tmc5160_motor/usrc/driver.cpp

#include "driver.hpp"
using namespace iflytop;
#define TIMER2_FREQ 1000
#define TIMER1_FREQ 1000
#define ENABL_TRACE false

#define TAG "DRIVER"
/*******************************************************************************
 *                                  ·çÉÈÅäÖà                                   *
 *******************************************************************************/
PWMSpeedCtrlModule::config_t fan0cfg = {
    .name = "fan0",
    .pwm_cfg =
        {
            .name     = "fan0pwmtimer",
            .htim     = &htim2,
            .freq     = TIMER2_FREQ,
            .polarity = false,
        },
    .nfan        = 2,
    .fan0Channel = {3, 0, 0, 0},
    .fanFBGpioCfg =
        {
            {.pin = PC10},
            {.pin = PC11},
        },
    .fanPowerGpioCfg =
        {
            {
                .pin    = PC4,
                .mode   = ZGPIO::kMode_nopull,
                .mirror = false,
            },
        },
    .enablefbcheck = false,
    .enableTrace   = ENABL_TRACE,
};

PWMSpeedCtrlModule::config_t fan1cfg = {
    .name = "fan1",
    .pwm_cfg =
        {
            .name     = "fan1pwmtimer",
            .htim     = &htim2,
            .freq     = TIMER2_FREQ,
            .polarity = false,
        },
    .nfan        = 2,
    .fan0Channel = {4, 0, 0, 0},
    .fanFBGpioCfg =
        {
            {.pin = PC12},
            {.pin = PC13},
        },
    .fanPowerGpioCfg =
        {
            {
                .pin    = PC5,
                .mode   = ZGPIO::kMode_nopull,
                .mirror = false,
            },
        },
    .enablefbcheck = false,
    .enableTrace   = ENABL_TRACE,
};

/*******************************************************************************
 *                                FanCtrlModule                                *
 *******************************************************************************/
void FanCtrlModule::initialize(fan_index_t index) {
  m_fanindex = index;

  if (m_fanindex == kfan0) {
    fan0.initialize(&fan0cfg);
  } else if (m_fanindex == kfan1) {
    fan1.initialize(&fan1cfg);
  } else if (m_fanindex == kfan0and1) {
    fan0.initialize(&fan0cfg);
    fan1.initialize(&fan1cfg);
  }
}

void FanCtrlModule::setFanSpeed(int32_t duty) {
  if (m_fanindex == kfan0) {
    fan0.startModule(duty);
  } else if (m_fanindex == kfan1) {
    fan1.startModule(duty);
  } else if (m_fanindex == kfan0and1) {
    fan0.startModule(duty);
    fan1.startModule(duty);
  }
}
void FanCtrlModule::stop() {
  if (m_fanindex == kfan0) {
    fan0.stopModule();
  } else if (m_fanindex == kfan1) {
    fan1.stopModule();
  } else if (m_fanindex == kfan0and1) {
    fan0.stopModule();
    fan1.stopModule();
  }
}

bool FanCtrlModule::isWorking() {
  if (m_fanindex == kfan0) {
    return fan0.isWorking();
  } else if (m_fanindex == kfan1) {
    return fan1.isWorking();
  } else if (m_fanindex == kfan0and1) {
    return fan0.isWorking() || fan1.isWorking();
  }
  return false;
}

void FanCtrlModule::clearError() {
  if (m_fanindex == kfan0) {
    fan0.clearError();
  } else if (m_fanindex == kfan1) {
    fan1.clearError();
  } else if (m_fanindex == kfan0and1) {
    fan0.clearError();
    fan1.clearError();
  }
};

bool FanCtrlModule::isError() {
  if (m_fanindex == kfan0) {
    return fan0.isError();
  } else if (m_fanindex == kfan1) {
    return fan1.isError();
  } else if (m_fanindex == kfan0and1) {
    return fan0.isError() || fan1.isError();
  }
  return false;
}

/*******************************************************************************
 *                                  Ë®±ÃÅäÖà                                   *
 *******************************************************************************/
PWMSpeedCtrlModule::config_t pumpcfg = {
    .name = "pump",
    .pwm_cfg =
        {
            .name      = "pumptime",
            .htim      = &htim2,
            .freq      = TIMER2_FREQ,
            .polarity  = false,
        },
    .nfan        = 1,
    .fan0Channel = {2, 0, 0, 0},
    .fanFBGpioCfg =
        {
            {.pin = PC3},
        },
    .fanPowerGpioCfg =
        {
            {
                .pin               = PC2,
                .mode              = ZGPIO::kMode_nopull,
                .mirror            = false,
            },
        },
    .enablefbcheck = false,
    .enableTrace   = ENABL_TRACE,
};

/*******************************************************************************
 *                               PumpCtrlModule                                *
 *******************************************************************************/
void PumpCtrlModule::initialize() { pump.initialize(&pumpcfg); }

void PumpCtrlModule::setPumpSpeed(int32_t duty) { pump.startModule(duty); }
void PumpCtrlModule::stop() { pump.stopModule(); }
bool PumpCtrlModule::isError() { return pump.isError(); }
bool PumpCtrlModule::isWorking() { return pump.isWorking(); }
void PumpCtrlModule::clearError() { return pump.clearError(); }

/*******************************************************************************
 *                                 ÅÁ¶ûÌùÅäÖà                                  *
 *******************************************************************************/
#define PELTIER_POLARITY false
DRV8710::config_t peltier_config0 = {
    .pwm_cfg =
        {
            .name     = "peltier1_pwm",
            .htim     = &htim1,
            .freq     = TIMER1_FREQ,
            .polarity = false,
        },
    .in1_chnannel_index = 3,  // PE13
    .in2                = PE14,
    .nsleep             = PB13,
    .nfault             = PB14,
    .sensePin           = PB15,
    .shaft              = PELTIER_POLARITY,
    .enableTrace        = ENABL_TRACE,
};

DRV8710::config_t peltier_config1 = {
    .pwm_cfg =
        {
            .name     = "peltier0_pwm",
            .htim     = &htim1,
            .freq     = TIMER1_FREQ,
            .polarity = false,
        },
    .in1_chnannel_index = 1,  // PE9
    .in2                = PE11,
    .nsleep             = PB2,
    .nfault             = PB3,
    .sensePin           = PB4,
    .shaft              = !PELTIER_POLARITY,
    .enableTrace        = ENABL_TRACE,
};

void PeltierCtrlModule::initialize(peltier_index_t index) {
  m_index = index;

  if (m_index == kpeltier0) {
    peltier0.initialize(&peltier_config0);
  } else if (m_index == kpeltier1) {
    peltier1.initialize(&peltier_config1);
  } else if (m_index == kpeltier0and1) {
    peltier0.initialize(&peltier_config0);
    peltier1.initialize(&peltier_config1);
  }
}

void PeltierCtrlModule::setSpeed(int32_t duty) {
  m_workflag = true;

  if (m_index == kpeltier0) {
    peltier0.enable(true);
    peltier0.move(duty);
  } else if (m_index == kpeltier1) {
    peltier1.enable(true);
    peltier1.move(duty);
  } else if (m_index == kpeltier0and1) {
    peltier0.enable(true);
    peltier0.move(duty);
    peltier1.enable(true);
    peltier1.move(duty);
  }
}
void PeltierCtrlModule::stop() {
  m_workflag = false;

  if (m_index == kpeltier0) {
    peltier0.enable(false);
    peltier0.move(0);
  } else if (m_index == kpeltier1) {
    peltier1.enable(false);
    peltier1.move(0);
  } else if (m_index == kpeltier0and1) {
    peltier0.enable(false);
    peltier0.move(0);
    peltier1.enable(false);
    peltier1.move(0);
  }
}
bool PeltierCtrlModule::isError() {
  if (m_index == kpeltier0) {
    return peltier0.isFault();
  } else if (m_index == kpeltier1) {
    return peltier1.isFault();
  } else if (m_index == kpeltier0and1) {
    return peltier0.isFault() || peltier1.isFault();
  }
  return false;
}

bool PeltierCtrlModule::dumpErrorInfo() {  //
  if (m_index == kpeltier0) {
    ZLOGI(TAG, "motor0 fault:%d,sense:%d", peltier0.isFault(), peltier0.getSensePinState());
  } else if (m_index == kpeltier1) {
    ZLOGI(TAG, "motor1 fault:%d,sense:%d", peltier1.isFault(), peltier1.getSensePinState());
  } else if (m_index == kpeltier0and1) {
    ZLOGI(TAG, "motor0 fault:%d,sense:%d", peltier0.isFault(), peltier0.getSensePinState());
    ZLOGI(TAG, "motor1 fault:%d,sense:%d", peltier1.isFault(), peltier1.getSensePinState());
  }
  return true;
};

bool PeltierCtrlModule::isWorking() { return m_workflag; }

void PeltierCtrlModule::clearError() {
  if (m_index == kpeltier0) {
    peltier0.clearFault();
  } else if (m_index == kpeltier1) {
    peltier1.clearFault();
  } else if (m_index == kpeltier0and1) {
    peltier0.clearFault();
    peltier1.clearFault();
  }
}