mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-03 03:01:44 +00:00
Renamed "pin" to "channel" and variables with underscores now use mixed case (#194)
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
227fdc1a60
commit
45b8e9ab4f
@@ -41,40 +41,41 @@ static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) {
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extern "C" {
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HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle,
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HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
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int32_t* status) {
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initializeDigital(status);
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if (*status != 0) return HAL_kInvalidHandle;
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int16_t pin = getPortHandlePin(port_handle);
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if (pin == InvalidHandleIndex) {
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int16_t channel = getPortHandleChannel(portHandle);
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if (channel == InvalidHandleIndex) {
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*status = PARAMETER_OUT_OF_RANGE;
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return HAL_kInvalidHandle;
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}
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uint8_t origPin = static_cast<uint8_t>(pin);
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uint8_t origChannel = static_cast<uint8_t>(channel);
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if (origPin < kNumPWMHeaders) {
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pin += kNumDigitalPins; // remap Headers to end of allocations
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if (origChannel < kNumPWMHeaders) {
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channel += kNumDigitalChannels; // remap Headers to end of allocations
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} else {
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pin = remapMXPPWMChannel(pin) + 10; // remap MXP to proper channel
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channel = remapMXPPWMChannel(channel) + 10; // remap MXP to proper channel
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}
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auto handle = digitalPinHandles.Allocate(pin, HAL_HandleEnum::PWM, status);
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auto handle =
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digitalChannelHandles.Allocate(channel, HAL_HandleEnum::PWM, status);
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if (*status != 0)
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return HAL_kInvalidHandle; // failed to allocate. Pass error back.
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auto port = digitalPinHandles.Get(handle, HAL_HandleEnum::PWM);
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auto port = digitalChannelHandles.Get(handle, HAL_HandleEnum::PWM);
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if (port == nullptr) { // would only occur on thread issue.
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*status = HAL_HANDLE_ERROR;
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return HAL_kInvalidHandle;
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}
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port->pin = origPin;
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port->channel = origChannel;
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int32_t bitToSet = 1 << remapMXPPWMChannel(port->pin);
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int32_t bitToSet = 1 << remapMXPPWMChannel(port->channel);
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uint16_t specialFunctions =
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digitalSystem->readEnableMXPSpecialFunction(status);
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digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet,
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@@ -82,32 +83,32 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle,
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return handle;
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}
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void HAL_FreePWMPort(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (port->pin > tPWM::kNumHdrRegisters - 1) {
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int32_t bitToUnset = 1 << remapMXPPWMChannel(port->pin);
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if (port->channel > tPWM::kNumHdrRegisters - 1) {
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int32_t bitToUnset = 1 << remapMXPPWMChannel(port->channel);
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uint16_t specialFunctions =
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digitalSystem->readEnableMXPSpecialFunction(status);
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digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToUnset,
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status);
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}
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digitalPinHandles.Free(pwm_port_handle, HAL_HandleEnum::PWM);
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digitalChannelHandles.Free(pwmPortHandle, HAL_HandleEnum::PWM);
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}
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HAL_Bool HAL_CheckPWMChannel(int32_t pin) {
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return pin < kNumPWMPins && pin >= 0;
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HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
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return channel < kNumPWMChannels && channel >= 0;
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}
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void HAL_SetPWMConfig(HAL_DigitalHandle pwm_port_handle, double max,
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void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double max,
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double deadbandMax, double center, double deadbandMin,
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double min, int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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@@ -137,11 +138,11 @@ void HAL_SetPWMConfig(HAL_DigitalHandle pwm_port_handle, double max,
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port->configSet = true;
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}
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void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t maxPwm,
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void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
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int32_t deadbandMaxPwm, int32_t centerPwm,
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int32_t deadbandMinPwm, int32_t minPwm,
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int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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@@ -154,11 +155,11 @@ void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t maxPwm,
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port->minPwm = minPwm;
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}
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void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t* maxPwm,
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void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
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int32_t* deadbandMaxPwm, int32_t* centerPwm,
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int32_t* deadbandMinPwm, int32_t* minPwm,
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int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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@@ -170,9 +171,9 @@ void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t* maxPwm,
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*minPwm = port->minPwm;
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}
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void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
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void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
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HAL_Bool eliminateDeadband, int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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@@ -180,9 +181,9 @@ void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
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port->eliminateDeadband = eliminateDeadband;
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}
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HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
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HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
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int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return false;
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@@ -198,18 +199,18 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
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* @param channel The PWM channel to set.
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* @param value The PWM value to set.
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*/
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void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t value,
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void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
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int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (port->pin < tPWM::kNumHdrRegisters) {
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pwmSystem->writeHdr(port->pin, value, status);
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if (port->channel < tPWM::kNumHdrRegisters) {
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pwmSystem->writeHdr(port->channel, value, status);
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} else {
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pwmSystem->writeMXP(port->pin - tPWM::kNumHdrRegisters, value, status);
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pwmSystem->writeMXP(port->channel - tPWM::kNumHdrRegisters, value, status);
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}
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}
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@@ -222,9 +223,9 @@ void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t value,
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* @param channel The PWM channel to set.
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* @param value The scaled PWM value to set.
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*/
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void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, double speed,
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void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
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int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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@@ -263,7 +264,7 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, double speed,
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return;
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}
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HAL_SetPWMRaw(pwm_port_handle, rawValue, status);
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HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
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}
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/**
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@@ -275,9 +276,9 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, double speed,
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* @param channel The PWM channel to set.
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* @param value The scaled PWM value to set.
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*/
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void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, double pos,
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void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
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int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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@@ -305,11 +306,11 @@ void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, double pos,
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return;
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}
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HAL_SetPWMRaw(pwm_port_handle, rawValue, status);
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HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
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}
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void HAL_SetPWMDisabled(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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HAL_SetPWMRaw(pwm_port_handle, kPwmDisabled, status);
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void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
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HAL_SetPWMRaw(pwmPortHandle, kPwmDisabled, status);
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}
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/**
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@@ -318,17 +319,17 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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* @param channel The PWM channel to read from.
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* @return The raw PWM value.
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*/
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int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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}
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if (port->pin < tPWM::kNumHdrRegisters) {
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return pwmSystem->readHdr(port->pin, status);
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if (port->channel < tPWM::kNumHdrRegisters) {
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return pwmSystem->readHdr(port->channel, status);
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} else {
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return pwmSystem->readMXP(port->pin - tPWM::kNumHdrRegisters, status);
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return pwmSystem->readMXP(port->channel - tPWM::kNumHdrRegisters, status);
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}
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}
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@@ -338,8 +339,8 @@ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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* @param channel The PWM channel to read from.
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* @return The scaled PWM value.
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*/
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double HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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@@ -349,7 +350,7 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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return 0;
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}
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int32_t value = HAL_GetPWMRaw(pwm_port_handle, status);
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int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
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if (*status != 0) return 0;
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DigitalPort* dPort = port.get();
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@@ -376,8 +377,8 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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* @param channel The PWM channel to read from.
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* @return The scaled PWM value.
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*/
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double HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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@@ -387,7 +388,7 @@ double HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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return 0;
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}
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int32_t value = HAL_GetPWMRaw(pwm_port_handle, status);
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int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
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if (*status != 0) return 0;
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DigitalPort* dPort = port.get();
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@@ -401,15 +402,15 @@ double HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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}
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}
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void HAL_LatchPWMZero(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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pwmSystem->writeZeroLatch(port->pin, true, status);
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pwmSystem->writeZeroLatch(port->pin, false, status);
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pwmSystem->writeZeroLatch(port->channel, true, status);
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pwmSystem->writeZeroLatch(port->channel, false, status);
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}
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/**
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@@ -418,19 +419,19 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
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* @param channel The PWM channel to configure.
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* @param squelchMask The 2-bit mask of outputs to squelch.
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*/
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void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwm_port_handle,
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int32_t squelchMask, int32_t* status) {
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auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
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void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
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int32_t* status) {
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auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (port->pin < tPWM::kNumPeriodScaleHdrElements) {
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pwmSystem->writePeriodScaleHdr(port->pin, squelchMask, status);
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if (port->channel < tPWM::kNumPeriodScaleHdrElements) {
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pwmSystem->writePeriodScaleHdr(port->channel, squelchMask, status);
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} else {
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pwmSystem->writePeriodScaleMXP(port->pin - tPWM::kNumPeriodScaleHdrElements,
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squelchMask, status);
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pwmSystem->writePeriodScaleMXP(
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port->channel - tPWM::kNumPeriodScaleHdrElements, squelchMask, status);
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}
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}
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