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Testing UART output

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Signed-off-by: Bernardo Carvalho <bernardo.carvalho@tecnico.ulisboa.pt>
This commit is contained in:
Bernardo Brotas de Carvalho
2025-10-18 00:35:57 +01:00
parent ba6c07987e
commit 39176574a5
2 changed files with 497 additions and 483 deletions
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642
DataSources/UARTOutput/UARTOutput.cpp
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@@ -11,13 +11,13 @@
* You may not use this work except in compliance with the Licence.
* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
*
* @warning Unless required by applicable law or agreed to in writing,
* @warning Unless required by applicable law or agreed to in writing,
* software distributed under the Licence is distributed on an "AS IS"
* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
* or implied. See the Licence permissions and limitations under the Licence.
* @details This source file contains the definition of all the methods for
* the class UARTOutput (public, protected, and private). Be aware that some
* the class UARTOutput (public, protected, and private). Be aware that some
* methods, such as those inline could be defined on the header file, instead.
*
* https://vcis-gitlab.f4e.europa.eu/aneto/MARTe2-components/-/blob/master/Source/Components/DataSources/NI6259/NI6259DAC.cpp
@@ -30,8 +30,8 @@
/*---------------------------------------------------------------------------*/
#include <fcntl.h>
#include <unistd.h> // for close()
#include <math.h>
#include <unistd.h> // for close()
/*---------------------------------------------------------------------------*/
/* Project header includes */
@@ -48,355 +48,365 @@
/* Method definitions */
/*---------------------------------------------------------------------------*/
namespace MARTe {
const float32 DAC_RANGE = 20.0;
const float32 ATCA_IOP_MAX_DAC_RANGE = 20.0;
UARTOutput::UARTOutput() :
DataSourceI(),
MessageI() {
//boardFileDescriptor = -1;
//numberOfDACsEnabled = 0u;
//isMaster = 0u;
//deviceName = "";
//boardId = 2u;
triggerSet = false;
uint32 n;
//for (n = 0u; n < ATCA_IOP_MAX_DAC_CHANNELS; n++) {
//dacEnabled[n] = false;
outputRange = ATCA_IOP_MAX_DAC_RANGE;
//}
const float32 DAC_RANGE = 20.0;
// const float32 ATCA_IOP_MAX_DAC_RANGE = 20.0;
UARTOutput::UARTOutput() : DataSourceI(), MessageI() {
// boardFileDescriptor = -1;
// numberOfDACsEnabled = 0u;
// isMaster = 0u;
// deviceName = "";
// boardId = 2u;
triggerSet = false;
uint32 n;
// for (n = 0u; n < ATCA_IOP_MAX_DAC_CHANNELS; n++) {
// dacEnabled[n] = false;
outputRange = DAC_RANGE;
//}
//channelsMemory = NULL_PTR(float32 *);
channelMemory = 0.0;//NULL_PTR(float32 *);
// channelsMemory = NULL_PTR(float32 *);
channelValue = 0.0; // NULL_PTR(float32 *);
filter = ReferenceT<RegisteredMethodsMessageFilter>(GlobalObjectsDatabase::Instance()->GetStandardHeap());
filter->SetDestination(this);
ErrorManagement::ErrorType ret = MessageI::InstallMessageFilter(filter);
if (!ret.ErrorsCleared()) {
REPORT_ERROR(ErrorManagement::FatalError, "Failed to install message filters");
}
}
/*lint -e{1551} the destructor must guarantee that the Timer SingleThreadService is stopped.*/
UARTOutput::~UARTOutput() {
if (boardFileDescriptor != -1) {
uint32 statusReg = 0;
//REPORT_ERROR(ErrorManagement::Information, " Close Device Status Reg %d, 0x%x", rc, statusReg);
close(boardFileDescriptor);
REPORT_ERROR(ErrorManagement::Information, "Close device %d OK. Status Reg 0x%x,", boardFileDescriptor, statusReg);
}
/*
if (channelsMemory != NULL_PTR(float32 *)) {
delete[] channelsMemory;
}
*/
filter = ReferenceT<RegisteredMethodsMessageFilter>(
GlobalObjectsDatabase::Instance()->GetStandardHeap());
filter->SetDestination(this);
ErrorManagement::ErrorType ret = MessageI::InstallMessageFilter(filter);
if (!ret.ErrorsCleared()) {
REPORT_ERROR(ErrorManagement::FatalError,
"Failed to install message filters");
}
}
bool UARTOutput::AllocateMemory() {
return true;
/*lint -e{1551} the destructor must guarantee that the Timer SingleThreadService
* is stopped.*/
UARTOutput::~UARTOutput() {
// REPORT_ERROR(ErrorManagement::Information, " Close Device Status Reg %d,
// 0x%x", rc, statusReg); close(boardFileDescriptor);
serial.Close();
REPORT_ERROR_PARAMETERS(ErrorManagement::Information, "Close %s OK.",
portName);
/*
if (channelsMemory != NULL_PTR(float32 *)) {
delete[] channelsMemory;
}
*/
}
uint32 UARTOutput::GetNumberOfMemoryBuffers() {
return 1u;
bool UARTOutput::AllocateMemory() { return true; }
uint32 UARTOutput::GetNumberOfMemoryBuffers() { return 1u; }
/*lint -e{715} [MISRA C++ Rule 0-1-11], [MISRA C++ Rule 0-1-12]. Justification:
* The memory buffer is independent of the bufferIdx.*/
bool UARTOutput::GetSignalMemoryBuffer(const uint32 signalIdx,
const uint32 bufferIdx,
void *&signalAddress) {
bool ok = (signalIdx < (UART_MAX_CHANNELS));
if (ok) {
// if (channelsMemory != NULL_PTR(float32 *)) {
signalAddress = &channelValue;
//}
}
return ok;
}
/*lint -e{715} [MISRA C++ Rule 0-1-11], [MISRA C++ Rule 0-1-12]. Justification: The memory buffer is independent of the bufferIdx.*/
bool UARTOutput::GetSignalMemoryBuffer(const uint32 signalIdx, const uint32 bufferIdx, void*& signalAddress) {
bool ok = (signalIdx < (UART_MAX_CHANNELS));
if (ok) {
//if (channelsMemory != NULL_PTR(float32 *)) {
signalAddress = &channelMemory;
//}
}
return ok;
}
const char8* UARTOutput::GetBrokerName(StructuredDataI& data, const SignalDirection direction) {
const char8 *brokerName = NULL_PTR(const char8 *);
if (direction == OutputSignals) {
uint32 trigger = 0u;
if (!data.Read("Trigger", trigger)) {
trigger = 0u;
}
if (trigger == 1u) {
brokerName = "MemoryMapSynchronisedOutputBroker";
triggerSet = true;
}
else {
brokerName = "MemoryMapOutputBroker";
}
}
else {
REPORT_ERROR(ErrorManagement::ParametersError, "DataSource not compatible with InputSignals");
}
return brokerName;
}
bool UARTOutput::GetInputBrokers(ReferenceContainer& inputBrokers, const char8* const functionName, void* const gamMemPtr) {
return false;
}
bool UARTOutput::GetOutputBrokers(ReferenceContainer& outputBrokers, const char8* const functionName, void* const gamMemPtr) {
//Check if there is a Trigger signal for this function.
uint32 functionIdx = 0u;
uint32 nOfFunctionSignals = 0u;
uint32 i;
bool triggerGAM = false;
bool ok = GetFunctionIndex(functionIdx, functionName);
if (ok) {
ok = GetFunctionNumberOfSignals(OutputSignals, functionIdx, nOfFunctionSignals);
}
const char8 *UARTOutput::GetBrokerName(StructuredDataI &data,
const SignalDirection direction) {
const char8 *brokerName = NULL_PTR(const char8 *);
if (direction == OutputSignals) {
uint32 trigger = 0u;
for (i = 0u; (i < nOfFunctionSignals) && (ok) && (!triggerGAM); i++) {
ok = GetFunctionSignalTrigger(OutputSignals, functionIdx, i, trigger);
triggerGAM = (trigger == 1u);
if (!data.Read("Trigger", trigger)) {
trigger = 0u;
}
if ((ok) && (triggerGAM)) {
ReferenceT<MemoryMapSynchronisedOutputBroker> broker("MemoryMapSynchronisedOutputBroker");
ok = broker.IsValid();
if (ok) {
ok = broker->Init(OutputSignals, *this, functionName, gamMemPtr);
}
if (ok) {
ok = outputBrokers.Insert(broker);
}
//Must also add the signals which are not triggering but that belong to the same GAM...
if (ok) {
if (nOfFunctionSignals > 1u) {
ReferenceT<MemoryMapOutputBroker> brokerNotSync("MemoryMapOutputBroker");
ok = brokerNotSync.IsValid();
if (ok) {
ok = brokerNotSync->Init(OutputSignals, *this, functionName, gamMemPtr);
}
if (ok) {
ok = outputBrokers.Insert(brokerNotSync);
}
if (trigger == 1u) {
brokerName = "MemoryMapSynchronisedOutputBroker";
triggerSet = true;
} else {
brokerName = "MemoryMapOutputBroker";
}
} else {
REPORT_ERROR(ErrorManagement::ParametersError,
"DataSource not compatible with InputSignals");
}
return brokerName;
}
bool UARTOutput::GetInputBrokers(ReferenceContainer &inputBrokers,
const char8 *const functionName,
void *const gamMemPtr) {
return false;
}
bool UARTOutput::GetOutputBrokers(ReferenceContainer &outputBrokers,
const char8 *const functionName,
void *const gamMemPtr) {
// Check if there is a Trigger signal for this function.
uint32 functionIdx = 0u;
uint32 nOfFunctionSignals = 0u;
uint32 i;
bool triggerGAM = false;
bool ok = GetFunctionIndex(functionIdx, functionName);
if (ok) {
ok = GetFunctionNumberOfSignals(OutputSignals, functionIdx,
nOfFunctionSignals);
}
uint32 trigger = 0u;
for (i = 0u; (i < nOfFunctionSignals) && (ok) && (!triggerGAM); i++) {
ok = GetFunctionSignalTrigger(OutputSignals, functionIdx, i, trigger);
triggerGAM = (trigger == 1u);
}
if ((ok) && (triggerGAM)) {
ReferenceT<MemoryMapSynchronisedOutputBroker> broker(
"MemoryMapSynchronisedOutputBroker");
ok = broker.IsValid();
if (ok) {
ok = broker->Init(OutputSignals, *this, functionName, gamMemPtr);
}
if (ok) {
ok = outputBrokers.Insert(broker);
}
// Must also add the signals which are not triggering but that belong to the
// same GAM...
if (ok) {
if (nOfFunctionSignals > 1u) {
ReferenceT<MemoryMapOutputBroker> brokerNotSync(
"MemoryMapOutputBroker");
ok = brokerNotSync.IsValid();
if (ok) {
ok = brokerNotSync->Init(OutputSignals, *this, functionName,
gamMemPtr);
}
if (ok) {
ok = outputBrokers.Insert(brokerNotSync);
}
}
}
} else {
ReferenceT<MemoryMapOutputBroker> brokerNotSync("MemoryMapOutputBroker");
ok = brokerNotSync.IsValid();
if (ok) {
ok = brokerNotSync->Init(OutputSignals, *this, functionName, gamMemPtr);
}
if (ok) {
ok = outputBrokers.Insert(brokerNotSync);
}
}
return ok;
}
/*lint -e{715} [MISRA C++ Rule 0-1-11], [MISRA C++ Rule 0-1-12]. Justification:
* the counter and the timer are always reset irrespectively of the states being
* changed.*/
bool UARTOutput::PrepareNextState(const char8 *const currentStateName,
const char8 *const nextStateName) {
return true;
}
bool UARTOutput::Initialise(StructuredDataI &data) {
bool ok = DataSourceI::Initialise(data);
// StreamString portName;
if (ok) {
ok = data.Read("PortName", portName);
if (ok) {
REPORT_ERROR_PARAMETERS(ErrorManagement::Information,
"The port name is set to %s", portName.Buffer());
} else {
REPORT_ERROR(ErrorManagement::ParametersError,
"The port name property shall be set");
}
}
uint32 baudRate = 0u;
if (ok) {
ok = data.Read("BaudRate", baudRate);
if (ok) {
REPORT_ERROR_PARAMETERS(ErrorManagement::Information,
"The baud rate is set to %d", baudRate);
} else {
REPORT_ERROR(ErrorManagement::ParametersError,
"The baud rate property shall be set");
}
}
if (ok) {
if (!data.Read("Timeout", timeout)) {
timeout = 1000u;
}
}
/*
if (ok) {
ok = data.Read("SerialTimeout", serialTimeout);
if (ok) {
REPORT_ERROR(ErrorManagement::Information, "The serial timeout is set to
%d", serialTimeout);
}
else {
ReferenceT<MemoryMapOutputBroker> brokerNotSync("MemoryMapOutputBroker");
ok = brokerNotSync.IsValid();
if (ok) {
ok = brokerNotSync->Init(OutputSignals, *this, functionName, gamMemPtr);
}
if (ok) {
ok = outputBrokers.Insert(brokerNotSync);
}
REPORT_ERROR(ErrorManagement::ParametersError, "The serial timeout
property shall be set");
}
return ok;
}
*/
if (ok) {
ok = serial.SetSpeed(baudRate);
}
if (ok) {
ok = serial.Open(portName.Buffer());
}
if (!ok) {
REPORT_ERROR_PARAMETERS(ErrorManagement::ParametersError,
"The port %s Not opened.", portName);
}
/*lint -e{715} [MISRA C++ Rule 0-1-11], [MISRA C++ Rule 0-1-12]. Justification: the counter and the timer are always reset irrespectively of the states being changed.*/
bool UARTOutput::PrepareNextState(const char8* const currentStateName, const char8* const nextStateName) {
return true;
}
bool UARTOutput::Initialise(StructuredDataI& data) {
bool ok = DataSourceI::Initialise(data);
StreamString portName;
if (ok) {
ok = data.Read("PortName", portName);
if (ok) {
REPORT_ERROR(ErrorManagement::Information, "The port name is set to %s", portName.Buffer());
}
else {
REPORT_ERROR(ErrorManagement::ParametersError, "The port name property shall be set");
}
// Get individual signal parameters
uint32 i = 0u;
if (ok) {
ok = data.MoveRelative("Signals");
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError,
"Could not move to the Signals section");
}
uint32 baudRate = 0u;
// Do not allow to add signals in run-time
if (ok) {
ok = data.Read("BaudRate", baudRate);
if (ok) {
REPORT_ERROR(ErrorManagement::Information, "The baud rate is set to %d", baudRate);
}
else {
REPORT_ERROR(ErrorManagement::ParametersError, "The baud rate property shall be set");
}
ok = signalsDatabase.MoveRelative("Signals");
}
if (ok) {
if (!data.Read("Timeout", timeout)) {
timeout = 1000u;
}
ok = signalsDatabase.Write("Locked", 1u);
}
if (ok) {
ok = data.Read("SerialTimeout", serialTimeout);
if (ok) {
REPORT_ERROR(ErrorManagement::Information, "The serial timeout is set to %d", serialTimeout);
}
else {
REPORT_ERROR(ErrorManagement::ParametersError, "The serial timeout property shall be set");
}
ok = signalsDatabase.MoveToAncestor(1u);
}
if (ok) {
ok = serial.SetSpeed(baudRate);
}
if (ok) {
ok = serial.Open(portName.Buffer());
}
//Get individual signal parameters
uint32 i = 0u;
if (ok) {
ok = data.MoveRelative("Signals");
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "Could not move to the Signals section");
}
//Do not allow to add signals in run-time
// while ((i < ATCA_IOP_MAX_DAC_CHANNELS) && (ok)) {
if (data.MoveRelative(data.GetChildName(0))) {
// uint32 channelId;
float64 range;
ok = data.Read("OutputRange", range);
if (ok) {
ok = signalsDatabase.MoveRelative("Signals");
}
if (ok) {
ok = signalsDatabase.Write("Locked", 1u);
}
if (ok) {
ok = signalsDatabase.MoveToAncestor(1u);
}
// while ((i < ATCA_IOP_MAX_DAC_CHANNELS) && (ok)) {
if (data.MoveRelative(data.GetChildName(0))) {
//uint32 channelId;
float32 range;
ok = data.Read("OutputRange", range);
if (ok) {
//if (data.Read("OutputRange", range)) {
ok = (range > 0.0) && (range <= ATCA_IOP_MAX_DAC_RANGE);
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "Invalid OutputRange specified.");
}
if (ok) {
outputRange = range;
REPORT_ERROR_PARAMETERS(ErrorManagement::Information, " Parameter DAC Output Range %f", range);
//dacEnabled[i] = true;
//numberOfDACsEnabled++;
}
}
else {
REPORT_ERROR(ErrorManagement::ParametersError, "The OutputRange shall be specified.");
}
if (ok) {
ok = data.MoveToAncestor(1u);
}
}
// if (data.Read("OutputRange", range)) {
ok = (range > 0.0) && (range <= DAC_RANGE);
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError,
"Invalid OutputRange specified.");
}
if (ok) {
outputRange = range;
REPORT_ERROR_PARAMETERS(ErrorManagement::Information,
" Parameter DAC Output Range %f", range);
// dacEnabled[i] = true;
// numberOfDACsEnabled++;
}
} else {
REPORT_ERROR(ErrorManagement::ParametersError,
"The OutputRange shall be specified.");
}
if (ok) {
ok = data.MoveToAncestor(1u);
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "Could not move to the parent section");
}
}
//REPORT_ERROR_PARAMETERS(ErrorManagement::Information, "numberOfDACsEnabled %d", numberOfDACsEnabled);
return ok;
}
}
if (ok) {
ok = data.MoveToAncestor(1u);
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError,
"Could not move to the parent section");
}
}
bool UARTOutput::SetConfiguredDatabase(StructuredDataI& data) {
uint32 i;
bool ok = DataSourceI::SetConfiguredDatabase(data);
// REPORT_ERROR_PARAMETERS(ErrorManagement::Information, "numberOfDACsEnabled
// %d", numberOfDACsEnabled);
return ok;
}
bool UARTOutput::SetConfiguredDatabase(StructuredDataI &data) {
uint32 i;
bool ok = DataSourceI::SetConfiguredDatabase(data);
if (ok) {
ok = triggerSet;
}
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError,
"At least one Trigger signal shall be set.");
}
if (ok) {
// for (i = 0u; (i < numberOfDACsEnabled) && (ok); i++) {
ok = (GetSignalType(0u) == Float32Bit);
//}
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError,
"All the DAC signals shall be of type Float32Bit");
}
}
uint32 nOfFunctions = GetNumberOfFunctions();
uint32 functionIdx;
// Check that the number of samples for all the signals is one
for (functionIdx = 0u; (functionIdx < nOfFunctions) && (ok); functionIdx++) {
uint32 nOfSignals = 0u;
ok = GetFunctionNumberOfSignals(OutputSignals, functionIdx, nOfSignals);
for (i = 0u; (i < nOfSignals) && (ok); i++) {
uint32 nSamples = 0u;
ok = GetFunctionSignalSamples(OutputSignals, functionIdx, i, nSamples);
if (ok) {
ok = triggerSet;
ok = (nSamples == 1u);
}
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "At least one Trigger signal shall be set.");
REPORT_ERROR(ErrorManagement::ParametersError,
"The number of samples shall be exactly one");
}
if (ok) {
//for (i = 0u; (i < numberOfDACsEnabled) && (ok); i++) {
ok = (GetSignalType(0u) == Float32Bit);
//}
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "All the DAC signals shall be of type Float32Bit");
}
}
uint32 nOfFunctions = GetNumberOfFunctions();
uint32 functionIdx;
//Check that the number of samples for all the signals is one
for (functionIdx = 0u; (functionIdx < nOfFunctions) && (ok); functionIdx++) {
uint32 nOfSignals = 0u;
ok = GetFunctionNumberOfSignals(OutputSignals, functionIdx, nOfSignals);
for (i = 0u; (i < nOfSignals) && (ok); i++) {
uint32 nSamples = 0u;
ok = GetFunctionSignalSamples(OutputSignals, functionIdx, i, nSamples);
if (ok) {
ok = (nSamples == 1u);
}
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "The number of samples shall be exactly one");
}
}
}
StreamString fullDeviceName;
//Configure the board
if (ok) {
ok = fullDeviceName.Printf("%s_dac_%d", deviceName.Buffer(), boardId);
//ok = fullDeviceName.Printf("%s", deviceName.Buffer());
}
if (ok) {
ok = fullDeviceName.Seek(0LLU);
}
if (ok) {
boardFileDescriptor = open(fullDeviceName.Buffer(), O_RDWR);
ok = (boardFileDescriptor > -1);
if (!ok) {
REPORT_ERROR_PARAMETERS(ErrorManagement::ParametersError, "Could not open device %s", fullDeviceName);
}
else
REPORT_ERROR_PARAMETERS(ErrorManagement::Information, "Open device %s OK", fullDeviceName);
}
if (ok) {
//Allocate memory
//channelsMemory = new float32[ATCA_IOP_MAX_DAC_CHANNELS];
}
return ok;
}
bool UARTOutput::Synchronise() {
uint32 i;
int32 w = 24;
bool ok = true;
//if (channelsMemory != NULL_PTR(float32 *)) {
// value = channelsMemory[0] / DAC_RANGE;
//for (i = 0u; (i < 2u) && (ok); i++) {
//for (i = 0u; (i < numberOfDACsEnabled ) && (ok); i++) {
float32 value = channelMemory / outputRange;
//w = SetDacReg(i, value);
write(boardFileDescriptor, &w, 4);
// value = channelsMemory[1] / DAC_RANGE;
//value = channelsMemory[1] / DAC_RANGE * pow(2,17);
// w = SetDacReg(1, value);
//w = 0x000FFFFF & static_cast<uint32>(value);
// write(boardFileDescriptor, &w, 4);
//REPORT_ERROR(ErrorManagement::Information, " Writing DAC 0 0x%x", w);
/*
w = dacValues[i];
}
*/
return ok;
}
/*
int32 UARTOutput::SetDacReg(uint32 channel, float32 val) const {
if (val > 1.0)
val = 1.0;
if (val < -1.0)
val = -1.0;
int32 dacReg = static_cast<int32>(val * pow(2,17));
if (dacReg > 0x1FFFF) // 131071
dacReg = 0x1FFFF;
if (dacReg < -131072) // -0x20000
dacReg = -131072;
dacReg &= 0x0003FFFF; // keep 18 lsb
dacReg |= (0xF & channel) << 28;
return dacReg;
}
*/
CLASS_REGISTER(UARTOutput, "1.0")
}
// vim: syntax=cpp ts=2 sw=2 sts=2 sr et
return ok;
}
bool UARTOutput::Synchronise() {
uint32 i;
int32 w = 24;
bool ok = true;
char8 text[] = "ola";
// if (channelsMemory != NULL_PTR(float32 *)) {
// value = channelsMemory[0] / DAC_RANGE;
// for (i = 0u; (i < numberOfDACsEnabled ) && (ok); i++) {
int32 ser_value = channelValue / outputRange * 1000000.0;
REPORT_ERROR_PARAMETERS(ErrorManagement::Information,
"Synchronise called. value: %f, %d", channelValue,
ser_value);
// w = SetDacReg(i, value);
char8 *data = reinterpret_cast<char8 *>(&ser_value);
serial.Write(data, sizeof(int32));
// serial.Write(text, 4);
// write(boardFileDescriptor, &w, 4);
// value = channelsMemory[1] / DAC_RANGE;
// value = channelsMemory[1] / DAC_RANGE * pow(2,17);
// w = SetDacReg(1, value);
// w = 0x000FFFFF & static_cast<uint32>(value);
// write(boardFileDescriptor, &w, 4);
// REPORT_ERROR(ErrorManagement::Information, " Writing DAC 0 0x%x", w);
/*
w = dacValues[i];
}
*/
return ok;
}
/*
int32 UARTOutput::SetDacReg(uint32 channel, float32 val) const {
if (val > 1.0)
val = 1.0;
if (val < -1.0)
val = -1.0;
int32 dacReg = static_cast<int32>(val * pow(2,17));
if (dacReg > 0x1FFFF) // 131071
dacReg = 0x1FFFF;
if (dacReg < -131072) // -0x20000
dacReg = -131072;
dacReg &= 0x0003FFFF; // keep 18 lsb
dacReg |= (0xF & channel) << 28;
return dacReg;
}
*/
CLASS_REGISTER(UARTOutput, "1.0")
} // namespace MARTe
// vim: syntax=cpp ts=2 sw=2 sts=2 sr et