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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
@@ -57,27 +57,27 @@ struct SPIAccumulator {
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int64_t value = 0;
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uint32_t count = 0;
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int32_t last_value = 0;
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int32_t lastValue = 0;
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int32_t center = 0;
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int32_t deadband = 0;
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uint8_t cmd[4]; // command to send (up to 4 bytes)
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int32_t valid_mask;
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int32_t valid_value;
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int32_t data_max; // one more than max data value
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int32_t data_msb_mask; // data field MSB mask (for signed)
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uint8_t data_shift; // data field shift right amount, in bits
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uint8_t xfer_size; // SPI transfer size, in bytes (up to 4)
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int32_t validMask;
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int32_t validValue;
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int32_t dataMax; // one more than max data value
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int32_t dataMsbMask; // data field MSB mask (for signed)
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uint8_t dataShift; // data field shift right amount, in bits
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uint8_t xferSize; // SPI transfer size, in bytes (up to 4)
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uint8_t port;
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bool is_signed; // is data field signed?
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bool big_endian; // is response big endian?
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bool isSigned; // is data field signed?
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bool bigEndian; // is response big endian?
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};
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std::unique_ptr<SPIAccumulator> spiAccumulators[5];
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/*
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* Initialize the spi port. Opens the port if necessary and saves the handle.
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* If opening the MXP port, also sets up the pin functions appropriately
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* If opening the MXP port, also sets up the channel functions appropriately
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* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
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*/
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void HAL_InitializeSPI(int32_t port, int32_t* status) {
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@@ -336,39 +336,39 @@ static void spiAccumulatorProcess(uint64_t currentTime, void* param) {
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std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(accum->port));
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spilib_writeread(
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HAL_GetSPIHandle(accum->port), reinterpret_cast<const char*>(accum->cmd),
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reinterpret_cast<char*>(resp_b), static_cast<int32_t>(accum->xfer_size));
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reinterpret_cast<char*>(resp_b), static_cast<int32_t>(accum->xferSize));
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// convert from bytes
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uint32_t resp = 0;
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if (accum->big_endian) {
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for (int i = 0; i < accum->xfer_size; ++i) {
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if (accum->bigEndian) {
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for (int i = 0; i < accum->xferSize; ++i) {
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resp <<= 8;
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resp |= resp_b[i] & 0xff;
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}
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} else {
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for (int i = accum->xfer_size - 1; i >= 0; --i) {
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for (int i = accum->xferSize - 1; i >= 0; --i) {
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resp <<= 8;
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resp |= resp_b[i] & 0xff;
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}
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}
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// process response
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if ((resp & accum->valid_mask) == static_cast<uint32_t>(accum->valid_value)) {
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if ((resp & accum->validMask) == static_cast<uint32_t>(accum->validValue)) {
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// valid sensor data; extract data field
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int32_t data = static_cast<int32_t>(resp >> accum->data_shift);
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data &= accum->data_max - 1;
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int32_t data = static_cast<int32_t>(resp >> accum->dataShift);
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data &= accum->dataMax - 1;
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// 2s complement conversion if signed MSB is set
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if (accum->is_signed && (data & accum->data_msb_mask) != 0)
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data -= accum->data_max;
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if (accum->isSigned && (data & accum->dataMsbMask) != 0)
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data -= accum->dataMax;
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// center offset
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data -= accum->center;
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// only accumulate if outside deadband
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if (data < -accum->deadband || data > accum->deadband) accum->value += data;
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++accum->count;
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accum->last_value = data;
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accum->lastValue = data;
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} else {
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// no data from the sensor; just clear the last value
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accum->last_value = 0;
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accum->lastValue = 0;
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}
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// reschedule timer
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@@ -386,28 +386,28 @@ static void spiAccumulatorProcess(uint64_t currentTime, void* param) {
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* @param port SPI port
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* @param period Time between reads, in us
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* @param cmd SPI command to send to request data
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* @param xfer_size SPI transfer size, in bytes
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* @param valid_mask Mask to apply to received data for validity checking
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* @param valid_data After valid_mask is applied, required matching value for
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* @param xferSize SPI transfer size, in bytes
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* @param validMask Mask to apply to received data for validity checking
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* @param valid_data After validMask is applied, required matching value for
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* validity checking
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* @param data_shift Bit shift to apply to received data to get actual data
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* @param dataShift Bit shift to apply to received data to get actual data
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* value
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* @param data_size Size (in bits) of data field
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* @param is_signed Is data field signed?
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* @param big_endian Is device big endian?
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* @param dataSize Size (in bits) of data field
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* @param isSigned Is data field signed?
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* @param bigEndian Is device big endian?
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*/
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void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd,
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int32_t xfer_size, int32_t valid_mask,
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int32_t valid_value, int32_t data_shift,
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int32_t data_size, HAL_Bool is_signed,
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HAL_Bool big_endian, int32_t* status) {
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int32_t xferSize, int32_t validMask,
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int32_t validValue, int32_t dataShift,
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int32_t dataSize, HAL_Bool isSigned,
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HAL_Bool bigEndian, int32_t* status) {
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std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
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if (port > 4) return;
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if (!spiAccumulators[port])
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spiAccumulators[port] = std::make_unique<SPIAccumulator>();
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SPIAccumulator* accum = spiAccumulators[port].get();
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if (big_endian) {
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for (int i = xfer_size - 1; i >= 0; --i) {
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if (bigEndian) {
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for (int i = xferSize - 1; i >= 0; --i) {
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accum->cmd[i] = cmd & 0xff;
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cmd >>= 8;
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}
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@@ -421,14 +421,14 @@ void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd,
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accum->cmd[3] = cmd & 0xff;
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}
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accum->period = period;
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accum->xfer_size = xfer_size;
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accum->valid_mask = valid_mask;
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accum->valid_value = valid_value;
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accum->data_shift = data_shift;
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accum->data_max = (1 << data_size);
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accum->data_msb_mask = (1 << (data_size - 1));
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accum->is_signed = is_signed;
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accum->big_endian = big_endian;
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accum->xferSize = xferSize;
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accum->validMask = validMask;
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accum->validValue = validValue;
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accum->dataShift = dataShift;
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accum->dataMax = (1 << dataSize);
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accum->dataMsbMask = (1 << (dataSize - 1));
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accum->isSigned = isSigned;
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accum->bigEndian = bigEndian;
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if (!accum->notifier) {
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accum->notifier =
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HAL_InitializeNotifier(spiAccumulatorProcess, accum, status);
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@@ -465,7 +465,7 @@ void HAL_ResetSPIAccumulator(int32_t port, int32_t* status) {
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}
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accum->value = 0;
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accum->count = 0;
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accum->last_value = 0;
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accum->lastValue = 0;
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}
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/**
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@@ -512,7 +512,7 @@ int32_t HAL_GetSPIAccumulatorLastValue(int32_t port, int32_t* status) {
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*status = NULL_PARAMETER;
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return 0;
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}
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return accum->last_value;
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return accum->lastValue;
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}
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/**
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