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