laelaps::LaeMotorCtlrEnable Class Reference

Laelaps motor controller power enable class. More...

#include <laeGpio.h>

Inheritance diagram for laelaps::LaeMotorCtlrEnable:

Public Member Functions
	LaeMotorCtlrEnable ()
	Default constructor.
virtual	~LaeMotorCtlrEnable ()
	Destructor.
virtual void	sync ()
	Synchronized this with GPIO hardware state.
bool	enable ()
	Enable power to motor controllers. More...
bool	disable ()
	Disable power to motor controllers. More...
bool	isEnabled ()
	Test if power to motor controllers is enabled. More...
Public Member Functions inherited from laelaps::LaeGpio
	LaeGpio (const std::string &strTag, const int gpio, const LaeGpio::Direction dir)
	Default intialization constructor. More...
virtual	~LaeGpio ()
	Destructor.
virtual int	writeValue (const LaeGpio::TriState value)
	Write value to gpio. More...
virtual int	writeValue (const int value)
	Write value to gpio. More...
virtual int	readValue (int &value)
	Read current value of gpio. More...
int	hasValue () const
	Get the current shadowed gpio value. More...
bool	isConfigured () const
	Is the exported GPIO number configured to match this ojbect? More...

Static Public Attributes
static const int	TPowerUp = 500000
	power-up time (usec)

Additional Inherited Members
Public Types inherited from laelaps::LaeGpio
enum	TriState {   UNKNOWN = -1,   LOW = 0,   HIGH = 1 }
	GPIO tri-state value. More...
enum	Direction {   INPUT = GPIO_DIR_IN,   OUTPUT = GPIO_DIR_OUT }
	GPIO direction. More...
Protected Member Functions inherited from laelaps::LaeGpio
bool	checkConfig ()
	Check if the exported GPIO exists in /sys/class and that it has been configured to match this objects configuration. More...
Protected Attributes inherited from laelaps::LaeGpio
std::string	m_gpioTag
	identifying tag
int	m_gpioNum
	exported GPIO number
LaeGpio::Direction	m_gpioDir
	GPIO direction.
int	m_gpioVal
	shadowed value
bool	m_gpioCfg
	GPIO is [not] configured (correctly)

Detailed Description

Laelaps motor controller power enable class.

Definition at line 200 of file laeGpio.h.

Member Function Documentation

bool LaeMotorCtlrEnable::disable

(

)

Disable power to motor controllers.

Returns

Returns true if power is enabled, false otherwise.

Definition at line 214 of file laeGpio.cxx.

References laelaps::LaeGpio::isConfigured(), laelaps::LaeGpio::m_gpioNum, laelaps::LaeGpio::m_gpioTag, laelaps::LaeGpio::m_gpioVal, laelaps::LaeGpio::sync(), laelaps::LaeGpio::UNKNOWN, and laelaps::LaeGpio::writeValue().

{
  bool  bEnabled;

  // lazy one-time synchronization
  if( m_gpioVal == LaeGpio::UNKNOWN )
  {
    sync();
  }

  // versions 2.1+ have power enable to motor controllers
  if( isConfigured() )
  {
    writeValue(0);
  }

  bEnabled = isEnabled();

  if( !bEnabled )
  {
    LOGDIAG2("%s (GPIO %d) disabled.", m_gpioTag.c_str(), m_gpioNum);
  }

  return bEnabled;
}

bool LaeMotorCtlrEnable::enable

(

)

Enable power to motor controllers.

Returns

Returns true if power is enabled, false otherwise.

Definition at line 179 of file laeGpio.cxx.

References laelaps::LaeGpio::isConfigured(), laelaps::LaeGpio::m_gpioNum, laelaps::LaeGpio::m_gpioTag, laelaps::LaeGpio::m_gpioVal, laelaps::LaeGpio::sync(), laelaps::LaeGpio::UNKNOWN, and laelaps::LaeGpio::writeValue().

{
  bool  wasEnabled;
  bool  bEnabled;

  // lazy one-time synchronization
  if( m_gpioVal == LaeGpio::UNKNOWN )
  {
    sync();
  }

  // versions 2.1+ have power enable to motor controllers
  if( isConfigured() )
  {
    wasEnabled = isEnabled();

    writeValue(1);

    // give the motor controllers time to power up
    if( !wasEnabled && isEnabled() )
    {
      usleep(TPowerUp);
    }
  }

  bEnabled = isEnabled();

  if( bEnabled )
  {
    LOGDIAG2("%s (GPIO %d) enabled.", m_gpioTag.c_str(), m_gpioNum);
  }

  return bEnabled;
}

bool LaeMotorCtlrEnable::isEnabled

(

)

Test if power to motor controllers is enabled.

Returns

Returns true if power is enabled, false otherwise.

Definition at line 240 of file laeGpio.cxx.

References laelaps::LaeGpio::hasValue(), laelaps::LaeGpio::HIGH, laelaps::LaeGpio::m_gpioVal, laelaps::LaeGpio::sync(), and laelaps::LaeGpio::UNKNOWN.

{
  // lazy one-time synchronization
  if( m_gpioVal == LaeGpio::UNKNOWN )
  {
    sync();
  }

  return hasValue() == LaeGpio::HIGH;
}

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The documentation for this class was generated from the following files:

• include/Laelaps/laeGpio.h
• sw/liblaelaps/laeGpio.cxx