forked from logzhan/RobotHardware-UESTC
53 lines
1.7 KiB
C
53 lines
1.7 KiB
C
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#ifndef PIBOT_BOARD_MEGA2560_H_
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#define PIBOT_BOARD_MEGA2560_H_
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#include "board.h"
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#include "variable_queue.h"
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class Board_STM32 : public Board
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{
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public:
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Board_STM32();
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~Board_STM32();
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virtual void init();
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virtual void enable_irq();
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virtual void disable_irq();
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virtual void usart_debug_init();
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virtual void usart_write(unsigned char num, unsigned char ch);
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virtual void usart_init(unsigned char num, unsigned long buad);
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virtual Queue* usart_getDataQueue(unsigned char num);
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virtual void usart_write(unsigned char num, unsigned char* data, unsigned char len);
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virtual void set_config(unsigned char* data, unsigned short len);
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virtual void get_config(unsigned char* data, unsigned short len);
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virtual void setDOState(unsigned char id, unsigned char operation);
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virtual bool getDIState(unsigned char id);
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virtual unsigned long getTickCount();
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virtual void motor_init(unsigned char num, unsigned long period);
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virtual void motor_pwm(unsigned char num, long pwm_value);
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virtual void encoder_init(unsigned char motor_id) ;
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virtual long getEncoderCount(unsigned char motor_id);
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virtual void i2c_init();
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virtual unsigned char i2c_write_byte(unsigned char equipment_address, unsigned char reg_address , unsigned char pt_char);
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virtual unsigned char i2c_write_buf(unsigned char equipment_address, unsigned char reg_address , unsigned char* pt_char , unsigned char size);
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virtual unsigned char i2c_read_byte(unsigned char equipment_address, unsigned char reg_address , unsigned char* pt_char);
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virtual unsigned char i2c_read_buf(unsigned char equipment_address, unsigned char reg_address , unsigned char* pt_char, unsigned char size);
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private:
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void DOInit(void);
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void DIInit(void);
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public:
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static Board_STM32 board;
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VQueue<256> usart3_queue;
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};
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#endif
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