virtual bool isWorking() override;

  virtual bool isError() override;
  virtual void clearError() override;
};

class PumpCtrlModule : public ZIPWMPumpCtrlModule {
 private:
  /* data */
  PWMSpeedCtrlModule pump;

 public:
  void initialize();

  virtual void setPumpSpeed(int32_t duty) override;
  virtual void stop() override;

  virtual bool isWorking() override;

  virtual bool isError() override;
  virtual void clearError() override;
};

class PeltierCtrlModule : public ZIDcMotorCtrlModule {
 public:
  typedef enum {
    kpeltier0,
    kpeltier1,
    kpeltier0and1,
  } peltier_index_t;

 private:
  /* data */
  DRV8710         peltier0;
  DRV8710         peltier1;
  bool            m_workflag = false;
  peltier_index_t m_index;

 public:
  void initialize(peltier_index_t index);

  virtual void setSpeed(int32_t duty) override;
  virtual void stop() override;
  virtual bool isWorking() override;

  virtual bool dumpErrorInfo() override;

  virtual bool isError() override;
  virtual void clearError() override;
};

}  // namespace iflytop