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Changed AnalogChannel to AnalogInput, added AnalogOutput for MXP

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Change-Id: I863d89c61ff2cf4a7a3aeeca1296978e728758b6
This commit is contained in:
thomasclark
2014-06-12 18:07:45 -04:00
parent a46c246587
commit 3538e2c05c
32 changed files with 658 additions and 268 deletions
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97
hal/lib/Athena/Analog.cpp
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@@ -27,7 +27,8 @@ struct AnalogPort {
bool analogSampleRateSet = false;
MUTEX_ID analogRegisterWindowSemaphore = NULL;
tAI* analogSystem = NULL;
tAI* analogInputSystem = NULL;
tAO* analogOutputSystem = NULL;
uint32_t analogNumChannelsToActivate = 0;
// Utility methods defined below.
@@ -43,12 +44,13 @@ bool analogSystemInitialized = false;
void initializeAnalog(int32_t *status) {
if (analogSystemInitialized) return;
analogRegisterWindowSemaphore = initializeMutexRecursive();
analogSystem = tAI::create(status);
analogInputSystem = tAI::create(status);
analogOutputSystem = tAO::create(status);
setAnalogNumChannelsToActivate(kAnalogInputPins);
setAnalogSampleRate(kDefaultSampleRate, status);
analogSystemInitialized = true;
}
/**
* Initialize the analog input port using the given port object.
*/
@@ -64,12 +66,12 @@ void* initializeAnalogInputPort(void* port_pointer, int32_t *status) {
} else analog_port->accumulator = NULL;
// Set default configuration
analogSystem->writeScanList(port->pin, port->pin, status);
analogInputSystem->writeScanList(port->pin, port->pin, status);
setAnalogAverageBits(analog_port, kDefaultAverageBits, status);
setAnalogOversampleBits(analog_port, kDefaultOversampleBits, status);
return analog_port;
}
/**
* Initialize the analog output port using the given port object.
*/
@@ -86,7 +88,7 @@ void* initializeAnalogOutputPort(void* port_pointer, int32_t *status) {
/**
* Check that the analog module number is valid.
*
*
* @return Analog module is valid and present
*/
bool checkAnalogModule(uint8_t module) {
@@ -97,7 +99,7 @@ bool checkAnalogModule(uint8_t module) {
* 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 checkAnalogInputChannel(uint32_t pin) {
@@ -110,7 +112,7 @@ bool checkAnalogInputChannel(uint32_t pin) {
* 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) {
@@ -119,6 +121,25 @@ bool checkAnalogOutputChannel(uint32_t pin) {
return false;
}
void setAnalogOutput(void* analog_port_pointer, double voltage, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
uint16_t rawValue = (uint16_t)(voltage / 5.0 * 0x1000);
if(voltage < 0.0) rawValue = 0;
else if(voltage > 5.0) rawValue = 0x1000;
analogOutputSystem->writeMXP(port->port.pin, rawValue, status);
}
double getAnalogOutput(void* analog_port_pointer, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
uint16_t rawValue = analogOutputSystem->readMXP(port->port.pin, status);
return rawValue * 5.0 / 0x1000;
}
/**
* Set the sample rate.
*
@@ -145,7 +166,7 @@ void setAnalogSampleRate(double samplesPerSecond, int32_t *status) {
tAI::tConfig config;
config.ScanSize = getAnalogNumChannelsToActivate(status);
config.ConvertRate = ticksPerConversion;
analogSystem->writeConfig(config, status);
analogInputSystem->writeConfig(config, status);
// Indicate that the scan size has been commited to hardware.
setAnalogNumChannelsToActivate(0);
@@ -160,7 +181,7 @@ void setAnalogSampleRate(double samplesPerSecond, int32_t *status) {
* @return Sample rate.
*/
float getAnalogSampleRate(int32_t *status) {
uint32_t ticksPerConversion = analogSystem->readLoopTiming(status);
uint32_t ticksPerConversion = analogInputSystem->readLoopTiming(status);
uint32_t ticksPerSample = ticksPerConversion * getAnalogNumActiveChannels(status);
return (float)kTimebase / (float)ticksPerSample;
}
@@ -211,7 +232,7 @@ float getAnalogSampleRateWithModule(uint8_t module, int32_t *status) {
*/
void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
analogSystem->writeAverageBits(port->port.pin, bits, status);
analogInputSystem->writeAverageBits(port->port.pin, bits, status);
}
/**
@@ -225,7 +246,7 @@ void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits, int32_t *sta
*/
uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
uint32_t result = analogSystem->readAverageBits(port->port.pin, status);
uint32_t result = analogInputSystem->readAverageBits(port->port.pin, status);
return result;
}
@@ -241,7 +262,7 @@ uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t *status) {
*/
void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
analogSystem->writeOversampleBits(port->port.pin, bits, status);
analogInputSystem->writeOversampleBits(port->port.pin, bits, status);
}
@@ -256,7 +277,7 @@ void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits, int32_t *
*/
uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
uint32_t result = analogSystem->readOversampleBits(port->port.pin, status);
uint32_t result = analogInputSystem->readOversampleBits(port->port.pin, status);
return result;
}
@@ -280,9 +301,9 @@ int16_t getAnalogValue(void* analog_port_pointer, int32_t *status) {
{
Synchronized sync(analogRegisterWindowSemaphore);
analogSystem->writeReadSelect(readSelect, status);
analogSystem->strobeLatchOutput(status);
value = (int16_t) analogSystem->readOutput(status);
analogInputSystem->writeReadSelect(readSelect, status);
analogInputSystem->strobeLatchOutput(status);
value = (int16_t) analogInputSystem->readOutput(status);
}
return value;
@@ -311,9 +332,9 @@ int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status) {
{
Synchronized sync(analogRegisterWindowSemaphore);
analogSystem->writeReadSelect(readSelect, status);
analogSystem->strobeLatchOutput(status);
value = (int16_t) analogSystem->readOutput(status);
analogInputSystem->writeReadSelect(readSelect, status);
analogInputSystem->strobeLatchOutput(status);
value = (int16_t) analogInputSystem->readOutput(status);
}
return value;
@@ -416,11 +437,11 @@ int32_t getAnalogOffset(void* analog_port_pointer, int32_t *status) {
/**
* Return the number of channels on the module in use.
*
*
* @return Active channels.
*/
uint32_t getAnalogNumActiveChannels(int32_t *status) {
uint32_t scanSize = analogSystem->readConfig_ScanSize(status);
uint32_t scanSize = analogInputSystem->readConfig_ScanSize(status);
if (scanSize == 0)
return 8;
return scanSize;
@@ -428,13 +449,13 @@ uint32_t getAnalogNumActiveChannels(int32_t *status) {
/**
* Get the number of active channels.
*
* This is an internal function to allow the atomic update of both the
*
* This is an internal function to allow the atomic update of both the
* number of active channels and the sample rate.
*
*
* When the number of channels changes, use the new value. Otherwise,
* return the curent value.
*
*
* @return Value to write to the active channels field.
*/
uint32_t getAnalogNumChannelsToActivate(int32_t *status) {
@@ -444,10 +465,10 @@ uint32_t getAnalogNumChannelsToActivate(int32_t *status) {
/**
* Set the number of active channels.
*
*
* Store the number of active channels to set. Don't actually commit to hardware
* until SetSampleRate().
*
*
* @param channels Number of active channels.
*/
void setAnalogNumChannelsToActivate(uint32_t channels) {
@@ -458,7 +479,7 @@ void setAnalogNumChannelsToActivate(uint32_t channels) {
/**
* Is the channel attached to an accumulator.
*
*
* @return The analog channel is attached to an accumulator.
*/
bool isAccumulatorChannel(void* analog_port_pointer, int32_t *status) {
@@ -491,11 +512,11 @@ void resetAccumulator(void* analog_port_pointer, int32_t *status) {
/**
* Set the center value of the accumulator.
*
*
* The center value is subtracted from each A/D value before it is added to the accumulator. This
* is used for the center value of devices like gyros and accelerometers to make integration work
* and to take the device offset into account when integrating.
*
*
* This center value is based on the output of the oversampled and averaged source from channel 1.
* Because of this, any non-zero oversample bits will affect the size of the value for this field.
*/
@@ -522,10 +543,10 @@ void setAccumulatorDeadband(void* analog_port_pointer, int32_t deadband, int32_t
/**
* Read the accumulated value.
*
*
* Read the value that has been accumulating on channel 1.
* The accumulator is attached after the oversample and average engine.
*
*
* @return The 64-bit value accumulated since the last Reset().
*/
int64_t getAccumulatorValue(void* analog_port_pointer, int32_t *status) {
@@ -540,9 +561,9 @@ int64_t getAccumulatorValue(void* analog_port_pointer, int32_t *status) {
/**
* Read the number of accumulated values.
*
*
* Read the count of the accumulated values since the accumulator was last Reset().
*
*
* @return The number of times samples from the channel were accumulated.
*/
uint32_t getAccumulatorCount(void* analog_port_pointer, int32_t *status) {
@@ -556,10 +577,10 @@ uint32_t getAccumulatorCount(void* analog_port_pointer, int32_t *status) {
/**
* Read the accumulated value and the number of accumulated values atomically.
*
*
* This function reads the value and count from the FPGA atomically.
* This can be used for averaging.
*
*
* @param value Pointer to the 64-bit accumulated output.
* @param count Pointer to the number of accumulation cycles.
*/
@@ -728,7 +749,7 @@ int getAnalogAverageVoltageIntHack(void* analog_port_pointer, int32_t *status) {
return floatToInt(getAnalogAverageVoltage(analog_port_pointer, status));
}
// Doubles
void setAnalogSampleRateIntHack(int samplesPerSecond, int32_t *status) {
setAnalogSampleRate(intToFloat(samplesPerSecond), status);