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