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Add FPGA Duty Cycle support (#1987)

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This commit is contained in:
Thad House
2019-11-01 23:41:30 -07:00
committed by Peter Johnson
parent 509819d83f
commit 1d695a1660
42 changed files with 1744 additions and 72 deletions
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112
hal/src/main/native/athena/AnalogTrigger.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,9 +8,11 @@
#include "hal/AnalogTrigger.h"
#include "AnalogInternal.h"
#include "DutyCycleInternal.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
#include "hal/AnalogInput.h"
#include "hal/DutyCycle.h"
#include "hal/Errors.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/handles/LimitedHandleResource.h"
@@ -21,7 +23,7 @@ namespace {
struct AnalogTrigger {
std::unique_ptr<tAnalogTrigger> trigger;
HAL_AnalogInputHandle analogHandle;
HAL_Handle handle;
uint8_t index;
};
@@ -46,7 +48,7 @@ void InitializeAnalogTrigger() {
extern "C" {
HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
HAL_AnalogInputHandle portHandle, int32_t* index, int32_t* status) {
HAL_AnalogInputHandle portHandle, int32_t* status) {
hal::init::CheckInit();
// ensure we are given a valid and active AnalogInput handle
auto analog_port = analogInputHandles->Get(portHandle);
@@ -64,19 +66,46 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
trigger->analogHandle = portHandle;
trigger->handle = portHandle;
trigger->index = static_cast<uint8_t>(getHandleIndex(handle));
*index = trigger->index;
trigger->trigger.reset(tAnalogTrigger::create(trigger->index, status));
trigger->trigger->writeSourceSelect_Channel(analog_port->channel, status);
return handle;
}
HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
HAL_DutyCycleHandle dutyCycleHandle, int32_t* status) {
hal::init::CheckInit();
// ensure we are given a valid and active DutyCycle handle
auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
if (dutyCycle == nullptr) {
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
HAL_AnalogTriggerHandle handle = analogTriggerHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
*status = NO_AVAILABLE_RESOURCES;
return HAL_kInvalidHandle;
}
auto trigger = analogTriggerHandles->Get(handle);
if (trigger == nullptr) { // would only occur on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
trigger->handle = dutyCycleHandle;
trigger->index = static_cast<uint8_t>(getHandleIndex(handle));
trigger->trigger.reset(tAnalogTrigger::create(trigger->index, status));
trigger->trigger->writeSourceSelect_Channel(dutyCycle->index, status);
trigger->trigger->writeSourceSelect_DutyCycle(true, status);
return handle;
}
void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
int32_t* status) {
analogTriggerHandles->Free(analogTriggerHandle);
// caller owns the analog input handle.
// caller owns the input handle.
}
void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
@@ -89,11 +118,46 @@ void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
}
if (lower > upper) {
*status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
return;
}
trigger->trigger->writeLowerLimit(lower, status);
trigger->trigger->writeUpperLimit(upper, status);
}
void HAL_SetAnalogTriggerLimitsDutyCycle(
HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
int32_t* status) {
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
if (trigger == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
if (getHandleType(trigger->handle) != HAL_HandleEnum::DutyCycle) {
*status = HAL_HANDLE_ERROR;
return;
}
if (lower > upper) {
*status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
return;
}
if (lower < 0.0 || upper > 1.0) {
*status = PARAMETER_OUT_OF_RANGE;
return;
}
int32_t scaleFactor =
HAL_GetDutyCycleOutputScaleFactor(trigger->handle, status);
if (*status != 0) {
return;
}
trigger->trigger->writeLowerLimit(static_cast<int32_t>(scaleFactor * lower),
status);
trigger->trigger->writeLowerLimit(static_cast<int32_t>(scaleFactor * upper),
status);
}
void HAL_SetAnalogTriggerLimitsVoltage(
HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
int32_t* status) {
@@ -102,16 +166,22 @@ void HAL_SetAnalogTriggerLimitsVoltage(
*status = HAL_HANDLE_ERROR;
return;
}
if (getHandleType(trigger->handle) != HAL_HandleEnum::AnalogInput) {
*status = HAL_HANDLE_ERROR;
return;
}
if (lower > upper) {
*status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
return;
}
// TODO: This depends on the averaged setting. Only raw values will work as
// is.
trigger->trigger->writeLowerLimit(
HAL_GetAnalogVoltsToValue(trigger->analogHandle, lower, status), status);
HAL_GetAnalogVoltsToValue(trigger->handle, lower, status), status);
trigger->trigger->writeUpperLimit(
HAL_GetAnalogVoltsToValue(trigger->analogHandle, upper, status), status);
HAL_GetAnalogVoltsToValue(trigger->handle, upper, status), status);
}
void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
@@ -121,7 +191,8 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
*status = HAL_HANDLE_ERROR;
return;
}
if (trigger->trigger->readSourceSelect_Filter(status) != 0) {
if (trigger->trigger->readSourceSelect_Filter(status) != 0 ||
trigger->trigger->readSourceSelect_DutyCycle(status) != 0) {
*status = INCOMPATIBLE_STATE;
// TODO: wpi_setWPIErrorWithContext(IncompatibleMode, "Hardware does not
// support average and filtering at the same time.");
@@ -136,7 +207,8 @@ void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
*status = HAL_HANDLE_ERROR;
return;
}
if (trigger->trigger->readSourceSelect_Averaged(status) != 0) {
if (trigger->trigger->readSourceSelect_Averaged(status) != 0 ||
trigger->trigger->readSourceSelect_DutyCycle(status) != 0) {
*status = INCOMPATIBLE_STATE;
// TODO: wpi_setWPIErrorWithContext(IncompatibleMode, "Hardware does not "
// "support average and filtering at the same time.");
@@ -177,16 +249,28 @@ HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
case HAL_Trigger_kInWindow:
result =
trigger->trigger->readOutput_InHysteresis(trigger->index, status);
break; // XXX: Backport
break;
case HAL_Trigger_kState:
result = trigger->trigger->readOutput_OverLimit(trigger->index, status);
break; // XXX: Backport
break;
case HAL_Trigger_kRisingPulse:
result = trigger->trigger->readOutput_Rising(trigger->index, status);
break;
case HAL_Trigger_kFallingPulse:
*status = ANALOG_TRIGGER_PULSE_OUTPUT_ERROR;
return false;
result = trigger->trigger->readOutput_Falling(trigger->index, status);
break;
}
return result;
}
int32_t HAL_GetAnalogTriggerFPGAIndex(
HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) {
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
if (trigger == nullptr) {
*status = HAL_HANDLE_ERROR;
return -1;
}
return trigger->index;
}
} // extern "C"