Initial checkin of unified hierarchy of WPILib 2015

2026-07-01 02:41:48 +00:00 · 2013-12-15 18:30:16 -05:00
commit 3178911eef
1560 changed files with 410007 additions and 0 deletions
--- a/wpilibc/src/main/include/DriverStationEnhancedIO.h
+++ b/wpilibc/src/main/include/DriverStationEnhancedIO.h
@@ -0,0 +1,153 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#ifndef __DRIVER_STATION_ENHANCED_IO_H__
+#define __DRIVER_STATION_ENHANCED_IO_H__
+
+#include "ErrorBase.h"
+#include "NetworkCommunication/FRCComm.h"
+#include <stack>
+#include <vector>
+#include "HAL/HAL.h"
+
+#include "HAL/Semaphore.h"
+
+#define kAnalogInputResolution ((double)((1<<14)-1))
+#define kAnalogInputReference 3.3
+#define kAnalogOutputResolution ((double)((1<<8)-1))
+#define kAnalogOutputReference 4.0
+#define kAccelOffset 8300
+#define kAccelScale 3300.0
+#define kSupportedAPIVersion 1
+
+/**
+ * Interact with the more complete I/O available from the 
+ * newest driver station.  Get a reference to an object
+ * of this type by calling GetEnhancedIO() on the DriverStation object.
+ */
+class DriverStationEnhancedIO : public ErrorBase
+{
+	// Can only be constructed by the DriverStation class.
+	friend class DriverStation;
+
+#pragma pack(push,1)
+	// BEGIN: Definitions from the Cypress firmware
+	typedef struct
+	{
+		uint16_t digital;
+		uint16_t digital_oe;
+		uint16_t digital_pe;
+		uint16_t pwm_compare[4];
+		uint16_t pwm_period[2];
+		uint8_t dac[2];
+		uint8_t leds;
+		union
+		{
+			struct
+			{
+				// Bits are inverted from cypress fw because of big-endian!
+				uint8_t pwm_enable : 4;
+				uint8_t comparator_enable : 2;
+				uint8_t quad_index_enable : 2;
+			};
+			uint8_t enables;
+		};
+		uint8_t fixed_digital_out;
+	} output_t;  //data to IO (23 bytes)
+
+	typedef struct
+	{
+		uint8_t api_version;
+		uint8_t fw_version;
+		int16_t analog[8];
+		uint16_t digital;
+		int16_t accel[3];
+		int16_t quad[2];
+		uint8_t buttons;
+		uint8_t capsense_slider;
+		uint8_t capsense_proximity;
+	} input_t;	//data from IO (33 bytes)
+	// END: Definitions from the Cypress firmware
+
+	// Dynamic block definitions
+	typedef struct
+	{
+		uint8_t size; // Must be 25 (size remaining in the block not counting the size variable)
+		uint8_t id; // Must be 18
+		output_t data;
+		uint8_t flags;
+	} status_block_t;
+
+	typedef struct
+	{
+		uint8_t size; // Must be 34
+		uint8_t id; // Must be 17
+		input_t data;
+	} control_block_t;
+#pragma pack(pop)
+
+	enum tBlockID
+	{
+		kInputBlockID = kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input,
+		kOutputBlockID = kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output,
+	};
+	enum tStatusFlags {kStatusValid = 0x01, kStatusConfigChanged = 0x02, kForceEnhancedMode = 0x04};
+
+public:
+	enum tDigitalConfig {kUnknown, kInputFloating, kInputPullUp, kInputPullDown, kOutput, kPWM, kAnalogComparator};
+	enum tAccelChannel {kAccelX = 0, kAccelY = 1, kAccelZ = 2};
+	enum tPWMPeriodChannels {kPWMChannels1and2, kPWMChannels3and4};
+
+	double GetAcceleration(tAccelChannel channel);
+	double GetAnalogIn(uint32_t channel);
+	double GetAnalogInRatio(uint32_t channel);
+	double GetAnalogOut(uint32_t channel);
+	void SetAnalogOut(uint32_t channel, double value);
+	bool GetButton(uint32_t channel);
+	uint8_t GetButtons();
+	void SetLED(uint32_t channel, bool value);
+	void SetLEDs(uint8_t value);
+	bool GetDigital(uint32_t channel);
+	uint16_t GetDigitals();
+	void SetDigitalOutput(uint32_t channel, bool value);
+	tDigitalConfig GetDigitalConfig(uint32_t channel);
+	void SetDigitalConfig(uint32_t channel, tDigitalConfig config);
+	double GetPWMPeriod(tPWMPeriodChannels channels);
+	void SetPWMPeriod(tPWMPeriodChannels channels, double period);
+	bool GetFixedDigitalOutput(uint32_t channel);
+	void SetFixedDigitalOutput(uint32_t channel, bool value);
+	int16_t GetEncoder(uint32_t encoderNumber);
+	void ResetEncoder(uint32_t encoderNumber);
+	bool GetEncoderIndexEnable(uint32_t encoderNumber);
+	void SetEncoderIndexEnable(uint32_t encoderNumber, bool enable);
+	double GetTouchSlider();
+	double GetPWMOutput(uint32_t channel);
+	void SetPWMOutput(uint32_t channel, double value);
+	uint8_t GetFirmwareVersion();
+
+private:
+	DriverStationEnhancedIO();
+	virtual ~DriverStationEnhancedIO();
+	void UpdateData();
+	void MergeConfigIntoOutput(const status_block_t &dsOutputBlock, status_block_t &localCache);
+	bool IsConfigEqual(const status_block_t &dsOutputBlock, const status_block_t &localCache);
+
+	// Usage Guidelines...
+	DISALLOW_COPY_AND_ASSIGN(DriverStationEnhancedIO);
+
+	control_block_t m_inputData;
+	status_block_t m_outputData;
+	MUTEX_ID m_inputDataSemaphore;
+	MUTEX_ID m_outputDataSemaphore;
+	bool m_inputValid;
+	bool m_outputValid;
+	bool m_configChanged;
+	bool m_requestEnhancedEnable;
+	int16_t m_encoderOffsets[2];
+};
+
+#endif
+