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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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43
wpilibc/src/main/native/cpp/AnalogTrigger.cpp
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@@ -12,6 +12,7 @@
#include <hal/HAL.h>
#include "frc/AnalogInput.h"
#include "frc/DutyCycle.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -26,19 +27,31 @@ AnalogTrigger::AnalogTrigger(int channel)
AnalogTrigger::AnalogTrigger(AnalogInput* input) {
m_analogInput = input;
int32_t status = 0;
int index = 0;
m_trigger = HAL_InitializeAnalogTrigger(input->m_port, &index, &status);
m_trigger = HAL_InitializeAnalogTrigger(input->m_port, &status);
if (status != 0) {
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
m_index = std::numeric_limits<int>::max();
m_trigger = HAL_kInvalidHandle;
return;
}
m_index = index;
int index = GetIndex();
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, m_index + 1);
SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger",
input->GetChannel());
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
}
AnalogTrigger::AnalogTrigger(DutyCycle* input) {
m_dutyCycle = input;
int32_t status = 0;
m_trigger = HAL_InitializeAnalogTriggerDutyCycle(input->m_handle, &status);
if (status != 0) {
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
m_trigger = HAL_kInvalidHandle;
return;
}
int index = GetIndex();
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
}
AnalogTrigger::~AnalogTrigger() {
@@ -53,9 +66,9 @@ AnalogTrigger::~AnalogTrigger() {
AnalogTrigger::AnalogTrigger(AnalogTrigger&& rhs)
: ErrorBase(std::move(rhs)),
SendableHelper(std::move(rhs)),
m_index(std::move(rhs.m_index)),
m_trigger(std::move(rhs.m_trigger)) {
std::swap(m_analogInput, rhs.m_analogInput);
std::swap(m_dutyCycle, rhs.m_dutyCycle);
std::swap(m_ownsAnalog, rhs.m_ownsAnalog);
}
@@ -63,9 +76,9 @@ AnalogTrigger& AnalogTrigger::operator=(AnalogTrigger&& rhs) {
ErrorBase::operator=(std::move(rhs));
SendableHelper::operator=(std::move(rhs));
m_index = std::move(rhs.m_index);
m_trigger = std::move(rhs.m_trigger);
std::swap(m_analogInput, rhs.m_analogInput);
std::swap(m_dutyCycle, rhs.m_dutyCycle);
std::swap(m_ownsAnalog, rhs.m_ownsAnalog);
return *this;
@@ -78,6 +91,13 @@ void AnalogTrigger::SetLimitsVoltage(double lower, double upper) {
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void AnalogTrigger::SetLimitsDutyCycle(double lower, double upper) {
if (StatusIsFatal()) return;
int32_t status = 0;
HAL_SetAnalogTriggerLimitsDutyCycle(m_trigger, lower, upper, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void AnalogTrigger::SetLimitsRaw(int lower, int upper) {
if (StatusIsFatal()) return;
int32_t status = 0;
@@ -101,7 +121,10 @@ void AnalogTrigger::SetFiltered(bool useFilteredValue) {
int AnalogTrigger::GetIndex() const {
if (StatusIsFatal()) return -1;
return m_index;
int32_t status = 0;
auto ret = HAL_GetAnalogTriggerFPGAIndex(m_trigger, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return ret;
}
bool AnalogTrigger::GetInWindow() {