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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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54
hal/src/main/native/sim/AnalogTrigger.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 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. */
@@ -63,7 +63,7 @@ int32_t hal::GetAnalogTriggerInputIndex(HAL_AnalogTriggerHandle handle,
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);
@@ -83,7 +83,6 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
}
trigger->analogHandle = portHandle;
trigger->index = static_cast<uint8_t>(getHandleIndex(handle));
*index = trigger->index;
SimAnalogTriggerData[trigger->index].initialized = true;
@@ -92,6 +91,12 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
return handle;
}
HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
HAL_DutyCycleHandle dutyCycleHandle, int32_t* status) {
*status = HAL_SIM_NOT_SUPPORTED;
return HAL_kInvalidHandle;
}
void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
int32_t* status) {
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
@@ -133,6 +138,13 @@ void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
SimAnalogTriggerData[trigger->index].triggerUpperBound = trigUpper;
SimAnalogTriggerData[trigger->index].triggerLowerBound = trigLower;
}
void HAL_SetAnalogTriggerLimitsDutyCycle(
HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
int32_t* status) {
*status = HAL_SIM_NOT_SUPPORTED;
}
void HAL_SetAnalogTriggerLimitsVoltage(
HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
int32_t* status) {
@@ -158,7 +170,7 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
AnalogTriggerData* triggerData = &SimAnalogTriggerData[trigger->index];
if (triggerData->triggerMode.Get() == HALSIM_AnalogTriggerFiltered) {
if (triggerData->triggerMode.Get() != HALSIM_AnalogTriggerUnassigned) {
*status = INCOMPATIBLE_STATE;
return;
}
@@ -167,6 +179,25 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
: HALSIM_AnalogTriggerUnassigned;
triggerData->triggerMode = setVal;
}
void HAL_SetAnalogTriggerDutyCycle(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_Bool useDutyCycle, int32_t* status) {
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
if (trigger == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
AnalogTriggerData* triggerData = &SimAnalogTriggerData[trigger->index];
if (triggerData->triggerMode.Get() != HALSIM_AnalogTriggerUnassigned) {
*status = INCOMPATIBLE_STATE;
return;
}
auto setVal = useDutyCycle ? HALSIM_AnalogTriggerDutyCycle
: HALSIM_AnalogTriggerUnassigned;
triggerData->triggerMode = setVal;
}
void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_Bool useFilteredValue, int32_t* status) {
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
@@ -177,12 +208,12 @@ void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
AnalogTriggerData* triggerData = &SimAnalogTriggerData[trigger->index];
if (triggerData->triggerMode.Get() == HALSIM_AnalogTriggerAveraged) {
if (triggerData->triggerMode.Get() != HALSIM_AnalogTriggerUnassigned) {
*status = INCOMPATIBLE_STATE;
return;
}
auto setVal = useFilteredValue ? HALSIM_AnalogTriggerAveraged
auto setVal = useFilteredValue ? HALSIM_AnalogTriggerFiltered
: HALSIM_AnalogTriggerUnassigned;
triggerData->triggerMode = setVal;
}
@@ -258,4 +289,15 @@ HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
return false;
}
}
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"