mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-26 01:51:41 +00:00
Initial checkin of unified hierarchy of WPILib 2015
This commit is contained in:
Brad Miller
@@ -0,0 +1,19 @@
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#ifndef __AICalibration_h__
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#define __AICalibration_h__
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#include "HAL/HAL.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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uint32_t FRC_NetworkCommunication_nAICalibration_getLSBWeight(const uint32_t aiSystemIndex, const uint32_t channel, int32_t *status);
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int32_t FRC_NetworkCommunication_nAICalibration_getOffset(const uint32_t aiSystemIndex, const uint32_t channel, int32_t *status);
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#ifdef __cplusplus
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}
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#endif
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#endif // __AICalibration_h__
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193
wpilibc/src/main/include/NetworkCommunication/FRCComm.h
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193
wpilibc/src/main/include/NetworkCommunication/FRCComm.h
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@@ -0,0 +1,193 @@
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/*************************************************************
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* NOTICE
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*
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* These are the only externally exposed functions to the
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* NetworkCommunication library
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*
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* This is an implementation of FRC Spec for Comm Protocol
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* Revision 4.5, June 30, 2008
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*
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* Copyright (c) National Instruments 2008. All Rights Reserved.
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*
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*************************************************************/
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#ifndef __FRC_COMM_H__
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#define __FRC_COMM_H__
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#ifdef SIMULATION
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#include <vxWorks_compat.h>
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#define EXPORT_FUNC __declspec(dllexport) __cdecl
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#else
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#if defined(__vxworks)
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#include <vxWorks.h>
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#define EXPORT_FUNC
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#else
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#include <stdint.h>
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#include <pthread.h>
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#define EXPORT_FUNC
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#endif
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#endif
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// Commandeer some bytes at the end for advanced I/O feedback.
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#define IO_CONFIG_DATA_SIZE 32
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#define SYS_STATUS_DATA_SIZE 44
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#define USER_STATUS_DATA_SIZE (984 - IO_CONFIG_DATA_SIZE - SYS_STATUS_DATA_SIZE)
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#define USER_DS_LCD_DATA_SIZE 128
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struct FRCCommonControlData{
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uint16_t packetIndex;
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union {
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uint8_t control;
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#ifndef __vxworks
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struct {
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uint8_t checkVersions :1;
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uint8_t test :1;
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uint8_t resync : 1;
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uint8_t fmsAttached:1;
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uint8_t autonomous : 1;
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uint8_t enabled : 1;
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uint8_t notEStop : 1;
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uint8_t reset : 1;
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};
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#else
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struct {
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uint8_t reset : 1;
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uint8_t notEStop : 1;
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uint8_t enabled : 1;
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uint8_t autonomous : 1;
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uint8_t fmsAttached:1;
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uint8_t resync : 1;
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uint8_t test :1;
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uint8_t checkVersions :1;
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};
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#endif
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};
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uint8_t dsDigitalIn;
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uint16_t teamID;
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char dsID_Alliance;
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char dsID_Position;
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union {
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int8_t stick0Axes[6];
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struct {
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int8_t stick0Axis1;
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int8_t stick0Axis2;
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int8_t stick0Axis3;
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int8_t stick0Axis4;
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int8_t stick0Axis5;
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int8_t stick0Axis6;
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};
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};
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uint16_t stick0Buttons; // Left-most 4 bits are unused
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union {
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int8_t stick1Axes[6];
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struct {
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int8_t stick1Axis1;
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int8_t stick1Axis2;
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int8_t stick1Axis3;
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int8_t stick1Axis4;
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int8_t stick1Axis5;
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int8_t stick1Axis6;
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};
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};
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uint16_t stick1Buttons; // Left-most 4 bits are unused
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union {
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int8_t stick2Axes[6];
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struct {
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int8_t stick2Axis1;
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int8_t stick2Axis2;
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int8_t stick2Axis3;
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int8_t stick2Axis4;
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int8_t stick2Axis5;
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int8_t stick2Axis6;
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};
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};
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uint16_t stick2Buttons; // Left-most 4 bits are unused
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union {
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int8_t stick3Axes[6];
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struct {
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int8_t stick3Axis1;
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int8_t stick3Axis2;
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int8_t stick3Axis3;
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int8_t stick3Axis4;
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int8_t stick3Axis5;
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int8_t stick3Axis6;
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};
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};
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uint16_t stick3Buttons; // Left-most 4 bits are unused
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//Analog inputs are 10 bit right-justified
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uint16_t analog1;
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uint16_t analog2;
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uint16_t analog3;
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uint16_t analog4;
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uint64_t cRIOChecksum;
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uint32_t FPGAChecksum0;
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uint32_t FPGAChecksum1;
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uint32_t FPGAChecksum2;
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uint32_t FPGAChecksum3;
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char versionData[8];
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};
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#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
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#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Header 19
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
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extern "C" {
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#ifndef SIMULATION
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void EXPORT_FUNC getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
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#endif
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int EXPORT_FUNC getCommonControlData(FRCCommonControlData *data, int wait_ms);
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int EXPORT_FUNC getRecentCommonControlData(FRCCommonControlData *commonData, int wait_ms);
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int EXPORT_FUNC getRecentStatusData(uint8_t *batteryInt, uint8_t *batteryDec, uint8_t *dsDigitalOut, int wait_ms);
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int EXPORT_FUNC getDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength, int wait_ms);
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int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
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const char *userDataHigh, int userDataHighLength,
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const char *userDataLow, int userDataLowLength, int wait_ms);
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int EXPORT_FUNC setStatusDataFloatAsInt(int battery, uint8_t dsDigitalOut, uint8_t updateNumber,
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const char *userDataHigh, int userDataHighLength,
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const char *userDataLow, int userDataLowLength, int wait_ms);
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int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
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int EXPORT_FUNC setUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength, int wait_ms);
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int EXPORT_FUNC overrideIOConfig(const char *ioConfig, int wait_ms);
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#ifdef SIMULATION
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void EXPORT_FUNC setNewDataSem(HANDLE);
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#else
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# if defined (__vxworks)
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void EXPORT_FUNC setNewDataSem(SEM_ID);
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void EXPORT_FUNC setResyncSem(SEM_ID);
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# else
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void EXPORT_FUNC setNewDataSem(pthread_mutex_t *);
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void EXPORT_FUNC setResyncSem(pthread_mutex_t *);
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# endif
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void EXPORT_FUNC signalResyncActionDone(void);
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#endif
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// this uint32_t is really a LVRefNum
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void EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
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#ifndef SIMULATION
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void EXPORT_FUNC setResyncOccurRef(uint32_t refnum);
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#endif
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void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTest(void);
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};
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#endif
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39
wpilibc/src/main/include/NetworkCommunication/LoadOut.h
Normal file
39
wpilibc/src/main/include/NetworkCommunication/LoadOut.h
Normal file
@@ -0,0 +1,39 @@
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#ifndef __LoadOut_h__
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#define __LoadOut_h__
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#define kMaxModuleNumber 2
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namespace nLoadOut
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{
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typedef enum {
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kModuleType_Unknown = 0x00,
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kModuleType_Analog = 0x01,
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kModuleType_Digital = 0x02,
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kModuleType_Solenoid = 0x03,
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} tModuleType;
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bool getModulePresence(tModuleType moduleType, uint8_t moduleNumber);
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typedef enum {
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kTargetClass_Unknown = 0x00,
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kTargetClass_FRC1 = 0x10,
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kTargetClass_FRC2 = 0x20,
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kTargetClass_FRC2_Analog = kTargetClass_FRC2 | kModuleType_Analog,
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kTargetClass_FRC2_Digital = kTargetClass_FRC2 | kModuleType_Digital,
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kTargetClass_FRC2_Solenoid = kTargetClass_FRC2 | kModuleType_Solenoid,
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kTargetClass_FamilyMask = 0xF0,
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kTargetClass_ModuleMask = 0x0F,
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} tTargetClass;
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tTargetClass getTargetClass();
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}
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#ifdef __cplusplus
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extern "C" {
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#endif
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uint32_t FRC_NetworkCommunication_nLoadOut_getModulePresence(uint32_t moduleType, uint8_t moduleNumber);
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uint32_t FRC_NetworkCommunication_nLoadOut_getTargetClass();
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#ifdef __cplusplus
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}
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#endif
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#endif // __LoadOut_h__
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135
wpilibc/src/main/include/NetworkCommunication/UsageReporting.h
Normal file
135
wpilibc/src/main/include/NetworkCommunication/UsageReporting.h
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@@ -0,0 +1,135 @@
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#ifndef __UsageReporting_h__
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#define __UsageReporting_h__
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#ifdef SIMULATION
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#include <vxWorks_compat.h>
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#define EXPORT_FUNC __declspec(dllexport) __cdecl
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#else
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#include "HAL/HAL.h"
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#define EXPORT_FUNC
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#endif
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#define kUsageReporting_version 1
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namespace nUsageReporting
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{
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typedef enum
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{
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kResourceType_Controller,
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kResourceType_Module,
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kResourceType_Language,
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kResourceType_CANPlugin,
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kResourceType_Accelerometer,
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kResourceType_ADXL345,
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kResourceType_AnalogChannel,
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kResourceType_AnalogTrigger,
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kResourceType_AnalogTriggerOutput,
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kResourceType_CANJaguar,
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kResourceType_Compressor,
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kResourceType_Counter,
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kResourceType_Dashboard,
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kResourceType_DigitalInput,
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kResourceType_DigitalOutput,
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kResourceType_DriverStationCIO,
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kResourceType_DriverStationEIO,
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kResourceType_DriverStationLCD,
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kResourceType_Encoder,
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kResourceType_GearTooth,
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kResourceType_Gyro,
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kResourceType_I2C,
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kResourceType_Framework,
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kResourceType_Jaguar,
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kResourceType_Joystick,
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kResourceType_Kinect,
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kResourceType_KinectStick,
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kResourceType_PIDController,
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kResourceType_Preferences,
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kResourceType_PWM,
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kResourceType_Relay,
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kResourceType_RobotDrive,
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kResourceType_SerialPort,
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kResourceType_Servo,
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kResourceType_Solenoid,
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kResourceType_SPI,
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kResourceType_Task,
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kResourceType_Ultrasonic,
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kResourceType_Victor,
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kResourceType_Button,
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kResourceType_Command,
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kResourceType_AxisCamera,
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kResourceType_PCVideoServer,
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kResourceType_SmartDashboard,
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kResourceType_Talon,
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kResourceType_HiTechnicColorSensor,
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kResourceType_HiTechnicAccel,
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kResourceType_HiTechnicCompass,
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kResourceType_SRF08,
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} tResourceType;
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typedef enum
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{
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kLanguage_LabVIEW = 1,
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kLanguage_CPlusPlus = 2,
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kLanguage_Java = 3,
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kLanguage_Python = 4,
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kCANPlugin_BlackJagBridge = 1,
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kCANPlugin_2CAN = 2,
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kFramework_Iterative = 1,
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kFramework_Simple = 2,
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kRobotDrive_ArcadeStandard = 1,
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kRobotDrive_ArcadeButtonSpin = 2,
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kRobotDrive_ArcadeRatioCurve = 3,
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kRobotDrive_Tank = 4,
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kRobotDrive_MecanumPolar = 5,
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kRobotDrive_MecanumCartesian = 6,
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kDriverStationCIO_Analog = 1,
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kDriverStationCIO_DigitalIn = 2,
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kDriverStationCIO_DigitalOut = 3,
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kDriverStationEIO_Acceleration = 1,
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kDriverStationEIO_AnalogIn = 2,
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kDriverStationEIO_AnalogOut = 3,
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kDriverStationEIO_Button = 4,
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kDriverStationEIO_LED = 5,
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kDriverStationEIO_DigitalIn = 6,
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kDriverStationEIO_DigitalOut = 7,
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kDriverStationEIO_FixedDigitalOut = 8,
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kDriverStationEIO_PWM = 9,
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kDriverStationEIO_Encoder = 10,
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kDriverStationEIO_TouchSlider = 11,
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kADXL345_SPI = 1,
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kADXL345_I2C = 2,
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kCommand_Scheduler = 1,
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kSmartDashboard_Instance = 1,
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} tInstances;
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/**
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* Report the usage of a resource of interest.
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*
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* @param resource one of the values in the tResourceType above (max value 51).
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* @param instanceNumber an index that identifies the resource instance.
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* @param context an optional additional context number for some cases (such as module number). Set to 0 to omit.
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* @param feature a string to be included describing features in use on a specific resource. Setting the same resource more than once allows you to change the feature string.
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*/
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uint32_t EXPORT_FUNC report(tResourceType resource, uint8_t instanceNumber, uint8_t context = 0, const char *feature = NULL);
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}
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#ifdef __cplusplus
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extern "C" {
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#endif
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uint32_t EXPORT_FUNC FRC_NetworkCommunication_nUsageReporting_report(uint8_t resource, uint8_t instanceNumber, uint8_t context, const char *feature);
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#ifdef __cplusplus
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}
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#endif
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#endif // __UsageReporting_h__
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@@ -0,0 +1,21 @@
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#ifndef __SYM_MODULE_LINK_H__
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#define __SYM_MODULE_LINK_H__
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#include "HAL/HAL.h"
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||||
#ifdef __cplusplus
|
||||
extern "C" {
|
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#endif
|
||||
|
||||
extern STATUS moduleNameFindBySymbolName
|
||||
(
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const char * symbol, /* symbol name to look for */
|
||||
char * module /* where to return module name */
|
||||
);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
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||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user