amiro-os / components / FileSystemInputOutput / FSIODiWheelDrive.cpp @ f0393a37
History | View | Annotate | Download (9.34 KB)
| 1 | 58fe0e0b | Thomas Schöpping | #include <amiro/FileSystemInputOutput/FSIODiWheelDrive.hpp> |
|---|---|---|---|
| 2 | |||
| 3 | using namespace amiro; |
||
| 4 | using namespace amiro::fileSystemIo; |
||
| 5 | |||
| 6 | msg_t |
||
| 7 | FSIODiWheelDrive:: |
||
| 8 | getVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
|
||
| 9 | |||
| 10 | msg_t bytesWritten = 0;
|
||
| 11 | const uint8_t bufferSize = sizeof(uint16_t); |
||
| 12 | |||
| 13 | // Check if the vcnl index is in a valid range
|
||
| 14 | if (idx >= sizeof(DiWheelDrive_1_1::vcnl4020offset)) { |
||
| 15 | return WRONG_INDEX;
|
||
| 16 | } |
||
| 17 | |||
| 18 | // Get the data out of the memory
|
||
| 19 | switch (this->BSMV) { |
||
| 20 | case 0x01u: |
||
| 21 | // Set the pointer to the address
|
||
| 22 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_1, vcnl4020offset[idx])); |
||
| 23 | if (this->bsmv >= 0x01u) { |
||
| 24 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
||
| 25 | } else {
|
||
| 26 | return NOT_IMPLEMENTED;
|
||
| 27 | } |
||
| 28 | break;
|
||
| 29 | } |
||
| 30 | |||
| 31 | if (bytesWritten != bufferSize) {
|
||
| 32 | return IO_ERROR;
|
||
| 33 | } else {
|
||
| 34 | return OK;
|
||
| 35 | } |
||
| 36 | } |
||
| 37 | |||
| 38 | msg_t |
||
| 39 | FSIODiWheelDrive:: |
||
| 40 | setVcnl4020Offset (uint16_t buffer, uint8_t idx) {
|
||
| 41 | |||
| 42 | msg_t bytesWritten = 0;
|
||
| 43 | const uint8_t bufferSize = sizeof(uint16_t); |
||
| 44 | |||
| 45 | // Check if the vcnl index is in a valid range
|
||
| 46 | if (idx >= sizeof(DiWheelDrive_1_1::vcnl4020offset)) { |
||
| 47 | return WRONG_INDEX;
|
||
| 48 | } |
||
| 49 | |||
| 50 | // Get the data out of the memory
|
||
| 51 | switch (this->BSMV) { |
||
| 52 | case 0x01u: |
||
| 53 | // Set the pointer to the address
|
||
| 54 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_1, vcnl4020offset[idx])); |
||
| 55 | if (this->bsmv >= 0x01u) { |
||
| 56 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
|
||
| 57 | } else {
|
||
| 58 | return NOT_IMPLEMENTED;
|
||
| 59 | } |
||
| 60 | break;
|
||
| 61 | } |
||
| 62 | |||
| 63 | if (bytesWritten != bufferSize) {
|
||
| 64 | return IO_ERROR;
|
||
| 65 | } else {
|
||
| 66 | return OK;
|
||
| 67 | } |
||
| 68 | } |
||
| 69 | |||
| 70 | |||
| 71 | msg_t |
||
| 72 | FSIODiWheelDrive:: |
||
| 73 | setwheelfactor (float buffer) {
|
||
| 74 | |||
| 75 | msg_t bytesWritten = 0;
|
||
| 76 | const uint8_t bufferSize = sizeof(float); |
||
| 77 | |||
| 78 | // Get the data out of the memory
|
||
| 79 | switch (this->BSMV) { |
||
| 80 | case 0x01u: |
||
| 81 | // Set the pointer to the address
|
||
| 82 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, wheelfactor)); |
||
| 83 | if (this->bsmv >= 0x03u) { |
||
| 84 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
|
||
| 85 | } else {
|
||
| 86 | return NOT_IMPLEMENTED;
|
||
| 87 | } |
||
| 88 | break;
|
||
| 89 | } |
||
| 90 | |||
| 91 | if (bytesWritten != bufferSize) {
|
||
| 92 | return IO_ERROR;
|
||
| 93 | } else {
|
||
| 94 | return OK;
|
||
| 95 | } |
||
| 96 | } |
||
| 97 | |||
| 98 | |||
| 99 | msg_t |
||
| 100 | FSIODiWheelDrive:: |
||
| 101 | getWheelFactor (float *buffer) {
|
||
| 102 | |||
| 103 | msg_t bytesWritten = 0;
|
||
| 104 | const uint8_t bufferSize = sizeof(float); |
||
| 105 | |||
| 106 | // Get the data out of the memory
|
||
| 107 | switch (this->BSMV) { |
||
| 108 | case 0x01u: |
||
| 109 | // Set the pointer to the address
|
||
| 110 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, wheelfactor)); |
||
| 111 | if (this->bsmv >= 0x03u) { |
||
| 112 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
||
| 113 | } else {
|
||
| 114 | return NOT_IMPLEMENTED;
|
||
| 115 | } |
||
| 116 | break;
|
||
| 117 | } |
||
| 118 | |||
| 119 | if (bytesWritten != bufferSize) {
|
||
| 120 | return IO_ERROR;
|
||
| 121 | } else {
|
||
| 122 | return OK;
|
||
| 123 | } |
||
| 124 | } |
||
| 125 | |||
| 126 | |||
| 127 | msg_t |
||
| 128 | FSIODiWheelDrive:: |
||
| 129 | setiGain (float buffer) {
|
||
| 130 | |||
| 131 | msg_t bytesWritten = 0;
|
||
| 132 | const uint8_t bufferSize = sizeof(float); |
||
| 133 | |||
| 134 | // Get the data out of the memory
|
||
| 135 | switch (this->BSMV) { |
||
| 136 | case 0x01u: |
||
| 137 | // Set the pointer to the address
|
||
| 138 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, igain)); |
||
| 139 | if (this->bsmv >= 0x03u) { |
||
| 140 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
|
||
| 141 | } else {
|
||
| 142 | return NOT_IMPLEMENTED;
|
||
| 143 | } |
||
| 144 | break;
|
||
| 145 | } |
||
| 146 | |||
| 147 | if (bytesWritten != bufferSize) {
|
||
| 148 | return IO_ERROR;
|
||
| 149 | } else {
|
||
| 150 | return OK;
|
||
| 151 | } |
||
| 152 | } |
||
| 153 | |||
| 154 | |||
| 155 | msg_t |
||
| 156 | FSIODiWheelDrive:: |
||
| 157 | getiGain (float *buffer) {
|
||
| 158 | |||
| 159 | msg_t bytesWritten = 0;
|
||
| 160 | const uint8_t bufferSize = sizeof(float); |
||
| 161 | |||
| 162 | // Get the data out of the memory
|
||
| 163 | switch (this->BSMV) { |
||
| 164 | case 0x01u: |
||
| 165 | // Set the pointer to the address
|
||
| 166 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, igain)); |
||
| 167 | if (this->bsmv >= 0x03u) { |
||
| 168 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
||
| 169 | } else {
|
||
| 170 | return NOT_IMPLEMENTED;
|
||
| 171 | } |
||
| 172 | break;
|
||
| 173 | } |
||
| 174 | |||
| 175 | if (bytesWritten != bufferSize) {
|
||
| 176 | return IO_ERROR;
|
||
| 177 | } else {
|
||
| 178 | return OK;
|
||
| 179 | } |
||
| 180 | } |
||
| 181 | |||
| 182 | |||
| 183 | |||
| 184 | |||
| 185 | msg_t |
||
| 186 | FSIODiWheelDrive:: |
||
| 187 | setdGain (float buffer) {
|
||
| 188 | |||
| 189 | msg_t bytesWritten = 0;
|
||
| 190 | const uint8_t bufferSize = sizeof(float); |
||
| 191 | |||
| 192 | // Get the data out of the memory
|
||
| 193 | switch (this->BSMV) { |
||
| 194 | case 0x01u: |
||
| 195 | // Set the pointer to the address
|
||
| 196 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, dgain)); |
||
| 197 | if (this->bsmv >= 0x03u) { |
||
| 198 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
|
||
| 199 | } else {
|
||
| 200 | return NOT_IMPLEMENTED;
|
||
| 201 | } |
||
| 202 | break;
|
||
| 203 | } |
||
| 204 | |||
| 205 | if (bytesWritten != bufferSize) {
|
||
| 206 | return IO_ERROR;
|
||
| 207 | } else {
|
||
| 208 | return OK;
|
||
| 209 | } |
||
| 210 | } |
||
| 211 | |||
| 212 | |||
| 213 | msg_t |
||
| 214 | FSIODiWheelDrive:: |
||
| 215 | getdGain (float *buffer) {
|
||
| 216 | |||
| 217 | msg_t bytesWritten = 0;
|
||
| 218 | const uint8_t bufferSize = sizeof(float); |
||
| 219 | |||
| 220 | // Get the data out of the memory
|
||
| 221 | switch (this->BSMV) { |
||
| 222 | case 0x01u: |
||
| 223 | // Set the pointer to the address
|
||
| 224 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, dgain)); |
||
| 225 | if (this->bsmv >= 0x03u) { |
||
| 226 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
||
| 227 | } else {
|
||
| 228 | return NOT_IMPLEMENTED;
|
||
| 229 | } |
||
| 230 | break;
|
||
| 231 | } |
||
| 232 | |||
| 233 | if (bytesWritten != bufferSize) {
|
||
| 234 | return IO_ERROR;
|
||
| 235 | } else {
|
||
| 236 | return OK;
|
||
| 237 | } |
||
| 238 | } |
||
| 239 | |||
| 240 | |||
| 241 | |||
| 242 | |||
| 243 | msg_t |
||
| 244 | FSIODiWheelDrive:: |
||
| 245 | setpGain (int buffer) {
|
||
| 246 | |||
| 247 | msg_t bytesWritten = 0;
|
||
| 248 | const uint8_t bufferSize = sizeof(float); |
||
| 249 | |||
| 250 | // Get the data out of the memory
|
||
| 251 | switch (this->BSMV) { |
||
| 252 | case 0x01u: |
||
| 253 | // Set the pointer to the address
|
||
| 254 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, pgain)); |
||
| 255 | if (this->bsmv >= 0x03u) { |
||
| 256 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
|
||
| 257 | } else {
|
||
| 258 | return NOT_IMPLEMENTED;
|
||
| 259 | } |
||
| 260 | break;
|
||
| 261 | } |
||
| 262 | |||
| 263 | if (bytesWritten != bufferSize) {
|
||
| 264 | return IO_ERROR;
|
||
| 265 | } else {
|
||
| 266 | return OK;
|
||
| 267 | } |
||
| 268 | } |
||
| 269 | |||
| 270 | |||
| 271 | msg_t |
||
| 272 | FSIODiWheelDrive:: |
||
| 273 | getpGain (int *buffer) {
|
||
| 274 | |||
| 275 | msg_t bytesWritten = 0;
|
||
| 276 | const uint8_t bufferSize = sizeof(float); |
||
| 277 | |||
| 278 | // Get the data out of the memory
|
||
| 279 | switch (this->BSMV) { |
||
| 280 | case 0x01u: |
||
| 281 | // Set the pointer to the address
|
||
| 282 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_3, pgain)); |
||
| 283 | if (this->bsmv >= 0x03u) { |
||
| 284 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
||
| 285 | } else {
|
||
| 286 | return NOT_IMPLEMENTED;
|
||
| 287 | } |
||
| 288 | break;
|
||
| 289 | } |
||
| 290 | |||
| 291 | if (bytesWritten != bufferSize) {
|
||
| 292 | return IO_ERROR;
|
||
| 293 | } else {
|
||
| 294 | return OK;
|
||
| 295 | } |
||
| 296 | } |
||
| 297 | |||
| 298 | |||
| 299 | |||
| 300 | msg_t |
||
| 301 | FSIODiWheelDrive:: |
||
| 302 | getEd (float *buffer) {
|
||
| 303 | |||
| 304 | msg_t bytesWritten = 0;
|
||
| 305 | const uint8_t bufferSize = sizeof(float); |
||
| 306 | |||
| 307 | // Get the data out of the memory
|
||
| 308 | switch (this->BSMV) { |
||
| 309 | case 0x01u: |
||
| 310 | // Set the pointer to the address
|
||
| 311 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_2, Ed)); |
||
| 312 | if (this->bsmv >= 0x02u) { |
||
| 313 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
||
| 314 | } else {
|
||
| 315 | return NOT_IMPLEMENTED;
|
||
| 316 | } |
||
| 317 | break;
|
||
| 318 | } |
||
| 319 | |||
| 320 | if (bytesWritten != bufferSize) {
|
||
| 321 | return IO_ERROR;
|
||
| 322 | } else {
|
||
| 323 | return OK;
|
||
| 324 | } |
||
| 325 | } |
||
| 326 | |||
| 327 | msg_t |
||
| 328 | FSIODiWheelDrive:: |
||
| 329 | setEd (float buffer) {
|
||
| 330 | |||
| 331 | msg_t bytesWritten = 0;
|
||
| 332 | const uint8_t bufferSize = sizeof(float); |
||
| 333 | |||
| 334 | // Get the data out of the memory
|
||
| 335 | switch (this->BSMV) { |
||
| 336 | case 0x01u: |
||
| 337 | // Set the pointer to the address
|
||
| 338 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_2, Ed)); |
||
| 339 | if (this->bsmv >= 0x02u) { |
||
| 340 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
|
||
| 341 | } else {
|
||
| 342 | return NOT_IMPLEMENTED;
|
||
| 343 | } |
||
| 344 | break;
|
||
| 345 | } |
||
| 346 | |||
| 347 | if (bytesWritten != bufferSize) {
|
||
| 348 | return IO_ERROR;
|
||
| 349 | } else {
|
||
| 350 | return OK;
|
||
| 351 | } |
||
| 352 | } |
||
| 353 | |||
| 354 | msg_t |
||
| 355 | FSIODiWheelDrive:: |
||
| 356 | getEb (float *buffer) {
|
||
| 357 | |||
| 358 | msg_t bytesWritten = 0;
|
||
| 359 | const uint8_t bufferSize = sizeof(float); |
||
| 360 | |||
| 361 | // Get the data out of the memory
|
||
| 362 | switch (this->BSMV) { |
||
| 363 | case 0x01u: |
||
| 364 | // Set the pointer to the address
|
||
| 365 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_2, Eb)); |
||
| 366 | if (this->bsmv >= 0x02u) { |
||
| 367 | bytesWritten = chSequentialStreamRead((BaseFileStream*)&at24c01, (uint8_t*) buffer, bufferSize); |
||
| 368 | } else {
|
||
| 369 | return NOT_IMPLEMENTED;
|
||
| 370 | } |
||
| 371 | break;
|
||
| 372 | } |
||
| 373 | |||
| 374 | if (bytesWritten != bufferSize) {
|
||
| 375 | return IO_ERROR;
|
||
| 376 | } else {
|
||
| 377 | return OK;
|
||
| 378 | } |
||
| 379 | } |
||
| 380 | |||
| 381 | msg_t |
||
| 382 | FSIODiWheelDrive:: |
||
| 383 | setEb (float buffer) {
|
||
| 384 | |||
| 385 | msg_t bytesWritten = 0;
|
||
| 386 | const uint8_t bufferSize = sizeof(float); |
||
| 387 | |||
| 388 | // Get the data out of the memory
|
||
| 389 | switch (this->BSMV) { |
||
| 390 | case 0x01u: |
||
| 391 | // Set the pointer to the address
|
||
| 392 | chFileStreamSeek((BaseFileStream*)&at24c01, offsetof(FSIODiWheelDrive::DiWheelDrive_1_2, Eb)); |
||
| 393 | if (this->bsmv >= 0x02u) { |
||
| 394 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)&at24c01, (const uint8_t*) &buffer, bufferSize);
|
||
| 395 | } else {
|
||
| 396 | return NOT_IMPLEMENTED;
|
||
| 397 | } |
||
| 398 | break;
|
||
| 399 | } |
||
| 400 | |||
| 401 | if (bytesWritten != bufferSize) {
|
||
| 402 | return IO_ERROR;
|
||
| 403 | } else {
|
||
| 404 | return OK;
|
||
| 405 | } |
||
| 406 | } |