Changeset 15 in flair-src for trunk/lib/FlairSensorActuator/src/AfroBldc_impl.cpp

Timestamp:

04/08/16 15:40:57 (8 years ago)

Author:

Bayard Gildas

Message:

sources reformatted with flair-format-dir script

File:

• trunk/lib/FlairSensorActuator/src/AfroBldc_impl.cpp (modified) (1 diff)

trunk/lib/FlairSensorActuator/src/AfroBldc_impl.cpp

@@ -34 +34 @@
 using namespace flair::actuator;
 
-AfroBldc_impl::AfroBldc_impl(AfroBldc* self,Layout *layout,I2cPort* i2cport) {
-    this->self=self;
-    this->i2cport=i2cport;
-    nb_mot=self->MotorsCount();
+AfroBldc_impl::AfroBldc_impl(AfroBldc *self, Layout *layout, I2cPort *i2cport) {
+  this->self = self;
+  this->i2cport = i2cport;
+  nb_mot = self->MotorsCount();
 }
 
-AfroBldc_impl::~AfroBldc_impl() {
+AfroBldc_impl::~AfroBldc_impl() {}
 
+void AfroBldc_impl::SetMotors(float *value) {
+  uint16_t tosend_value[nb_mot];
+
+  for (int i = 0; i < nb_mot; i++)
+    tosend_value[i] = (uint16_t)(MAX_VALUE * value[i]);
+
+  i2cport->GetMutex();
+
+  for (int i = 0; i < nb_mot; i++) {
+    i2cport->SetSlave(BASE_ADDRESS + i);
+    WriteValue(tosend_value[i]);
+  }
+  i2cport->ReleaseMutex();
 }
 
-void AfroBldc_impl::SetMotors(float* value) {
-    uint16_t tosend_value[nb_mot];
+// I2cPort mutex must be taken before calling this function
+void AfroBldc_impl::WriteValue(uint16_t value) {
+  uint8_t tx[2];
+  ssize_t written;
 
-    for(int i=0; i<nb_mot; i++) tosend_value[i]=(uint16_t)(MAX_VALUE*value[i]);
-
-    i2cport->GetMutex();
-
-    for(int i=0; i<nb_mot; i++) {
-        i2cport->SetSlave(BASE_ADDRESS+i);
-        WriteValue(tosend_value[i]);
-    }
-    i2cport->ReleaseMutex();
+  tx[0] = (uint8_t)(value >> 3); // msb
+  tx[1] = (value & 0x07);        // lsb
+  written = i2cport->Write(tx, 2);
+  if (written < 0) {
+    self->Err("rt_dev_write error (%s)\n", strerror(-written));
+  } else if (written != sizeof(tx)) {
+    self->Err("rt_dev_write error %i/%i\n", written, sizeof(tx));
+  }
 }
-
-//I2cPort mutex must be taken before calling this function
-void AfroBldc_impl::WriteValue(uint16_t value) {
-    uint8_t tx[2];
-    ssize_t written;
-
-    tx[0]=(uint8_t)(value>>3);//msb
-    tx[1]=(value&0x07);//lsb
-    written =i2cport->Write(tx, 2);
-    if(written<0) {
-        self->Err("rt_dev_write error (%s)\n",strerror(-written));
-    } else if (written != sizeof(tx)) {
-        self->Err("rt_dev_write error %i/%i\n",written,sizeof(tx));
-    }
-}