Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-26 01:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Initial checkin of unified hierarchy of WPILib 2015

Browse Source
This commit is contained in:
Brad Miller
2013-12-15 18:30:16 -05:00
commit 3178911eef
1560 changed files with 410007 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

73
hal/Azalea/src/main/native/Solenoid.cpp Normal file
View File

@@ -0,0 +1,73 @@
#include "HAL/Solenoid.h"
#include "Port.h"
#include "HAL/Errors.h"
#include "ChipObject.h"
#include "HAL/cpp/Synchronized.h"
#include "NetworkCommunication/LoadOut.h"
struct solenoid_port_t {
Port port;
tSolenoid *module;
uint32_t PWMGeneratorID;
};
typedef struct solenoid_port_t SolenoidPort;
static ReentrantSemaphore solenoidSemaphore;
static tSolenoid* solenoidModules[2] = {NULL, NULL};
bool solenoidModulesInitialized = false;
/**
* Initialize the digital modules.
*/
void initializeSolenoid(int32_t *status) {
if (solenoidModulesInitialized) return;
for (unsigned int i = 0; i < (sizeof(solenoidModules)/sizeof(solenoidModules[0])); i++) {
Synchronized sync(solenoidSemaphore);
solenoidModules[i] = tSolenoid::create(status);
}
solenoidModulesInitialized = true;
}
void* initializeSolenoidPort(void* port_pointer, int32_t *status) {
initializeSolenoid(status);
Port* port = (Port*) port_pointer;
// Initialize port structure
SolenoidPort* solenoid_port = new SolenoidPort();
solenoid_port->port = *port;
solenoid_port->module = solenoidModules[solenoid_port->port.module-1];
return solenoid_port;
}
bool checkSolenoidModule(uint8_t module) {
if (nLoadOut::getModulePresence(nLoadOut::kModuleType_Solenoid, module - 1))
return true;
return false;
}
bool getSolenoid(void* solenoid_port_pointer, int32_t *status) {
SolenoidPort* port = (SolenoidPort*) solenoid_port_pointer;
if (checkSolenoidModule(port->port.module)) {
uint8_t mask = 1 << (port->port.pin - 1);
return (mask & port->module->readDO7_0(port->port.module - 1, status));
}
return false;
}
void setSolenoid(void* solenoid_port_pointer, bool value, int32_t *status) {
SolenoidPort* port = (SolenoidPort*) solenoid_port_pointer;
if (checkSolenoidModule(port->port.module)) {
Synchronized sync(solenoidSemaphore);
uint8_t currentValue = port->module->readDO7_0(port->port.module - 1, status);
uint8_t mask = 1 << (port->port.pin - 1);
if (value) currentValue = currentValue | mask; // Flip the bit on
else currentValue = currentValue & ~mask; // Flip the bit off
port->module->writeDO7_0(port->port.module - 1, currentValue, status);
}
}