1 | // %flair:license{
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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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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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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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40 | }
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41 |
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42 | AfroBldc_impl::~AfroBldc_impl() {
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43 |
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44 | }
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45 |
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46 | void AfroBldc_impl::SetMotors(float* value) {
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47 | uint16_t tosend_value[nb_mot];
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48 |
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49 | for(int i=0; i<nb_mot; i++) tosend_value[i]=(uint16_t)(MAX_VALUE*value[i]);
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50 |
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51 | i2cport->GetMutex();
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52 |
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53 | for(int i=0; i<nb_mot; i++) {
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54 | i2cport->SetSlave(BASE_ADDRESS+i);
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55 | WriteValue(tosend_value[i]);
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56 | }
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57 | i2cport->ReleaseMutex();
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58 | }
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59 |
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60 | //I2cPort mutex must be taken before calling this function
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61 | void AfroBldc_impl::WriteValue(uint16_t value) {
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62 | uint8_t tx[2];
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63 | ssize_t written;
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64 |
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65 | tx[0]=(uint8_t)(value>>3);//msb
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66 | tx[1]=(value&0x07);//lsb
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67 | written =i2cport->Write(tx, 2);
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68 | if(written<0) {
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69 | self->Err("rt_dev_write error (%s)\n",strerror(-written));
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70 | } else if (written != sizeof(tx)) {
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71 | self->Err("rt_dev_write error %i/%i\n",written,sizeof(tx));
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72 | }
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73 | }
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