CS1.5T/bsp/inc/hi.h

/**
*********************************************************************************************************
*                                                xmk guide
*
*                                 (c) Copyright 2016-2020, hualijidian.com
*                                           All Rights Reserved
*
* @file     hi.c
* @author   eric
* @brief    hardware interface
* @version  V0.0.1
*********************************************************************************************************
*/
#ifndef __HI_H
#define __HI_H
#include "hitest.h"
#include "iocfg.h"
#include "sys.h"
#include "SysTick.h"
#include "Wdg.h"
/**
* @defgroup LED
* @brief    板载状态灯
*/
#define BPS_LED_HIGH 0
#define BPS_LED_LOW  1

//#define LED0 PCout(1)
/**
* @defgroup LED
* @brief    信号状态灯
*/
#define SIGNAL_LED_HIGH 1
#define SIGNAL_LED_LOW  0

//#define HI_LED1 PFout(4)
//#define HI_LED2 PFout(3)
//#define HI_LED3 PFout(2)

void HI_STATUS_LED_Init(void);
void HI_LED_Init(void);

#define digitalHi(p, i) \
  { p->BSRRL = i; }  //设置为高电平
#define digitalLo(p, i) \
  { p->BSRRH = i; }  //输出低电平
#define digitalToggle(p, i) \
  { p->ODR ^= i; }  //输出反转状态

#define HI_LED0_TOGGLE digitalToggle(LED0_GPRO, LED0_PIN)
#define HI_LED0_OFF digitalHi(LED0_GPRO, LED0_PIN)
#define HI_LED0_ON digitalLo(LED0_GPRO, LED0_PIN)

#define HI_LED1_TOGGLE digitalToggle(LED_ST1_GPIO, LED_ST1_PIN)
#define HI_LED1_OFF digitalHi(LED_ST1_GPIO, LED_ST1_PIN)
#define HI_LED1_ON digitalLo(LED_ST1_GPIO, LED_ST1_PIN)

#define HI_LED2_TOGGLE digitalToggle(LED_ST2_GPIO, LED_ST2_PIN)
#define HI_LED2_OFF digitalHi(LED_ST2_GPIO, LED_ST2_PIN)
#define HI_LED2_ON digitalLo(LED_ST2_GPIO, LED_ST2_PIN)

#define HI_LED3_TOGGLE digitalToggle(LED_ST3_GPIO, LED_ST3_PIN)
#define HI_LED3_OFF digitalHi(LED_ST3_GPIO, LED_ST3_PIN)
#define HI_LED3_ON digitalLo(LED_ST3_GPIO, LED_ST3_PIN)

/**
* @defgroup IO
* @brief    通用IO定义
*/
#define HI_IO_IN_HIGH 0
#define HI_IO_IN_LOW 0

//#define HI_IO_IN0 (PDin(5))
//#define HI_IO_IN1 (PDin(4))
//#define HI_IO_IN2 (PDin(3))
//#define HI_IO_IN3 (PDin(1))
//#define HI_IO_IN4 (PDin(0))
//#define HI_IO_IN5 (PAin(15))

#define HI_BTN_START HI_IO_IN4

#define HI_IO_OUT_HIGH 0
#define HI_IO_OUT_LOW 1

//#define HI_IO_OUT0 PDout(6)
//#define HI_IO_OUT1 PDout(7)
//#define HI_IO_OUT2 PGout(9)
//#define HI_IO_OUT3 PGout(10)
//#define HI_IO_OUT4 PGout(11)
//#define HI_IO_OUT5 PGout(12)

/**
* @defgroup USART IO
* @note 不知道这么搞合适不
*/
#define USART4 UART4
#define USART5 UART5
#define USART7 UART7
#define USART8 UART8

/**
* @defgroup MOTOR IO
* @note 这里的HIGHT LOW是为了屏蔽硬件取反
*/
#define HI_MOTOR_EN_HIGH 1
#define HI_MOTOR_EN_LOW 0

#define HI_MOTOR_FW_HIGH 1
#define HI_MOTOR_FW_LOW 0

#define HI_MOTOR_BK_HIGH 1
#define HI_MOTOR_BK_LOW 0

//#define HI_MOTOR0_EN PDout(9)
//#define HI_MOTOR1_EN PGout(2)
//#define HI_MOTOR2_EN PGout(5)
//#define HI_MOTOR3_EN PGout(8)
//
//#define HI_MOTOR0_FW PDout(10)
//#define HI_MOTOR1_FW PGout(3)
//#define HI_MOTOR2_FW PGout(6)
//#define HI_MOTOR3_FW PCout(8)
//
//#define HI_MOTOR0_BK PDout(8)
//#define HI_MOTOR1_BK PDout(11)
//#define HI_MOTOR2_BK PGout(4)
//#define HI_MOTOR3_BK PGout(7)

#define PWM_TIM4 TIM4
#define PWM_TIM9 TIM9

/**
* @defgroup GS
* @brief Guide sensor 导航传感器引脚
* @note 分为2组
*/
#define HI_GS_IN_HIGH 1
#define HI_GS_IN_LOW 0

//#define HI_GS0_IN0 !PGin(13)
//#define HI_GS0_IN1 !PGin(14)
//#define HI_GS0_IN2 !PGin(15)
//#define HI_GS0_IN3 !PBin(3)
//#define HI_GS0_IN4 !PBin(4)
//#define HI_GS0_IN5 !PBin(5)
//#define HI_GS0_IN6 !PBin(6)
//#define HI_GS0_IN7 !PBin(7)
//
//#define HI_GS1_IN0 !PBin(8)
//#define HI_GS1_IN1 !PBin(9)
//#define HI_GS1_IN2 !PEin(2)
//#define HI_GS1_IN3 !PEin(3)
//#define HI_GS1_IN4 !PEin(4)
//#define HI_GS1_IN5 !PEin(5)
//#define HI_GS1_IN6 !PEin(6)
//#define HI_GS1_IN7 !PCin(13)

/**
* @defgroup OBS
* @brief Obstacle Sensor io define
* @note PBS has 4*IN 4*OUT PX has 2 * IN 0 OUT, so PX can use part of PBS in
*/
#define HI_OBS_IN_HIGH 0
#define HI_OBS_IN_LOW 1
#define HI_OBS_OUT_HIGH 1
#define HI_OBS_OUT_LOW 0

//#define LANDMARK_GS_IN0 !PCin(2)
//#define LANDMARK_GS_IN1 !PCin(3)
//
//#define LANDMARK_GS_IN2 !PAin(0)
//#define LANDMARK_GS_IN3 !PAin(1)
//
//#define LANDMARK_GS_IN4 !PBin(1)
//#define LANDMARK_GS_IN5 !PFin(11)
//
//#define LANDMARK_GS_IN6 !PFin(12)
//#define LANDMARK_GS_IN7 !PFin(13)
/* OBS0 IO */
//#define HI_OBS0_IN0 !PCin(2)
//#define HI_OBS0_IN1 !PCin(3)
//#define HI_OBS0_OUT0 PAout(4)
//#define HI_OBS0_OUT1 PCout(4)

/* OBS1 IO */
//#define HI_OBS1_IN0 !PAin(0)
//#define HI_OBS1_IN1 !PAin(1)
//#define HI_OBS1_OUT0 PCout(5)
//#define HI_OBS1_OUT1 PBout(0)

/* OBS2 IO */
//#define HI_OBS2_IN0 !PBin(1)
//#define HI_OBS2_IN1 !PFin(11)
//#define HI_OBS2_OUT0 PFout(14)
//#define HI_OBS2_OUT1 PFout(15)

/* OBS3 IO */
//#define HI_OBS3_IN0 !PFin(12)
//#define HI_OBS3_IN1 !PFin(13)
//#define HI_OBS3_OUT0 PGout(0)
//#define HI_OBS3_OUT1 PGout(1)

#define HI_OB_IN_HIGH 1
#define HI_OB_IN_LOW 0

//#define HI_OB_IN0 !PBin(12)
//#define HI_OB_IN1 !PBin(13)
//#define HI_OB_IN2 !PBin(14)
//#define HI_OB_IN3 !PBin(15)


/**
* @defgroup Infra-red
* @brief IR Obstacle Sensor io define
*/
#define Lift_IN_HIGH 1
#define Lift_IN_LOW 0

//#define HI_Lift_IN0 !PEin(7)
//#define HI_Lift_IN1 !PEin(8)
//#define HI_Lift_IN2 !PEin(9)
//#define HI_Lift_IN3 !PEin(10)
//#define HI_Lift_OUT0 PEout(11)
//#define HI_Lift_OUT1 PEout(13)

/**
 * @defgroup HI_Init_Function
 * @brief heardware interface
 */
void HI_Delay_Init(void);
void HI_IO_Init(void);
void HI_MOTOR_Init(void);

int UartConfig(USART_TypeDef *USARTx, u32 baudrate, u16 parity);
void HI_USART1_Init(u32 baudrate);
void HI_USART2_Init(u32 baudrate);
void HI_USART3_Init(u32 baudrate);
void HI_USART4_Init(u32 baudrate);
void HI_USART5_Init(u32 baudrate);
void HI_USART6_Init(u32 baudrate);
void HI_USART7_Init(u32 baudrate);
void HI_USART8_Init(u32 baudrate);

/**
 * @defgroup HI_XXX_Function
 * @brief heardware interface
 */

/* USART */
#define USART_TXEMPTY(USARTx) ((USARTx)->SR & USART_FLAG_TC)
#define USART_WAIT(USARTx)         \
  do {                             \
    while (!USART_TXEMPTY(USARTx)) \
      ;                            \
  } while (0)

#define HI_USART1_Putc(c)           \
  do {                              \
    USART_WAIT(USART1);             \
    USART1->DR = (u16)(c & 0x01FF); \
    USART_WAIT(USART1);             \
  } while (0)
#define HI_USART2_Putc(c)           \
  do {                              \
    USART_WAIT(USART2);             \
    USART2->DR = (u16)(c & 0x01FF); \
    USART_WAIT(USART2);             \
  } while (0)
#define HI_USART3_Putc(c)           \
  do {                              \
    USART_WAIT(USART3);             \
    USART3->DR = (u16)(c & 0x01FF); \
    USART_WAIT(USART3);             \
  } while (0)
#define HI_USART4_Putc(c)          \
  do {                             \
    USART_WAIT(UART4);             \
    UART4->DR = (u16)(c & 0x01FF); \
    USART_WAIT(UART4);             \
  } while (0)
#define HI_USART5_Putc(c)          \
  do {                             \
    USART_WAIT(UART5);             \
    UART5->DR = (u16)(c & 0x01FF); \
    USART_WAIT(UART5);             \
  } while (0)
#define HI_USART6_Putc(c)           \
  do {                              \
    USART_WAIT(USART6);             \
    USART6->DR = (u16)(c & 0x01FF); \
    USART_WAIT(USART6);             \
  } while (0)
#define HI_USART7_Putc(c)           \
  do {                              \
    USART_WAIT(USART7);             \
    USART7->DR = (u16)(c & 0x01FF); \
    USART_WAIT(USART7);             \
  } while (0)
#define HI_USART8_Putc(c)           \
  do {                              \
    USART_WAIT(USART8);             \
    USART8->DR = (u16)(c & 0x01FF); \
    USART_WAIT(USART8);             \
  } while (0)


void HI_SendString(USART_TypeDef *USARTx, char *pt);
#define HI_Putc(c)                  \
  do {                              \
    USART1->DR = (u16)(c & 0x01FF); \
    while (!USART_TXEMPTY(USART1))  \
      ;                             \
  } while (0)
int UartConfig(USART_TypeDef *USARTx, u32 baudrate, u16 parity);

void HI_USART1_Send(u8 *ch, int len);
void HI_USART2_Send(u8 *ch, int len);
void HI_USART3_Send(u8 *ch, int len);
void HI_USART4_Send(u8 *ch, int len);
void HI_USART5_Send(u8 *ch, int len);
void HI_USART6_Send(u8 *ch, int len);
void HI_USART7_Send(u8 *ch, int len);
void HI_USART8_Send(u8 *ch, int len);

void HI_USART1_Puts(char *str);
void HI_USART2_Puts(char *str);
void HI_USART3_Puts(char *str);
void HI_USART4_Puts(char *str);
void HI_USART5_Puts(char *str);
void HI_USART6_Puts(char *str);
void HI_USART7_Puts(char *str);
void HI_USART8_Puts(char *str);

typedef void (*USART_RecvCallback_t)(u8);
void USART1_SetRecvCallback(USART_RecvCallback_t callback);
void HI_USART2_SetRecvCallback(USART_RecvCallback_t callback);
void HI_USART3_SetRecvCallback(USART_RecvCallback_t callback);
void HI_USART4_SetRecvCallback(USART_RecvCallback_t callback);
void HI_USART5_SetRecvCallback(USART_RecvCallback_t callback);
void HI_USART6_SetRecvCallback(USART_RecvCallback_t callback);
void HI_USART7_SetRecvCallback(USART_RecvCallback_t callback);
void HI_USART8_SetRecvCallback(USART_RecvCallback_t callback);

#define RS485_TX_EN		PFout(10)

/* MOTOR */
#define HI_MOTOR_PWM_TIME 4
/**
 * @brief  Set motor speed
 * @param  speed 0~100 percent of speed
 * @retval None
 * @note   速度百分比换算成PWM的倍速,最高499，电机不满负荷转动 speed *
 * HI_MOTOR_PWM_TIME = 80% PWM 左右即可
 */
#define MOTOR1_Speed(speed) (PWM_TIM9->CCR1 = (speed))
#define MOTOR2_Speed(speed) (PWM_TIM9->CCR2 = (speed))
#define LIFT1_Speed(speed) (PWM_TIM4->CCR2 = (speed))
#define LIFT2_Speed(speed) (PWM_TIM4->CCR1 = (speed))

/**
 * @defgroup OBS
 */

/* WIFI */
#define WIFI_Putc HI_USART6_Putc
#define WIFI_Send HI_USART6_Send
#define WIFI_Puts HI_USART6_Puts

void VoiceInput(u8 res);
/**
 * @defgroup ROM
 */
/**
* @brief  记录配置
* @param  addr 地址 支持256个
* @param  val 配置数据，32位整形
* @retval 0 success 1 fail
*/
int HI_ROM_Write(u8 addr, u32 val);
/**
* @brief  读取配置
* @param  addr 地址 支持256个
* @param  defval 读出错误时的默认值，32位整形
* @retval 0 success 1 fail
*/
u32 HI_ROM_Read(u8 addr, u32 defval);

#define STM32_FLASH_BASE 0x08000000

#define ADDR_FLASH_SECTOR_0     ((u32)0x08000000)
#define ADDR_FLASH_SECTOR_1     ((u32)0x08004000)
#define ADDR_FLASH_SECTOR_2     ((u32)0x08008000)
#define ADDR_FLASH_SECTOR_3     ((u32)0x0800C000)
#define ADDR_FLASH_SECTOR_4     ((u32)0x08010000)
#define ADDR_FLASH_SECTOR_5     ((u32)0x08020000)
#define ADDR_FLASH_SECTOR_6     ((u32)0x08040000)
#define ADDR_FLASH_SECTOR_7     ((u32)0x08060000)
#define ADDR_FLASH_SECTOR_8     ((u32)0x08080000)
#define ADDR_FLASH_SECTOR_9     ((u32)0x080A0000)
#define ADDR_FLASH_SECTOR_10    ((u32)0x080C0000)
#define ADDR_FLASH_SECTOR_11    ((u32)0x080E0000)

u32 STMFLASH_ReadWord(u32 faddr);
void STMFLASH_Write(u32 WriteAddr, u32 *pBuffer, u32 NumToWrite);
void STMFLASH_Read(u32 ReadAddr, u32 *pBuffer, u32 NumToRead);

void HI_Test(void);
/**
* @brief  ADC
* @param  4096
* @param
* @retval
*/
void HI_ADC_Init(void);
u16 HI_ADC_Get(u8 ch);
u16 Get_Adc_Average(u8 ch,u8 times);
u16 HI_ADC_Get_Average(u8 ch, u8 times);

/**
* @brief  TIM7 for main loop
* @param
* @param
* @retval
*/
void HI_MainLoopInit(void);
void HI_MainLoop(void);
/**
 * @brief  volt imput
 * @param
 * @retval
 * @note
 */
u32 HI_Battery_GetVolt(void);
u16 HI_Angle_GetFront(void);
u16 HI_Angle_GetBack(void);

#endif  //__HI_H