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Moves Encoders to Handles and Moves WPILib Encoders to HAL (#124)

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This commit is contained in:
Thad House
2016-07-03 15:22:22 -07:00
committed by Peter Johnson
parent b45e0917ae
commit 36ac37db8c
20 changed files with 1409 additions and 598 deletions
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2
hal/include/HAL/Counter.h
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@@ -19,7 +19,7 @@ enum Mode {
};
extern "C" {
HalCounterHandle initializeCounter(Mode mode, uint32_t* index, int32_t* status);
HalCounterHandle initializeCounter(Mode mode, int32_t* index, int32_t* status);
void freeCounter(HalCounterHandle counter_handle, int32_t* status);
void setCounterAverageSize(HalCounterHandle counter_handle, int32_t size,
int32_t* status);

71
hal/include/HAL/Encoder.h
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@@ -9,26 +9,57 @@
#include <stdint.h>
#include "HAL/Handles.h"
extern "C" {
void* initializeEncoder(uint8_t port_a_module, uint32_t port_a_pin,
bool port_a_analog_trigger, uint8_t port_b_module,
uint32_t port_b_pin, bool port_b_analog_trigger,
bool reverseDirection, int32_t* index,
int32_t* status); // TODO: fix routing
void freeEncoder(void* encoder_pointer, int32_t* status);
void resetEncoder(void* encoder_pointer, int32_t* status);
int32_t getEncoder(void* encoder_pointer, int32_t* status); // Raw value
double getEncoderPeriod(void* encoder_pointer, int32_t* status);
void setEncoderMaxPeriod(void* encoder_pointer, double maxPeriod,
int32_t* status);
bool getEncoderStopped(void* encoder_pointer, int32_t* status);
bool getEncoderDirection(void* encoder_pointer, int32_t* status);
void setEncoderReverseDirection(void* encoder_pointer, bool reverseDirection,
enum EncoderIndexingType {
HAL_kResetWhileHigh,
HAL_kResetWhileLow,
HAL_kResetOnFallingEdge,
HAL_kResetOnRisingEdge
};
enum EncoderEncodingType { HAL_Encoder_k1X, HAL_Encoder_k2X, HAL_Encoder_k4X };
HalEncoderHandle initializeEncoder(
uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
bool reverseDirection, EncoderEncodingType encodingType, int32_t* status);
void freeEncoder(HalEncoderHandle encoder_handle, int32_t* status);
int32_t getEncoder(HalEncoderHandle encoder_handle, int32_t* status);
int32_t getEncoderRaw(HalEncoderHandle encoder_handle, int32_t* status);
int32_t getEncoderEncodingScale(HalEncoderHandle encoder_handle,
int32_t* status);
void setEncoderSamplesToAverage(void* encoder_pointer,
uint32_t samplesToAverage, int32_t* status);
uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t* status);
void setEncoderIndexSource(void* encoder_pointer, uint32_t pin,
bool analogTrigger, bool activeHigh,
bool edgeSensitive, int32_t* status);
void resetEncoder(HalEncoderHandle encoder_handle, int32_t* status);
int32_t getEncoderPeriod(HalEncoderHandle encoder_handle, int32_t* status);
void setEncoderMaxPeriod(HalEncoderHandle encoder_handle, double maxPeriod,
int32_t* status);
uint8_t getEncoderStopped(HalEncoderHandle encoder_handle, int32_t* status);
uint8_t getEncoderDirection(HalEncoderHandle encoder_handle, int32_t* status);
double getEncoderDistance(HalEncoderHandle encoder_handle, int32_t* status);
double getEncoderRate(HalEncoderHandle encoder_handle, int32_t* status);
void setEncoderMinRate(HalEncoderHandle encoder_handle, double minRate,
int32_t* status);
void setEncoderDistancePerPulse(HalEncoderHandle encoder_handle,
double distancePerPulse, int32_t* status);
void setEncoderReverseDirection(HalEncoderHandle encoder_handle,
uint8_t reverseDirection, int32_t* status);
void setEncoderSamplesToAverage(HalEncoderHandle encoder_handle,
int32_t samplesToAverage, int32_t* status);
int32_t getEncoderSamplesToAverage(HalEncoderHandle encoder_handle,
int32_t* status);
void setEncoderIndexSource(HalEncoderHandle encoder_handle, uint32_t pin,
uint8_t analogTrigger, EncoderIndexingType type,
int32_t* status);
int32_t getEncoderFPGAIndex(HalEncoderHandle encoder_handle, int32_t* status);
double getEncoderDecodingScaleFactor(HalEncoderHandle encoder_handle,
int32_t* status);
double getEncoderDistancePerPulse(HalEncoderHandle encoder_handle,
int32_t* status);
EncoderEncodingType getEncoderEncodingType(HalEncoderHandle encoder_handle,
int32_t* status);
}

3
hal/include/HAL/Errors.h
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@@ -67,6 +67,9 @@
#define PARAMETER_OUT_OF_RANGE_MESSAGE "HAL: A parameter is out of range."
#define RESOURCE_IS_ALLOCATED -1029
#define RESOURCE_IS_ALLOCATED_MESSAGE "HAL: Resource already allocated"
#define HAL_COUNTER_NOT_SUPPORTED -1058
#define HAL_COUNTER_NOT_SUPPORTED_MESSAGE \
"HAL: Counter mode not supported for encoder method"
#define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error";
#define VI_ERROR_INV_OBJECT_MESSAGE "HAL - VISA: Invalid Object"

1
hal/include/HAL/HAL.h
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@@ -17,7 +17,6 @@
#include "Compressor.h"
#include "Counter.h"
#include "DIO.h"
#include "Encoder.h"
#include "Errors.h"
#include "FRC_NetworkCommunication/UsageReporting.h"
#include "Handles.h"

4
hal/include/HAL/Handles.h
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@@ -36,3 +36,7 @@ typedef HalHandle HalCounterHandle;
typedef HalHandle HalCompressorHandle;
typedef HalHandle HalSolenoidHandle;
typedef HalHandle HalFPGAEncoderHandle;
typedef HalHandle HalEncoderHandle;