HAL: Use extern "C" in implementation files.

This turns accidental parameter mismatches between header and implementation
into compiler errors.

Change-Id: Ic26fabb82b2fd5f79407a11435cdbd35348af15f

hal/lib/Athena/Accelerometer.cpp

@@ -171,6 +171,8 @@ static double unpackAxis(int16_t raw) {
 	}
 }
 
+extern "C" {
+
 /**
  * Set the accelerometer to active or standby mode.  It must be in standby
  * mode to change any configuration.
@@ -232,3 +234,5 @@ double getAccelerometerZ() {
 	int raw = (readRegister(kReg_OutZMSB) << 4) | (readRegister(kReg_OutZLSB) >> 4);
 	return unpackAxis(raw);
 }
+
+}  // extern "C"

hal/lib/Athena/Analog.cpp

@@ -24,18 +24,20 @@ struct AnalogPort {
   tAccumulator *accumulator;
 };
 
-bool analogSampleRateSet = false;
-priority_recursive_mutex analogRegisterWindowMutex;
-tAI* analogInputSystem = NULL;
-tAO* analogOutputSystem = NULL;
-uint32_t analogNumChannelsToActivate = 0;
+static bool analogSampleRateSet = false;
+static priority_recursive_mutex analogRegisterWindowMutex;
+static tAI* analogInputSystem = NULL;
+static tAO* analogOutputSystem = NULL;
+static uint32_t analogNumChannelsToActivate = 0;
+
+extern "C" {
 
 // Utility methods defined below.
-uint32_t getAnalogNumActiveChannels(int32_t *status);
-uint32_t getAnalogNumChannelsToActivate(int32_t *status);
-void setAnalogNumChannelsToActivate(uint32_t channels);
+static uint32_t getAnalogNumActiveChannels(int32_t *status);
+static uint32_t getAnalogNumChannelsToActivate(int32_t *status);
+static void setAnalogNumChannelsToActivate(uint32_t channels);
 
-bool analogSystemInitialized = false;
+static bool analogSystemInitialized = false;
 
 /**
  * Initialize the analog System.
@@ -424,7 +426,7 @@ int32_t getAnalogOffset(void* analog_port_pointer, int32_t *status) {
  *
  * @return Active channels.
  */
-uint32_t getAnalogNumActiveChannels(int32_t *status) {
+static uint32_t getAnalogNumActiveChannels(int32_t *status) {
   uint32_t scanSize = analogInputSystem->readConfig_ScanSize(status);
   if (scanSize == 0)
     return 8;
@@ -442,7 +444,7 @@ uint32_t getAnalogNumActiveChannels(int32_t *status) {
  *
  * @return Value to write to the active channels field.
  */
-uint32_t getAnalogNumChannelsToActivate(int32_t *status) {
+static uint32_t getAnalogNumChannelsToActivate(int32_t *status) {
   if(analogNumChannelsToActivate == 0) return getAnalogNumActiveChannels(status);
   return analogNumChannelsToActivate;
 }
@@ -455,7 +457,7 @@ uint32_t getAnalogNumChannelsToActivate(int32_t *status) {
  *
  * @param channels Number of active channels.
  */
-void setAnalogNumChannelsToActivate(uint32_t channels) {
+static void setAnalogNumChannelsToActivate(uint32_t channels) {
   analogNumChannelsToActivate = channels;
 }
 
@@ -744,3 +746,5 @@ int32_t getAnalogVoltsToValueIntHack(void* analog_port_pointer, int voltage, int
 void setAnalogTriggerLimitsVoltageIntHack(void* analog_trigger_pointer, int lower, int upper, int32_t *status) {
   setAnalogTriggerLimitsVoltage(analog_trigger_pointer, intToFloat(lower), intToFloat(upper), status);
 }
+
+}  // extern "C"

hal/lib/Athena/Compressor.cpp

@@ -3,13 +3,15 @@
 #include <iostream>
 
 static const int NUM_MODULE_NUMBERS = 63;
-extern PCM *modules[NUM_MODULE_NUMBERS];
+extern PCM *PCM_modules[NUM_MODULE_NUMBERS];
 extern void initializePCM(int module);
 
+extern "C" {
+
 void *initializeCompressor(uint8_t module) {
 	initializePCM(module);
 	
-	return modules[module];
+	return PCM_modules[module];
 }
 
 bool checkCompressorModule(uint8_t module) {
@@ -114,3 +116,5 @@ void clearAllPCMStickyFaults(void *pcm_pointer, int32_t *status) {
 	
 	*status = module->ClearStickyFaults();
 }
+
+}  // extern "C"

hal/lib/Athena/Digital.cpp

@@ -53,38 +53,39 @@ struct DigitalPort {
   uint32_t PWMGeneratorID;
 };
 
-// XXX: Set these back to static once we figure out the memory clobbering issue
 // Create a mutex to protect changes to the digital output values
-priority_recursive_mutex digitalDIOMutex;
+static priority_recursive_mutex digitalDIOMutex;
 // Create a mutex to protect changes to the relay values
-priority_recursive_mutex digitalRelayMutex;
+static priority_recursive_mutex digitalRelayMutex;
 // Create a mutex to protect changes to the DO PWM config
-priority_recursive_mutex digitalPwmMutex;
-priority_recursive_mutex digitalI2COnBoardMutex;
-priority_recursive_mutex digitalI2CMXPMutex;
+static priority_recursive_mutex digitalPwmMutex;
+static priority_recursive_mutex digitalI2COnBoardMutex;
+static priority_recursive_mutex digitalI2CMXPMutex;
 
-tDIO* digitalSystem = NULL;
-tRelay* relaySystem = NULL;
-tPWM* pwmSystem = NULL;
-hal::Resource *DIOChannels = NULL;
-hal::Resource *DO_PWMGenerators = NULL;
-hal::Resource *PWMChannels = NULL;
+static tDIO* digitalSystem = NULL;
+static tRelay* relaySystem = NULL;
+static tPWM* pwmSystem = NULL;
+static hal::Resource *DIOChannels = NULL;
+static hal::Resource *DO_PWMGenerators = NULL;
+static hal::Resource *PWMChannels = NULL;
 
-bool digitalSystemsInitialized = false;
+static bool digitalSystemsInitialized = false;
 
-uint8_t i2COnboardObjCount = 0;
-uint8_t i2CMXPObjCount = 0;
-uint8_t i2COnBoardHandle = 0;
-uint8_t i2CMXPHandle = 0;
+static uint8_t i2COnboardObjCount = 0;
+static uint8_t i2CMXPObjCount = 0;
+static uint8_t i2COnBoardHandle = 0;
+static uint8_t i2CMXPHandle = 0;
 
-int32_t m_spiCS0Handle = 0;
-int32_t m_spiCS1Handle = 0;
-int32_t m_spiCS2Handle = 0;
-int32_t m_spiCS3Handle = 0;
-int32_t m_spiMXPHandle = 0;
-priority_recursive_mutex spiOnboardSemaphore;
-priority_recursive_mutex spiMXPSemaphore;
-tSPI *spiSystem;
+static int32_t m_spiCS0Handle = 0;
+static int32_t m_spiCS1Handle = 0;
+static int32_t m_spiCS2Handle = 0;
+static int32_t m_spiCS3Handle = 0;
+static int32_t m_spiMXPHandle = 0;
+static priority_recursive_mutex spiOnboardSemaphore;
+static priority_recursive_mutex spiMXPSemaphore;
+static tSPI *spiSystem;
+
+extern "C" {
 
 struct SPIAccumulator {
 	void* notifier = nullptr;
@@ -805,7 +806,7 @@ void setCounterAverageSize(void* counter_pointer, int32_t size, int32_t *status)
  * If it's an analog trigger, determine the module from the high order routing channel
  * else do normal digital input remapping based on pin number (MXP)
  */
-void remapDigitalSource(bool analogTrigger, uint32_t &pin, uint8_t &module) {
+extern "C++" void remapDigitalSource(bool analogTrigger, uint32_t &pin, uint8_t &module) {
   if (analogTrigger) {
     module = pin >> 4;
   } else {
@@ -1492,7 +1493,7 @@ void spiSetHandle(uint8_t port, int32_t handle){
  * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
  * @return The semaphore for the SPI port.
  */
-priority_recursive_mutex& spiGetSemaphore(uint8_t port) {
+extern "C++" priority_recursive_mutex& spiGetSemaphore(uint8_t port) {
 	if(port < 4)
 		return spiOnboardSemaphore;
 	else
@@ -1872,3 +1873,5 @@ void i2CClose(uint8_t port) {
 	}
 	return;
 }
+
+}  // extern "C"

hal/lib/Athena/HALAthena.cpp

@@ -29,6 +29,8 @@ static uint32_t timeEpoch = 0;
 static uint32_t prevFPGATime = 0;
 static void* rolloverNotifier = nullptr;
 
+extern "C" {
+
 void* getPort(uint8_t pin)
 {
 	Port* port = new Port();
@@ -366,3 +368,5 @@ void imaqGetLastError()
 void niTimestamp64()
 {
 }
+
+}  // extern "C"

hal/lib/Athena/Interrupts.cpp

@@ -9,6 +9,8 @@ struct Interrupt // FIXME: why is this internal?
 	tInterruptManager *manager;
 };
 
+extern "C" {
+
 void* initializeInterrupts(uint32_t interruptIndex, bool watcher, int32_t *status)
 {
 	Interrupt* anInterrupt = new Interrupt();
@@ -121,3 +123,5 @@ void setInterruptUpSourceEdge(void* interrupt_pointer, bool risingEdge, bool fal
 	anInterrupt->anInterrupt->writeConfig_RisingEdge(risingEdge, status);
 	anInterrupt->anInterrupt->writeConfig_FallingEdge(fallingEdge, status);
 }
+
+}  // extern "C"

hal/lib/Athena/Notifier.cpp

@@ -59,6 +59,8 @@ static void cleanupNotifierAtExit() {
 	notifierManager = nullptr;
 }
 
+extern "C" {
+
 void* initializeNotifier(void (*process)(uint64_t, void*), void *param, int32_t *status)
 {
 	if (!process) {
@@ -154,3 +156,5 @@ void stopNotifierAlarm(void* notifier_pointer, int32_t *status)
 	Notifier* notifier = (Notifier*)notifier_pointer;
 	notifier->triggerTime = UINT64_MAX;
 }
+
+}  // extern "C"

hal/lib/Athena/PDP.cpp

@@ -6,6 +6,8 @@ static const int NUM_MODULE_NUMBERS = 63;
 
 static PDP *pdp[NUM_MODULE_NUMBERS] = { NULL };
 
+extern "C" {
+
 void initializePDP(uint8_t module) {
 	if(!pdp[module]) {
 		pdp[module] = new PDP(module);
@@ -68,4 +70,4 @@ void clearPDPStickyFaults(uint8_t module, int32_t *status) {
 	*status = pdp[module]->ClearStickyFaults();
 }
 
-
+}  // extern "C"

hal/lib/Athena/Power.cpp

@@ -9,6 +9,8 @@ static void initializePower(int32_t *status) {
 	}
 }
 
+extern "C" {
+
 /**
  * Get the roboRIO input voltage
  */
@@ -125,3 +127,5 @@ int getUserCurrentFaults3V3(int32_t *status) {
 	initializePower(status);
 	return (int)power->readFaultCounts_OverCurrentFaultCount3V3(status);
 }
+
+}  // extern "C"

hal/lib/Athena/Semaphore.cpp

@@ -9,6 +9,8 @@ TLogLevel semaphoreLogLevel = logDEBUG;
     if (level > semaphoreLogLevel) ; \
     else Log().Get(level)
 
+extern "C" {
+
 MUTEX_ID initializeMutexNormal() { return new priority_mutex; }
 
 void deleteMutex(MUTEX_ID sem) { delete sem; }
@@ -40,3 +42,5 @@ void takeMultiWait(MULTIWAIT_ID cond, MUTEX_ID m) {
 }
 
 void giveMultiWait(MULTIWAIT_ID cond) { cond->notify_all(); }
+
+}  // extern "C"

hal/lib/Athena/SerialPort.cpp

@@ -2,8 +2,10 @@
 #include "visa/visa.h"
 
 
-uint32_t m_resourceManagerHandle;
-uint32_t m_portHandle[2];
+static uint32_t m_resourceManagerHandle;
+static uint32_t m_portHandle[2];
+
+extern "C" {
 
 void serialInitializePort(uint8_t port, int32_t *status) {
 	char const * portName;
@@ -144,5 +146,5 @@ void serialClose(uint8_t port, int32_t *status) {
 	if(*status > 0)
 		*status = 0;
 }
-	
-	
+
+}  // extern "C"

hal/lib/Athena/Solenoid.cpp

@@ -9,7 +9,7 @@
 
 static const int NUM_MODULE_NUMBERS = 63;
 
-PCM *modules[NUM_MODULE_NUMBERS] = { NULL };
+PCM *PCM_modules[NUM_MODULE_NUMBERS] = { NULL };
 
 struct solenoid_port_t {
 	PCM *module;
@@ -17,17 +17,19 @@ struct solenoid_port_t {
 };
 
 void initializePCM(int module) {
-	if(!modules[module]) {
-		modules[module] = new PCM(module);
+	if(!PCM_modules[module]) {
+		PCM_modules[module] = new PCM(module);
 	}
 }
 
+extern "C" {
+
 void* initializeSolenoidPort(void *port_pointer, int32_t *status) {
 	Port* port = (Port*) port_pointer;
 	initializePCM(port->module);
 	
 	solenoid_port_t *solenoid_port = new solenoid_port_t;
-	solenoid_port->module = modules[port->module];
+	solenoid_port->module = PCM_modules[port->module];
 	solenoid_port->pin = port->pin;
 
 	return solenoid_port;
@@ -95,3 +97,5 @@ void clearAllPCMStickyFaults_sol(void *solenoid_port_pointer, int32_t *status){
 	
 	*status = port->module->ClearStickyFaults();
 }
+
+}  // extern "C"

hal/lib/Athena/Task.cpp

@@ -9,6 +9,8 @@
 
 #include <signal.h>
 
+extern "C" {
+
 STATUS verifyTaskID(TASK task) {
   if (task != nullptr && pthread_kill(*task, 0) == 0) {
 	return OK;
@@ -49,3 +51,5 @@ STATUS getTaskPriority(TASK task, int* priority) {
     return ERROR;
   }
 }
+
+}  // extern "C"

hal/lib/Athena/Utilities.cpp

@@ -4,6 +4,8 @@
 const int32_t HAL_NO_WAIT = 0;
 const int32_t HAL_WAIT_FOREVER = -1;
 
+extern "C" {
+
 void delayTicks(int32_t ticks)
 {
 	struct timespec test, remaining;
@@ -42,3 +44,5 @@ void delaySeconds(double s)
 		test = remaining;
 	}
 }
+
+}  // extern "C"

hal/lib/Shared/HAL.cpp

@@ -3,6 +3,8 @@
 #include "FRC_NetworkCommunication/FRCComm.h"
 #include <cstring>
 
+extern "C" {
+
 int HALGetControlWord(HALControlWord *data)
 {
 	return FRC_NetworkCommunication_getControlWord((ControlWord_t*) data);
@@ -126,3 +128,5 @@ void HALNetworkCommunicationObserveUserProgramTest(void)
 {
 	FRC_NetworkCommunication_observeUserProgramTest();
 }
+
+}  // extern "C"