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Switch to 0-based for all pins on the RoboRIO [artf2564]

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Change-Id: I249965a9d55aec53b7d8a9be3ba5cc43500ddda4
This commit is contained in:
thomasclark
2014-06-10 12:33:59 -04:00
parent 59dfb4d216
commit 35ac240d4c
20 changed files with 149 additions and 150 deletions
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54
hal/lib/Athena/Digital.cpp
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@@ -107,7 +107,7 @@ void initializeDigital(int32_t *status) {
pwmSystem->writeConfig_MinHigh(minHigh, status);
// printf("MinHigh: %d\n", minHigh);
// Ensure that PWM output values are set to OFF
for (uint32_t pwm_index = 1; pwm_index <= kPwmPins; pwm_index++) {
for (uint32_t pwm_index = 0; pwm_index < kPwmPins; pwm_index++) {
// Initialize port structure
DigitalPort* digital_port = new DigitalPort();
digital_port->port.pin = pwm_index;
@@ -146,12 +146,12 @@ bool checkDigitalModule(uint8_t module) {
bool checkPWMChannel(void* digital_port_pointer) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
return (port->port.pin > 0 && port->port.pin <= kPwmPins);
return (port->port.pin >= 0 && port->port.pin < kPwmPins);
}
bool checkRelayChannel(void* digital_port_pointer) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
return (port->port.pin > 0 && port->port.pin <= kRelayPins);
return (port->port.pin >= 0 && port->port.pin < kRelayPins);
}
uint8_t remapDigitalChannel(uint32_t pin, int32_t *status) {
@@ -173,7 +173,7 @@ void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkPWMChannel(port);
// printf("Value:%d\n", value);
pwmSystem->writeHdr(port->port.pin - 1, value, status); // XXX: Support MXP
pwmSystem->writeHdr(port->port.pin, value, status); // XXX: Support MXP
}
/**
@@ -185,7 +185,7 @@ void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status) {
unsigned short getPWM(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkPWMChannel(port);
return pwmSystem->readHdr(port->port.pin - 1, status); // XXX: Support MXP
return pwmSystem->readHdr(port->port.pin, status); // XXX: Support MXP
}
/**
@@ -197,7 +197,7 @@ unsigned short getPWM(void* digital_port_pointer, int32_t *status) {
void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkPWMChannel(port);
pwmSystem->writePeriodScaleHdr(port->port.pin - 1, squelchMask, status); // XXX: Support MXP
pwmSystem->writePeriodScaleHdr(port->port.pin, squelchMask, status); // XXX: Support MXP
}
/**
@@ -325,22 +325,22 @@ void setPWMOutputChannelWithModule(uint8_t module, void* pwmGenerator, uint32_t
if (id == ~0ul) return;
switch(id) {
case 0:
digitalSystem->writePWMOutputSelect(0, remapDigitalChannel(pin - 1, status), status);
digitalSystem->writePWMOutputSelect(0, remapDigitalChannel(pin, status), status);
break;
case 1:
digitalSystem->writePWMOutputSelect(1, remapDigitalChannel(pin - 1, status), status);
digitalSystem->writePWMOutputSelect(1, remapDigitalChannel(pin, status), status);
break;
case 2:
digitalSystem->writePWMOutputSelect(2, remapDigitalChannel(pin - 1, status), status);
digitalSystem->writePWMOutputSelect(2, remapDigitalChannel(pin, status), status);
break;
case 3:
digitalSystem->writePWMOutputSelect(3, remapDigitalChannel(pin - 1, status), status);
digitalSystem->writePWMOutputSelect(3, remapDigitalChannel(pin, status), status);
break;
case 4:
digitalSystem->writePWMOutputSelect(4, remapDigitalChannel(pin - 1, status), status);
digitalSystem->writePWMOutputSelect(4, remapDigitalChannel(pin, status), status);
break;
case 5:
digitalSystem->writePWMOutputSelect(5, remapDigitalChannel(pin - 1, status), status);
digitalSystem->writePWMOutputSelect(5, remapDigitalChannel(pin, status), status);
break;
}
}
@@ -357,9 +357,9 @@ void setRelayForward(void* digital_port_pointer, bool on, int32_t *status) {
Synchronized sync(digitalRelaySemaphore);
uint8_t forwardRelays = relaySystem->readValue_Forward(status);
if (on)
forwardRelays |= 1 << (port->port.pin - 1);
forwardRelays |= 1 << port->port.pin;
else
forwardRelays &= ~(1 << (port->port.pin - 1));
forwardRelays &= ~(1 << port->port.pin);
relaySystem->writeValue_Forward(forwardRelays, status);
}
}
@@ -376,9 +376,9 @@ void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status) {
Synchronized sync(digitalRelaySemaphore);
uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
if (on)
reverseRelays |= 1 << (port->port.pin - 1);
reverseRelays |= 1 << port->port.pin;
else
reverseRelays &= ~(1 << (port->port.pin - 1));
reverseRelays &= ~(1 << port->port.pin);
relaySystem->writeValue_Reverse(reverseRelays, status);
}
}
@@ -389,7 +389,7 @@ void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status) {
bool getRelayForward(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
uint8_t forwardRelays = relaySystem->readValue_Forward(status);
return (forwardRelays & (1 << (port->port.pin - 1))) != 0;
return (forwardRelays & (1 << port->port.pin)) != 0;
}
/**
@@ -398,7 +398,7 @@ bool getRelayForward(void* digital_port_pointer, int32_t *status) {
bool getRelayReverse(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
return (reverseRelays & (1 << (port->port.pin - 1))) != 0;
return (reverseRelays & (1 << port->port.pin)) != 0;
}
/**
@@ -414,10 +414,10 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
char buf[64];
snprintf(buf, 64, "DIO %d (Module %d)", port->port.pin, port->port.module);
if (DIOChannels->Allocate(kDigitalPins * (port->port.module - 1) + port->port.pin - 1, buf) == ~0ul) return false;
if (DIOChannels->Allocate(kDigitalPins * (port->port.module - 1) + port->port.pin, buf) == ~0ul) return false;
{
Synchronized sync(digitalDIOSemaphore);
uint32_t bitToSet = 1 << (remapDigitalChannel(port->port.pin - 1, status));
uint32_t bitToSet = 1 << (remapDigitalChannel(port->port.pin, status));
tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
if (input) {
outputEnable.Headers = outputEnable.Headers & (~bitToSet); // clear the bit for read
@@ -436,7 +436,7 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
*/
void freeDIO(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
DIOChannels->Free(kDigitalPins * (port->port.module - 1) + port->port.pin - 1);
DIOChannels->Free(kDigitalPins * (port->port.module - 1) + port->port.pin);
}
/**
@@ -456,9 +456,9 @@ void setDIO(void* digital_port_pointer, short value, int32_t *status) {
Synchronized sync(digitalDIOSemaphore);
tDIO::tDO currentDIO = digitalSystem->readDO(status);
if(value == 0) {
currentDIO.Headers = currentDIO.Headers & ~(1 << remapDigitalChannel(port->port.pin - 1, status));
currentDIO.Headers = currentDIO.Headers & ~(1 << remapDigitalChannel(port->port.pin, status));
} else if (value == 1) {
currentDIO.Headers = currentDIO.Headers | (1 << remapDigitalChannel(port->port.pin - 1, status));
currentDIO.Headers = currentDIO.Headers | (1 << remapDigitalChannel(port->port.pin, status));
}
digitalSystem->writeDO(currentDIO, status);
}
@@ -479,7 +479,7 @@ bool getDIO(void* digital_port_pointer, int32_t *status) {
//if it == 0, then return false
//else return true
return ((currentDIO.Headers >> remapDigitalChannel(port->port.pin - 1, status)) & 1) != 0;
return ((currentDIO.Headers >> remapDigitalChannel(port->port.pin, status)) & 1) != 0;
}
/**
@@ -497,7 +497,7 @@ bool getDIODirection(void* digital_port_pointer, int32_t *status) {
//AND it against the currentOutputEnable
//if it == 0, then return false
//else return true
return ((currentOutputEnable.Headers >> remapDigitalChannel(port->port.pin - 1, status)) & 1) != 0;
return ((currentOutputEnable.Headers >> remapDigitalChannel(port->port.pin, status)) & 1) != 0;
}
/**
@@ -510,7 +510,7 @@ bool getDIODirection(void* digital_port_pointer, int32_t *status) {
void pulse(void* digital_port_pointer, double pulseLength, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
tDIO::tPulse pulse;
pulse.Headers = 1 << remapDigitalChannel(port->port.pin - 1, status);
pulse.Headers = 1 << remapDigitalChannel(port->port.pin, status);
digitalSystem->writePulseLength((uint8_t)(1.0e9 * pulseLength / (pwmSystem->readLoopTiming(status) * 25)), status);
digitalSystem->writePulse(pulse, status);
}
@@ -522,7 +522,7 @@ void pulse(void* digital_port_pointer, double pulseLength, int32_t *status) {
*/
bool isPulsing(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
uint16_t mask = 1 << remapDigitalChannel(port->port.pin - 1, status);
uint16_t mask = 1 << remapDigitalChannel(port->port.pin, status);
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
return (pulseRegister.Headers & mask) != 0;
}