source: flair-src/trunk/lib/FlairSensorActuator/src/AfroBldc_impl.cpp

Last change on this file was 268, checked in by Sanahuja Guillaume, 3 years ago

add defines for architectures to speed up compile time

File size: 1.8 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2015/06/15
6//  filename:   AfroBldc_impl.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    objet integrant les moteurs i2c
14//
15//
16/*********************************************************************/
17#ifdef ARMV7A
18
19#include "AfroBldc_impl.h"
20#include "AfroBldc.h"
21#include "Bldc_impl.h"
22#include "I2cPort.h"
23#include <Layout.h>
24#include <SpinBox.h>
25#include <Label.h>
26#include <Matrix.h>
27#include <string.h>
28
29#define BASE_ADDRESS 0x29
30#define MAX_VALUE 2047
31
32using std::string;
33using namespace flair::core;
34using namespace flair::gui;
35using namespace flair::sensor;
36using namespace flair::actuator;
37
38AfroBldc_impl::AfroBldc_impl(AfroBldc *self, Layout *layout, I2cPort *i2cport) {
39  this->self = self;
40  this->i2cport = i2cport;
41  nb_mot = self->MotorsCount();
42}
43
44AfroBldc_impl::~AfroBldc_impl() {}
45
46void AfroBldc_impl::SetMotors(float *value) {
47  uint16_t tosend_value[nb_mot];
48
49  for (int i = 0; i < nb_mot; i++)
50    tosend_value[i] = (uint16_t)(MAX_VALUE * value[i]);
51
52  i2cport->GetMutex();
53
54  for (int i = 0; i < nb_mot; i++) {
55    i2cport->SetSlave(BASE_ADDRESS + i);
56    WriteValue(tosend_value[i]);
57  }
58  i2cport->ReleaseMutex();
59}
60
61// I2cPort mutex must be taken before calling this function
62void AfroBldc_impl::WriteValue(uint16_t value) {
63  uint8_t tx[2];
64  ssize_t written;
65
66  tx[0] = (uint8_t)(value >> 3); // msb
67  tx[1] = (value & 0x07);        // lsb
68  written = i2cport->Write(tx, 2);
69  if (written < 0) {
70    self->Err("rt_dev_write error (%s)\n", strerror(-written));
71  } else if (written != sizeof(tx)) {
72    self->Err("rt_dev_write error %i/%i\n", written, sizeof(tx));
73  }
74}
75
76#endif
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