Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-30 02:31:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

[hal] Error if attempting to set DIO output on an input port (#3436)

Browse Source
This commit is contained in:
Thad House
2021-06-13 15:00:43 -07:00
committed by GitHub
parent 04e64db945
commit 186dadf14d
3 changed files with 33 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
hal/src/main/native/athena/DIO.cpp
View File

@@ -272,6 +272,29 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
}
{
std::scoped_lock lock(digitalDIOMutex);
tDIO::tOutputEnable currentOutputEnable =
digitalSystem->readOutputEnable(status);
HAL_Bool isInput = false;
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
isInput =
((currentOutputEnable.SPIPort >> remapSPIChannel(port->channel)) &
1) != 0;
} else if (port->channel < kNumDigitalHeaders) {
isInput = ((currentOutputEnable.Headers >> port->channel) & 1) != 0;
} else {
isInput = ((currentOutputEnable.MXP >> remapMXPChannel(port->channel)) &
1) != 0;
}
if (isInput) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Cannot set output of an input channel");
return;
}
tDIO::tDO currentDIO = digitalSystem->readDO(status);
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {

5
hal/src/main/native/include/hal/DIO.h
View File

@@ -40,6 +40,11 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
*/
HAL_Bool HAL_CheckDIOChannel(int32_t channel);
/**
* Frees a DIO port.
*
* @param handle the DIO channel handle
*/
void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle);
/**

5
hal/src/main/native/sim/DIO.cpp
View File

@@ -174,6 +174,11 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
value = 1;
}
}
if (SimDIOData[port->channel].isInput) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Cannot set output of an input channel");
return;
}
SimDIOData[port->channel].value = value;
}