[3] | 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: 2013/11/13
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| 6 | // filename: XBldc_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 Xufo
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "XBldc_impl.h"
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| 19 | #include "XBldc.h"
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| 20 | #include <I2cPort.h>
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| 21 | #include <cvmatrix.h>
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| 22 | #include <string.h>
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| 23 |
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| 24 | #define BASE_ADDRESS 0x01
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| 25 | #define MAX_VALUE 200
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| 26 |
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| 27 | using namespace flair::core;
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| 28 | using namespace flair::gui;
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| 29 | using namespace flair::actuator;
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| 30 |
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| 31 | XBldc_impl::XBldc_impl(XBldc* self,I2cPort* i2cport) {
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| 32 | this->self=self;
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| 33 | this->i2cport=i2cport;
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| 34 |
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| 35 | i2cport->SetTxTimeout(5000000);
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| 36 | }
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| 37 |
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| 38 | XBldc_impl::~XBldc_impl() {
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| 39 | }
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| 40 |
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| 41 | void XBldc_impl::SetMotors(float* value) {
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| 42 | uint8_t tosend_value[5];
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| 43 |
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| 44 | for(int i=0;i<4;i++) tosend_value[i]=(uint8_t)(MAX_VALUE*value[i]);
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| 45 |
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| 46 | ssize_t written;
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| 47 | tosend_value[4]=0xaa;
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| 48 | for(int i=0;i<4;i++) tosend_value[4]+=tosend_value[i];
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| 49 | self->Err("please verify motors adresses\n");
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| 50 | //todo faire la procedure changement addresse par la station sol
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| 51 | /*
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| 52 | i2cport->GetMutex();
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| 53 | i2cport->SetSlave(BASE_ADDRESS);
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| 54 |
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| 55 | written =i2cport->Write(tosend_value, sizeof(tosend_value));
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| 56 | if(written<0)
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| 57 | {
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| 58 | self->Err("rt_dev_write error (%s)\n",strerror(-written));
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| 59 | }
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| 60 | else if (written != sizeof(tosend_value))
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| 61 | {
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| 62 | self->Err("rt_dev_write error %i/%i\n",written,sizeof(tosend_value));
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| 63 | }
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| 64 |
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| 65 | i2cport->ReleaseMutex();*/
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| 66 |
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| 67 | }
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| 68 | /*
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| 69 | void XBldc_impl::StartTest(uint8_t moteur)
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| 70 | {
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| 71 | unsigned char tx[4];
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| 72 | ssize_t written;
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| 73 |
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| 74 | tx[0]=251;
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| 75 | tx[1]=moteur;
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| 76 | tx[2]=0;
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| 77 | tx[3]=231+moteur;
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| 78 |
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| 79 | i2cport->GetMutex();
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| 80 | i2cport->SetSlave(BASE_ADDRESS);
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| 81 |
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| 82 | written =i2cport->Write(tx, sizeof(tx));
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| 83 | if(written<0)
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| 84 | {
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| 85 | self->Err("rt_dev_write error (%s)\n",strerror(-written));
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| 86 | }
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| 87 | else if (written != sizeof(tx))
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| 88 | {
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| 89 | self->Err("rt_dev_write %i/%i error\n",written,sizeof(tx));
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| 90 | }
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| 91 |
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| 92 | i2cport->ReleaseMutex();
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| 93 | }
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| 94 | */
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| 95 | void XBldc_impl::ChangeDirection(uint8_t moteur) {
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| 96 | unsigned char tx[4];
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| 97 | ssize_t written;
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| 98 |
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| 99 | tx[0]=254;
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| 100 | tx[1]=moteur;
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| 101 | tx[2]=0;
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| 102 | tx[3]=234+moteur;
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| 103 |
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| 104 | i2cport->GetMutex();
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| 105 | i2cport->SetSlave(BASE_ADDRESS);
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| 106 |
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| 107 | written =i2cport->Write(tx, sizeof(tx));
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| 108 | if(written<0) {
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| 109 | self->Err("rt_dev_write (%s) error\n",strerror(-written));
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| 110 | } else if (written != sizeof(tx)) {
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| 111 | self->Err("rt_dev_write %i/%i error\n",written,sizeof(tx));
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| 112 | }
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| 113 |
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| 114 | i2cport->ReleaseMutex();
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| 115 | }
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| 116 |
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| 117 | void XBldc_impl::ChangeAdress(uint8_t old_add,uint8_t new_add) {
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| 118 | unsigned char tx[4];
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| 119 | ssize_t written;
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| 120 |
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| 121 | tx[0]=250;
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| 122 | tx[1]=old_add;
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| 123 | tx[2]=new_add;
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| 124 | tx[3]=230+old_add+new_add;
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| 125 |
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| 126 | i2cport->GetMutex();
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| 127 | i2cport->SetSlave(BASE_ADDRESS);
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| 128 |
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| 129 | written =i2cport->Write(tx, sizeof(tx));
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| 130 | if(written<0) {
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| 131 | self->Err("rt_dev_write error (%s)\n",strerror(-written));
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| 132 | } else if (written != sizeof(tx)) {
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| 133 | self->Err("rt_dev_write error %i/%i\n",written,sizeof(tx));
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| 134 | }
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| 135 |
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| 136 | i2cport->ReleaseMutex();
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| 137 | }
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| 138 |
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| 139 | uint8_t XBldc_impl::Sat(float value,uint8_t min,uint8_t max) {
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| 140 | uint8_t sat_value=(uint8_t)value;
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| 141 |
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| 142 | if(value>((float)sat_value+0.5)) sat_value++;
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| 143 |
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| 144 | if(value<(float)min) sat_value=min;
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| 145 | if(value>(float)max) sat_value=max;
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| 146 |
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| 147 | return sat_value;
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| 148 | }
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