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+// gpio_asserv.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "gpio_asserv.h"
+#include "motor/asserv.h"
+
+#include <stdexcept>
+
+/// Constructeur.
+GpioAsserv::GpioAsserv (Asserv &asserv)
+ : outputs_ (0), asserv_ (asserv)
+{
+ asserv_.setGpiDelay (3);
+}
+
+/// Destructeur.
+GpioAsserv::~GpioAsserv (void)
+{
+ asserv_.setGpiDelay (0);
+}
+
+/// Change plusieurs sorties.
+void
+GpioAsserv::set (int n, unsigned int bits, int nb)
+{
+ if (n < 0 || n + nb > nbOutputs_)
+ throw std::out_of_range ("GpioServoPp::set: Out of range.");
+ unsigned int mask = (1 << nb) - 1;
+ mask <<= n;
+ bits <<= n;
+ outputs_ = (outputs_ & ~mask) | (bits & mask);
+ unsigned int toSend = (outputs_ & 0x07) << 1 | (outputs_ & 0x18) << 2;
+ asserv_.sendGpo (toSend);
+}
+
+/// Lit plusieurs entrées.
+unsigned int
+GpioAsserv::get (int n, int nb)
+{
+ if (n < nbOutputs_ || n + nb > nbOutputs_ + nbInputs_)
+ throw std::out_of_range ("GpioServoPp::get: Out of range.");
+ unsigned int mask = 1 << (nb) - 1;
+ unsigned int recv = asserv_.getGpi ();
+ recv = recv >> 2;
+ unsigned int bits = (recv >> (n - nbOutputs_)) & mask;
+ return bits;
+}
+
+/// Récupère le nombre d'entrées/sorties.
+int
+GpioAsserv::getNbIo (void)
+{
+ return nbOutputs_ + nbInputs_;
+}
+