diff --git a/hal/include/HAL/AnalogAccumulator.h b/hal/include/HAL/AnalogAccumulator.h index 8a180dd1d0..aab54ca95e 100644 --- a/hal/include/HAL/AnalogAccumulator.h +++ b/hal/include/HAL/AnalogAccumulator.h @@ -14,21 +14,21 @@ #ifdef __cplusplus extern "C" { #endif -HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analog_port_handle, +HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle, int32_t* status); -void HAL_InitAccumulator(HAL_AnalogInputHandle analog_port_handle, +void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle, int32_t* status); -void HAL_ResetAccumulator(HAL_AnalogInputHandle analog_port_handle, +void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle, int32_t* status); -void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analog_port_handle, +void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle, int32_t center, int32_t* status); -void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analog_port_handle, +void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle, int32_t deadband, int32_t* status); -int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analog_port_handle, +int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle, int32_t* status); -int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analog_port_handle, +int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle, int32_t* status); -void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analog_port_handle, +void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analogPortHandle, int64_t* value, int64_t* count, int32_t* status); #ifdef __cplusplus } diff --git a/hal/include/HAL/AnalogInput.h b/hal/include/HAL/AnalogInput.h index 60648a9f86..d813eb7280 100644 --- a/hal/include/HAL/AnalogInput.h +++ b/hal/include/HAL/AnalogInput.h @@ -14,35 +14,35 @@ #ifdef __cplusplus extern "C" { #endif -HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle port_handle, +HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle, int32_t* status); -void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analog_port_handle); +void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle); HAL_Bool HAL_CheckAnalogModule(int32_t module); -HAL_Bool HAL_CheckAnalogInputChannel(int32_t pin); +HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel); void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status); double HAL_GetAnalogSampleRate(int32_t* status); -void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle, +void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle, int32_t bits, int32_t* status); -int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle, int32_t* status); -void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle, +void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle, int32_t bits, int32_t* status); -int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle, int32_t* status); -int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle, int32_t* status); -int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle, int32_t* status); -int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle, double voltage, int32_t* status); -double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analog_port_handle, +double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle, int32_t* status); -double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analog_port_handle, +double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle, int32_t* status); -int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle, int32_t* status); -int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle, int32_t* status); #ifdef __cplusplus } diff --git a/hal/include/HAL/AnalogOutput.h b/hal/include/HAL/AnalogOutput.h index 7c0df1b4a5..7d6ca7d64f 100644 --- a/hal/include/HAL/AnalogOutput.h +++ b/hal/include/HAL/AnalogOutput.h @@ -14,14 +14,14 @@ #ifdef __cplusplus extern "C" { #endif -HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort( - HAL_PortHandle port_handle, int32_t* status); -void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analog_output_handle); -void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle, +HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle, + int32_t* status); +void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle); +void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle, double voltage, int32_t* status); -double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle, +double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle, int32_t* status); -HAL_Bool HAL_CheckAnalogOutputChannel(int32_t pin); +HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel); #ifdef __cplusplus } #endif diff --git a/hal/include/HAL/AnalogTrigger.h b/hal/include/HAL/AnalogTrigger.h index 99905148bc..d4c0f6c54a 100644 --- a/hal/include/HAL/AnalogTrigger.h +++ b/hal/include/HAL/AnalogTrigger.h @@ -22,26 +22,26 @@ enum HAL_AnalogTriggerType { extern "C" { #endif HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger( - HAL_AnalogInputHandle port_handle, int32_t* index, int32_t* status); -void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analog_trigger_handle, + HAL_AnalogInputHandle portHandle, int32_t* index, int32_t* status); +void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status); -void HAL_SetAnalogTriggerLimitsRaw( - HAL_AnalogTriggerHandle analog_trigger_handle, int32_t lower, int32_t upper, - int32_t* status); +void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle, + int32_t lower, int32_t upper, + int32_t* status); void HAL_SetAnalogTriggerLimitsVoltage( - HAL_AnalogTriggerHandle analog_trigger_handle, double lower, double upper, + HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper, int32_t* status); -void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analog_trigger_handle, +void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle, HAL_Bool useAveragedValue, int32_t* status); -void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analog_trigger_handle, +void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle, HAL_Bool useFilteredValue, int32_t* status); HAL_Bool HAL_GetAnalogTriggerInWindow( - HAL_AnalogTriggerHandle analog_trigger_handle, int32_t* status); + HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status); HAL_Bool HAL_GetAnalogTriggerTriggerState( - HAL_AnalogTriggerHandle analog_trigger_handle, int32_t* status); -HAL_Bool HAL_GetAnalogTriggerOutput( - HAL_AnalogTriggerHandle analog_trigger_handle, HAL_AnalogTriggerType type, - int32_t* status); + HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status); +HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle, + HAL_AnalogTriggerType type, + int32_t* status); #ifdef __cplusplus } #endif diff --git a/hal/include/HAL/Compressor.h b/hal/include/HAL/Compressor.h index 1ecc9c7be5..ccac15a548 100644 --- a/hal/include/HAL/Compressor.h +++ b/hal/include/HAL/Compressor.h @@ -17,31 +17,31 @@ extern "C" { HAL_CompressorHandle HAL_InitializeCompressor(int32_t module, int32_t* status); HAL_Bool HAL_CheckCompressorModule(int32_t module); -HAL_Bool HAL_GetCompressor(HAL_CompressorHandle compressor_handle, +HAL_Bool HAL_GetCompressor(HAL_CompressorHandle compressorHandle, int32_t* status); -void HAL_SetCompressorClosedLoopControl(HAL_CompressorHandle compressor_handle, +void HAL_SetCompressorClosedLoopControl(HAL_CompressorHandle compressorHandle, HAL_Bool value, int32_t* status); HAL_Bool HAL_GetCompressorClosedLoopControl( - HAL_CompressorHandle compressor_handle, int32_t* status); + HAL_CompressorHandle compressorHandle, int32_t* status); -HAL_Bool HAL_GetCompressorPressureSwitch(HAL_CompressorHandle compressor_handle, +HAL_Bool HAL_GetCompressorPressureSwitch(HAL_CompressorHandle compressorHandle, int32_t* status); -double HAL_GetCompressorCurrent(HAL_CompressorHandle compressor_handle, +double HAL_GetCompressorCurrent(HAL_CompressorHandle compressorHandle, int32_t* status); HAL_Bool HAL_GetCompressorCurrentTooHighFault( - HAL_CompressorHandle compressor_handle, int32_t* status); + HAL_CompressorHandle compressorHandle, int32_t* status); HAL_Bool HAL_GetCompressorCurrentTooHighStickyFault( - HAL_CompressorHandle compressor_handle, int32_t* status); + HAL_CompressorHandle compressorHandle, int32_t* status); HAL_Bool HAL_GetCompressorShortedStickyFault( - HAL_CompressorHandle compressor_handle, int32_t* status); -HAL_Bool HAL_GetCompressorShortedFault(HAL_CompressorHandle compressor_handle, + HAL_CompressorHandle compressorHandle, int32_t* status); +HAL_Bool HAL_GetCompressorShortedFault(HAL_CompressorHandle compressorHandle, int32_t* status); HAL_Bool HAL_GetCompressorNotConnectedStickyFault( - HAL_CompressorHandle compressor_handle, int32_t* status); + HAL_CompressorHandle compressorHandle, int32_t* status); HAL_Bool HAL_GetCompressorNotConnectedFault( - HAL_CompressorHandle compressor_handle, int32_t* status); + HAL_CompressorHandle compressorHandle, int32_t* status); #ifdef __cplusplus } #endif diff --git a/hal/include/HAL/Counter.h b/hal/include/HAL/Counter.h index 237b42d594..7566d4874b 100644 --- a/hal/include/HAL/Counter.h +++ b/hal/include/HAL/Counter.h @@ -24,51 +24,49 @@ extern "C" { #endif HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index, int32_t* status); -void HAL_FreeCounter(HAL_CounterHandle counter_handle, int32_t* status); -void HAL_SetCounterAverageSize(HAL_CounterHandle counter_handle, int32_t size, +void HAL_FreeCounter(HAL_CounterHandle counterHandle, int32_t* status); +void HAL_SetCounterAverageSize(HAL_CounterHandle counterHandle, int32_t size, int32_t* status); -void HAL_SetCounterUpSource(HAL_CounterHandle counter_handle, +void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, int32_t* status); -void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counter_handle, +void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle, HAL_Bool risingEdge, HAL_Bool fallingEdge, int32_t* status); -void HAL_ClearCounterUpSource(HAL_CounterHandle counter_handle, - int32_t* status); -void HAL_SetCounterDownSource(HAL_CounterHandle counter_handle, +void HAL_ClearCounterUpSource(HAL_CounterHandle counterHandle, int32_t* status); +void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, int32_t* status); -void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counter_handle, +void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle, HAL_Bool risingEdge, HAL_Bool fallingEdge, int32_t* status); -void HAL_ClearCounterDownSource(HAL_CounterHandle counter_handle, +void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle, int32_t* status); -void HAL_SetCounterUpDownMode(HAL_CounterHandle counter_handle, - int32_t* status); -void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counter_handle, +void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle, int32_t* status); +void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle, int32_t* status); -void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counter_handle, +void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle, HAL_Bool highSemiPeriod, int32_t* status); -void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counter_handle, +void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle, double threshold, int32_t* status); -int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counter_handle, +int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle, int32_t* status); -void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counter_handle, +void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle, int samplesToAverage, int32_t* status); -void HAL_ResetCounter(HAL_CounterHandle counter_handle, int32_t* status); -int32_t HAL_GetCounter(HAL_CounterHandle counter_handle, int32_t* status); -double HAL_GetCounterPeriod(HAL_CounterHandle counter_handle, int32_t* status); -void HAL_SetCounterMaxPeriod(HAL_CounterHandle counter_handle, double maxPeriod, +void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status); +int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status); +double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status); +void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod, int32_t* status); -void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counter_handle, +void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle, HAL_Bool enabled, int32_t* status); -HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counter_handle, +HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle, int32_t* status); -HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counter_handle, +HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle, int32_t* status); -void HAL_SetCounterReverseDirection(HAL_CounterHandle counter_handle, +void HAL_SetCounterReverseDirection(HAL_CounterHandle counterHandle, HAL_Bool reverseDirection, int32_t* status); #ifdef __cplusplus } diff --git a/hal/include/HAL/DIO.h b/hal/include/HAL/DIO.h index 8c43598341..b65e210df5 100644 --- a/hal/include/HAL/DIO.h +++ b/hal/include/HAL/DIO.h @@ -14,32 +14,31 @@ #ifdef __cplusplus extern "C" { #endif -HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle port_handle, +HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle, HAL_Bool input, int32_t* status); HAL_Bool HAL_CheckDIOChannel(int32_t channel); -void HAL_FreeDIOPort(HAL_DigitalHandle dio_port_handle); +void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle); HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status); void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status); void HAL_SetDigitalPWMRate(double rate, int32_t* status); void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator, double dutyCycle, int32_t* status); void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator, - int32_t pin, int32_t* status); -void HAL_SetDIO(HAL_DigitalHandle dio_port_handle, HAL_Bool value, + int32_t channel, int32_t* status); +void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value, int32_t* status); -HAL_Bool HAL_GetDIO(HAL_DigitalHandle dio_port_handle, int32_t* status); -HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dio_port_handle, - int32_t* status); -void HAL_Pulse(HAL_DigitalHandle dio_port_handle, double pulseLength, +HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status); +HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status); +void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength, int32_t* status); -HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dio_port_handle, int32_t* status); +HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status); HAL_Bool HAL_IsAnyPulsing(int32_t* status); -void HAL_SetFilterSelect(HAL_DigitalHandle dio_port_handle, - int32_t filter_index, int32_t* status); -int32_t HAL_GetFilterSelect(HAL_DigitalHandle dio_port_handle, int32_t* status); -void HAL_SetFilterPeriod(int32_t filter_index, int64_t value, int32_t* status); -int64_t HAL_GetFilterPeriod(int32_t filter_index, int32_t* status); +void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex, + int32_t* status); +int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status); +void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status); +int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status); #ifdef __cplusplus } #endif diff --git a/hal/include/HAL/DriverStation.h b/hal/include/HAL/DriverStation.h index 7574fba0b5..4a4d6073e0 100644 --- a/hal/include/HAL/DriverStation.h +++ b/hal/include/HAL/DriverStation.h @@ -82,7 +82,7 @@ struct HAL_JoystickDescriptor { extern "C" { #endif int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength, - int32_t wait_ms); + int32_t waitMs); int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode, const char* details, const char* location, const char* callStack, HAL_Bool printMsg); diff --git a/hal/include/HAL/Encoder.h b/hal/include/HAL/Encoder.h index beb8588269..1af0f88fa2 100644 --- a/hal/include/HAL/Encoder.h +++ b/hal/include/HAL/Encoder.h @@ -32,49 +32,48 @@ HAL_EncoderHandle HAL_InitializeEncoder( HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB, HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType, int32_t* status); -void HAL_FreeEncoder(HAL_EncoderHandle encoder_handle, int32_t* status); -int32_t HAL_GetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status); -int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoder_handle, int32_t* status); -int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoder_handle, +void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status); +int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status); +int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status); +int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle, int32_t* status); -void HAL_ResetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status); -double HAL_GetEncoderPeriod(HAL_EncoderHandle encoder_handle, int32_t* status); -void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoder_handle, double maxPeriod, +void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status); +double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status); +void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod, int32_t* status); -HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoder_handle, +HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle, int32_t* status); -HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoder_handle, +HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle, int32_t* status); -double HAL_GetEncoderDistance(HAL_EncoderHandle encoder_handle, - int32_t* status); -double HAL_GetEncoderRate(HAL_EncoderHandle encoder_handle, int32_t* status); -void HAL_SetEncoderMinRate(HAL_EncoderHandle encoder_handle, double minRate, +double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle, int32_t* status); +double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status); +void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate, int32_t* status); -void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle, +void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle, double distancePerPulse, int32_t* status); -void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoder_handle, +void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle, HAL_Bool reverseDirection, int32_t* status); -void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle, +void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle, int32_t samplesToAverage, int32_t* status); -int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle, +int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle, int32_t* status); -void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoder_handle, +void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, HAL_EncoderIndexingType type, int32_t* status); -int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoder_handle, +int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle, int32_t* status); -double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoder_handle, +double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle, int32_t* status); -double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle, +double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle, int32_t* status); HAL_EncoderEncodingType HAL_GetEncoderEncodingType( - HAL_EncoderHandle encoder_handle, int32_t* status); + HAL_EncoderHandle encoderHandle, int32_t* status); #ifdef __cplusplus } #endif diff --git a/hal/include/HAL/HAL.h b/hal/include/HAL/HAL.h index 92d59f04ed..66cf7331b4 100644 --- a/hal/include/HAL/HAL.h +++ b/hal/include/HAL/HAL.h @@ -41,8 +41,8 @@ namespace HALUsageReporting = nUsageReporting; #ifdef __cplusplus extern "C" { #endif -HAL_PortHandle HAL_GetPort(int32_t pin); -HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t pin); +HAL_PortHandle HAL_GetPort(int32_t channel); +HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel); const char* HAL_GetErrorMessage(int32_t code); int32_t HAL_GetFPGAVersion(int32_t* status); diff --git a/hal/include/HAL/Interrupts.h b/hal/include/HAL/Interrupts.h index d0c487b13e..4497ebcbc9 100644 --- a/hal/include/HAL/Interrupts.h +++ b/hal/include/HAL/Interrupts.h @@ -19,27 +19,26 @@ typedef void (*InterruptHandlerFunction)(uint32_t interruptAssertedMask, void* param); HAL_InterruptHandle HAL_InitializeInterrupts(HAL_Bool watcher, int32_t* status); -void HAL_CleanInterrupts(HAL_InterruptHandle interrupt_handle, int32_t* status); +void HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status); -int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interrupt_handle, +int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interruptHandle, double timeout, HAL_Bool ignorePrevious, int32_t* status); -void HAL_EnableInterrupts(HAL_InterruptHandle interrupt_handle, - int32_t* status); -void HAL_DisableInterrupts(HAL_InterruptHandle interrupt_handle, +void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status); +void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status); -double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interrupt_handle, +double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle, int32_t* status); -double HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interrupt_handle, +double HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interruptHandle, int32_t* status); -void HAL_RequestInterrupts(HAL_InterruptHandle interrupt_handle, +void HAL_RequestInterrupts(HAL_InterruptHandle interruptHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, int32_t* status); -void HAL_AttachInterruptHandler(HAL_InterruptHandle interrupt_handle, +void HAL_AttachInterruptHandler(HAL_InterruptHandle interruptHandle, InterruptHandlerFunction handler, void* param, int32_t* status); -void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interrupt_handle, +void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interruptHandle, HAL_Bool risingEdge, HAL_Bool fallingEdge, int32_t* status); #ifdef __cplusplus diff --git a/hal/include/HAL/Notifier.h b/hal/include/HAL/Notifier.h index df87e800ac..4c07f69970 100644 --- a/hal/include/HAL/Notifier.h +++ b/hal/include/HAL/Notifier.h @@ -16,11 +16,11 @@ extern "C" { #endif HAL_NotifierHandle HAL_InitializeNotifier(void (*process)(uint64_t, void*), void* param, int32_t* status); -void HAL_CleanNotifier(HAL_NotifierHandle notifier_handle, int32_t* status); -void* HAL_GetNotifierParam(HAL_NotifierHandle notifier_handle, int32_t* status); -void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifier_handle, +void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status); +void* HAL_GetNotifierParam(HAL_NotifierHandle notifierHandle, int32_t* status); +void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifierHandle, uint64_t triggerTime, int32_t* status); -void HAL_StopNotifierAlarm(HAL_NotifierHandle notifier_handle, int32_t* status); +void HAL_StopNotifierAlarm(HAL_NotifierHandle notifierHandle, int32_t* status); #ifdef __cplusplus } #endif diff --git a/hal/include/HAL/PWM.h b/hal/include/HAL/PWM.h index 56fb744215..fd7899e3d0 100644 --- a/hal/include/HAL/PWM.h +++ b/hal/include/HAL/PWM.h @@ -14,40 +14,40 @@ #ifdef __cplusplus extern "C" { #endif -HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle, +HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle, int32_t* status); -void HAL_FreePWMPort(HAL_DigitalHandle pwm_port_handle, int32_t* status); +void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status); -HAL_Bool HAL_CheckPWMChannel(int32_t pin); +HAL_Bool HAL_CheckPWMChannel(int32_t channel); -void HAL_SetPWMConfig(HAL_DigitalHandle pwm_port_handle, double maxPwm, +void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double maxPwm, double deadbandMaxPwm, double centerPwm, double deadbandMinPwm, double minPwm, int32_t* status); -void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t maxPwm, +void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm, int32_t deadbandMaxPwm, int32_t centerPwm, int32_t deadbandMinPwm, int32_t minPwm, int32_t* status); -void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t* maxPwm, +void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm, int32_t* deadbandMaxPwm, int32_t* centerPwm, int32_t* deadbandMinPwm, int32_t* minPwm, int32_t* status); -void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle, +void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, HAL_Bool eliminateDeadband, int32_t* status); -HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle, +HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, int32_t* status); -void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t value, +void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value, int32_t* status); -void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, double speed, +void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed, int32_t* status); -void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, double position, +void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double position, int32_t* status); -void HAL_SetPWMDisabled(HAL_DigitalHandle pwm_port_handle, int32_t* status); -int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status); -double HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status); -double HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status); -void HAL_LatchPWMZero(HAL_DigitalHandle pwm_port_handle, int32_t* status); -void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwm_port_handle, - int32_t squelchMask, int32_t* status); +void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status); +int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status); +double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status); +double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status); +void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status); +void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, + int32_t* status); int32_t HAL_GetLoopTiming(int32_t* status); #ifdef __cplusplus } diff --git a/hal/include/HAL/Ports.h b/hal/include/HAL/Ports.h index 075d406e71..7ecaf2237a 100644 --- a/hal/include/HAL/Ports.h +++ b/hal/include/HAL/Ports.h @@ -19,15 +19,15 @@ int32_t HAL_GetNumAnalogOutputs(void); int32_t HAL_GetNumCounters(void); int32_t HAL_GetNumDigitalHeaders(void); int32_t HAL_GetNumPWMHeaders(void); -int32_t HAL_GetNumDigitalPins(void); -int32_t HAL_GetNumPWMPins(void); +int32_t HAL_GetNumDigitalChannels(void); +int32_t HAL_GetNumPWMChannels(void); int32_t HAL_GetNumDigitalPWMOutputs(void); int32_t HAL_GetNumEncoders(void); int32_t HAL_GetNumInterrupts(void); -int32_t HAL_GetNumRelayPins(void); +int32_t HAL_GetNumRelayChannels(void); int32_t HAL_GetNumRelayHeaders(void); int32_t HAL_GetNumPCMModules(void); -int32_t HAL_GetNumSolenoidPins(void); +int32_t HAL_GetNumSolenoidChannels(void); int32_t HAL_GetNumPDPModules(void); int32_t HAL_GetNumPDPChannels(void); int32_t HAL_GetNumCanTalons(void); diff --git a/hal/include/HAL/Relay.h b/hal/include/HAL/Relay.h index b6e5933b51..13304f7c78 100644 --- a/hal/include/HAL/Relay.h +++ b/hal/include/HAL/Relay.h @@ -14,15 +14,15 @@ #ifdef __cplusplus extern "C" { #endif -HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle port_handle, - HAL_Bool fwd, int32_t* status); -void HAL_FreeRelayPort(HAL_RelayHandle relay_port_handle); +HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd, + int32_t* status); +void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle); -HAL_Bool HAL_CheckRelayChannel(int32_t pin); +HAL_Bool HAL_CheckRelayChannel(int32_t channel); -void HAL_SetRelay(HAL_RelayHandle relay_port_handle, HAL_Bool on, +void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on, int32_t* status); -HAL_Bool HAL_GetRelay(HAL_RelayHandle relay_port_handle, int32_t* status); +HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status); #ifdef __cplusplus } #endif diff --git a/hal/include/HAL/Solenoid.h b/hal/include/HAL/Solenoid.h index 1d640f6e2a..abd369fdf2 100644 --- a/hal/include/HAL/Solenoid.h +++ b/hal/include/HAL/Solenoid.h @@ -14,15 +14,15 @@ #ifdef __cplusplus extern "C" { #endif -HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle port_handle, +HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle, int32_t* status); -void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoid_port_handle); +void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoidPortHandle); HAL_Bool HAL_CheckSolenoidModule(int32_t module); -HAL_Bool HAL_CheckSolenoidChannel(int32_t pin); -HAL_Bool HAL_GetSolenoid(HAL_SolenoidHandle solenoid_port_handle, +HAL_Bool HAL_CheckSolenoidChannel(int32_t channel); +HAL_Bool HAL_GetSolenoid(HAL_SolenoidHandle solenoidPortHandle, int32_t* status); int32_t HAL_GetAllSolenoids(int32_t module, int32_t* status); -void HAL_SetSolenoid(HAL_SolenoidHandle solenoid_port_handle, HAL_Bool value, +void HAL_SetSolenoid(HAL_SolenoidHandle solenoidPortHandle, HAL_Bool value, int32_t* status); int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status); HAL_Bool HAL_GetPCMSolenoidVoltageStickyFault(int32_t module, int32_t* status); diff --git a/hal/include/HAL/handles/HandlesInternal.h b/hal/include/HAL/handles/HandlesInternal.h index ec86a54329..ec95c9dbf8 100644 --- a/hal/include/HAL/handles/HandlesInternal.h +++ b/hal/include/HAL/handles/HandlesInternal.h @@ -64,7 +64,7 @@ static inline int16_t getHandleTypedIndex(HAL_Handle handle, /* specialized functions for Port handle * Port Handle Data Layout - * Bits 0-7: Pin Number + * Bits 0-7: Channel Number * Bits 8-15: Module Number * Bits 16-23: Unused * Bits 24-30: Handle Type @@ -72,7 +72,7 @@ static inline int16_t getHandleTypedIndex(HAL_Handle handle, */ // using a 16 bit value so we can store 0-255 and still report error -static inline int16_t getPortHandlePin(HAL_PortHandle handle) { +static inline int16_t getPortHandleChannel(HAL_PortHandle handle) { if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex; return static_cast(handle & 0xff); } @@ -83,7 +83,7 @@ static inline int16_t getPortHandleModule(HAL_PortHandle handle) { return static_cast((handle >> 8) & 0xff); } -HAL_PortHandle createPortHandle(uint8_t pin, uint8_t module); +HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module); HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType); } // namespace hal diff --git a/hal/lib/athena/AnalogAccumulator.cpp b/hal/lib/athena/AnalogAccumulator.cpp index cd075b7606..58f55ca7e4 100644 --- a/hal/lib/athena/AnalogAccumulator.cpp +++ b/hal/lib/athena/AnalogAccumulator.cpp @@ -14,42 +14,47 @@ using namespace hal; extern "C" { /** -*Is the channel attached to an accumulator. -* -*@return The analog channel is attached to an accumulator. -*/ -HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analog_port_handle, + * Is the channel attached to an accumulator. + * + * @param analogPortHandle Handle to the analog port. + * @return The analog channel is attached to an accumulator. + */ +HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return false; } for (uint32_t i = 0; i < kNumAccumulators; i++) { - if (port->pin == kAccumulatorChannels[i]) return true; + if (port->channel == kAccumulatorChannels[i]) return true; } return false; } /** * Initialize the accumulator. + * + * @param analogPortHandle Handle to the analog port. */ -void HAL_InitAccumulator(HAL_AnalogInputHandle analog_port_handle, +void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - if (!HAL_IsAccumulatorChannel(analog_port_handle, status)) { + if (!HAL_IsAccumulatorChannel(analogPortHandle, status)) { *status = HAL_INVALID_ACCUMULATOR_CHANNEL; return; } - HAL_SetAccumulatorCenter(analog_port_handle, 0, status); - HAL_ResetAccumulator(analog_port_handle, status); + HAL_SetAccumulatorCenter(analogPortHandle, 0, status); + HAL_ResetAccumulator(analogPortHandle, status); } /** * Resets the accumulator to the initial value. + * + * @param analogPortHandle Handle to the analog port. */ -void HAL_ResetAccumulator(HAL_AnalogInputHandle analog_port_handle, +void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -72,10 +77,13 @@ void HAL_ResetAccumulator(HAL_AnalogInputHandle analog_port_handle, * 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. + * + * @param analogPortHandle Handle to the analog port. + * @param center The center value of the accumulator. */ -void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analog_port_handle, +void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle, int32_t center, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -89,10 +97,13 @@ void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analog_port_handle, /** * Set the accumulator's deadband. + * + * @param analogPortHandle Handle to the analog port. + * @param deadband The deadband of the accumulator. */ -void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analog_port_handle, +void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle, int32_t deadband, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -110,11 +121,12 @@ void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analog_port_handle, * Read the value that has been accumulating on channel 1. * The accumulator is attached after the oversample and average engine. * + * @param analogPortHandle Handle to the analog port. * @return The 64-bit value accumulated since the last Reset(). */ -int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analog_port_handle, +int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -133,11 +145,12 @@ int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analog_port_handle, * Read the count of the accumulated values since the accumulator was last * Reset(). * + * @param analogPortHandle Handle to the analog port. * @return The number of times samples from the channel were accumulated. */ -int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analog_port_handle, +int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -155,12 +168,13 @@ int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analog_port_handle, * This function reads the value and count from the FPGA atomically. * This can be used for averaging. * + * @param analogPortHandle Handle to the analog port. * @param value Pointer to the 64-bit accumulated output. * @param count Pointer to the number of accumulation cycles. */ -void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analog_port_handle, +void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analogPortHandle, int64_t* value, int64_t* count, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; diff --git a/hal/lib/athena/AnalogGyro.cpp b/hal/lib/athena/AnalogGyro.cpp index f6a43e0fc5..9032331506 100644 --- a/hal/lib/athena/AnalogGyro.cpp +++ b/hal/lib/athena/AnalogGyro.cpp @@ -42,9 +42,9 @@ static void Wait(double seconds) { } extern "C" { -HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analog_handle, +HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle, int32_t* status) { - if (!HAL_IsAccumulatorChannel(analog_handle, status)) { + if (!HAL_IsAccumulatorChannel(analogHandle, status)) { if (*status == 0) { *status = HAL_INVALID_ACCUMULATOR_CHANNEL; } @@ -52,7 +52,7 @@ HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analog_handle, } // handle known to be correct, so no need to type check - int16_t channel = getHandleIndex(analog_handle); + int16_t channel = getHandleIndex(analogHandle); auto handle = analogGyroHandles.Allocate(channel, status); @@ -66,7 +66,7 @@ HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analog_handle, return HAL_kInvalidHandle; } - gyro->handle = analog_handle; + gyro->handle = analogHandle; gyro->voltsPerDegreePerSecond = 0; gyro->offset = 0; gyro->center = 0; diff --git a/hal/lib/athena/AnalogInput.cpp b/hal/lib/athena/AnalogInput.cpp index 16b938eb2e..3ce156b389 100644 --- a/hal/lib/athena/AnalogInput.cpp +++ b/hal/lib/athena/AnalogInput.cpp @@ -24,20 +24,22 @@ static bool analogSampleRateSet = false; extern "C" { /** * Initialize the analog input port using the given port object. + * + * @param portHandle Handle to the port to initialize. */ -HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle port_handle, +HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle, int32_t* status) { initializeAnalog(status); if (*status != 0) return HAL_kInvalidHandle; - int16_t pin = getPortHandlePin(port_handle); - if (pin == InvalidHandleIndex) { + int16_t channel = getPortHandleChannel(portHandle); + if (channel == InvalidHandleIndex) { *status = PARAMETER_OUT_OF_RANGE; return HAL_kInvalidHandle; } - HAL_AnalogInputHandle handle = analogInputHandles.Allocate(pin, status); + HAL_AnalogInputHandle handle = analogInputHandles.Allocate(channel, status); if (*status != 0) return HAL_kInvalidHandle; // failed to allocate. Pass error back. @@ -48,28 +50,32 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle port_handle, *status = HAL_HANDLE_ERROR; return HAL_kInvalidHandle; } - analog_port->pin = static_cast(pin); + analog_port->channel = static_cast(channel); if (HAL_IsAccumulatorChannel(handle, status)) { - analog_port->accumulator.reset(tAccumulator::create(pin, status)); + analog_port->accumulator.reset(tAccumulator::create(channel, status)); } else { analog_port->accumulator = nullptr; } // Set default configuration - analogInputSystem->writeScanList(pin, pin, status); + analogInputSystem->writeScanList(channel, channel, status); HAL_SetAnalogAverageBits(handle, kDefaultAverageBits, status); HAL_SetAnalogOversampleBits(handle, kDefaultOversampleBits, status); return handle; } -void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analog_port_handle) { +/** + * @param analogPortHandle Handle to the analog port. + */ +void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle) { // no status, so no need to check for a proper free. - analogInputHandles.Free(analog_port_handle); + analogInputHandles.Free(analogPortHandle); } /** * Check that the analog module number is valid. * + * @param module The analog module number. * @return Analog module is valid and present */ HAL_Bool HAL_CheckAnalogModule(int32_t module) { return module == 1; } @@ -79,10 +85,11 @@ HAL_Bool HAL_CheckAnalogModule(int32_t module) { return module == 1; } * Verify that the analog channel number is one of the legal channel numbers. * Channel numbers are 0-based. * + * @param channel The analog output channel number. * @return Analog channel is valid */ -HAL_Bool HAL_CheckAnalogInputChannel(int32_t pin) { - return pin < kNumAnalogInputs && pin >= 0; +HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel) { + return channel < kNumAnalogInputs && channel >= 0; } /** @@ -142,17 +149,17 @@ double HAL_GetAnalogSampleRate(int32_t* status) { * is 2**bits. Use averaging to improve the stability of your measurement at the * expense of sampling rate. The averaging is done automatically in the FPGA. * - * @param analog_port_pointer Pointer to the analog port to configure. + * @param analogPortHandle Handle to the analog port to configure. * @param bits Number of bits to average. */ -void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle, +void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle, int32_t bits, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; } - analogInputSystem->writeAverageBits(port->pin, static_cast(bits), + analogInputSystem->writeAverageBits(port->channel, static_cast(bits), status); } @@ -162,17 +169,17 @@ void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle, * This gets the number of averaging bits from the FPGA. The actual number of * averaged samples is 2**bits. The averaging is done automatically in the FPGA. * - * @param analog_port_pointer Pointer to the analog port to use. + * @param analogPortHandle Handle to the analog port to use. * @return Bits to average. */ -int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return kDefaultAverageBits; } - uint8_t result = analogInputSystem->readAverageBits(port->pin, status); + uint8_t result = analogInputSystem->readAverageBits(port->channel, status); return result; } @@ -184,18 +191,18 @@ int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle, * measurements at the expense of sampling rate. The oversampling is done * automatically in the FPGA. * - * @param analog_port_pointer Pointer to the analog port to use. + * @param analogPortHandle Handle to the analog port to use. * @param bits Number of bits to oversample. */ -void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle, +void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle, int32_t bits, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; } - analogInputSystem->writeOversampleBits(port->pin, static_cast(bits), - status); + analogInputSystem->writeOversampleBits(port->channel, + static_cast(bits), status); } /** @@ -205,17 +212,17 @@ void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle, * oversampled values is 2**bits. The oversampling is done automatically in the * FPGA. * - * @param analog_port_pointer Pointer to the analog port to use. + * @param analogPortHandle Handle to the analog port to use. * @return Bits to oversample. */ -int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return kDefaultOversampleBits; } - uint8_t result = analogInputSystem->readOversampleBits(port->pin, status); + uint8_t result = analogInputSystem->readOversampleBits(port->channel, status); return result; } @@ -226,19 +233,19 @@ int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle, * converter in the module. The units are in A/D converter codes. Use * GetVoltage() to get the analog value in calibrated units. * - * @param analog_port_pointer Pointer to the analog port to use. + * @param analogPortHandle Handle to the analog port to use. * @return A sample straight from the channel on this module. */ -int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; } tAI::tReadSelect readSelect; - readSelect.Channel = port->pin; + readSelect.Channel = port->channel; readSelect.Averaged = false; std::lock_guard sync(analogRegisterWindowMutex); @@ -258,18 +265,18 @@ int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analog_port_handle, * the module on this channel. Use GetAverageVoltage() to get the analog value * in calibrated units. * - * @param analog_port_pointer Pointer to the analog port to use. + * @param analogPortHandle Handle to the analog port to use. * @return A sample from the oversample and average engine for the channel. */ -int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; } tAI::tReadSelect readSelect; - readSelect.Channel = port->pin; + readSelect.Channel = port->channel; readSelect.Averaged = true; std::lock_guard sync(analogRegisterWindowMutex); @@ -284,14 +291,14 @@ int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analog_port_handle, * The value is scaled to units of Volts using the calibrated scaling data from * GetLSBWeight() and GetOffset(). * - * @param analog_port_pointer Pointer to the analog port to use. + * @param analogPortHandle Handle to the analog port to use. * @return A scaled sample straight from the channel on this module. */ -double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analog_port_handle, +double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - int32_t value = HAL_GetAnalogValue(analog_port_handle, status); - int32_t LSBWeight = HAL_GetAnalogLSBWeight(analog_port_handle, status); - int32_t offset = HAL_GetAnalogOffset(analog_port_handle, status); + int32_t value = HAL_GetAnalogValue(analogPortHandle, status); + int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status); + int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status); double voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9; return voltage; } @@ -305,17 +312,17 @@ double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analog_port_handle, * be higher resolution, but it will update more slowly. Using averaging will * cause this value to be more stable, but it will update more slowly. * - * @param analog_port_pointer Pointer to the analog port to use. + * @param analogPortHandle Handle to the analog port to use. * @return A scaled sample from the output of the oversample and average engine * for the channel. */ -double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analog_port_handle, +double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - int32_t value = HAL_GetAnalogAverageValue(analog_port_handle, status); - int32_t LSBWeight = HAL_GetAnalogLSBWeight(analog_port_handle, status); - int32_t offset = HAL_GetAnalogOffset(analog_port_handle, status); + int32_t value = HAL_GetAnalogAverageValue(analogPortHandle, status); + int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status); + int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status); int32_t oversampleBits = - HAL_GetAnalogOversampleBits(analog_port_handle, status); + HAL_GetAnalogOversampleBits(analogPortHandle, status); double voltage = LSBWeight * 1.0e-9 * value / static_cast(1 << oversampleBits) - offset * 1.0e-9; @@ -325,16 +332,16 @@ double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analog_port_handle, /** * Convert a voltage to a raw value for a specified channel. * - * This process depends on the calibration of each channel, so the channel - * must be specified. + * This process depends on the calibration of each channel, so the channel must + * be specified. * * @todo This assumes raw values. Oversampling not supported as is. * - * @param analog_port_pointer Pointer to the analog port to use. + * @param analogPortHandle Handle to the analog port to use. * @param voltage The voltage to convert. * @return The raw value for the channel. */ -int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle, double voltage, int32_t* status) { if (voltage > 5.0) { voltage = 5.0; @@ -344,8 +351,8 @@ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analog_port_handle, voltage = 0.0; *status = VOLTAGE_OUT_OF_RANGE; } - int32_t LSBWeight = HAL_GetAnalogLSBWeight(analog_port_handle, status); - int32_t offset = HAL_GetAnalogOffset(analog_port_handle, status); + int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status); + int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status); int32_t value = static_cast((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9)); return value; @@ -358,18 +365,18 @@ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analog_port_handle, * * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) * - * @param analog_port_pointer Pointer to the analog port to use. + * @param analogPortHandle Handle to the analog port to use. * @return Least significant bit weight. */ -int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; } uint32_t lsbWeight = FRC_NetworkCommunication_nAICalibration_getLSBWeight( - 0, port->pin, status); // XXX: aiSystemIndex == 0? + 0, port->channel, status); // XXX: aiSystemIndex == 0? return lsbWeight; } @@ -380,18 +387,18 @@ int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analog_port_handle, * * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) * - * @param analog_port_pointer Pointer to the analog port to use. + * @param analogPortHandle Handle to the analog port to use. * @return Offset constant. */ -int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analog_port_handle, +int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { - auto port = analogInputHandles.Get(analog_port_handle); + auto port = analogInputHandles.Get(analogPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; } int32_t offset = FRC_NetworkCommunication_nAICalibration_getOffset( - 0, port->pin, status); // XXX: aiSystemIndex == 0? + 0, port->channel, status); // XXX: aiSystemIndex == 0? return offset; } } diff --git a/hal/lib/athena/AnalogInternal.h b/hal/lib/athena/AnalogInternal.h index 2c9f2f2fb6..c0e205a48e 100644 --- a/hal/lib/athena/AnalogInternal.h +++ b/hal/lib/athena/AnalogInternal.h @@ -27,7 +27,7 @@ extern std::unique_ptr analogOutputSystem; extern priority_recursive_mutex analogRegisterWindowMutex; struct AnalogPort { - uint8_t pin; + uint8_t channel; std::unique_ptr accumulator; }; diff --git a/hal/lib/athena/AnalogOutput.cpp b/hal/lib/athena/AnalogOutput.cpp index 2c8e4045b6..0e55e5ac8f 100644 --- a/hal/lib/athena/AnalogOutput.cpp +++ b/hal/lib/athena/AnalogOutput.cpp @@ -17,7 +17,7 @@ using namespace hal; namespace { struct AnalogOutput { - uint8_t pin; + uint8_t channel; }; } @@ -30,19 +30,19 @@ extern "C" { /** * Initialize the analog output port using the given port object. */ -HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort( - HAL_PortHandle port_handle, int32_t* status) { +HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle, + int32_t* status) { initializeAnalog(status); if (*status != 0) return HAL_kInvalidHandle; - int16_t pin = getPortHandlePin(port_handle); - if (pin == InvalidHandleIndex) { + int16_t channel = getPortHandleChannel(portHandle); + if (channel == InvalidHandleIndex) { *status = PARAMETER_OUT_OF_RANGE; return HAL_kInvalidHandle; } - HAL_AnalogOutputHandle handle = analogOutputHandles.Allocate(pin, status); + HAL_AnalogOutputHandle handle = analogOutputHandles.Allocate(channel, status); if (*status != 0) return HAL_kInvalidHandle; // failed to allocate. Pass error back. @@ -53,13 +53,13 @@ HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort( return HAL_kInvalidHandle; } - port->pin = static_cast(pin); + port->channel = static_cast(channel); return handle; } -void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analog_output_handle) { +void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle) { // no status, so no need to check for a proper free. - analogOutputHandles.Free(analog_output_handle); + analogOutputHandles.Free(analogOutputHandle); } /** @@ -69,13 +69,13 @@ void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analog_output_handle) { * * @return Analog channel is valid */ -HAL_Bool HAL_CheckAnalogOutputChannel(int32_t pin) { - return pin < kNumAnalogOutputs && pin >= 0; +HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel) { + return channel < kNumAnalogOutputs && channel >= 0; } -void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle, +void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle, double voltage, int32_t* status) { - auto port = analogOutputHandles.Get(analog_output_handle); + auto port = analogOutputHandles.Get(analogOutputHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -88,18 +88,18 @@ void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle, else if (voltage > 5.0) rawValue = 0x1000; - analogOutputSystem->writeMXP(port->pin, rawValue, status); + analogOutputSystem->writeMXP(port->channel, rawValue, status); } -double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle, +double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle, int32_t* status) { - auto port = analogOutputHandles.Get(analog_output_handle); + auto port = analogOutputHandles.Get(analogOutputHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0.0; } - uint16_t rawValue = analogOutputSystem->readMXP(port->pin, status); + uint16_t rawValue = analogOutputSystem->readMXP(port->channel, status); return rawValue * 5.0 / 0x1000; } diff --git a/hal/lib/athena/AnalogTrigger.cpp b/hal/lib/athena/AnalogTrigger.cpp index 1692224372..501329dd59 100644 --- a/hal/lib/athena/AnalogTrigger.cpp +++ b/hal/lib/athena/AnalogTrigger.cpp @@ -31,9 +31,9 @@ static LimitedHandleResourceanalogHandle = port_handle; + trigger->analogHandle = portHandle; trigger->index = static_cast(getHandleIndex(handle)); *index = trigger->index; trigger->trigger.reset(tAnalogTrigger::create(trigger->index, status)); - trigger->trigger->writeSourceSelect_Channel(analog_port->pin, status); + trigger->trigger->writeSourceSelect_Channel(analog_port->channel, status); return handle; } -void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analog_trigger_handle, +void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) { - analogTriggerHandles.Free(analog_trigger_handle); + analogTriggerHandles.Free(analogTriggerHandle); // caller owns the analog input handle. } -void HAL_SetAnalogTriggerLimitsRaw( - HAL_AnalogTriggerHandle analog_trigger_handle, int32_t lower, int32_t upper, - int32_t* status) { - auto trigger = analogTriggerHandles.Get(analog_trigger_handle); +void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle, + int32_t lower, int32_t upper, + int32_t* status) { + auto trigger = analogTriggerHandles.Get(analogTriggerHandle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -83,9 +83,9 @@ void HAL_SetAnalogTriggerLimitsRaw( * The limits are given as floating point voltage values. */ void HAL_SetAnalogTriggerLimitsVoltage( - HAL_AnalogTriggerHandle analog_trigger_handle, double lower, double upper, + HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper, int32_t* status) { - auto trigger = analogTriggerHandles.Get(analog_trigger_handle); + auto trigger = analogTriggerHandles.Get(analogTriggerHandle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -107,9 +107,9 @@ void HAL_SetAnalogTriggerLimitsVoltage( * If the value is true, then the averaged value is selected for the analog * trigger, otherwise the immediate value is used. */ -void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analog_trigger_handle, +void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle, HAL_Bool useAveragedValue, int32_t* status) { - auto trigger = analogTriggerHandles.Get(analog_trigger_handle); + auto trigger = analogTriggerHandles.Get(analogTriggerHandle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -128,9 +128,9 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analog_trigger_handle, * is designed to help with 360 degree pot applications for the period where the * pot crosses through zero. */ -void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analog_trigger_handle, +void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle, HAL_Bool useFilteredValue, int32_t* status) { - auto trigger = analogTriggerHandles.Get(analog_trigger_handle); + auto trigger = analogTriggerHandles.Get(analogTriggerHandle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -149,8 +149,8 @@ void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analog_trigger_handle, * @return The InWindow output of the analog trigger. */ HAL_Bool HAL_GetAnalogTriggerInWindow( - HAL_AnalogTriggerHandle analog_trigger_handle, int32_t* status) { - auto trigger = analogTriggerHandles.Get(analog_trigger_handle); + HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) { + auto trigger = analogTriggerHandles.Get(analogTriggerHandle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -166,8 +166,8 @@ HAL_Bool HAL_GetAnalogTriggerInWindow( * @return The TriggerState output of the analog trigger. */ HAL_Bool HAL_GetAnalogTriggerTriggerState( - HAL_AnalogTriggerHandle analog_trigger_handle, int32_t* status) { - auto trigger = analogTriggerHandles.Get(analog_trigger_handle); + HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) { + auto trigger = analogTriggerHandles.Get(analogTriggerHandle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -179,10 +179,10 @@ HAL_Bool HAL_GetAnalogTriggerTriggerState( * Get the state of the analog trigger output. * @return The state of the analog trigger output. */ -HAL_Bool HAL_GetAnalogTriggerOutput( - HAL_AnalogTriggerHandle analog_trigger_handle, HAL_AnalogTriggerType type, - int32_t* status) { - auto trigger = analogTriggerHandles.Get(analog_trigger_handle); +HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle, + HAL_AnalogTriggerType type, + int32_t* status) { + auto trigger = analogTriggerHandles.Get(analogTriggerHandle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; return false; diff --git a/hal/lib/athena/Compressor.cpp b/hal/lib/athena/Compressor.cpp index f114ed1107..beb596e140 100644 --- a/hal/lib/athena/Compressor.cpp +++ b/hal/lib/athena/Compressor.cpp @@ -35,10 +35,10 @@ HAL_Bool HAL_CheckCompressorModule(int32_t module) { return module < kNumPCMModules && module >= 0; } -HAL_Bool HAL_GetCompressor(HAL_CompressorHandle compressor_handle, +HAL_Bool HAL_GetCompressor(HAL_CompressorHandle compressorHandle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); + getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -50,10 +50,10 @@ HAL_Bool HAL_GetCompressor(HAL_CompressorHandle compressor_handle, return value; } -void HAL_SetCompressorClosedLoopControl(HAL_CompressorHandle compressor_handle, +void HAL_SetCompressorClosedLoopControl(HAL_CompressorHandle compressorHandle, HAL_Bool value, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); + getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return; @@ -63,9 +63,9 @@ void HAL_SetCompressorClosedLoopControl(HAL_CompressorHandle compressor_handle, } HAL_Bool HAL_GetCompressorClosedLoopControl( - HAL_CompressorHandle compressor_handle, int32_t* status) { + HAL_CompressorHandle compressorHandle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); + getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -77,10 +77,10 @@ HAL_Bool HAL_GetCompressorClosedLoopControl( return value; } -HAL_Bool HAL_GetCompressorPressureSwitch(HAL_CompressorHandle compressor_handle, +HAL_Bool HAL_GetCompressorPressureSwitch(HAL_CompressorHandle compressorHandle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); + getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -92,10 +92,10 @@ HAL_Bool HAL_GetCompressorPressureSwitch(HAL_CompressorHandle compressor_handle, return value; } -double HAL_GetCompressorCurrent(HAL_CompressorHandle compressor_handle, +double HAL_GetCompressorCurrent(HAL_CompressorHandle compressorHandle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); + getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return 0; @@ -107,9 +107,9 @@ double HAL_GetCompressorCurrent(HAL_CompressorHandle compressor_handle, return value; } HAL_Bool HAL_GetCompressorCurrentTooHighFault( - HAL_CompressorHandle compressor_handle, int32_t* status) { + HAL_CompressorHandle compressorHandle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); + getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -121,9 +121,9 @@ HAL_Bool HAL_GetCompressorCurrentTooHighFault( return value; } HAL_Bool HAL_GetCompressorCurrentTooHighStickyFault( - HAL_CompressorHandle compressor_handle, int32_t* status) { + HAL_CompressorHandle compressorHandle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); + getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -135,9 +135,9 @@ HAL_Bool HAL_GetCompressorCurrentTooHighStickyFault( return value; } HAL_Bool HAL_GetCompressorShortedStickyFault( - HAL_CompressorHandle compressor_handle, int32_t* status) { + HAL_CompressorHandle compressorHandle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); + getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -148,10 +148,10 @@ HAL_Bool HAL_GetCompressorShortedStickyFault( return value; } -HAL_Bool HAL_GetCompressorShortedFault(HAL_CompressorHandle compressor_handle, +HAL_Bool HAL_GetCompressorShortedFault(HAL_CompressorHandle compressorHandle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); + getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -163,9 +163,9 @@ HAL_Bool HAL_GetCompressorShortedFault(HAL_CompressorHandle compressor_handle, return value; } HAL_Bool HAL_GetCompressorNotConnectedStickyFault( - HAL_CompressorHandle compressor_handle, int32_t* status) { + HAL_CompressorHandle compressorHandle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); + getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -177,9 +177,9 @@ HAL_Bool HAL_GetCompressorNotConnectedStickyFault( return value; } HAL_Bool HAL_GetCompressorNotConnectedFault( - HAL_CompressorHandle compressor_handle, int32_t* status) { + HAL_CompressorHandle compressorHandle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); + getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; diff --git a/hal/lib/athena/Counter.cpp b/hal/lib/athena/Counter.cpp index 1a71dfe47c..b981991b49 100644 --- a/hal/lib/athena/Counter.cpp +++ b/hal/lib/athena/Counter.cpp @@ -48,13 +48,13 @@ HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index, return handle; } -void HAL_FreeCounter(HAL_CounterHandle counter_handle, int32_t* status) { - counterHandles.Free(counter_handle); +void HAL_FreeCounter(HAL_CounterHandle counterHandle, int32_t* status) { + counterHandles.Free(counterHandle); } -void HAL_SetCounterAverageSize(HAL_CounterHandle counter_handle, int32_t size, +void HAL_SetCounterAverageSize(HAL_CounterHandle counterHandle, int32_t size, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -66,21 +66,21 @@ void HAL_SetCounterAverageSize(HAL_CounterHandle counter_handle, int32_t size, * Set the source object that causes the counter to count up. * Set the up counting DigitalSource. */ -void HAL_SetCounterUpSource(HAL_CounterHandle counter_handle, +void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; } bool routingAnalogTrigger = false; - uint8_t routingPin = 0; + uint8_t routingChannel = 0; uint8_t routingModule = 0; bool success = - remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin, + remapDigitalSource(digitalSourceHandle, analogTriggerType, routingChannel, routingModule, routingAnalogTrigger); if (!success) { *status = HAL_HANDLE_ERROR; @@ -88,14 +88,14 @@ void HAL_SetCounterUpSource(HAL_CounterHandle counter_handle, } counter->counter->writeConfig_UpSource_Module(routingModule, status); - counter->counter->writeConfig_UpSource_Channel(routingPin, status); + counter->counter->writeConfig_UpSource_Channel(routingChannel, status); counter->counter->writeConfig_UpSource_AnalogTrigger(routingAnalogTrigger, status); if (counter->counter->readConfig_Mode(status) == HAL_Counter_kTwoPulse || counter->counter->readConfig_Mode(status) == HAL_Counter_kExternalDirection) { - HAL_SetCounterUpSourceEdge(counter_handle, true, false, status); + HAL_SetCounterUpSourceEdge(counterHandle, true, false, status); } counter->counter->strobeReset(status); } @@ -104,10 +104,10 @@ void HAL_SetCounterUpSource(HAL_CounterHandle counter_handle, * Set the edge sensitivity on an up counting source. * Set the up source to either detect rising edges or falling edges. */ -void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counter_handle, +void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle, HAL_Bool risingEdge, HAL_Bool fallingEdge, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -119,9 +119,9 @@ void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counter_handle, /** * Disable the up counting source to the counter. */ -void HAL_ClearCounterUpSource(HAL_CounterHandle counter_handle, +void HAL_ClearCounterUpSource(HAL_CounterHandle counterHandle, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -137,11 +137,11 @@ void HAL_ClearCounterUpSource(HAL_CounterHandle counter_handle, * Set the source object that causes the counter to count down. * Set the down counting DigitalSource. */ -void HAL_SetCounterDownSource(HAL_CounterHandle counter_handle, +void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -155,10 +155,10 @@ void HAL_SetCounterDownSource(HAL_CounterHandle counter_handle, } bool routingAnalogTrigger = false; - uint8_t routingPin = 0; + uint8_t routingChannel = 0; uint8_t routingModule = 0; bool success = - remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin, + remapDigitalSource(digitalSourceHandle, analogTriggerType, routingChannel, routingModule, routingAnalogTrigger); if (!success) { *status = HAL_HANDLE_ERROR; @@ -166,11 +166,11 @@ void HAL_SetCounterDownSource(HAL_CounterHandle counter_handle, } counter->counter->writeConfig_DownSource_Module(routingModule, status); - counter->counter->writeConfig_DownSource_Channel(routingPin, status); + counter->counter->writeConfig_DownSource_Channel(routingChannel, status); counter->counter->writeConfig_DownSource_AnalogTrigger(routingAnalogTrigger, status); - HAL_SetCounterDownSourceEdge(counter_handle, true, false, status); + HAL_SetCounterDownSourceEdge(counterHandle, true, false, status); counter->counter->strobeReset(status); } @@ -178,10 +178,10 @@ void HAL_SetCounterDownSource(HAL_CounterHandle counter_handle, * Set the edge sensitivity on a down counting source. * Set the down source to either detect rising edges or falling edges. */ -void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counter_handle, +void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle, HAL_Bool risingEdge, HAL_Bool fallingEdge, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -193,9 +193,9 @@ void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counter_handle, /** * Disable the down counting source to the counter. */ -void HAL_ClearCounterDownSource(HAL_CounterHandle counter_handle, +void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -211,9 +211,9 @@ void HAL_ClearCounterDownSource(HAL_CounterHandle counter_handle, * Set standard up / down counting mode on this counter. * Up and down counts are sourced independently from two inputs. */ -void HAL_SetCounterUpDownMode(HAL_CounterHandle counter_handle, +void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -226,9 +226,9 @@ void HAL_SetCounterUpDownMode(HAL_CounterHandle counter_handle, * Counts are sourced on the Up counter input. * The Down counter input represents the direction to count. */ -void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counter_handle, +void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -240,16 +240,16 @@ void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counter_handle, * Set Semi-period mode on this counter. * Counts up on both rising and falling edges. */ -void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counter_handle, +void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle, HAL_Bool highSemiPeriod, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; } counter->counter->writeConfig_Mode(HAL_Counter_kSemiperiod, status); counter->counter->writeConfig_UpRisingEdge(highSemiPeriod, status); - HAL_SetCounterUpdateWhenEmpty(counter_handle, false, status); + HAL_SetCounterUpdateWhenEmpty(counterHandle, false, status); } /** @@ -259,9 +259,9 @@ void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counter_handle, * @param threshold The pulse length beyond which the counter counts the * opposite direction. Units are seconds. */ -void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counter_handle, +void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle, double threshold, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -280,9 +280,9 @@ void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counter_handle, * mechanical imperfections or as oversampling to increase resolution. * @return SamplesToAverage The number of samples being averaged (from 1 to 127) */ -int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counter_handle, +int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -296,9 +296,9 @@ int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counter_handle, * mechanical imperfections or as oversampling to increase resolution. * @param samplesToAverage The number of samples to average from 1 to 127. */ -void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counter_handle, +void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle, int32_t samplesToAverage, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -314,8 +314,8 @@ void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counter_handle, * Set the counter value to zero. This doesn't effect the running state of the * counter, just sets the current value to zero. */ -void HAL_ResetCounter(HAL_CounterHandle counter_handle, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); +void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status) { + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -328,8 +328,8 @@ void HAL_ResetCounter(HAL_CounterHandle counter_handle, int32_t* status) { * Read the value at this instant. It may still be running, so it reflects the * current value. Next time it is read, it might have a different value. */ -int32_t HAL_GetCounter(HAL_CounterHandle counter_handle, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); +int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status) { + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -344,8 +344,8 @@ int32_t HAL_GetCounter(HAL_CounterHandle counter_handle, int32_t* status) { * velocity calculations to determine shaft speed. * @returns The period of the last two pulses in units of seconds. */ -double HAL_GetCounterPeriod(HAL_CounterHandle counter_handle, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); +double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status) { + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return 0.0; @@ -374,9 +374,9 @@ double HAL_GetCounterPeriod(HAL_CounterHandle counter_handle, int32_t* status) { * @param maxPeriod The maximum period where the counted device is considered * moving in seconds. */ -void HAL_SetCounterMaxPeriod(HAL_CounterHandle counter_handle, double maxPeriod, +void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -398,9 +398,9 @@ void HAL_SetCounterMaxPeriod(HAL_CounterHandle counter_handle, double maxPeriod, * and you will likely not see the stopped bit become true (since it is updated * at the end of an average and there are no samples to average). */ -void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counter_handle, +void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle, HAL_Bool enabled, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -416,9 +416,9 @@ void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counter_handle, * @return Returns true if the most recent counter period exceeds the MaxPeriod * value set by SetMaxPeriod. */ -HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counter_handle, +HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -430,9 +430,9 @@ HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counter_handle, * The last direction the counter value changed. * @return The last direction the counter value changed. */ -HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counter_handle, +HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -447,10 +447,10 @@ HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counter_handle, * 1X and 2X quadrature encoding only. Any other counter mode isn't supported. * @param reverseDirection true if the value counted should be negated. */ -void HAL_SetCounterReverseDirection(HAL_CounterHandle counter_handle, +void HAL_SetCounterReverseDirection(HAL_CounterHandle counterHandle, HAL_Bool reverseDirection, int32_t* status) { - auto counter = counterHandles.Get(counter_handle); + auto counter = counterHandles.Get(counterHandle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -458,9 +458,9 @@ void HAL_SetCounterReverseDirection(HAL_CounterHandle counter_handle, if (counter->counter->readConfig_Mode(status) == HAL_Counter_kExternalDirection) { if (reverseDirection) - HAL_SetCounterDownSourceEdge(counter_handle, true, true, status); + HAL_SetCounterDownSourceEdge(counterHandle, true, true, status); else - HAL_SetCounterDownSourceEdge(counter_handle, false, true, status); + HAL_SetCounterDownSourceEdge(counterHandle, false, true, status); } } } diff --git a/hal/lib/athena/DIO.cpp b/hal/lib/athena/DIO.cpp index 35f0b1260f..6d665a1bb3 100644 --- a/hal/lib/athena/DIO.cpp +++ b/hal/lib/athena/DIO.cpp @@ -28,37 +28,38 @@ extern "C" { /** * Create a new instance of a digital port. */ -HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle port_handle, +HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle, HAL_Bool input, int32_t* status) { initializeDigital(status); if (*status != 0) return HAL_kInvalidHandle; - int16_t pin = getPortHandlePin(port_handle); - if (pin == InvalidHandleIndex) { + int16_t channel = getPortHandleChannel(portHandle); + if (channel == InvalidHandleIndex) { *status = PARAMETER_OUT_OF_RANGE; return HAL_kInvalidHandle; } - auto handle = digitalPinHandles.Allocate(pin, HAL_HandleEnum::DIO, status); + auto handle = + digitalChannelHandles.Allocate(channel, HAL_HandleEnum::DIO, status); if (*status != 0) return HAL_kInvalidHandle; // failed to allocate. Pass error back. - auto port = digitalPinHandles.Get(handle, HAL_HandleEnum::DIO); + auto port = digitalChannelHandles.Get(handle, HAL_HandleEnum::DIO); if (port == nullptr) { // would only occur on thread issue. *status = HAL_HANDLE_ERROR; return HAL_kInvalidHandle; } - port->pin = static_cast(pin); + port->channel = static_cast(channel); std::lock_guard sync(digitalDIOMutex); tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status); - if (port->pin < kNumDigitalHeaders) { - uint32_t bitToSet = 1u << port->pin; + if (port->channel < kNumDigitalHeaders) { + uint32_t bitToSet = 1u << port->channel; if (input) { outputEnable.Headers = outputEnable.Headers & (~bitToSet); // clear the bit for read @@ -67,7 +68,7 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle port_handle, outputEnable.Headers | bitToSet; // set the bit for write } } else { - uint32_t bitToSet = 1u << remapMXPChannel(port->pin); + uint32_t bitToSet = 1u << remapMXPChannel(port->channel); uint16_t specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status); @@ -88,12 +89,12 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle port_handle, } HAL_Bool HAL_CheckDIOChannel(int32_t channel) { - return channel < kNumDigitalPins && channel >= 0; + return channel < kNumDigitalChannels && channel >= 0; } -void HAL_FreeDIOPort(HAL_DigitalHandle dio_port_handle) { +void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) { // no status, so no need to check for a proper free. - digitalPinHandles.Free(dio_port_handle, HAL_HandleEnum::DIO); + digitalChannelHandles.Free(dioPortHandle, HAL_HandleEnum::DIO); } /** @@ -190,18 +191,20 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator, * @param channel The Digital Output channel to output on */ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator, - int32_t pin, int32_t* status) { + int32_t channel, int32_t* status) { auto port = digitalPWMHandles.Get(pwmGenerator); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; } int32_t id = *port; - if (pin >= kNumDigitalHeaders) { // if it is on the MXP - pin += kMXPDigitalPWMOffset; // then to write as a digital PWM pin requires - // an offset to write on the correct pin + if (channel >= kNumDigitalHeaders) { // If it is on the MXP + /* Then to write as a digital PWM channel an offset is needed to write on + * the correct channel + */ + channel += kMXPDigitalPWMOffset; } - digitalSystem->writePWMOutputSelect(id, pin, status); + digitalSystem->writePWMOutputSelect(id, channel, status); } /** @@ -212,9 +215,9 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator, * @param value The state to set the digital channel (if it is configured as an * output) */ -void HAL_SetDIO(HAL_DigitalHandle dio_port_handle, HAL_Bool value, +void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value, int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); + auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -226,20 +229,22 @@ void HAL_SetDIO(HAL_DigitalHandle dio_port_handle, HAL_Bool value, std::lock_guard sync(digitalDIOMutex); tDIO::tDO currentDIO = digitalSystem->readDO(status); - if (port->pin < kNumDigitalHeaders) { + if (port->channel < kNumDigitalHeaders) { if (value == 0) { - currentDIO.Headers = currentDIO.Headers & ~(1u << port->pin); + currentDIO.Headers = currentDIO.Headers & ~(1u << port->channel); } else if (value == 1) { - currentDIO.Headers = currentDIO.Headers | (1u << port->pin); + currentDIO.Headers = currentDIO.Headers | (1u << port->channel); } } else { if (value == 0) { - currentDIO.MXP = currentDIO.MXP & ~(1u << remapMXPChannel(port->pin)); + currentDIO.MXP = + currentDIO.MXP & ~(1u << remapMXPChannel(port->channel)); } else if (value == 1) { - currentDIO.MXP = currentDIO.MXP | (1u << remapMXPChannel(port->pin)); + currentDIO.MXP = + currentDIO.MXP | (1u << remapMXPChannel(port->channel)); } - int32_t bitToSet = 1 << remapMXPChannel(port->pin); + int32_t bitToSet = 1 << remapMXPChannel(port->channel); uint16_t specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status); digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet, @@ -256,8 +261,8 @@ void HAL_SetDIO(HAL_DigitalHandle dio_port_handle, HAL_Bool value, * @param channel The digital I/O channel * @return The state of the specified channel */ -HAL_Bool HAL_GetDIO(HAL_DigitalHandle dio_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); +HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) { + auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -268,17 +273,17 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dio_port_handle, int32_t* status) { // if it == 0, then return false // else return true - if (port->pin < kNumDigitalHeaders) { - return ((currentDIO.Headers >> port->pin) & 1) != 0; + if (port->channel < kNumDigitalHeaders) { + return ((currentDIO.Headers >> port->channel) & 1) != 0; } else { // Disable special functions - int32_t bitToSet = 1 << remapMXPChannel(port->pin); + int32_t bitToSet = 1 << remapMXPChannel(port->channel); uint16_t specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status); digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet, status); - return ((currentDIO.MXP >> remapMXPChannel(port->pin)) & 1) != 0; + return ((currentDIO.MXP >> remapMXPChannel(port->channel)) & 1) != 0; } } @@ -289,24 +294,24 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dio_port_handle, int32_t* status) { * @param channel The digital I/O channel * @return The direction of the specified channel */ -HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dio_port_handle, - int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); +HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) { + auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return false; } tDIO::tOutputEnable currentOutputEnable = digitalSystem->readOutputEnable(status); - // Shift 00000001 over port->pin-1 places. + // Shift 00000001 over port->channel-1 places. // AND it against the currentOutputEnable // if it == 0, then return false // else return true - if (port->pin < kNumDigitalHeaders) { - return ((currentOutputEnable.Headers >> port->pin) & 1) != 0; + if (port->channel < kNumDigitalHeaders) { + return ((currentOutputEnable.Headers >> port->channel) & 1) != 0; } else { - return ((currentOutputEnable.MXP >> remapMXPChannel(port->pin)) & 1) != 0; + return ((currentOutputEnable.MXP >> remapMXPChannel(port->channel)) & 1) != + 0; } } @@ -318,19 +323,19 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dio_port_handle, * @param channel The Digital Output channel that the pulse should be output on * @param pulseLength The active length of the pulse (in seconds) */ -void HAL_Pulse(HAL_DigitalHandle dio_port_handle, double pulseLength, +void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength, int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); + auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; } tDIO::tPulse pulse; - if (port->pin < kNumDigitalHeaders) { - pulse.Headers = 1u << port->pin; + if (port->channel < kNumDigitalHeaders) { + pulse.Headers = 1u << port->channel; } else { - pulse.MXP = 1u << remapMXPChannel(port->pin); + pulse.MXP = 1u << remapMXPChannel(port->channel); } digitalSystem->writePulseLength( @@ -345,18 +350,18 @@ void HAL_Pulse(HAL_DigitalHandle dio_port_handle, double pulseLength, * * @return A pulse is in progress */ -HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dio_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); +HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) { + auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return false; } tDIO::tPulse pulseRegister = digitalSystem->readPulse(status); - if (port->pin < kNumDigitalHeaders) { - return (pulseRegister.Headers & (1 << port->pin)) != 0; + if (port->channel < kNumDigitalHeaders) { + return (pulseRegister.Headers & (1 << port->channel)) != 0; } else { - return (pulseRegister.MXP & (1 << remapMXPChannel(port->pin))) != 0; + return (pulseRegister.MXP & (1 << remapMXPChannel(port->channel))) != 0; } } @@ -374,24 +379,24 @@ HAL_Bool HAL_IsAnyPulsing(int32_t* status) { * Write the filter index from the FPGA. * Set the filter index used to filter out short pulses. * - * @param digital_port_pointer The digital I/O channel - * @param filter_index The filter index. Must be in the range 0 - 3, - * where 0 means "none" and 1 - 3 means filter # filter_index - 1. + * @param dioPortHandle Handle to the digital I/O channel + * @param filterIndex The filter index. Must be in the range 0 - 3, where 0 + * means "none" and 1 - 3 means filter # filterIndex - 1. */ -void HAL_SetFilterSelect(HAL_DigitalHandle dio_port_handle, int filter_index, +void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int filterIndex, int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); + auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; } std::lock_guard sync(digitalDIOMutex); - if (port->pin < kNumDigitalHeaders) { - digitalSystem->writeFilterSelectHdr(port->pin, filter_index, status); + if (port->channel < kNumDigitalHeaders) { + digitalSystem->writeFilterSelectHdr(port->channel, filterIndex, status); } else { - digitalSystem->writeFilterSelectMXP(remapMXPChannel(port->pin), - filter_index, status); + digitalSystem->writeFilterSelectMXP(remapMXPChannel(port->channel), + filterIndex, status); } } @@ -399,22 +404,22 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dio_port_handle, int filter_index, * Read the filter index from the FPGA. * Get the filter index used to filter out short pulses. * - * @param digital_port_pointer The digital I/O channel - * @return filter_index The filter index. Must be in the range 0 - 3, - * where 0 means "none" and 1 - 3 means filter # filter_index - 1. + * @param dioPortHandle Handle to the digital I/O channel + * @return filterIndex The filter index. Must be in the range 0 - 3, + * where 0 means "none" and 1 - 3 means filter # filterIndex - 1. */ -int HAL_GetFilterSelect(HAL_DigitalHandle dio_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); +int HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) { + auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; } std::lock_guard sync(digitalDIOMutex); - if (port->pin < kNumDigitalHeaders) { - return digitalSystem->readFilterSelectHdr(port->pin, status); + if (port->channel < kNumDigitalHeaders) { + return digitalSystem->readFilterSelectHdr(port->channel, status); } else { - return digitalSystem->readFilterSelectMXP(remapMXPChannel(port->pin), + return digitalSystem->readFilterSelectMXP(remapMXPChannel(port->channel), status); } } @@ -426,15 +431,15 @@ int HAL_GetFilterSelect(HAL_DigitalHandle dio_port_handle, int32_t* status) { * filter index domains (MXP vs HDR), ignore that distinction for now since it * compilicates the interface. That can be changed later. * - * @param filter_index The filter index, 0 - 2. + * @param filterIndex The filter index, 0 - 2. * @param value The number of cycles that the signal must not transition to be * counted as a transition. */ -void HAL_SetFilterPeriod(int32_t filter_index, int64_t value, int32_t* status) { +void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status) { std::lock_guard sync(digitalDIOMutex); - digitalSystem->writeFilterPeriodHdr(filter_index, value, status); + digitalSystem->writeFilterPeriodHdr(filterIndex, value, status); if (*status == 0) { - digitalSystem->writeFilterPeriodMXP(filter_index, value, status); + digitalSystem->writeFilterPeriodMXP(filterIndex, value, status); } } @@ -446,24 +451,24 @@ void HAL_SetFilterPeriod(int32_t filter_index, int64_t value, int32_t* status) { * compilicates the interface. Set status to NiFpga_Status_SoftwareFault if the * filter values miss-match. * - * @param filter_index The filter index, 0 - 2. + * @param filterIndex The filter index, 0 - 2. * @param value The number of cycles that the signal must not transition to be * counted as a transition. */ -int64_t HAL_GetFilterPeriod(int32_t filter_index, int32_t* status) { - uint32_t hdr_period = 0; - uint32_t mxp_period = 0; +int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status) { + uint32_t hdrPeriod = 0; + uint32_t mxpPeriod = 0; { std::lock_guard sync(digitalDIOMutex); - hdr_period = digitalSystem->readFilterPeriodHdr(filter_index, status); + hdrPeriod = digitalSystem->readFilterPeriodHdr(filterIndex, status); if (*status == 0) { - mxp_period = digitalSystem->readFilterPeriodMXP(filter_index, status); + mxpPeriod = digitalSystem->readFilterPeriodMXP(filterIndex, status); } } - if (hdr_period != mxp_period) { + if (hdrPeriod != mxpPeriod) { *status = NiFpga_Status_SoftwareFault; return -1; } - return hdr_period; + return hdrPeriod; } } diff --git a/hal/lib/athena/DigitalInternal.cpp b/hal/lib/athena/DigitalInternal.cpp index 498743d1bb..df4be28112 100644 --- a/hal/lib/athena/DigitalInternal.cpp +++ b/hal/lib/athena/DigitalInternal.cpp @@ -30,8 +30,8 @@ std::unique_ptr pwmSystem; bool digitalSystemsInitialized = false; DigitalHandleResource - digitalPinHandles; + kNumDigitalChannels + kNumPWMHeaders> + digitalChannelHandles; /** * Initialize the digital system. @@ -69,21 +69,21 @@ void initializeDigital(int32_t* status) { (kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime + .5); pwmSystem->writeConfig_MinHigh(minHigh, status); // Ensure that PWM output values are set to OFF - for (uint8_t pwm_index = 0; pwm_index < kNumPWMPins; pwm_index++) { + for (uint8_t pwmIndex = 0; pwmIndex < kNumPWMChannels; pwmIndex++) { // Copy of SetPWM - if (pwm_index < tPWM::kNumHdrRegisters) { - pwmSystem->writeHdr(pwm_index, kPwmDisabled, status); + if (pwmIndex < tPWM::kNumHdrRegisters) { + pwmSystem->writeHdr(pwmIndex, kPwmDisabled, status); } else { - pwmSystem->writeMXP(pwm_index - tPWM::kNumHdrRegisters, kPwmDisabled, + pwmSystem->writeMXP(pwmIndex - tPWM::kNumHdrRegisters, kPwmDisabled, status); } // Copy of SetPWMPeriodScale, set to 4x by default. - if (pwm_index < tPWM::kNumPeriodScaleHdrElements) { - pwmSystem->writePeriodScaleHdr(pwm_index, 3, status); + if (pwmIndex < tPWM::kNumPeriodScaleHdrElements) { + pwmSystem->writePeriodScaleHdr(pwmIndex, 3, status); } else { pwmSystem->writePeriodScaleMXP( - pwm_index - tPWM::kNumPeriodScaleHdrElements, 3, status); + pwmIndex - tPWM::kNumPeriodScaleHdrElements, 3, status); } } @@ -91,41 +91,43 @@ void initializeDigital(int32_t* status) { } /** - * Map DIO pin numbers from their physical number (10 to 26) to their position - * in the bit field. + * Map DIO channel numbers from their physical number (10 to 26) to their + * position in the bit field. */ -int32_t remapMXPChannel(int32_t pin) { return pin - 10; } +int32_t remapMXPChannel(int32_t channel) { return channel - 10; } -int32_t remapMXPPWMChannel(int32_t pin) { - if (pin < 14) { - return pin - 10; // first block of 4 pwms (MXP 0-3) +int32_t remapMXPPWMChannel(int32_t channel) { + if (channel < 14) { + return channel - 10; // first block of 4 pwms (MXP 0-3) } else { - return pin - 6; // block of PWMs after SPI + return channel - 6; // block of PWMs after SPI } } /** - * remap the digital source pin and set the module. + * remap the digital source channel and set the module. * 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) + * channel else do normal digital input remapping based on channel number + * (MXP) */ bool remapDigitalSource(HAL_Handle digitalSourceHandle, - HAL_AnalogTriggerType analogTriggerType, uint8_t& pin, - uint8_t& module, bool& analogTrigger) { + HAL_AnalogTriggerType analogTriggerType, + uint8_t& channel, uint8_t& module, + bool& analogTrigger) { if (isHandleType(digitalSourceHandle, HAL_HandleEnum::AnalogTrigger)) { // If handle passed, index is not negative int32_t index = getHandleIndex(digitalSourceHandle); - pin = (index << 2) + analogTriggerType; - module = pin >> 4; + channel = (index << 2) + analogTriggerType; + module = channel >> 4; analogTrigger = true; return true; } else if (isHandleType(digitalSourceHandle, HAL_HandleEnum::DIO)) { int32_t index = getHandleIndex(digitalSourceHandle); if (index >= kNumDigitalHeaders) { - pin = remapMXPChannel(index); + channel = remapMXPChannel(index); module = 1; } else { - pin = index; + channel = index; module = 0; } analogTrigger = false; diff --git a/hal/lib/athena/DigitalInternal.h b/hal/lib/athena/DigitalInternal.h index 9d78d15a62..934c6aeca8 100644 --- a/hal/lib/athena/DigitalInternal.h +++ b/hal/lib/athena/DigitalInternal.h @@ -18,9 +18,11 @@ #include "PortsInternal.h" namespace hal { -constexpr uint32_t kMXPDigitalPWMOffset = 6; // MXP pins when used as digital - // output pwm are offset by 6 from - // actual value +/** + * MXP channels when used as digital output PWM are offset from actual value + */ +constexpr uint32_t kMXPDigitalPWMOffset = 6; + constexpr uint32_t kExpectedLoopTiming = 40; /** @@ -62,7 +64,7 @@ extern std::unique_ptr pwmSystem; extern bool digitalSystemsInitialized; struct DigitalPort { - uint8_t pin; + uint8_t channel; bool configSet = false; bool eliminateDeadband = false; int32_t maxPwm = 0; @@ -73,13 +75,13 @@ struct DigitalPort { }; extern DigitalHandleResource - digitalPinHandles; + kNumDigitalChannels + kNumPWMHeaders> + digitalChannelHandles; void initializeDigital(int32_t* status); bool remapDigitalSource(HAL_Handle digitalSourceHandle, - HAL_AnalogTriggerType analogTriggerType, uint8_t& pin, - uint8_t& module, bool& analogTrigger); -int32_t remapMXPPWMChannel(int32_t pin); -int32_t remapMXPChannel(int32_t pin); + HAL_AnalogTriggerType analogTriggerType, + uint8_t& channel, uint8_t& module, bool& analogTrigger); +int32_t remapMXPPWMChannel(int32_t channel); +int32_t remapMXPChannel(int32_t channel); } // namespace hal diff --git a/hal/lib/athena/Encoder.cpp b/hal/lib/athena/Encoder.cpp index 940ced0095..62c25c9655 100644 --- a/hal/lib/athena/Encoder.cpp +++ b/hal/lib/athena/Encoder.cpp @@ -244,12 +244,12 @@ HAL_EncoderHandle HAL_InitializeEncoder( return handle; } -void HAL_FreeEncoder(HAL_EncoderHandle encoder_handle, int32_t* status) { - encoderHandles.Free(encoder_handle); +void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) { + encoderHandles.Free(encoderHandle); } -int32_t HAL_GetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); +int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) { + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -257,8 +257,8 @@ int32_t HAL_GetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status) { return encoder->Get(status); } -int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoder_handle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); +int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status) { + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -266,9 +266,9 @@ int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoder_handle, int32_t* status) { return encoder->GetRaw(status); } -int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoder_handle, +int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -276,8 +276,8 @@ int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoder_handle, return encoder->GetEncodingScale(status); } -void HAL_ResetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); +void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) { + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -285,8 +285,8 @@ void HAL_ResetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status) { encoder->Reset(status); } -double HAL_GetEncoderPeriod(HAL_EncoderHandle encoder_handle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); +double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status) { + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -294,9 +294,9 @@ double HAL_GetEncoderPeriod(HAL_EncoderHandle encoder_handle, int32_t* status) { return encoder->GetPeriod(status); } -void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoder_handle, double maxPeriod, +void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -304,9 +304,9 @@ void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoder_handle, double maxPeriod, encoder->SetMaxPeriod(maxPeriod, status); } -HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoder_handle, +HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -314,9 +314,9 @@ HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoder_handle, return encoder->GetStopped(status); } -HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoder_handle, +HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -324,9 +324,9 @@ HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoder_handle, return encoder->GetDirection(status); } -double HAL_GetEncoderDistance(HAL_EncoderHandle encoder_handle, +double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -334,8 +334,8 @@ double HAL_GetEncoderDistance(HAL_EncoderHandle encoder_handle, return encoder->GetDistance(status); } -double HAL_GetEncoderRate(HAL_EncoderHandle encoder_handle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); +double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status) { + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -343,9 +343,9 @@ double HAL_GetEncoderRate(HAL_EncoderHandle encoder_handle, int32_t* status) { return encoder->GetRate(status); } -void HAL_SetEncoderMinRate(HAL_EncoderHandle encoder_handle, double minRate, +void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -353,9 +353,9 @@ void HAL_SetEncoderMinRate(HAL_EncoderHandle encoder_handle, double minRate, encoder->SetMinRate(minRate, status); } -void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle, +void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle, double distancePerPulse, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -363,10 +363,10 @@ void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle, encoder->SetDistancePerPulse(distancePerPulse, status); } -void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoder_handle, +void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle, HAL_Bool reverseDirection, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -374,9 +374,9 @@ void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoder_handle, encoder->SetReverseDirection(reverseDirection, status); } -void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle, +void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle, int32_t samplesToAverage, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -384,9 +384,9 @@ void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle, encoder->SetSamplesToAverage(samplesToAverage, status); } -int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle, +int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -394,9 +394,9 @@ int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle, return encoder->GetSamplesToAverage(status); } -double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoder_handle, +double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -404,9 +404,9 @@ double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoder_handle, return encoder->DecodingScaleFactor(); } -double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle, +double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -415,8 +415,8 @@ double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle, } HAL_EncoderEncodingType HAL_GetEncoderEncodingType( - HAL_EncoderHandle encoder_handle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + HAL_EncoderHandle encoderHandle, int32_t* status) { + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return HAL_Encoder_k4X; // default to k4X @@ -424,11 +424,11 @@ HAL_EncoderEncodingType HAL_GetEncoderEncodingType( return encoder->GetEncodingType(); } -void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoder_handle, +void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, HAL_EncoderIndexingType type, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -436,9 +436,9 @@ void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoder_handle, encoder->SetIndexSource(digitalSourceHandle, analogTriggerType, type, status); } -int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoder_handle, +int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle, int32_t* status) { - auto encoder = encoderHandles.Get(encoder_handle); + auto encoder = encoderHandles.Get(encoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; diff --git a/hal/lib/athena/FPGAEncoder.cpp b/hal/lib/athena/FPGAEncoder.cpp index 4f2d01cea3..778b6c2e0f 100644 --- a/hal/lib/athena/FPGAEncoder.cpp +++ b/hal/lib/athena/FPGAEncoder.cpp @@ -34,17 +34,17 @@ HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder( HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB, HAL_Bool reverseDirection, int32_t* index, int32_t* status) { bool routingAnalogTriggerA = false; - uint8_t routingPinA = 0; + uint8_t routingChannelA = 0; uint8_t routingModuleA = 0; - bool successA = - remapDigitalSource(digitalSourceHandleA, analogTriggerTypeA, routingPinA, - routingModuleA, routingAnalogTriggerA); + bool successA = remapDigitalSource(digitalSourceHandleA, analogTriggerTypeA, + routingChannelA, routingModuleA, + routingAnalogTriggerA); bool routingAnalogTriggerB = false; - uint8_t routingPinB = 0; + uint8_t routingChannelB = 0; uint8_t routingModuleB = 0; - bool successB = - remapDigitalSource(digitalSourceHandleB, analogTriggerTypeB, routingPinB, - routingModuleB, routingAnalogTriggerB); + bool successB = remapDigitalSource(digitalSourceHandleB, analogTriggerTypeB, + routingChannelB, routingModuleB, + routingAnalogTriggerB); if (!successA || !successB) { *status = HAL_HANDLE_ERROR; @@ -68,11 +68,11 @@ HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder( // TODO: if (index == ~0ul) { CloneError(quadEncoders); return; } encoder->encoder.reset(tEncoder::create(encoder->index, status)); encoder->encoder->writeConfig_ASource_Module(routingModuleA, status); - encoder->encoder->writeConfig_ASource_Channel(routingPinA, status); + encoder->encoder->writeConfig_ASource_Channel(routingChannelA, status); encoder->encoder->writeConfig_ASource_AnalogTrigger(routingAnalogTriggerA, status); encoder->encoder->writeConfig_BSource_Module(routingModuleB, status); - encoder->encoder->writeConfig_BSource_Channel(routingPinB, status); + encoder->encoder->writeConfig_BSource_Channel(routingChannelB, status); encoder->encoder->writeConfig_BSource_AnalogTrigger(routingAnalogTriggerB, status); encoder->encoder->strobeReset(status); @@ -82,18 +82,18 @@ HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder( return handle; } -void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, +void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { - fpgaEncoderHandles.Free(fpga_encoder_handle); + fpgaEncoderHandles.Free(fpgaEncoderHandle); } /** * Reset the Encoder distance to zero. * Resets the current count to zero on the encoder. */ -void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, +void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { - auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); + auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -107,9 +107,9 @@ void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, * factor. * @return Current fpga count from the encoder */ -int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, +int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { - auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); + auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -127,9 +127,9 @@ int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, * * @return Period in seconds of the most recent pulse. */ -double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle, +double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { - auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); + auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0.0; @@ -164,9 +164,9 @@ double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle, * FPGA will * report the device stopped. This is expressed in seconds. */ -void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle, +void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle, double maxPeriod, int32_t* status) { - auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); + auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -183,9 +183,9 @@ void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle, * one where the most recent pulse width exceeds the MaxPeriod. * @return True if the encoder is considered stopped. */ -HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpga_encoder_handle, +HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { - auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); + auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -197,9 +197,9 @@ HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpga_encoder_handle, * The last direction the encoder value changed. * @return The last direction the encoder value changed. */ -HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpga_encoder_handle, +HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { - auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); + auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -213,10 +213,10 @@ HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpga_encoder_handle, * correct software direction regardless of the mounting. * @param reverseDirection true if the encoder direction should be reversed */ -void HAL_SetFPGAEncoderReverseDirection( - HAL_FPGAEncoderHandle fpga_encoder_handle, HAL_Bool reverseDirection, - int32_t* status) { - auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); +void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle, + HAL_Bool reverseDirection, + int32_t* status) { + auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -230,10 +230,10 @@ void HAL_SetFPGAEncoderReverseDirection( * mechanical imperfections or as oversampling to increase resolution. * @param samplesToAverage The number of samples to average from 1 to 127. */ -void HAL_SetFPGAEncoderSamplesToAverage( - HAL_FPGAEncoderHandle fpga_encoder_handle, int32_t samplesToAverage, - int32_t* status) { - auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); +void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle, + int32_t samplesToAverage, + int32_t* status) { + auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -251,8 +251,8 @@ void HAL_SetFPGAEncoderSamplesToAverage( * @return SamplesToAverage The number of samples being averaged (from 1 to 127) */ int32_t HAL_GetFPGAEncoderSamplesToAverage( - HAL_FPGAEncoderHandle fpga_encoder_handle, int32_t* status) { - auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); + HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { + auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -264,29 +264,29 @@ int32_t HAL_GetFPGAEncoderSamplesToAverage( * Set an index source for an encoder, which is an input that resets the * encoder's count. */ -void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpga_encoder_handle, +void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpgaEncoderHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, HAL_Bool activeHigh, HAL_Bool edgeSensitive, int32_t* status) { - auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); + auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; return; } bool routingAnalogTrigger = false; - uint8_t routingPin = 0; + uint8_t routingChannel = 0; uint8_t routingModule = 0; bool success = - remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin, + remapDigitalSource(digitalSourceHandle, analogTriggerType, routingChannel, routingModule, routingAnalogTrigger); if (!success) { *status = HAL_HANDLE_ERROR; return; } - encoder->encoder->writeConfig_IndexSource_Channel(routingPin, status); + encoder->encoder->writeConfig_IndexSource_Channel(routingChannel, status); encoder->encoder->writeConfig_IndexSource_Module(routingModule, status); encoder->encoder->writeConfig_IndexSource_AnalogTrigger(routingAnalogTrigger, status); diff --git a/hal/lib/athena/FPGAEncoder.h b/hal/lib/athena/FPGAEncoder.h index 730a178208..d2a568e372 100644 --- a/hal/lib/athena/FPGAEncoder.h +++ b/hal/lib/athena/FPGAEncoder.h @@ -17,29 +17,29 @@ HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder( HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA, HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB, HAL_Bool reverseDirection, int32_t* index, int32_t* status); -void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, +void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); -void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, +void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); -int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, +int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); // Raw value -double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle, +double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); -void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle, +void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle, double maxPeriod, int32_t* status); -HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpga_encoder_handle, +HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); -HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpga_encoder_handle, +HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); -void HAL_SetFPGAEncoderReverseDirection( - HAL_FPGAEncoderHandle fpga_encoder_handle, HAL_Bool reverseDirection, - int32_t* status); -void HAL_SetFPGAEncoderSamplesToAverage( - HAL_FPGAEncoderHandle fpga_encoder_handle, int32_t samplesToAverage, - int32_t* status); +void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle, + HAL_Bool reverseDirection, + int32_t* status); +void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle, + int32_t samplesToAverage, + int32_t* status); int32_t HAL_GetFPGAEncoderSamplesToAverage( - HAL_FPGAEncoderHandle fpga_encoder_handle, int32_t* status); -void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpga_encoder_handle, + HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); +void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpgaEncoderHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, HAL_Bool activeHigh, HAL_Bool edgeSensitive, diff --git a/hal/lib/athena/FRCDriverStation.cpp b/hal/lib/athena/FRCDriverStation.cpp index 89d3458686..3db7495e2c 100644 --- a/hal/lib/athena/FRCDriverStation.cpp +++ b/hal/lib/athena/FRCDriverStation.cpp @@ -26,8 +26,8 @@ static priority_mutex newDSDataAvailableMutex; extern "C" { int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength, - int32_t wait_ms) { - return setErrorData(errors, errorsLength, wait_ms); + int32_t waitMs) { + return setErrorData(errors, errorsLength, waitMs); } int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode, @@ -37,17 +37,17 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode, // messages and only printing again if they're longer than 1 second old. static constexpr int KEEP_MSGS = 5; std::lock_guard lock(msgMutex); - static std::string prev_msg[KEEP_MSGS]; - static uint64_t prev_msg_time[KEEP_MSGS] = {0, 0, 0}; + static std::string prevMsg[KEEP_MSGS]; + static uint64_t prevMsgTime[KEEP_MSGS] = {0, 0, 0}; int32_t status = 0; uint64_t curTime = HAL_GetFPGATime(&status); int i; for (i = 0; i < KEEP_MSGS; ++i) { - if (prev_msg[i] == details) break; + if (prevMsg[i] == details) break; } int retval = 0; - if (i == KEEP_MSGS || (curTime - prev_msg_time[i]) >= 1000000) { + if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= 1000000) { retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode, details, location, callStack); if (printMsg) { @@ -62,16 +62,16 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode, if (i == KEEP_MSGS) { // replace the oldest one i = 0; - uint64_t first = prev_msg_time[0]; + uint64_t first = prevMsgTime[0]; for (int j = 1; j < KEEP_MSGS; ++j) { - if (prev_msg_time[j] < first) { - first = prev_msg_time[j]; + if (prevMsgTime[j] < first) { + first = prevMsgTime[j]; i = j; } } - prev_msg[i] = details; + prevMsg[i] = details; } - prev_msg_time[i] = curTime; + prevMsgTime[i] = curTime; } return retval; } diff --git a/hal/lib/athena/HALAthena.cpp b/hal/lib/athena/HALAthena.cpp index 62c234ef66..5221eb5903 100644 --- a/hal/lib/athena/HALAthena.cpp +++ b/hal/lib/athena/HALAthena.cpp @@ -39,20 +39,20 @@ using namespace hal; extern "C" { -HAL_PortHandle HAL_GetPort(int32_t pin) { +HAL_PortHandle HAL_GetPort(int32_t channel) { // Dont allow a number that wouldn't fit in a uint8_t - if (pin < 0 || pin >= 255) return HAL_kInvalidHandle; - return createPortHandle(pin, 1); + if (channel < 0 || channel >= 255) return HAL_kInvalidHandle; + return createPortHandle(channel, 1); } /** * @deprecated Uses module numbers */ -HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t pin) { +HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel) { // Dont allow a number that wouldn't fit in a uint8_t - if (pin < 0 || pin >= 255) return HAL_kInvalidHandle; + if (channel < 0 || channel >= 255) return HAL_kInvalidHandle; if (module < 0 || module >= 255) return HAL_kInvalidHandle; - return createPortHandle(pin, module); + return createPortHandle(channel, module); } const char* HAL_GetErrorMessage(int32_t code) { diff --git a/hal/lib/athena/I2C.cpp b/hal/lib/athena/I2C.cpp index d702ad9a10..41d2c0a47f 100644 --- a/hal/lib/athena/I2C.cpp +++ b/hal/lib/athena/I2C.cpp @@ -28,7 +28,7 @@ static HAL_DigitalHandle i2CMXPDigitalHandle2 = HAL_kInvalidHandle; extern "C" { /* * Initialize the I2C port. Opens the port if necessary and saves the handle. - * If opening the MXP port, also sets up the pin functions appropriately + * If opening the MXP port, also sets up the channel functions appropriately * @param port The port to open, 0 for the on-board, 1 for the MXP. */ void HAL_InitializeI2C(int32_t port, int32_t* status) { diff --git a/hal/lib/athena/Interrupts.cpp b/hal/lib/athena/Interrupts.cpp index b47d5924cf..19ec2b4157 100644 --- a/hal/lib/athena/Interrupts.cpp +++ b/hal/lib/athena/Interrupts.cpp @@ -50,9 +50,8 @@ HAL_InterruptHandle HAL_InitializeInterrupts(HAL_Bool watcher, return handle; } -void HAL_CleanInterrupts(HAL_InterruptHandle interrupt_handle, - int32_t* status) { - interruptHandles.Free(interrupt_handle); +void HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status) { + interruptHandles.Free(interruptHandle); } /** @@ -62,11 +61,11 @@ void HAL_CleanInterrupts(HAL_InterruptHandle interrupt_handle, * waitForInterrupt was called. * @return The mask of interrupts that fired. */ -int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interrupt_handle, +int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interruptHandle, double timeout, HAL_Bool ignorePrevious, int32_t* status) { uint32_t result; - auto anInterrupt = interruptHandles.Get(interrupt_handle); + auto anInterrupt = interruptHandles.Get(interruptHandle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -90,9 +89,9 @@ int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interrupt_handle, * time to do the setup of the other options before starting to field * interrupts. */ -void HAL_EnableInterrupts(HAL_InterruptHandle interrupt_handle, +void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status) { - auto anInterrupt = interruptHandles.Get(interrupt_handle); + auto anInterrupt = interruptHandles.Get(interruptHandle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -103,9 +102,9 @@ void HAL_EnableInterrupts(HAL_InterruptHandle interrupt_handle, /** * Disable Interrupts without without deallocating structures. */ -void HAL_DisableInterrupts(HAL_InterruptHandle interrupt_handle, +void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status) { - auto anInterrupt = interruptHandles.Get(interrupt_handle); + auto anInterrupt = interruptHandles.Get(interruptHandle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -118,9 +117,9 @@ void HAL_DisableInterrupts(HAL_InterruptHandle interrupt_handle, * This is in the same time domain as GetClock(). * @return Timestamp in seconds since boot. */ -double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interrupt_handle, +double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle, int32_t* status) { - auto anInterrupt = interruptHandles.Get(interrupt_handle); + auto anInterrupt = interruptHandles.Get(interruptHandle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -134,9 +133,9 @@ double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interrupt_handle, * This is in the same time domain as GetClock(). * @return Timestamp in seconds since boot. */ -double HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interrupt_handle, +double HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interruptHandle, int32_t* status) { - auto anInterrupt = interruptHandles.Get(interrupt_handle); + auto anInterrupt = interruptHandles.Get(interruptHandle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -145,21 +144,21 @@ double HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interrupt_handle, return timestamp * 1e-6; } -void HAL_RequestInterrupts(HAL_InterruptHandle interrupt_handle, +void HAL_RequestInterrupts(HAL_InterruptHandle interruptHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, int32_t* status) { - auto anInterrupt = interruptHandles.Get(interrupt_handle); + auto anInterrupt = interruptHandles.Get(interruptHandle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; return; } anInterrupt->anInterrupt->writeConfig_WaitForAck(false, status); bool routingAnalogTrigger = false; - uint8_t routingPin = 0; + uint8_t routingChannel = 0; uint8_t routingModule = 0; bool success = - remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin, + remapDigitalSource(digitalSourceHandle, analogTriggerType, routingChannel, routingModule, routingAnalogTrigger); if (!success) { *status = HAL_HANDLE_ERROR; @@ -167,14 +166,14 @@ void HAL_RequestInterrupts(HAL_InterruptHandle interrupt_handle, } anInterrupt->anInterrupt->writeConfig_Source_AnalogTrigger( routingAnalogTrigger, status); - anInterrupt->anInterrupt->writeConfig_Source_Channel(routingPin, status); + anInterrupt->anInterrupt->writeConfig_Source_Channel(routingChannel, status); anInterrupt->anInterrupt->writeConfig_Source_Module(routingModule, status); } -void HAL_AttachInterruptHandler(HAL_InterruptHandle interrupt_handle, +void HAL_AttachInterruptHandler(HAL_InterruptHandle interruptHandle, InterruptHandlerFunction handler, void* param, int32_t* status) { - auto anInterrupt = interruptHandles.Get(interrupt_handle); + auto anInterrupt = interruptHandles.Get(interruptHandle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -182,10 +181,10 @@ void HAL_AttachInterruptHandler(HAL_InterruptHandle interrupt_handle, anInterrupt->manager->registerHandler(handler, param, status); } -void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interrupt_handle, +void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interruptHandle, HAL_Bool risingEdge, HAL_Bool fallingEdge, int32_t* status) { - auto anInterrupt = interruptHandles.Get(interrupt_handle); + auto anInterrupt = interruptHandles.Get(interruptHandle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; return; diff --git a/hal/lib/athena/Notifier.cpp b/hal/lib/athena/Notifier.cpp index cd6918df1e..7d1439d772 100644 --- a/hal/lib/athena/Notifier.cpp +++ b/hal/lib/athena/Notifier.cpp @@ -48,11 +48,11 @@ static UnlimitedHandleResource notifier_pointer, +void updateNotifierAlarmInternal(std::shared_ptr notifierPointer, uint64_t triggerTime, int32_t* status) { std::lock_guard sync(notifierMutex); - auto notifier = notifier_pointer; + auto notifier = notifierPointer; // no need for a null check, as this must always be a valid pointer. notifier->triggerTime = triggerTime; bool wasActive = (closestTrigger != UINT64_MAX); @@ -140,17 +140,17 @@ HAL_NotifierHandle HAL_InitializeNotifier(void (*process)(uint64_t, void*), return notifierHandles.Allocate(notifier); } -void HAL_CleanNotifier(HAL_NotifierHandle notifier_handle, int32_t* status) { +void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) { { std::lock_guard sync(notifierMutex); - auto notifier = notifierHandles.Get(notifier_handle); + auto notifier = notifierHandles.Get(notifierHandle); if (!notifier) return; // remove from list if (notifier->prev) notifier->prev->next = notifier->next; if (notifier->next) notifier->next->prev = notifier->prev; if (notifiers == notifier) notifiers = notifier->next; - notifierHandles.Free(notifier_handle); + notifierHandles.Free(notifierHandle); } if (notifierRefCount.fetch_sub(1) == 1) { @@ -168,26 +168,24 @@ void HAL_CleanNotifier(HAL_NotifierHandle notifier_handle, int32_t* status) { } } -void* HAL_GetNotifierParam(HAL_NotifierHandle notifier_handle, - int32_t* status) { - auto notifier = notifierHandles.Get(notifier_handle); +void* HAL_GetNotifierParam(HAL_NotifierHandle notifierHandle, int32_t* status) { + auto notifier = notifierHandles.Get(notifierHandle); if (!notifier) return nullptr; return notifier->param; } -void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifier_handle, +void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifierHandle, uint64_t triggerTime, int32_t* status) { std::lock_guard sync(notifierMutex); - auto notifier = notifierHandles.Get(notifier_handle); + auto notifier = notifierHandles.Get(notifierHandle); if (!notifier) return; updateNotifierAlarmInternal(notifier, triggerTime, status); } -void HAL_StopNotifierAlarm(HAL_NotifierHandle notifier_handle, - int32_t* status) { +void HAL_StopNotifierAlarm(HAL_NotifierHandle notifierHandle, int32_t* status) { std::lock_guard sync(notifierMutex); - auto notifier = notifierHandles.Get(notifier_handle); + auto notifier = notifierHandles.Get(notifierHandle); if (!notifier) return; notifier->triggerTime = UINT64_MAX; } diff --git a/hal/lib/athena/PWM.cpp b/hal/lib/athena/PWM.cpp index 3cbd79ebac..0ec47eec95 100644 --- a/hal/lib/athena/PWM.cpp +++ b/hal/lib/athena/PWM.cpp @@ -41,40 +41,41 @@ static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) { extern "C" { -HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle, +HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle, int32_t* status) { initializeDigital(status); if (*status != 0) return HAL_kInvalidHandle; - int16_t pin = getPortHandlePin(port_handle); - if (pin == InvalidHandleIndex) { + int16_t channel = getPortHandleChannel(portHandle); + if (channel == InvalidHandleIndex) { *status = PARAMETER_OUT_OF_RANGE; return HAL_kInvalidHandle; } - uint8_t origPin = static_cast(pin); + uint8_t origChannel = static_cast(channel); - if (origPin < kNumPWMHeaders) { - pin += kNumDigitalPins; // remap Headers to end of allocations + if (origChannel < kNumPWMHeaders) { + channel += kNumDigitalChannels; // remap Headers to end of allocations } else { - pin = remapMXPPWMChannel(pin) + 10; // remap MXP to proper channel + channel = remapMXPPWMChannel(channel) + 10; // remap MXP to proper channel } - auto handle = digitalPinHandles.Allocate(pin, HAL_HandleEnum::PWM, status); + auto handle = + digitalChannelHandles.Allocate(channel, HAL_HandleEnum::PWM, status); if (*status != 0) return HAL_kInvalidHandle; // failed to allocate. Pass error back. - auto port = digitalPinHandles.Get(handle, HAL_HandleEnum::PWM); + auto port = digitalChannelHandles.Get(handle, HAL_HandleEnum::PWM); if (port == nullptr) { // would only occur on thread issue. *status = HAL_HANDLE_ERROR; return HAL_kInvalidHandle; } - port->pin = origPin; + port->channel = origChannel; - int32_t bitToSet = 1 << remapMXPPWMChannel(port->pin); + int32_t bitToSet = 1 << remapMXPPWMChannel(port->channel); uint16_t specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status); digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet, @@ -82,32 +83,32 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle, return handle; } -void HAL_FreePWMPort(HAL_DigitalHandle pwm_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); +void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) { + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; } - if (port->pin > tPWM::kNumHdrRegisters - 1) { - int32_t bitToUnset = 1 << remapMXPPWMChannel(port->pin); + if (port->channel > tPWM::kNumHdrRegisters - 1) { + int32_t bitToUnset = 1 << remapMXPPWMChannel(port->channel); uint16_t specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status); digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToUnset, status); } - digitalPinHandles.Free(pwm_port_handle, HAL_HandleEnum::PWM); + digitalChannelHandles.Free(pwmPortHandle, HAL_HandleEnum::PWM); } -HAL_Bool HAL_CheckPWMChannel(int32_t pin) { - return pin < kNumPWMPins && pin >= 0; +HAL_Bool HAL_CheckPWMChannel(int32_t channel) { + return channel < kNumPWMChannels && channel >= 0; } -void HAL_SetPWMConfig(HAL_DigitalHandle pwm_port_handle, double max, +void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double max, double deadbandMax, double center, double deadbandMin, double min, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -137,11 +138,11 @@ void HAL_SetPWMConfig(HAL_DigitalHandle pwm_port_handle, double max, port->configSet = true; } -void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t maxPwm, +void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm, int32_t deadbandMaxPwm, int32_t centerPwm, int32_t deadbandMinPwm, int32_t minPwm, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -154,11 +155,11 @@ void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t maxPwm, port->minPwm = minPwm; } -void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t* maxPwm, +void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm, int32_t* deadbandMaxPwm, int32_t* centerPwm, int32_t* deadbandMinPwm, int32_t* minPwm, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -170,9 +171,9 @@ void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t* maxPwm, *minPwm = port->minPwm; } -void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle, +void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, HAL_Bool eliminateDeadband, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -180,9 +181,9 @@ void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle, port->eliminateDeadband = eliminateDeadband; } -HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle, +HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -198,18 +199,18 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle, * @param channel The PWM channel to set. * @param value The PWM value to set. */ -void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t value, +void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; } - if (port->pin < tPWM::kNumHdrRegisters) { - pwmSystem->writeHdr(port->pin, value, status); + if (port->channel < tPWM::kNumHdrRegisters) { + pwmSystem->writeHdr(port->channel, value, status); } else { - pwmSystem->writeMXP(port->pin - tPWM::kNumHdrRegisters, value, status); + pwmSystem->writeMXP(port->channel - tPWM::kNumHdrRegisters, value, status); } } @@ -222,9 +223,9 @@ void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t value, * @param channel The PWM channel to set. * @param value The scaled PWM value to set. */ -void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, double speed, +void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -263,7 +264,7 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, double speed, return; } - HAL_SetPWMRaw(pwm_port_handle, rawValue, status); + HAL_SetPWMRaw(pwmPortHandle, rawValue, status); } /** @@ -275,9 +276,9 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, double speed, * @param channel The PWM channel to set. * @param value The scaled PWM value to set. */ -void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, double pos, +void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -305,11 +306,11 @@ void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, double pos, return; } - HAL_SetPWMRaw(pwm_port_handle, rawValue, status); + HAL_SetPWMRaw(pwmPortHandle, rawValue, status); } -void HAL_SetPWMDisabled(HAL_DigitalHandle pwm_port_handle, int32_t* status) { - HAL_SetPWMRaw(pwm_port_handle, kPwmDisabled, status); +void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) { + HAL_SetPWMRaw(pwmPortHandle, kPwmDisabled, status); } /** @@ -318,17 +319,17 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwm_port_handle, int32_t* status) { * @param channel The PWM channel to read from. * @return The raw PWM value. */ -int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); +int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) { + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; } - if (port->pin < tPWM::kNumHdrRegisters) { - return pwmSystem->readHdr(port->pin, status); + if (port->channel < tPWM::kNumHdrRegisters) { + return pwmSystem->readHdr(port->channel, status); } else { - return pwmSystem->readMXP(port->pin - tPWM::kNumHdrRegisters, status); + return pwmSystem->readMXP(port->channel - tPWM::kNumHdrRegisters, status); } } @@ -338,8 +339,8 @@ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status) { * @param channel The PWM channel to read from. * @return The scaled PWM value. */ -double HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); +double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) { + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -349,7 +350,7 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status) { return 0; } - int32_t value = HAL_GetPWMRaw(pwm_port_handle, status); + int32_t value = HAL_GetPWMRaw(pwmPortHandle, status); if (*status != 0) return 0; DigitalPort* dPort = port.get(); @@ -376,8 +377,8 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status) { * @param channel The PWM channel to read from. * @return The scaled PWM value. */ -double HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); +double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) { + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -387,7 +388,7 @@ double HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status) { return 0; } - int32_t value = HAL_GetPWMRaw(pwm_port_handle, status); + int32_t value = HAL_GetPWMRaw(pwmPortHandle, status); if (*status != 0) return 0; DigitalPort* dPort = port.get(); @@ -401,15 +402,15 @@ double HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status) { } } -void HAL_LatchPWMZero(HAL_DigitalHandle pwm_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); +void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) { + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; } - pwmSystem->writeZeroLatch(port->pin, true, status); - pwmSystem->writeZeroLatch(port->pin, false, status); + pwmSystem->writeZeroLatch(port->channel, true, status); + pwmSystem->writeZeroLatch(port->channel, false, status); } /** @@ -418,19 +419,19 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwm_port_handle, int32_t* status) { * @param channel The PWM channel to configure. * @param squelchMask The 2-bit mask of outputs to squelch. */ -void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwm_port_handle, - int32_t squelchMask, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); +void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, + int32_t* status) { + auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; } - if (port->pin < tPWM::kNumPeriodScaleHdrElements) { - pwmSystem->writePeriodScaleHdr(port->pin, squelchMask, status); + if (port->channel < tPWM::kNumPeriodScaleHdrElements) { + pwmSystem->writePeriodScaleHdr(port->channel, squelchMask, status); } else { - pwmSystem->writePeriodScaleMXP(port->pin - tPWM::kNumPeriodScaleHdrElements, - squelchMask, status); + pwmSystem->writePeriodScaleMXP( + port->channel - tPWM::kNumPeriodScaleHdrElements, squelchMask, status); } } diff --git a/hal/lib/athena/Ports.cpp b/hal/lib/athena/Ports.cpp index ee1baa8c23..f1350a94b0 100644 --- a/hal/lib/athena/Ports.cpp +++ b/hal/lib/athena/Ports.cpp @@ -19,15 +19,15 @@ int32_t HAL_GetNumAnalogOutputs(void) { return kNumAnalogOutputs; } int32_t HAL_GetNumCounters(void) { return kNumCounters; } int32_t HAL_GetNumDigitalHeaders(void) { return kNumDigitalHeaders; } int32_t HAL_GetNumPWMHeaders(void) { return kNumPWMHeaders; } -int32_t HAL_GetNumDigitalPins(void) { return kNumDigitalPins; } -int32_t HAL_GetNumPWMPins(void) { return kNumPWMPins; } +int32_t HAL_GetNumDigitalChannels(void) { return kNumDigitalChannels; } +int32_t HAL_GetNumPWMChannels(void) { return kNumPWMChannels; } int32_t HAL_GetNumDigitalPWMOutputs(void) { return kNumDigitalPWMOutputs; } int32_t HAL_GetNumEncoders(void) { return kNumEncoders; } int32_t HAL_GetNumInterrupts(void) { return kNumInterrupts; } -int32_t HAL_GetNumRelayPins(void) { return kNumRelayPins; } +int32_t HAL_GetNumRelayChannels(void) { return kNumRelayChannels; } int32_t HAL_GetNumRelayHeaders(void) { return kNumRelayHeaders; } int32_t HAL_GetNumPCMModules(void) { return kNumPCMModules; } -int32_t HAL_GetNumSolenoidPins(void) { return kNumSolenoidPins; } +int32_t HAL_GetNumSolenoidChannels(void) { return kNumSolenoidChannels; } int32_t HAL_GetNumPDPModules(void) { return kNumPDPModules; } int32_t HAL_GetNumPDPChannels(void) { return kNumPDPChannels; } int32_t HAL_GetNumCanTalons(void) { return kNumCanTalons; } diff --git a/hal/lib/athena/PortsInternal.h b/hal/lib/athena/PortsInternal.h index 3ea9e9d2dc..d8e8c55b54 100644 --- a/hal/lib/athena/PortsInternal.h +++ b/hal/lib/athena/PortsInternal.h @@ -19,16 +19,16 @@ constexpr int32_t kNumAnalogOutputs = tAO::kNumMXPRegisters; constexpr int32_t kNumCounters = tCounter::kNumSystems; constexpr int32_t kNumDigitalHeaders = 10; constexpr int32_t kNumPWMHeaders = tPWM::kNumHdrRegisters; -constexpr int32_t kNumDigitalPins = 26; -constexpr int32_t kNumPWMPins = tPWM::kNumMXPRegisters + kNumPWMHeaders; +constexpr int32_t kNumDigitalChannels = 26; +constexpr int32_t kNumPWMChannels = tPWM::kNumMXPRegisters + kNumPWMHeaders; constexpr int32_t kNumDigitalPWMOutputs = tDIO::kNumPWMDutyCycleAElements + tDIO::kNumPWMDutyCycleBElements; constexpr int32_t kNumEncoders = tEncoder::kNumSystems; constexpr int32_t kNumInterrupts = tInterrupt::kNumSystems; -constexpr int32_t kNumRelayPins = 8; -constexpr int32_t kNumRelayHeaders = kNumRelayPins / 2; +constexpr int32_t kNumRelayChannels = 8; +constexpr int32_t kNumRelayHeaders = kNumRelayChannels / 2; constexpr int32_t kNumPCMModules = 63; -constexpr int32_t kNumSolenoidPins = 8; +constexpr int32_t kNumSolenoidChannels = 8; constexpr int32_t kNumPDPModules = 63; constexpr int32_t kNumPDPChannels = 16; constexpr int32_t kNumCanTalons = 63; diff --git a/hal/lib/athena/Relay.cpp b/hal/lib/athena/Relay.cpp index 062b34ffdc..fd2eb222e2 100644 --- a/hal/lib/athena/Relay.cpp +++ b/hal/lib/athena/Relay.cpp @@ -15,12 +15,12 @@ using namespace hal; namespace { struct Relay { - uint8_t pin; + uint8_t channel; bool fwd; }; } -static IndexedHandleResource relayHandles; @@ -28,21 +28,21 @@ static IndexedHandleResourcefwd = false; // set to reverse + // Subtract number of headers to put channel in range + channel -= kNumRelayHeaders; + + port->fwd = false; // set to reverse } else { port->fwd = true; // set to forward } - port->pin = static_cast(pin); + port->channel = static_cast(channel); return handle; } -void HAL_FreeRelayPort(HAL_RelayHandle relay_port_handle) { +void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle) { // no status, so no need to check for a proper free. - relayHandles.Free(relay_port_handle); + relayHandles.Free(relayPortHandle); } -HAL_Bool HAL_CheckRelayChannel(int32_t pin) { +HAL_Bool HAL_CheckRelayChannel(int32_t channel) { // roboRIO only has 4 headers, and the FPGA has // seperate functions for forward and reverse, - // instead of seperate pin IDs - return pin < kNumRelayHeaders && pin >= 0; + // instead of seperate channel IDs + return channel < kNumRelayHeaders && channel >= 0; } /** * Set the state of a relay. * Set the state of a relay output. */ -void HAL_SetRelay(HAL_RelayHandle relay_port_handle, HAL_Bool on, +void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on, int32_t* status) { - auto port = relayHandles.Get(relay_port_handle); + auto port = relayHandles.Get(relayPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -98,9 +100,9 @@ void HAL_SetRelay(HAL_RelayHandle relay_port_handle, HAL_Bool on, if (*status != 0) return; // bad status read if (on) { - relays |= 1 << port->pin; + relays |= 1 << port->channel; } else { - relays &= ~(1 << port->pin); + relays &= ~(1 << port->channel); } if (port->fwd) { @@ -113,8 +115,8 @@ void HAL_SetRelay(HAL_RelayHandle relay_port_handle, HAL_Bool on, /** * Get the current state of the relay channel */ -HAL_Bool HAL_GetRelay(HAL_RelayHandle relay_port_handle, int32_t* status) { - auto port = relayHandles.Get(relay_port_handle); +HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status) { + auto port = relayHandles.Get(relayPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -127,6 +129,6 @@ HAL_Bool HAL_GetRelay(HAL_RelayHandle relay_port_handle, int32_t* status) { relays = relaySystem->readValue_Reverse(status); } - return (relays & (1 << port->pin)) != 0; + return (relays & (1 << port->channel)) != 0; } } diff --git a/hal/lib/athena/SPI.cpp b/hal/lib/athena/SPI.cpp index 5a03afbc4f..a58e788afa 100644 --- a/hal/lib/athena/SPI.cpp +++ b/hal/lib/athena/SPI.cpp @@ -57,27 +57,27 @@ struct SPIAccumulator { int64_t value = 0; uint32_t count = 0; - int32_t last_value = 0; + int32_t lastValue = 0; int32_t center = 0; int32_t deadband = 0; uint8_t cmd[4]; // command to send (up to 4 bytes) - int32_t valid_mask; - int32_t valid_value; - int32_t data_max; // one more than max data value - int32_t data_msb_mask; // data field MSB mask (for signed) - uint8_t data_shift; // data field shift right amount, in bits - uint8_t xfer_size; // SPI transfer size, in bytes (up to 4) + int32_t validMask; + int32_t validValue; + int32_t dataMax; // one more than max data value + int32_t dataMsbMask; // data field MSB mask (for signed) + uint8_t dataShift; // data field shift right amount, in bits + uint8_t xferSize; // SPI transfer size, in bytes (up to 4) uint8_t port; - bool is_signed; // is data field signed? - bool big_endian; // is response big endian? + bool isSigned; // is data field signed? + bool bigEndian; // is response big endian? }; std::unique_ptr spiAccumulators[5]; /* * Initialize the spi port. Opens the port if necessary and saves the handle. - * If opening the MXP port, also sets up the pin functions appropriately + * If opening the MXP port, also sets up the channel functions appropriately * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP */ void HAL_InitializeSPI(int32_t port, int32_t* status) { @@ -336,39 +336,39 @@ static void spiAccumulatorProcess(uint64_t currentTime, void* param) { std::lock_guard sync(spiGetMutex(accum->port)); spilib_writeread( HAL_GetSPIHandle(accum->port), reinterpret_cast(accum->cmd), - reinterpret_cast(resp_b), static_cast(accum->xfer_size)); + reinterpret_cast(resp_b), static_cast(accum->xferSize)); // convert from bytes uint32_t resp = 0; - if (accum->big_endian) { - for (int i = 0; i < accum->xfer_size; ++i) { + if (accum->bigEndian) { + for (int i = 0; i < accum->xferSize; ++i) { resp <<= 8; resp |= resp_b[i] & 0xff; } } else { - for (int i = accum->xfer_size - 1; i >= 0; --i) { + for (int i = accum->xferSize - 1; i >= 0; --i) { resp <<= 8; resp |= resp_b[i] & 0xff; } } // process response - if ((resp & accum->valid_mask) == static_cast(accum->valid_value)) { + if ((resp & accum->validMask) == static_cast(accum->validValue)) { // valid sensor data; extract data field - int32_t data = static_cast(resp >> accum->data_shift); - data &= accum->data_max - 1; + int32_t data = static_cast(resp >> accum->dataShift); + data &= accum->dataMax - 1; // 2s complement conversion if signed MSB is set - if (accum->is_signed && (data & accum->data_msb_mask) != 0) - data -= accum->data_max; + if (accum->isSigned && (data & accum->dataMsbMask) != 0) + data -= accum->dataMax; // center offset data -= accum->center; // only accumulate if outside deadband if (data < -accum->deadband || data > accum->deadband) accum->value += data; ++accum->count; - accum->last_value = data; + accum->lastValue = data; } else { // no data from the sensor; just clear the last value - accum->last_value = 0; + accum->lastValue = 0; } // reschedule timer @@ -386,28 +386,28 @@ static void spiAccumulatorProcess(uint64_t currentTime, void* param) { * @param port SPI port * @param period Time between reads, in us * @param cmd SPI command to send to request data - * @param xfer_size SPI transfer size, in bytes - * @param valid_mask Mask to apply to received data for validity checking - * @param valid_data After valid_mask is applied, required matching value for + * @param xferSize SPI transfer size, in bytes + * @param validMask Mask to apply to received data for validity checking + * @param valid_data After validMask is applied, required matching value for * validity checking - * @param data_shift Bit shift to apply to received data to get actual data + * @param dataShift Bit shift to apply to received data to get actual data * value - * @param data_size Size (in bits) of data field - * @param is_signed Is data field signed? - * @param big_endian Is device big endian? + * @param dataSize Size (in bits) of data field + * @param isSigned Is data field signed? + * @param bigEndian Is device big endian? */ void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd, - int32_t xfer_size, int32_t valid_mask, - int32_t valid_value, int32_t data_shift, - int32_t data_size, HAL_Bool is_signed, - HAL_Bool big_endian, int32_t* status) { + int32_t xferSize, int32_t validMask, + int32_t validValue, int32_t dataShift, + int32_t dataSize, HAL_Bool isSigned, + HAL_Bool bigEndian, int32_t* status) { std::lock_guard sync(spiGetMutex(port)); if (port > 4) return; if (!spiAccumulators[port]) spiAccumulators[port] = std::make_unique(); SPIAccumulator* accum = spiAccumulators[port].get(); - if (big_endian) { - for (int i = xfer_size - 1; i >= 0; --i) { + if (bigEndian) { + for (int i = xferSize - 1; i >= 0; --i) { accum->cmd[i] = cmd & 0xff; cmd >>= 8; } @@ -421,14 +421,14 @@ void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd, accum->cmd[3] = cmd & 0xff; } accum->period = period; - accum->xfer_size = xfer_size; - accum->valid_mask = valid_mask; - accum->valid_value = valid_value; - accum->data_shift = data_shift; - accum->data_max = (1 << data_size); - accum->data_msb_mask = (1 << (data_size - 1)); - accum->is_signed = is_signed; - accum->big_endian = big_endian; + accum->xferSize = xferSize; + accum->validMask = validMask; + accum->validValue = validValue; + accum->dataShift = dataShift; + accum->dataMax = (1 << dataSize); + accum->dataMsbMask = (1 << (dataSize - 1)); + accum->isSigned = isSigned; + accum->bigEndian = bigEndian; if (!accum->notifier) { accum->notifier = HAL_InitializeNotifier(spiAccumulatorProcess, accum, status); @@ -465,7 +465,7 @@ void HAL_ResetSPIAccumulator(int32_t port, int32_t* status) { } accum->value = 0; accum->count = 0; - accum->last_value = 0; + accum->lastValue = 0; } /** @@ -512,7 +512,7 @@ int32_t HAL_GetSPIAccumulatorLastValue(int32_t port, int32_t* status) { *status = NULL_PARAMETER; return 0; } - return accum->last_value; + return accum->lastValue; } /** diff --git a/hal/lib/athena/Solenoid.cpp b/hal/lib/athena/Solenoid.cpp index cf304dff79..e0be4f06f7 100644 --- a/hal/lib/athena/Solenoid.cpp +++ b/hal/lib/athena/Solenoid.cpp @@ -20,30 +20,30 @@ namespace { struct Solenoid { uint8_t module; - uint8_t pin; + uint8_t channel; }; } using namespace hal; static IndexedHandleResource solenoidHandles; extern "C" { -HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle port_handle, +HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle, int32_t* status) { - int16_t pin = getPortHandlePin(port_handle); - int16_t module = getPortHandleModule(port_handle); - if (pin == InvalidHandleIndex) { + int16_t channel = getPortHandleChannel(portHandle); + int16_t module = getPortHandleModule(portHandle); + if (channel == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return HAL_kInvalidHandle; } // initializePCM will check the module - if (!HAL_CheckSolenoidChannel(pin)) { + if (!HAL_CheckSolenoidChannel(channel)) { *status = RESOURCE_OUT_OF_RANGE; return HAL_kInvalidHandle; } @@ -54,44 +54,44 @@ HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle port_handle, } auto handle = - solenoidHandles.Allocate(module * kNumSolenoidPins + pin, status); + solenoidHandles.Allocate(module * kNumSolenoidChannels + channel, status); if (handle == HAL_kInvalidHandle) { // out of resources *status = NO_AVAILABLE_RESOURCES; return HAL_kInvalidHandle; } - auto solenoid_port = solenoidHandles.Get(handle); - if (solenoid_port == nullptr) { // would only occur on thread issues + auto solenoidPort = solenoidHandles.Get(handle); + if (solenoidPort == nullptr) { // would only occur on thread issues *status = HAL_HANDLE_ERROR; return HAL_kInvalidHandle; } - solenoid_port->module = static_cast(module); - solenoid_port->pin = static_cast(pin); + solenoidPort->module = static_cast(module); + solenoidPort->channel = static_cast(channel); return handle; } -void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoid_port_handle) { - solenoidHandles.Free(solenoid_port_handle); +void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoidPortHandle) { + solenoidHandles.Free(solenoidPortHandle); } HAL_Bool HAL_CheckSolenoidModule(int32_t module) { return module < kNumPCMModules && module >= 0; } -HAL_Bool HAL_CheckSolenoidChannel(int32_t pin) { - return pin < kNumSolenoidPins && pin >= 0; +HAL_Bool HAL_CheckSolenoidChannel(int32_t channel) { + return channel < kNumSolenoidChannels && channel >= 0; } -HAL_Bool HAL_GetSolenoid(HAL_SolenoidHandle solenoid_port_handle, +HAL_Bool HAL_GetSolenoid(HAL_SolenoidHandle solenoidPortHandle, int32_t* status) { - auto port = solenoidHandles.Get(solenoid_port_handle); + auto port = solenoidHandles.Get(solenoidPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return false; } bool value; - *status = PCM_modules[port->module]->GetSolenoid(port->pin, value); + *status = PCM_modules[port->module]->GetSolenoid(port->channel, value); return value; } @@ -105,15 +105,15 @@ int32_t HAL_GetAllSolenoids(int32_t module, int32_t* status) { return value; } -void HAL_SetSolenoid(HAL_SolenoidHandle solenoid_port_handle, HAL_Bool value, +void HAL_SetSolenoid(HAL_SolenoidHandle solenoidPortHandle, HAL_Bool value, int32_t* status) { - auto port = solenoidHandles.Get(solenoid_port_handle); + auto port = solenoidHandles.Get(solenoidPortHandle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; } - *status = PCM_modules[port->module]->SetSolenoid(port->pin, value); + *status = PCM_modules[port->module]->SetSolenoid(port->channel, value); } int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status) { diff --git a/hal/lib/shared/handles/HandlesInternal.cpp b/hal/lib/shared/handles/HandlesInternal.cpp index af19aa97c5..acbae7ef48 100644 --- a/hal/lib/shared/handles/HandlesInternal.cpp +++ b/hal/lib/shared/handles/HandlesInternal.cpp @@ -8,7 +8,7 @@ #include "HAL/handles/HandlesInternal.h" namespace hal { -HAL_PortHandle createPortHandle(uint8_t pin, uint8_t module) { +HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module) { // set last 8 bits, then shift to first 8 bits HAL_PortHandle handle = static_cast(HAL_HandleEnum::Port); handle = handle << 24; @@ -16,8 +16,8 @@ HAL_PortHandle createPortHandle(uint8_t pin, uint8_t module) { int32_t temp = module; temp = (temp << 8) & 0xff00; handle += temp; - // add pin to last 8 bits - handle += pin; + // add channel to last 8 bits + handle += channel; return handle; } diff --git a/wpilibc/athena/src/DigitalInput.cpp b/wpilibc/athena/src/DigitalInput.cpp index 0405ce10fd..effbf7ecbf 100644 --- a/wpilibc/athena/src/DigitalInput.cpp +++ b/wpilibc/athena/src/DigitalInput.cpp @@ -35,8 +35,8 @@ DigitalInput::DigitalInput(uint32_t channel) { int32_t status = 0; m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), true, &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalPins(), channel, - HAL_GetErrorMessage(status)); + wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(), + channel, HAL_GetErrorMessage(status)); m_handle = HAL_kInvalidHandle; m_channel = std::numeric_limits::max(); return; diff --git a/wpilibc/athena/src/DigitalOutput.cpp b/wpilibc/athena/src/DigitalOutput.cpp index 2d14d139d1..e7fb58dec6 100644 --- a/wpilibc/athena/src/DigitalOutput.cpp +++ b/wpilibc/athena/src/DigitalOutput.cpp @@ -36,8 +36,8 @@ DigitalOutput::DigitalOutput(uint32_t channel) { int32_t status = 0; m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), false, &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalPins(), channel, - HAL_GetErrorMessage(status)); + wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(), + channel, HAL_GetErrorMessage(status)); m_channel = std::numeric_limits::max(); m_handle = HAL_kInvalidHandle; return; diff --git a/wpilibc/athena/src/DoubleSolenoid.cpp b/wpilibc/athena/src/DoubleSolenoid.cpp index f155fc4c82..ef9ddc7508 100644 --- a/wpilibc/athena/src/DoubleSolenoid.cpp +++ b/wpilibc/athena/src/DoubleSolenoid.cpp @@ -56,7 +56,7 @@ DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, m_forwardHandle = HAL_InitializeSolenoidPort( HAL_GetPortWithModule(moduleNumber, m_forwardChannel), &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidPins(), + wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(), forwardChannel, HAL_GetErrorMessage(status)); m_forwardHandle = HAL_kInvalidHandle; m_reverseHandle = HAL_kInvalidHandle; @@ -66,7 +66,7 @@ DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, m_reverseHandle = HAL_InitializeSolenoidPort( HAL_GetPortWithModule(moduleNumber, m_reverseChannel), &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidPins(), + wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(), reverseChannel, HAL_GetErrorMessage(status)); // free forward solenoid HAL_FreeSolenoidPort(m_forwardHandle); diff --git a/wpilibc/athena/src/PWM.cpp b/wpilibc/athena/src/PWM.cpp index fba79d0946..e605fec19b 100644 --- a/wpilibc/athena/src/PWM.cpp +++ b/wpilibc/athena/src/PWM.cpp @@ -35,7 +35,7 @@ PWM::PWM(uint32_t channel) { int32_t status = 0; m_handle = HAL_InitializePWMPort(HAL_GetPort(channel), &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumPWMPins(), channel, + wpi_setErrorWithContextRange(status, 0, HAL_GetNumPWMChannels(), channel, HAL_GetErrorMessage(status)); m_channel = std::numeric_limits::max(); m_handle = HAL_kInvalidHandle; diff --git a/wpilibc/athena/src/Relay.cpp b/wpilibc/athena/src/Relay.cpp index 3637a2ac03..2304af2265 100644 --- a/wpilibc/athena/src/Relay.cpp +++ b/wpilibc/athena/src/Relay.cpp @@ -38,8 +38,8 @@ Relay::Relay(uint32_t channel, Relay::Direction direction) int32_t status = 0; m_forwardHandle = HAL_InitializeRelayPort(portHandle, true, &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayPins(), channel, - HAL_GetErrorMessage(status)); + wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayChannels(), + channel, HAL_GetErrorMessage(status)); m_forwardHandle = HAL_kInvalidHandle; m_reverseHandle = HAL_kInvalidHandle; return; @@ -50,8 +50,8 @@ Relay::Relay(uint32_t channel, Relay::Direction direction) int32_t status = 0; m_reverseHandle = HAL_InitializeRelayPort(portHandle, false, &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayPins(), channel, - HAL_GetErrorMessage(status)); + wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayChannels(), + channel, HAL_GetErrorMessage(status)); m_forwardHandle = HAL_kInvalidHandle; m_reverseHandle = HAL_kInvalidHandle; return; diff --git a/wpilibc/athena/src/SensorBase.cpp b/wpilibc/athena/src/SensorBase.cpp index b1b76f5ab5..bed577ccf9 100644 --- a/wpilibc/athena/src/SensorBase.cpp +++ b/wpilibc/athena/src/SensorBase.cpp @@ -11,11 +11,11 @@ #include "HAL/HAL.h" #include "WPIErrors.h" -const int SensorBase::kDigitalChannels = HAL_GetNumDigitalPins(); +const int SensorBase::kDigitalChannels = HAL_GetNumDigitalChannels(); const int SensorBase::kAnalogInputs = HAL_GetNumAnalogInputs(); -const int SensorBase::kSolenoidChannels = HAL_GetNumSolenoidPins(); +const int SensorBase::kSolenoidChannels = HAL_GetNumSolenoidChannels(); const int SensorBase::kSolenoidModules = HAL_GetNumPCMModules(); -const int SensorBase::kPwmChannels = HAL_GetNumPWMPins(); +const int SensorBase::kPwmChannels = HAL_GetNumPWMChannels(); const int SensorBase::kRelayChannels = HAL_GetNumRelayHeaders(); const int SensorBase::kPDPChannels = HAL_GetNumPDPChannels(); diff --git a/wpilibc/athena/src/Solenoid.cpp b/wpilibc/athena/src/Solenoid.cpp index a9504da332..bb83f87410 100644 --- a/wpilibc/athena/src/Solenoid.cpp +++ b/wpilibc/athena/src/Solenoid.cpp @@ -44,8 +44,8 @@ Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel) m_solenoidHandle = HAL_InitializeSolenoidPort( HAL_GetPortWithModule(moduleNumber, channel), &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidPins(), channel, - HAL_GetErrorMessage(status)); + wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(), + channel, HAL_GetErrorMessage(status)); m_solenoidHandle = HAL_kInvalidHandle; return; } diff --git a/wpilibj/src/athena/cpp/lib/AnalogJNI.cpp b/wpilibj/src/athena/cpp/lib/AnalogJNI.cpp index cab98ece5b..28de36a358 100644 --- a/wpilibj/src/athena/cpp/lib/AnalogJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/AnalogJNI.cpp @@ -44,7 +44,7 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogInputPort( ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << analog; CheckStatusRange(env, 0, HAL_GetNumAnalogInputs(), - hal::getPortHandlePin((HAL_PortHandle)id), status); + hal::getPortHandleChannel((HAL_PortHandle)id), status); return (jint)analog; } @@ -74,7 +74,7 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogOutputPort( ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << analog; CheckStatusRange(env, 0, HAL_GetNumAnalogOutputs(), - hal::getPortHandlePin((HAL_PortHandle)id), status); + hal::getPortHandleChannel((HAL_PortHandle)id), status); return (jlong)analog; } diff --git a/wpilibj/src/athena/cpp/lib/CompressorJNI.cpp b/wpilibj/src/athena/cpp/lib/CompressorJNI.cpp index f6acfa3f6e..c8c695ef55 100644 --- a/wpilibj/src/athena/cpp/lib/CompressorJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/CompressorJNI.cpp @@ -45,9 +45,9 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_checkCompressorModule( */ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressor( - JNIEnv *env, jclass, jint compressor_handle) { + JNIEnv *env, jclass, jint compressorHandle) { int32_t status = 0; - bool val = HAL_GetCompressor((HAL_CompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressor((HAL_CompressorHandle)compressorHandle, &status); CheckStatus(env, status); return val; } @@ -59,9 +59,9 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressor( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setCompressorClosedLoopControl( - JNIEnv *env, jclass, jint compressor_handle, jboolean value) { + JNIEnv *env, jclass, jint compressorHandle, jboolean value) { int32_t status = 0; - HAL_SetCompressorClosedLoopControl((HAL_CompressorHandle)compressor_handle, value, &status); + HAL_SetCompressorClosedLoopControl((HAL_CompressorHandle)compressorHandle, value, &status); CheckStatus(env, status); } @@ -72,9 +72,9 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setCompressorClosedLoopControl( */ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorClosedLoopControl( - JNIEnv *env, jclass, jint compressor_handle) { + JNIEnv *env, jclass, jint compressorHandle) { int32_t status = 0; - bool val = HAL_GetCompressorClosedLoopControl((HAL_CompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressorClosedLoopControl((HAL_CompressorHandle)compressorHandle, &status); CheckStatus(env, status); return val; } @@ -86,9 +86,9 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorClosedLoopControl( */ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorPressureSwitch( - JNIEnv *env, jclass, jint compressor_handle) { + JNIEnv *env, jclass, jint compressorHandle) { int32_t status = 0; - bool val = HAL_GetCompressorPressureSwitch((HAL_CompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressorPressureSwitch((HAL_CompressorHandle)compressorHandle, &status); CheckStatus(env, status); return val; } @@ -100,9 +100,9 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorPressureSwitch( */ JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrent( - JNIEnv *env, jclass, jint compressor_handle) { + JNIEnv *env, jclass, jint compressorHandle) { int32_t status = 0; - float val = HAL_GetCompressorCurrent((HAL_CompressorHandle)compressor_handle, &status); + float val = HAL_GetCompressorCurrent((HAL_CompressorHandle)compressorHandle, &status); CheckStatus(env, status); return val; } @@ -114,9 +114,9 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrent( */ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighFault( - JNIEnv *env, jclass, jint compressor_handle) { + JNIEnv *env, jclass, jint compressorHandle) { int32_t status = 0; - bool val = HAL_GetCompressorCurrentTooHighFault((HAL_CompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressorCurrentTooHighFault((HAL_CompressorHandle)compressorHandle, &status); CheckStatus(env, status); return val; } @@ -128,10 +128,10 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighFault( */ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighStickyFault( - JNIEnv *env, jclass, jint compressor_handle) { + JNIEnv *env, jclass, jint compressorHandle) { int32_t status = 0; bool val = - HAL_GetCompressorCurrentTooHighStickyFault((HAL_CompressorHandle)compressor_handle, &status); + HAL_GetCompressorCurrentTooHighStickyFault((HAL_CompressorHandle)compressorHandle, &status); CheckStatus(env, status); return val; } @@ -143,9 +143,9 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighStickyFa */ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedStickyFault( - JNIEnv *env, jclass, jint compressor_handle) { + JNIEnv *env, jclass, jint compressorHandle) { int32_t status = 0; - bool val = HAL_GetCompressorShortedStickyFault((HAL_CompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressorShortedStickyFault((HAL_CompressorHandle)compressorHandle, &status); CheckStatus(env, status); return val; } @@ -157,9 +157,9 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedStickyFault( */ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedFault( - JNIEnv *env, jclass, jint compressor_handle) { + JNIEnv *env, jclass, jint compressorHandle) { int32_t status = 0; - bool val = HAL_GetCompressorShortedFault((HAL_CompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressorShortedFault((HAL_CompressorHandle)compressorHandle, &status); CheckStatus(env, status); return val; } @@ -171,9 +171,9 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedFault( */ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedStickyFault( - JNIEnv *env, jclass, jint compressor_handle) { + JNIEnv *env, jclass, jint compressorHandle) { int32_t status = 0; - bool val = HAL_GetCompressorNotConnectedStickyFault((HAL_CompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressorNotConnectedStickyFault((HAL_CompressorHandle)compressorHandle, &status); CheckStatus(env, status); return val; } @@ -185,9 +185,9 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedStickyFaul */ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedFault( - JNIEnv *env, jclass, jint compressor_handle) { + JNIEnv *env, jclass, jint compressorHandle) { int32_t status = 0; - bool val = HAL_GetCompressorNotConnectedFault((HAL_CompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressorNotConnectedFault((HAL_CompressorHandle)compressorHandle, &status); CheckStatus(env, status); return val; } diff --git a/wpilibj/src/athena/cpp/lib/DIOJNI.cpp b/wpilibj/src/athena/cpp/lib/DIOJNI.cpp index 81d150bd2f..1f9e783360 100644 --- a/wpilibj/src/athena/cpp/lib/DIOJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/DIOJNI.cpp @@ -43,8 +43,8 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDIOPort( auto dio = HAL_InitializeDIOPort((HAL_PortHandle)id, (uint8_t)input, &status); DIOJNI_LOG(logDEBUG) << "Status = " << status; DIOJNI_LOG(logDEBUG) << "DIO Handle = " << dio; - CheckStatusRange(env, 0, HAL_GetNumDigitalPins(), - hal::getPortHandlePin((HAL_PortHandle)id), status); + CheckStatusRange(env, 0, HAL_GetNumDigitalChannels(), + hal::getPortHandleChannel((HAL_PortHandle)id), status); return (jint)dio; } @@ -261,7 +261,7 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMOutputChannel( JNIEnv* env, jclass, jint id, jint value) { DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMOutputChannel"; DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id; - DIOJNI_LOG(logDEBUG) << "Pin= " << value; + DIOJNI_LOG(logDEBUG) << "Channel= " << value; int32_t status = 0; HAL_SetDigitalPWMOutputChannel((HAL_DigitalPWMHandle)id, (uint32_t)value, &status); DIOJNI_LOG(logDEBUG) << "Status = " << status; diff --git a/wpilibj/src/athena/cpp/lib/InterruptJNI.cpp b/wpilibj/src/athena/cpp/lib/InterruptJNI.cpp index 8a0980070f..eb02d4eea3 100644 --- a/wpilibj/src/athena/cpp/lib/InterruptJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/InterruptJNI.cpp @@ -144,12 +144,12 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts( - JNIEnv* env, jclass, jint interrupt_handle) { + JNIEnv* env, jclass, jint interruptHandle) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI cleanInterrupts"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle; int32_t status = 0; - HAL_CleanInterrupts((HAL_InterruptHandle)interrupt_handle, &status); + HAL_CleanInterrupts((HAL_InterruptHandle)interruptHandle, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; @@ -163,13 +163,13 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts( */ JNIEXPORT int JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt( - JNIEnv* env, jclass, jint interrupt_handle, jdouble timeout, + JNIEnv* env, jclass, jint interruptHandle, jdouble timeout, jboolean ignorePrevious) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI waitForInterrupt"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle; int32_t status = 0; - int result = HAL_WaitForInterrupt((HAL_InterruptHandle)interrupt_handle, timeout, + int result = HAL_WaitForInterrupt((HAL_InterruptHandle)interruptHandle, timeout, ignorePrevious, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; @@ -185,12 +185,12 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts( - JNIEnv* env, jclass, jint interrupt_handle) { + JNIEnv* env, jclass, jint interruptHandle) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI enableInterrupts"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle; int32_t status = 0; - HAL_EnableInterrupts((HAL_InterruptHandle)interrupt_handle, &status); + HAL_EnableInterrupts((HAL_InterruptHandle)interruptHandle, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; @@ -204,12 +204,12 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts( - JNIEnv* env, jclass, jint interrupt_handle) { + JNIEnv* env, jclass, jint interruptHandle) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI disableInterrupts"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle; int32_t status = 0; - HAL_DisableInterrupts((HAL_InterruptHandle)interrupt_handle, &status); + HAL_DisableInterrupts((HAL_InterruptHandle)interruptHandle, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; @@ -223,12 +223,12 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts( */ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptRisingTimestamp( - JNIEnv* env, jclass, jint interrupt_handle) { + JNIEnv* env, jclass, jint interruptHandle) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readInterruptRisingTimestamp"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle; int32_t status = 0; - jdouble timeStamp = HAL_ReadInterruptRisingTimestamp((HAL_InterruptHandle)interrupt_handle, &status); + jdouble timeStamp = HAL_ReadInterruptRisingTimestamp((HAL_InterruptHandle)interruptHandle, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); @@ -242,12 +242,12 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptRisingTimestamp( */ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptFallingTimestamp( - JNIEnv* env, jclass, jint interrupt_handle) { + JNIEnv* env, jclass, jint interruptHandle) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readInterruptFallingTimestamp"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle; int32_t status = 0; - jdouble timeStamp = HAL_ReadInterruptFallingTimestamp((HAL_InterruptHandle)interrupt_handle, &status); + jdouble timeStamp = HAL_ReadInterruptFallingTimestamp((HAL_InterruptHandle)interruptHandle, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); @@ -261,15 +261,15 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptFallingTimestamp( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts( - JNIEnv* env, jclass, jint interrupt_handle, jint digitalSourceHandle, + JNIEnv* env, jclass, jint interruptHandle, jint digitalSourceHandle, jint analogTriggerType) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle; INTERRUPTJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle; INTERRUPTJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType; int32_t status = 0; - HAL_RequestInterrupts((HAL_InterruptHandle)interrupt_handle, (HAL_Handle)digitalSourceHandle, + HAL_RequestInterrupts((HAL_InterruptHandle)interruptHandle, (HAL_Handle)digitalSourceHandle, (HAL_AnalogTriggerType)analogTriggerType, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; @@ -284,10 +284,10 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler( - JNIEnv* env, jclass, jint interrupt_handle, jobject handler, + JNIEnv* env, jclass, jint interruptHandle, jobject handler, jobject param) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI attachInterruptHandler"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle; jclass cls = env->GetObjectClass(handler); INTERRUPTJNI_LOG(logDEBUG) << "class = " << cls; @@ -311,7 +311,7 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler( INTERRUPTJNI_LOG(logDEBUG) << "InterruptThreadJNI Ptr = " << intr; int32_t status = 0; - HAL_AttachInterruptHandler((HAL_InterruptHandle)interrupt_handle, interruptHandler, intr, + HAL_AttachInterruptHandler((HAL_InterruptHandle)interruptHandle, interruptHandler, intr, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; @@ -325,15 +325,15 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge( - JNIEnv* env, jclass, jint interrupt_handle, jboolean risingEdge, + JNIEnv* env, jclass, jint interruptHandle, jboolean risingEdge, jboolean fallingEdge) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI setInterruptUpSourceEdge"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle; INTERRUPTJNI_LOG(logDEBUG) << "Rising Edge = " << (bool)risingEdge; INTERRUPTJNI_LOG(logDEBUG) << "Falling Edge = " << (bool)fallingEdge; int32_t status = 0; - HAL_SetInterruptUpSourceEdge((HAL_InterruptHandle)interrupt_handle, risingEdge, fallingEdge, + HAL_SetInterruptUpSourceEdge((HAL_InterruptHandle)interruptHandle, risingEdge, fallingEdge, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; diff --git a/wpilibj/src/athena/cpp/lib/JNIWrapper.cpp b/wpilibj/src/athena/cpp/lib/JNIWrapper.cpp index d7b7950409..bf3e717015 100644 --- a/wpilibj/src/athena/cpp/lib/JNIWrapper.cpp +++ b/wpilibj/src/athena/cpp/lib/JNIWrapper.cpp @@ -22,11 +22,11 @@ extern "C" { */ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_JNIWrapper_getPortWithModule( - JNIEnv* env, jclass, jbyte module, jbyte pin) { + JNIEnv* env, jclass, jbyte module, jbyte channel) { // FILE_LOG(logDEBUG) << "Calling JNIWrapper getPortWithModlue"; // FILE_LOG(logDEBUG) << "Module = " << (jint)module; - // FILE_LOG(logDEBUG) << "Pin = " << (jint)pin; - HAL_PortHandle port = HAL_GetPortWithModule(module, pin); + // FILE_LOG(logDEBUG) << "Channel = " << (jint)channel; + HAL_PortHandle port = HAL_GetPortWithModule(module, channel); // FILE_LOG(logDEBUG) << "Port Handle = " << port; return (jint)port; } @@ -37,11 +37,11 @@ Java_edu_wpi_first_wpilibj_hal_JNIWrapper_getPortWithModule( * Signature: (B)I */ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_JNIWrapper_getPort( - JNIEnv* env, jclass, jbyte pin) { + JNIEnv* env, jclass, jbyte channel) { // FILE_LOG(logDEBUG) << "Calling JNIWrapper getPortWithModlue"; // FILE_LOG(logDEBUG) << "Module = " << (jint)module; - // FILE_LOG(logDEBUG) << "Pin = " << (jint)pin; - HAL_PortHandle port = HAL_GetPort(pin); + // FILE_LOG(logDEBUG) << "Channel = " << (jint)channel; + HAL_PortHandle port = HAL_GetPort(channel); // FILE_LOG(logDEBUG) << "Port Handle = " << port; return (jint)port; } diff --git a/wpilibj/src/athena/cpp/lib/PWMJNI.cpp b/wpilibj/src/athena/cpp/lib/PWMJNI.cpp index 8f61be691d..2c87d8f0e4 100644 --- a/wpilibj/src/athena/cpp/lib/PWMJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/PWMJNI.cpp @@ -42,8 +42,8 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_initializePWMPort( auto pwm = HAL_InitializePWMPort((HAL_PortHandle)id, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; PWMJNI_LOG(logDEBUG) << "PWM Handle = " << pwm; - CheckStatusRange(env, 0, HAL_GetNumPWMPins(), - hal::getPortHandlePin((HAL_PortHandle)id), status); + CheckStatusRange(env, 0, HAL_GetNumPWMChannels(), + hal::getPortHandleChannel((HAL_PortHandle)id), status); return (jint)pwm; } diff --git a/wpilibj/src/athena/cpp/lib/PortsJNI.cpp b/wpilibj/src/athena/cpp/lib/PortsJNI.cpp index ddabdf299f..6f8bf0e61c 100644 --- a/wpilibj/src/athena/cpp/lib/PortsJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/PortsJNI.cpp @@ -131,14 +131,14 @@ Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMHeaders( /* * Class: edu_wpi_first_wpilibj_hal_PortsJNI - * Method: getNumDigitalPins + * Method: getNumDigitalChannels * Signature: ()I */ JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalPins( +Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalChannels( JNIEnv *env, jclass) { - PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalPins"; - jint value = HAL_GetNumDigitalPins(); + PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalChannels"; + jint value = HAL_GetNumDigitalChannels(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -146,14 +146,14 @@ Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalPins( /* * Class: edu_wpi_first_wpilibj_hal_PortsJNI - * Method: getNumPWMPins + * Method: getNumPWMChannels * Signature: ()I */ JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMPins( +Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMChannels( JNIEnv *env, jclass) { - PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPWMPins"; - jint value = HAL_GetNumPWMPins(); + PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPWMChannels"; + jint value = HAL_GetNumPWMChannels(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -206,14 +206,14 @@ Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumInterrupts( /* * Class: edu_wpi_first_wpilibj_hal_PortsJNI - * Method: getNumRelayPins + * Method: getNumRelayChannels * Signature: ()I */ JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumRelayPins( +Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumRelayChannels( JNIEnv *env, jclass) { - PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumRelayPins"; - jint value = HAL_GetNumRelayPins(); + PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumRelayChannels"; + jint value = HAL_GetNumRelayChannels(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -251,14 +251,14 @@ Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPCMModules( /* * Class: edu_wpi_first_wpilibj_hal_PortsJNI - * Method: getNumSolenoidPins + * Method: getNumSolenoidChannels * Signature: ()I */ JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumSolenoidPins( +Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumSolenoidChannels( JNIEnv *env, jclass) { - PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumSolenoidPins"; - jint value = HAL_GetNumSolenoidPins(); + PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumSolenoidChannels"; + jint value = HAL_GetNumSolenoidChannels(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } diff --git a/wpilibj/src/athena/cpp/lib/RelayJNI.cpp b/wpilibj/src/athena/cpp/lib/RelayJNI.cpp index 48f3960a9c..f216d7cc8f 100644 --- a/wpilibj/src/athena/cpp/lib/RelayJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/RelayJNI.cpp @@ -41,8 +41,8 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_initializeRelayPo HAL_RelayHandle handle = HAL_InitializeRelayPort((HAL_PortHandle)id, (uint8_t) fwd, &status); RELAYJNI_LOG(logDEBUG) << "Status = " << status; RELAYJNI_LOG(logDEBUG) << "Relay Handle = " << handle; - CheckStatusRange(env, 0, HAL_GetNumRelayPins(), - hal::getPortHandlePin((HAL_PortHandle)id), status); + CheckStatusRange(env, 0, HAL_GetNumRelayChannels(), + hal::getPortHandleChannel((HAL_PortHandle)id), status); return (jint) handle; } diff --git a/wpilibj/src/athena/cpp/lib/SolenoidJNI.cpp b/wpilibj/src/athena/cpp/lib/SolenoidJNI.cpp index b85b7527da..a6d1e5afe4 100644 --- a/wpilibj/src/athena/cpp/lib/SolenoidJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/SolenoidJNI.cpp @@ -43,9 +43,9 @@ Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_initializeSolenoidPort( SOLENOIDJNI_LOG(logDEBUG) << "Status = " << status; SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = " << handle; - // Use solenoid pins, as we have to pick one. - CheckStatusRange(env, 0, HAL_GetNumSolenoidPins(), - hal::getPortHandlePin((HAL_PortHandle)id), status);; + // Use solenoid channels, as we have to pick one. + CheckStatusRange(env, 0, HAL_GetNumSolenoidChannels(), + hal::getPortHandleChannel((HAL_PortHandle)id), status);; return (jint)handle; } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java index 6c14de9afe..0a96cb217b 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java @@ -21,12 +21,12 @@ import static java.util.Objects.requireNonNull; /** * Class for VEX Robotics Spike style relay outputs. Relays are intended to be connected to Spikes - * or similar relays. The relay channels controls a pair of pins that are either both off, one on, - * the other on, or both on. This translates into two Spike outputs at 0v, one at 12v and one at 0v, - * one at 0v and the other at 12v, or two Spike outputs at 12V. This allows off, full forward, or - * full reverse control of motors without variable speed. It also allows the two channels (forward - * and reverse) to be used independently for something that does not care about voltage polarity - * (like a solenoid). + * or similar relays. The relay channels controls a pair of channels that are either both off, one + * on, the other on, or both on. This translates into two Spike outputs at 0v, one at 12v and one + * at 0v, one at 0v and the other at 12v, or two Spike outputs at 12V. This allows off, full + * forward, or full reverse control of motors without variable speed. It also allows the two + * channels (forward and reverse) to be used independently for something that does not care about + * voltage polarity (like a solenoid). */ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable { private MotorSafetyHelper m_safetyHelper; diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SensorBase.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SensorBase.java index 615914cd45..c08b38ac49 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SensorBase.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SensorBase.java @@ -29,7 +29,7 @@ public abstract class SensorBase { // TODO: Refactor /** * Number of digital channels per roboRIO. */ - public static final int kDigitalChannels = PortsJNI.getNumDigitalPins(); + public static final int kDigitalChannels = PortsJNI.getNumDigitalChannels(); /** * Number of analog input channels. */ @@ -41,11 +41,11 @@ public abstract class SensorBase { // TODO: Refactor /** * Number of solenoid channels per module. */ - public static final int kSolenoidChannels = PortsJNI.getNumSolenoidPins(); + public static final int kSolenoidChannels = PortsJNI.getNumSolenoidChannels(); /** * Number of PWM channels per roboRIO. */ - public static final int kPwmChannels = PortsJNI.getNumPWMPins(); + public static final int kPwmChannels = PortsJNI.getNumPWMChannels(); /** * Number of relay channels per roboRIO. */ diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java index 77c184943a..1a028bb18d 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java @@ -83,9 +83,8 @@ public class Ultrasonic extends SensorBase implements PIDSource, LiveWindowSenda return; } if (ultrasonic.isEnabled()) { - ultrasonic.m_pingChannel.pulse(m_pingChannel.getChannel(), (float) kPingTime); // do - // the - // ping + // Do the ping + ultrasonic.m_pingChannel.pulse(m_pingChannel.getChannel(), (float) kPingTime); } ultrasonic = ultrasonic.m_nextSensor; Timer.delay(.1); // wait for ping to return diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AnalogJNI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AnalogJNI.java index 8f1ef5df59..e5872fe601 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AnalogJNI.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AnalogJNI.java @@ -43,9 +43,9 @@ public class AnalogJNI extends JNIWrapper { public static native boolean checkAnalogModule(byte module); - public static native boolean checkAnalogInputChannel(int pin); + public static native boolean checkAnalogInputChannel(int channel); - public static native boolean checkAnalogOutputChannel(int pin); + public static native boolean checkAnalogOutputChannel(int channel); public static native void setAnalogOutput(int portHandle, double voltage); diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/DIOJNI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/DIOJNI.java index c86709e07a..127ab05621 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/DIOJNI.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/DIOJNI.java @@ -37,5 +37,5 @@ public class DIOJNI extends JNIWrapper { public static native void setDigitalPWMDutyCycle(int pwmGenerator, double dutyCycle); - public static native void setDigitalPWMOutputChannel(int pwmGenerator, int pin); + public static native void setDigitalPWMOutputChannel(int pwmGenerator, int channel); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/JNIWrapper.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/JNIWrapper.java index c228b360c7..52e7e88061 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/JNIWrapper.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/JNIWrapper.java @@ -59,7 +59,7 @@ public class JNIWrapper { } } - public static native int getPortWithModule(byte module, byte pin); + public static native int getPortWithModule(byte module, byte channel); - public static native int getPort(byte pin); + public static native int getPort(byte channel); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/PortsJNI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/PortsJNI.java index 72a861fc09..352ebb8ac4 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/PortsJNI.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/PortsJNI.java @@ -22,9 +22,9 @@ public class PortsJNI extends JNIWrapper { public static native int getNumPWMHeaders(); - public static native int getNumDigitalPins(); + public static native int getNumDigitalChannels(); - public static native int getNumPWMPins(); + public static native int getNumPWMChannels(); public static native int getNumDigitalPWMOutputs(); @@ -32,13 +32,13 @@ public class PortsJNI extends JNIWrapper { public static native int getNumInterrupts(); - public static native int getNumRelayPins(); + public static native int getNumRelayChannels(); public static native int getNumRelayHeaders(); public static native int getNumPCMModules(); - public static native int getNumSolenoidPins(); + public static native int getNumSolenoidChannels(); public static native int getNumPDPModules(); diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/RelayJNI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/RelayJNI.java index 3b9729455f..fc798c66ff 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/RelayJNI.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/RelayJNI.java @@ -12,7 +12,7 @@ public class RelayJNI extends DIOJNI { public static native void freeRelayPort(int relayPortHandle); - public static native boolean checkRelayChannel(int pin); + public static native boolean checkRelayChannel(int channel); public static native void setRelay(int relayPortHandle, boolean on);