// 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 /// 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_; }