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amiro-os / devices / LightRing / global.hpp @ 58fe0e0b

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#ifndef AMIRO_GLOBAL_HPP_
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#define AMIRO_GLOBAL_HPP_
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#include <hal.h>
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#include <board.h>
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#include <amiro/bus/i2c/HWI2CDriver.hpp>
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#include <amiro/bus/spi/HWSPIDriver.hpp>
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#include <amiro/leds/tlc5947.hpp>
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#include <amiro/eeprom/at24.hpp>
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#include <amiro/FileSystemInputOutput/FSIOLightRing.hpp>
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#include <LightRing.h>
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#include <amiro/Lidar.h>
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#include <amiro/radio/a2500r24a.hpp>
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#include <amiro/serial_reset/serial_can_mux.hpp>
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#include <userthread.hpp>
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namespace amiro {
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class Global final
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{
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public:
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  I2CConfig i2c2_config{
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    /* I2C mode                 */ OPMODE_I2C,
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    /* frequency                */ 400000,
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    /* I2C fast mode duty cycle */ FAST_DUTY_CYCLE_2
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  };
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  SerialConfig sd1_config{
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    /* speed        */ 115200,
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    /* CR1 register */ 0,
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    /* CR2 register */ 0,
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    /* CR3 register */ 0
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  };
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  SerialConfig sd2_config{
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    /* speed        */ 19200,
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    /* CR1 register */ 0,
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    /* CR2 register */ 0,
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    /* CR3 register */ 0
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  };
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  SPIConfig spi1_config{
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    /* callback function pointer   */ NULL,
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    /* chip select line port       */ GPIOC,
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    /* chip select line pad number */ GPIOC_LIGHT_XLAT,
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    /* initialzation data          */ SPI_CR1_BR_0 | SPI_CR1_BR_1
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  };
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  SPIConfig spi2_config{
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    /* callback function pointer   */ NULL,
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    /* chip select line port       */ GPIOB,
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    /* chip select line pad number */ GPIOB_WL_SS_N,
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    /* initialzation data          */ SPI_CR1_BR_0
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  };
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  /**
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   * @brief I2C Bus 2
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   * Conected devices:
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   *   AT24Cxx
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   */
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  HWI2CDriver HW_I2C2;
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  HWSPIDriver HW_SPI1;
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  HWSPIDriver HW_SPI2;
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  TLC5947 tlc5947;
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  AT24 at24c01;
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  fileSystemIo::FSIOLightRing memory;
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  LightRing robot;
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  SerialCanMux sercanmux1;
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  Lidar lidar;
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  A2500R24A a2500r24a;
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  UserThread userThread;
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  uint8_t shellTermID;
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public:
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  Global() :
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    HW_I2C2(&I2CD2),
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    HW_SPI1(&SPID1, &spi1_config), HW_SPI2(&SPID2, &spi2_config),
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    tlc5947(&HW_SPI1, GPIOA, GPIOA_LIGHT_BLANK),
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    at24c01(0x400u / 0x08u, 0x08u, 500u, &HW_I2C2),
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    memory(at24c01, /*BMSV*/ 1, /*bmsv*/ 2, /*HMV*/ 1, /*hmv*/ 0),
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    robot(&CAND1, &tlc5947, &memory),
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    sercanmux1(&SD1, &CAND1, CAN::LIGHT_RING_ID),
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    lidar(CAN::LIGHT_RING_ID, Lidar::SETUP::POWER_ONLY),
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    a2500r24a(&HW_SPI2),
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    userThread()
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  {
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    return;
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  }
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  ~Global()
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  {
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    return;
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  }
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};
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} // end of namespace amiro
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#endif /* AMIRO_GLOBAL_HPP_ */