MicroRally/uDCCD
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This commit is contained in:
Andis Zīle
2024-07-25 18:46:17 +03:00
parent 8c47b9cae8
commit 6219290880
60 changed files with 2024 additions and 2057 deletions
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110
firmware/src/hw/dccd_hw.cpp Normal file
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/**** Includes ****/
#include "../utils/utils.h"
#include "../bsp/mcu/mcu_hal.h"
#include "dccd_hw.h"
using namespace hw;
/**** Private definitions ****/
/**** Private constants ****/
/**** Private variables ****/
/**** Private function declarations ****/
/**** Public function definitions ****/
hw::DccdHw::DccdHw(void)
{
return;
}
hw::DccdHw::~DccdHw(void)
{
return;
}
void hw::DccdHw::init(dccdHwCfg_t* cfg)
{
this->board_hw.init();
this->counter.init(0xFFFF, 900);
this->out_voltage = 0;
this->out_current = 0;
this->battery_voltage = 12000;
this->battery_current = 0;
this->btn_up.init(&(this->board_hw.din4), 0, &(this->counter), 10);
this->btn_up.update_din = 0;
this->btn_down.init(&(this->board_hw.din3), 0, &(this->counter), 10);
this->btn_down.update_din = 0;
this->btn_mode.init(&(this->board_hw.din1), 0, &(this->counter), 10);
this->btn_mode.update_din = 0;
this->handbrake.init(&(this->board_hw.hvdin3), 0, &(this->counter), 10);
this->handbrake.update_din = 0;
this->brakes.init(&(this->board_hw.hvdin2), 1, &(this->counter), 10);
this->brakes.update_din = 0;
this->dimm.init(&(this->board_hw.hvdin1), 1, &(this->counter), 10);
this->dimm.update_din = 0;
this->pot.init(&(this->board_hw.ain2), 500, 4500);
this->pot.update_ain = 0;
this->outdriver.init(&(this->board_hw.out_pwm), &(this->board_hw.out_low));
LedDisplay::doutCfg_t dsp_cfg;
dsp_cfg.led0_dout_ch = &(this->board_hw.od1);
dsp_cfg.led1_dout_ch = &(this->board_hw.od2);
dsp_cfg.led2_dout_ch = &(this->board_hw.od3);
dsp_cfg.led3_dout_ch = &(this->board_hw.od4);
dsp_cfg.led4_dout_ch = &(this->board_hw.od5);
dsp_cfg.led5_dout_ch = &(this->board_hw.od6);
this->display.init(&dsp_cfg, 0, &(this->counter), &(this->board_hw.od_pwm));
// Apply configuration
if(cfg->handbrake_pull_up)
{
this->board_hw.hvdin3_pull.write(1);
}
else this->board_hw.hvdin3_pull.write(0);
if(cfg->speed_hall)
{
this->board_hw.freq_pull.write(1);
}
else this->board_hw.freq_pull.write(0);
// Set initial output states
this->outdriver.write((uint16_t)0);
this->outdriver.enable();
this->display.write_backlight(100);
this->display.write(0x00);
}
void hw::DccdHw::read(void)
{
// Update low level inputs
this->board_hw.read();
this->counter.increment();
this->out_voltage = this->board_hw.out_voltage.last_read;
this->out_current = this->board_hw.out_current.last_read;
this->battery_voltage = this->board_hw.battery_voltage.last_read;
this->battery_current = this->board_hw.battery_current.last_read;
this->btn_up.process();
this->btn_down.process();
this->btn_mode.process();
this->handbrake.process();
this->brakes.process();
this->dimm.process();
this->pot.read();
}
/**** Private function definitions ***/