amiro-os / components / FileSystemInputOutput / FSIODiWheelDrive.cpp @ 7f4e10f7
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| 1 | 58fe0e0b | Thomas Schöpping | #include <amiro/FileSystemInputOutput/FSIODiWheelDrive.hpp> |
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| 2 | |||
| 3 | using namespace amiro; |
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| 4 | using namespace amiro::fileSystemIo; |
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| 5 | |||
| 6 | msg_t |
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| 7 | FSIODiWheelDrive:: |
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| 8 | getVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
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| 9 | |||
| 10 | msg_t bytesWritten = 0;
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| 11 | const uint8_t bufferSize = sizeof(uint16_t); |
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| 12 | |||
| 13 | // Check if the vcnl index is in a valid range
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| 14 | if (idx >= sizeof(DiWheelDrive_1_1::vcnl4020offset)) { |
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| 15 | return WRONG_INDEX;
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| 16 | } |
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| 17 | |||
| 18 | // Get the data out of the memory
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| 19 | switch (this->BSMV) { |
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| 20 | case 0x01u: |
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| 21 | // Set the pointer to the address
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| 22 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_1, vcnl4020offset[idx])); |
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| 23 | if (this->bsmv >= 0x01u) { |
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| 24 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
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| 25 | } else {
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| 26 | return NOT_IMPLEMENTED;
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| 27 | } |
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| 28 | break;
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| 29 | } |
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| 30 | |||
| 31 | if (bytesWritten != bufferSize) {
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| 32 | return IO_ERROR;
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| 33 | } else {
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| 34 | return OK;
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| 35 | } |
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| 36 | } |
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| 37 | |||
| 38 | msg_t |
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| 39 | FSIODiWheelDrive:: |
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| 40 | setVcnl4020Offset (uint16_t buffer, uint8_t idx) {
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| 41 | |||
| 42 | msg_t bytesWritten = 0;
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| 43 | const uint8_t bufferSize = sizeof(uint16_t); |
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| 44 | |||
| 45 | // Check if the vcnl index is in a valid range
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| 46 | if (idx >= sizeof(DiWheelDrive_1_1::vcnl4020offset)) { |
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| 47 | return WRONG_INDEX;
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| 48 | } |
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| 49 | |||
| 50 | // Get the data out of the memory
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| 51 | switch (this->BSMV) { |
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| 52 | case 0x01u: |
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| 53 | // Set the pointer to the address
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| 54 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_1, vcnl4020offset[idx])); |
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| 55 | if (this->bsmv >= 0x01u) { |
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| 56 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
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| 57 | } else {
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| 58 | return NOT_IMPLEMENTED;
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| 59 | } |
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| 60 | break;
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| 61 | } |
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| 62 | |||
| 63 | if (bytesWritten != bufferSize) {
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| 64 | return IO_ERROR;
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| 65 | } else {
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| 66 | return OK;
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| 67 | } |
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| 68 | } |
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| 69 | |||
| 70 | |||
| 71 | msg_t |
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| 72 | FSIODiWheelDrive:: |
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| 73 | setwheelfactor (float buffer) {
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| 74 | |||
| 75 | msg_t bytesWritten = 0;
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| 76 | const uint8_t bufferSize = sizeof(float); |
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| 77 | |||
| 78 | // Get the data out of the memory
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| 79 | switch (this->BSMV) { |
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| 80 | case 0x01u: |
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| 81 | // Set the pointer to the address
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| 82 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, wheelfactor)); |
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| 83 | if (this->bsmv >= 0x03u) { |
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| 84 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
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| 85 | } else {
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| 86 | return NOT_IMPLEMENTED;
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| 87 | } |
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| 88 | break;
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| 89 | } |
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| 90 | |||
| 91 | if (bytesWritten != bufferSize) {
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| 92 | return IO_ERROR;
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| 93 | } else {
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| 94 | return OK;
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| 95 | } |
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| 96 | } |
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| 97 | |||
| 98 | |||
| 99 | msg_t |
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| 100 | FSIODiWheelDrive:: |
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| 101 | getWheelFactor (float *buffer) {
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| 102 | |||
| 103 | msg_t bytesWritten = 0;
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| 104 | const uint8_t bufferSize = sizeof(float); |
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| 105 | |||
| 106 | // Get the data out of the memory
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| 107 | switch (this->BSMV) { |
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| 108 | case 0x01u: |
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| 109 | // Set the pointer to the address
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| 110 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, wheelfactor)); |
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| 111 | if (this->bsmv >= 0x03u) { |
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| 112 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
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| 113 | } else {
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| 114 | return NOT_IMPLEMENTED;
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| 115 | } |
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| 116 | break;
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| 117 | } |
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| 118 | |||
| 119 | if (bytesWritten != bufferSize) {
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| 120 | return IO_ERROR;
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| 121 | } else {
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| 122 | return OK;
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| 123 | } |
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| 124 | } |
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| 125 | |||
| 126 | |||
| 127 | msg_t |
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| 128 | FSIODiWheelDrive:: |
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| 129 | setiGain (float buffer) {
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| 130 | |||
| 131 | msg_t bytesWritten = 0;
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| 132 | const uint8_t bufferSize = sizeof(float); |
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| 133 | |||
| 134 | // Get the data out of the memory
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| 135 | switch (this->BSMV) { |
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| 136 | case 0x01u: |
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| 137 | // Set the pointer to the address
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| 138 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, igain)); |
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| 139 | if (this->bsmv >= 0x03u) { |
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| 140 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
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| 141 | } else {
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| 142 | return NOT_IMPLEMENTED;
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| 143 | } |
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| 144 | break;
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| 145 | } |
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| 146 | |||
| 147 | if (bytesWritten != bufferSize) {
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| 148 | return IO_ERROR;
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| 149 | } else {
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| 150 | return OK;
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| 151 | } |
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| 152 | } |
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| 153 | |||
| 154 | |||
| 155 | msg_t |
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| 156 | FSIODiWheelDrive:: |
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| 157 | getiGain (float *buffer) {
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| 158 | |||
| 159 | msg_t bytesWritten = 0;
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| 160 | const uint8_t bufferSize = sizeof(float); |
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| 161 | |||
| 162 | // Get the data out of the memory
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| 163 | switch (this->BSMV) { |
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| 164 | case 0x01u: |
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| 165 | // Set the pointer to the address
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| 166 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, igain)); |
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| 167 | if (this->bsmv >= 0x03u) { |
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| 168 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
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| 169 | } else {
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| 170 | return NOT_IMPLEMENTED;
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| 171 | } |
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| 172 | break;
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| 173 | } |
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| 174 | |||
| 175 | if (bytesWritten != bufferSize) {
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| 176 | return IO_ERROR;
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| 177 | } else {
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| 178 | return OK;
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| 179 | } |
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| 180 | } |
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| 181 | |||
| 182 | |||
| 183 | |||
| 184 | |||
| 185 | msg_t |
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| 186 | FSIODiWheelDrive:: |
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| 187 | setdGain (float buffer) {
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| 188 | |||
| 189 | msg_t bytesWritten = 0;
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| 190 | const uint8_t bufferSize = sizeof(float); |
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| 191 | |||
| 192 | // Get the data out of the memory
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| 193 | switch (this->BSMV) { |
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| 194 | case 0x01u: |
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| 195 | // Set the pointer to the address
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| 196 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, dgain)); |
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| 197 | if (this->bsmv >= 0x03u) { |
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| 198 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
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| 199 | } else {
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| 200 | return NOT_IMPLEMENTED;
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| 201 | } |
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| 202 | break;
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| 203 | } |
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| 204 | |||
| 205 | if (bytesWritten != bufferSize) {
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| 206 | return IO_ERROR;
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| 207 | } else {
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| 208 | return OK;
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| 209 | } |
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| 210 | } |
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| 211 | |||
| 212 | |||
| 213 | msg_t |
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| 214 | FSIODiWheelDrive:: |
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| 215 | getdGain (float *buffer) {
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| 216 | |||
| 217 | msg_t bytesWritten = 0;
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| 218 | const uint8_t bufferSize = sizeof(float); |
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| 219 | |||
| 220 | // Get the data out of the memory
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| 221 | switch (this->BSMV) { |
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| 222 | case 0x01u: |
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| 223 | // Set the pointer to the address
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| 224 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, dgain)); |
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| 225 | if (this->bsmv >= 0x03u) { |
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| 226 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
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| 227 | } else {
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| 228 | return NOT_IMPLEMENTED;
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| 229 | } |
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| 230 | break;
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| 231 | } |
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| 232 | |||
| 233 | if (bytesWritten != bufferSize) {
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| 234 | return IO_ERROR;
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| 235 | } else {
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| 236 | return OK;
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| 237 | } |
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| 238 | } |
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| 239 | |||
| 240 | |||
| 241 | |||
| 242 | |||
| 243 | msg_t |
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| 244 | FSIODiWheelDrive:: |
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| 245 | setpGain (int buffer) {
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| 246 | |||
| 247 | msg_t bytesWritten = 0;
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| 248 | const uint8_t bufferSize = sizeof(float); |
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| 249 | |||
| 250 | // Get the data out of the memory
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| 251 | switch (this->BSMV) { |
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| 252 | case 0x01u: |
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| 253 | // Set the pointer to the address
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| 254 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, pgain)); |
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| 255 | if (this->bsmv >= 0x03u) { |
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| 256 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
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| 257 | } else {
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| 258 | return NOT_IMPLEMENTED;
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| 259 | } |
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| 260 | break;
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| 261 | } |
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| 262 | |||
| 263 | if (bytesWritten != bufferSize) {
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| 264 | return IO_ERROR;
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| 265 | } else {
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| 266 | return OK;
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| 267 | } |
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| 268 | } |
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| 269 | |||
| 270 | |||
| 271 | msg_t |
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| 272 | FSIODiWheelDrive:: |
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| 273 | getpGain (int *buffer) {
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| 274 | |||
| 275 | msg_t bytesWritten = 0;
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| 276 | const uint8_t bufferSize = sizeof(float); |
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| 277 | |||
| 278 | // Get the data out of the memory
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| 279 | switch (this->BSMV) { |
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| 280 | case 0x01u: |
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| 281 | // Set the pointer to the address
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| 282 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, pgain)); |
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| 283 | if (this->bsmv >= 0x03u) { |
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| 284 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
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| 285 | } else {
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| 286 | return NOT_IMPLEMENTED;
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| 287 | } |
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| 288 | break;
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| 289 | } |
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| 290 | |||
| 291 | if (bytesWritten != bufferSize) {
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| 292 | return IO_ERROR;
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| 293 | } else {
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| 294 | return OK;
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| 295 | } |
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| 296 | } |
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| 297 | |||
| 298 | |||
| 299 | |||
| 300 | msg_t |
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| 301 | FSIODiWheelDrive:: |
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| 302 | getEd (float *buffer) {
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| 303 | |||
| 304 | msg_t bytesWritten = 0;
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| 305 | const uint8_t bufferSize = sizeof(float); |
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| 306 | |||
| 307 | // Get the data out of the memory
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| 308 | switch (this->BSMV) { |
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| 309 | case 0x01u: |
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| 310 | // Set the pointer to the address
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| 311 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_2, Ed)); |
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| 312 | if (this->bsmv >= 0x02u) { |
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| 313 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
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| 314 | } else {
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| 315 | return NOT_IMPLEMENTED;
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| 316 | } |
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| 317 | break;
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| 318 | } |
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| 319 | |||
| 320 | if (bytesWritten != bufferSize) {
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| 321 | return IO_ERROR;
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| 322 | } else {
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| 323 | return OK;
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| 324 | } |
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| 325 | } |
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| 326 | |||
| 327 | msg_t |
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| 328 | FSIODiWheelDrive:: |
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| 329 | setEd (float buffer) {
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| 330 | |||
| 331 | msg_t bytesWritten = 0;
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| 332 | const uint8_t bufferSize = sizeof(float); |
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| 333 | |||
| 334 | // Get the data out of the memory
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| 335 | switch (this->BSMV) { |
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| 336 | case 0x01u: |
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| 337 | // Set the pointer to the address
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| 338 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_2, Ed)); |
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| 339 | if (this->bsmv >= 0x02u) { |
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| 340 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
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| 341 | } else {
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| 342 | return NOT_IMPLEMENTED;
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| 343 | } |
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| 344 | break;
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| 345 | } |
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| 346 | |||
| 347 | if (bytesWritten != bufferSize) {
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| 348 | return IO_ERROR;
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| 349 | } else {
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| 350 | return OK;
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| 351 | } |
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| 352 | } |
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| 353 | |||
| 354 | msg_t |
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| 355 | FSIODiWheelDrive:: |
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| 356 | getEb (float *buffer) {
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| 357 | |||
| 358 | msg_t bytesWritten = 0;
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| 359 | const uint8_t bufferSize = sizeof(float); |
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| 360 | |||
| 361 | // Get the data out of the memory
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| 362 | switch (this->BSMV) { |
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| 363 | case 0x01u: |
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| 364 | // Set the pointer to the address
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| 365 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_2, Eb)); |
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| 366 | if (this->bsmv >= 0x02u) { |
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| 367 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
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| 368 | } else {
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| 369 | return NOT_IMPLEMENTED;
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| 370 | } |
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| 371 | break;
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| 372 | } |
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| 373 | |||
| 374 | if (bytesWritten != bufferSize) {
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| 375 | return IO_ERROR;
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| 376 | } else {
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| 377 | return OK;
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| 378 | } |
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| 379 | } |
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| 380 | |||
| 381 | msg_t |
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| 382 | FSIODiWheelDrive:: |
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| 383 | setEb (float buffer) {
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| 384 | |||
| 385 | msg_t bytesWritten = 0;
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| 386 | const uint8_t bufferSize = sizeof(float); |
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| 387 | |||
| 388 | // Get the data out of the memory
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| 389 | switch (this->BSMV) { |
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| 390 | case 0x01u: |
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| 391 | // Set the pointer to the address
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| 392 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_2, Eb)); |
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| 393 | if (this->bsmv >= 0x02u) { |
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| 394 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
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| 395 | } else {
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| 396 | return NOT_IMPLEMENTED;
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| 397 | } |
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| 398 | break;
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| 399 | } |
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| 400 | |||
| 401 | if (bytesWritten != bufferSize) {
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| 402 | return IO_ERROR;
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| 403 | } else {
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| 404 | return OK;
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| 405 | } |
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| 406 | } |