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Added support for digital and analog IO pins on the MXP

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Change-Id: I3a4e14ceab885d19a615d6cd45f22a2250ad2856
This commit is contained in:
thomasclark
2014-06-12 09:08:33 -04:00
parent 85d9ead4e2
commit 29c4534c58
11 changed files with 247 additions and 74 deletions
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47
hal/lib/Athena/Analog.cpp
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@@ -14,7 +14,8 @@ static const long kTimebase = 40000000; ///< 40 MHz clock
static const long kDefaultOversampleBits = 0;
static const long kDefaultAverageBits = 7;
static const float kDefaultSampleRate = 50000.0;
static const uint32_t kAnalogPins = 8;
static const uint32_t kAnalogInputPins = 8;
static const uint32_t kAnalogOutputPins = 2;
static const uint32_t kAccumulatorNumChannels = 2;
static const uint32_t kAccumulatorChannels[] = {0, 1};
@@ -43,15 +44,15 @@ void initializeAnalog(int32_t *status) {
if (analogSystemInitialized) return;
analogRegisterWindowSemaphore = initializeMutexRecursive();
analogSystem = tAI::create(status);
setAnalogNumChannelsToActivate(kAnalogPins);
setAnalogNumChannelsToActivate(kAnalogInputPins);
setAnalogSampleRate(kDefaultSampleRate, status);
analogSystemInitialized = true;
}
/**
* Initialize the analog port using the given port object.
* Initialize the analog input port using the given port object.
*/
void* initializeAnalogPort(void* port_pointer, int32_t *status) {
void* initializeAnalogInputPort(void* port_pointer, int32_t *status) {
initializeAnalog(status);
Port* port = (Port*) port_pointer;
@@ -68,6 +69,19 @@ void* initializeAnalogPort(void* port_pointer, int32_t *status) {
setAnalogOversampleBits(analog_port, kDefaultOversampleBits, status);
return analog_port;
}
/**
* Initialize the analog output port using the given port object.
*/
void* initializeAnalogOutputPort(void* port_pointer, int32_t *status) {
initializeAnalog(status);
Port* port = (Port*) port_pointer;
// Initialize port structure
AnalogPort* analog_port = new AnalogPort();
analog_port->port = *port;
return analog_port;
}
/**
@@ -80,14 +94,27 @@ bool checkAnalogModule(uint8_t module) {
}
/**
* Check that the analog channel number is value.
* Check that the analog output channel number is value.
* Verify that the analog channel number is one of the legal channel numbers. Channel numbers
* are 0-based.
*
* @return Analog channel is valid
*/
bool checkAnalogChannel(uint32_t pin) {
if (pin >= 0 && pin < kAnalogPins)
bool checkAnalogInputChannel(uint32_t pin) {
if (pin >= 0 && pin < kAnalogInputPins)
return true;
return false;
}
/**
* Check that the analog output channel number is value.
* Verify that the analog channel number is one of the legal channel numbers. Channel numbers
* are 0-based.
*
* @return Analog channel is valid
*/
bool checkAnalogOutputChannel(uint32_t pin) {
if (pin >= 0 && pin < kAnalogOutputPins)
return true;
return false;
}
@@ -245,7 +272,7 @@ uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t *status) {
int16_t getAnalogValue(void* analog_port_pointer, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
int16_t value;
checkAnalogChannel(port->port.pin);
checkAnalogInputChannel(port->port.pin);
tAI::tReadSelect readSelect;
readSelect.Channel = port->port.pin;
@@ -276,7 +303,7 @@ int16_t getAnalogValue(void* analog_port_pointer, int32_t *status) {
int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
int16_t value;
checkAnalogChannel(port->port.pin);
checkAnalogInputChannel(port->port.pin);
tAI::tReadSelect readSelect;
readSelect.Channel = port->port.pin;
@@ -568,7 +595,7 @@ void* initializeAnalogTrigger(void* port_pointer, uint32_t *index, int32_t *stat
Resource::CreateResourceObject(&triggers, tAnalogTrigger::kNumSystems);
AnalogTrigger* trigger = new AnalogTrigger();
trigger->port = (AnalogPort*) initializeAnalogPort(port, status);
trigger->port = (AnalogPort*) initializeAnalogInputPort(port, status);
trigger->index = triggers->Allocate("Analog Trigger");
*index = trigger->index;
// TODO: if (index == ~0ul) { CloneError(triggers); return; }