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[hal] Add systemcore analog input (#7681)

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This commit is contained in:
Thad House
2025-01-14 11:30:44 -08:00
committed by GitHub
parent afbaa43539
commit 45d7549ca9
3 changed files with 97 additions and 8 deletions
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91
hal/src/main/native/systemcore/AnalogInput.cpp
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@@ -4,13 +4,18 @@
#include "hal/AnalogInput.h"
#include <cstdio>
#include <thread>
#include <wpi/mutex.h>
#include "HALInitializer.h"
#include "HALInternal.h"
#include "PortsInternal.h"
#include "SmartIo.h"
#include "hal/AnalogAccumulator.h"
#include "hal/Errors.h"
#include "hal/cpp/fpga_clock.h"
#include "hal/handles/HandlesInternal.h"
namespace hal::init {
@@ -25,18 +30,72 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
HAL_PortHandle portHandle, const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex || channel >= kNumSmartIo) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog", 0,
kNumSmartIo, channel);
return HAL_kInvalidHandle;
}
HAL_DigitalHandle handle;
auto port = smartIoHandles->Allocate(channel, HAL_HandleEnum::AnalogInput,
&handle, status);
if (*status != 0) {
if (port) {
hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
port->previousAllocation);
} else {
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog", 0,
kNumSmartIo, channel);
}
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
}
port->channel = channel;
*status = port->InitializeMode(SmartIoMode::AnalogInput);
if (*status != 0) {
smartIoHandles->Free(handle, HAL_HandleEnum::AnalogInput);
return HAL_kInvalidHandle;
}
port->previousAllocation = allocationLocation ? allocationLocation : "";
return handle;
}
void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle) {}
void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle) {
auto port =
smartIoHandles->Get(analogPortHandle, HAL_HandleEnum::AnalogInput);
if (port == nullptr) {
return;
}
smartIoHandles->Free(analogPortHandle, HAL_HandleEnum::AnalogInput);
// Wait for no other object to hold this handle.
auto start = hal::fpga_clock::now();
while (port.use_count() != 1) {
auto current = hal::fpga_clock::now();
if (start + std::chrono::seconds(1) < current) {
std::puts("DIO handle free timeout");
std::fflush(stdout);
break;
}
std::this_thread::yield();
}
}
HAL_Bool HAL_CheckAnalogModule(int32_t module) {
return module == 1;
}
HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel) {
return channel < kNumAnalogInputs && channel >= 0;
return channel < kNumSmartIo && channel >= 0;
}
void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
@@ -78,8 +137,16 @@ int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
auto port =
smartIoHandles->Get(analogPortHandle, HAL_HandleEnum::AnalogInput);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
uint16_t ret = 0;
*status = port->GetAnalogInput(&ret);
return ret;
}
int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
@@ -96,8 +163,16 @@ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
auto port =
smartIoHandles->Get(analogPortHandle, HAL_HandleEnum::AnalogInput);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
uint16_t ret = 0;
*status = port->GetAnalogInput(&ret);
return ret / 1000.0;
}
double HAL_GetAnalogValueToVolts(HAL_AnalogInputHandle analogPortHandle,