Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-05 03:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Changes DigitalSource API for HAL ease of use (#144)

Browse Source
This commit is contained in:
Thad House
2016-07-07 21:43:55 -07:00
committed by Peter Johnson
parent 7597e3c274
commit 4a3e3a6324
38 changed files with 398 additions and 336 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
hal/include/HAL/Counter.h
View File

@@ -9,6 +9,7 @@
#include <stdint.h>
#include "HAL/AnalogTrigger.h"
#include "HAL/Handles.h"
enum Mode {
@@ -23,13 +24,15 @@ HalCounterHandle initializeCounter(Mode mode, int32_t* index, int32_t* status);
void freeCounter(HalCounterHandle counter_handle, int32_t* status);
void setCounterAverageSize(HalCounterHandle counter_handle, int32_t size,
int32_t* status);
void setCounterUpSource(HalCounterHandle counter_handle, uint32_t pin,
bool analogTrigger, int32_t* status);
void setCounterUpSource(HalCounterHandle counter_handle,
HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType, int32_t* status);
void setCounterUpSourceEdge(HalCounterHandle counter_handle, bool risingEdge,
bool fallingEdge, int32_t* status);
void clearCounterUpSource(HalCounterHandle counter_handle, int32_t* status);
void setCounterDownSource(HalCounterHandle counter_handle, uint32_t pin,
bool analogTrigger, int32_t* status);
void setCounterDownSource(HalCounterHandle counter_handle,
HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType, int32_t* status);
void setCounterDownSourceEdge(HalCounterHandle counter_handle, bool risingEdge,
bool fallingEdge, int32_t* status);
void clearCounterDownSource(HalCounterHandle counter_handle, int32_t* status);

12
hal/include/HAL/Encoder.h
View File

@@ -9,6 +9,7 @@
#include <stdint.h>
#include "HAL/AnalogTrigger.h"
#include "HAL/Handles.h"
extern "C" {
@@ -21,8 +22,8 @@ enum EncoderIndexingType {
enum EncoderEncodingType { HAL_Encoder_k1X, HAL_Encoder_k2X, HAL_Encoder_k4X };
HalEncoderHandle initializeEncoder(
uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
HalHandle digitalSourceHandleA, AnalogTriggerType analogTriggerTypeA,
HalHandle digitalSourceHandleB, AnalogTriggerType analogTriggerTypeB,
bool reverseDirection, EncoderEncodingType encodingType, int32_t* status);
void freeEncoder(HalEncoderHandle encoder_handle, int32_t* status);
int32_t getEncoder(HalEncoderHandle encoder_handle, int32_t* status);
@@ -48,9 +49,10 @@ void setEncoderSamplesToAverage(HalEncoderHandle encoder_handle,
int32_t getEncoderSamplesToAverage(HalEncoderHandle encoder_handle,
int32_t* status);
void setEncoderIndexSource(HalEncoderHandle encoder_handle, uint32_t pin,
uint8_t analogTrigger, EncoderIndexingType type,
int32_t* status);
void setEncoderIndexSource(HalEncoderHandle encoder_handle,
HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType,
EncoderIndexingType type, int32_t* status);
int32_t getEncoderFPGAIndex(HalEncoderHandle encoder_handle, int32_t* status);

7
hal/include/HAL/Interrupts.h
View File

@@ -9,7 +9,8 @@
#include <stdint.h>
#include "Handles.h"
#include "HAL/AnalogTrigger.h"
#include "HAL/Handles.h"
extern "C" {
typedef void (*InterruptHandlerFunction)(uint32_t interruptAssertedMask,
@@ -27,8 +28,8 @@ double readRisingTimestamp(HalInterruptHandle interrupt_handle,
double readFallingTimestamp(HalInterruptHandle interrupt_handle,
int32_t* status);
void requestInterrupts(HalInterruptHandle interrupt_handle,
uint8_t routing_module, uint32_t routing_pin,
bool routing_analog_trigger, int32_t* status);
HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType, int32_t* status);
void attachInterruptHandler(HalInterruptHandle interrupt_handle,
InterruptHandlerFunction handler, void* param,
int32_t* status);

51
hal/lib/athena/Counter.cpp
View File

@@ -69,21 +69,30 @@ void setCounterAverageSize(HalCounterHandle counter_handle, int32_t size,
* Set the source object that causes the counter to count up.
* Set the up counting DigitalSource.
*/
void setCounterUpSource(HalCounterHandle counter_handle, uint32_t pin,
bool analogTrigger, int32_t* status) {
void setCounterUpSource(HalCounterHandle counter_handle,
HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType, int32_t* status) {
auto counter = counterHandles.Get(counter_handle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
uint8_t module;
bool routingAnalogTrigger = false;
uint32_t routingPin = 0;
uint8_t routingModule = 0;
bool success =
remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin,
routingModule, routingAnalogTrigger);
if (!success) {
*status = HAL_HANDLE_ERROR;
return;
}
remapDigitalSource(analogTrigger, pin, module);
counter->counter->writeConfig_UpSource_Module(module, status);
counter->counter->writeConfig_UpSource_Channel(pin, status);
counter->counter->writeConfig_UpSource_AnalogTrigger(analogTrigger, status);
counter->counter->writeConfig_UpSource_Module(routingModule, status);
counter->counter->writeConfig_UpSource_Channel(routingPin, status);
counter->counter->writeConfig_UpSource_AnalogTrigger(routingAnalogTrigger,
status);
if (counter->counter->readConfig_Mode(status) == kTwoPulse ||
counter->counter->readConfig_Mode(status) == kExternalDirection) {
@@ -127,8 +136,10 @@ void clearCounterUpSource(HalCounterHandle counter_handle, int32_t* status) {
* Set the source object that causes the counter to count down.
* Set the down counting DigitalSource.
*/
void setCounterDownSource(HalCounterHandle counter_handle, uint32_t pin,
bool analogTrigger, int32_t* status) {
void setCounterDownSource(HalCounterHandle counter_handle,
HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType,
int32_t* status) {
auto counter = counterHandles.Get(counter_handle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -142,13 +153,21 @@ void setCounterDownSource(HalCounterHandle counter_handle, uint32_t pin,
return;
}
uint8_t module;
bool routingAnalogTrigger = false;
uint32_t routingPin = 0;
uint8_t routingModule = 0;
bool success =
remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin,
routingModule, routingAnalogTrigger);
if (!success) {
*status = HAL_HANDLE_ERROR;
return;
}
remapDigitalSource(analogTrigger, pin, module);
counter->counter->writeConfig_DownSource_Module(module, status);
counter->counter->writeConfig_DownSource_Channel(pin, status);
counter->counter->writeConfig_DownSource_AnalogTrigger(analogTrigger, status);
counter->counter->writeConfig_DownSource_Module(routingModule, status);
counter->counter->writeConfig_DownSource_Channel(routingPin, status);
counter->counter->writeConfig_DownSource_AnalogTrigger(routingAnalogTrigger,
status);
setCounterDownSourceEdge(counter_handle, true, false, status);
counter->counter->strobeReset(status);

26
hal/lib/athena/DigitalInternal.cpp
View File

@@ -12,6 +12,7 @@
#include "ChipObject.h"
#include "FRC_NetworkCommunication/LoadOut.h"
#include "HAL/AnalogTrigger.h"
#include "HAL/HAL.h"
#include "HAL/Ports.h"
#include "HAL/cpp/priority_mutex.h"
@@ -107,17 +108,30 @@ uint32_t remapMXPPWMChannel(uint32_t pin) {
* 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)
*/
extern "C++" void remapDigitalSource(bool analogTrigger, uint32_t& pin,
uint8_t& module) {
if (analogTrigger) {
extern "C++" bool remapDigitalSource(HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType,
uint32_t& pin, uint8_t& module,
bool& analogTrigger) {
if (isHandleType(digitalSourceHandle, HalHandleEnum::AnalogTrigger)) {
// If handle passed, index is not negative
uint32_t index = getHandleIndex(digitalSourceHandle);
pin = (index << 2) + analogTriggerType;
module = pin >> 4;
} else {
if (pin >= kNumDigitalHeaders) {
pin = remapMXPChannel(pin);
analogTrigger = true;
return true;
} else if (isHandleType(digitalSourceHandle, HalHandleEnum::DIO)) {
uint32_t index = getHandleIndex(digitalSourceHandle);
if (index >= kNumDigitalHeaders) {
pin = remapMXPChannel(index);
module = 1;
} else {
pin = index;
module = 0;
}
analogTrigger = false;
return true;
} else {
return false;
}
}
}

5
hal/lib/athena/DigitalInternal.h
View File

@@ -10,6 +10,7 @@
#include <stdint.h>
#include "ChipObject.h"
#include "HAL/AnalogTrigger.h"
#include "HAL/Handles.h"
#include "HAL/Ports.h"
#include "PortsInternal.h"
@@ -69,7 +70,9 @@ extern DigitalHandleResource<HalDigitalHandle, DigitalPort,
digitalPinHandles;
void initializeDigital(int32_t* status);
void remapDigitalSource(bool analogTrigger, uint32_t& pin, uint8_t& module);
bool remapDigitalSource(HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType, uint32_t& pin,
uint8_t& module, bool& analogTrigger);
uint32_t remapMXPPWMChannel(uint32_t pin);
uint32_t remapMXPChannel(uint32_t pin);
}

61
hal/lib/athena/Encoder.cpp
View File

@@ -17,19 +17,18 @@
using namespace hal;
Encoder::Encoder(uint8_t port_a_module, uint32_t port_a_pin,
bool port_a_analog_trigger, uint8_t port_b_module,
uint32_t port_b_pin, bool port_b_analog_trigger,
bool reverseDirection, EncoderEncodingType encodingType,
int32_t* status) {
Encoder::Encoder(HalHandle digitalSourceHandleA,
AnalogTriggerType analogTriggerTypeA,
HalHandle digitalSourceHandleB,
AnalogTriggerType analogTriggerTypeB, bool reverseDirection,
EncoderEncodingType encodingType, int32_t* status) {
m_encodingType = encodingType;
switch (encodingType) {
case HAL_Encoder_k4X: {
m_encodingScale = 4;
m_encoder = initializeFPGAEncoder(port_a_module, port_a_pin,
port_a_analog_trigger, port_b_module,
port_b_pin, port_b_analog_trigger,
reverseDirection, &m_index, status);
m_encoder = initializeFPGAEncoder(
digitalSourceHandleA, analogTriggerTypeA, digitalSourceHandleB,
analogTriggerTypeB, reverseDirection, &m_index, status);
if (*status != 0) {
return;
}
@@ -39,9 +38,9 @@ Encoder::Encoder(uint8_t port_a_module, uint32_t port_a_pin,
}
case HAL_Encoder_k1X:
case HAL_Encoder_k2X: {
SetupCounter(port_a_module, port_a_pin, port_a_analog_trigger,
port_b_module, port_b_pin, port_b_analog_trigger,
reverseDirection, encodingType, status);
SetupCounter(digitalSourceHandleA, analogTriggerTypeA,
digitalSourceHandleB, analogTriggerTypeB, reverseDirection,
encodingType, status);
m_encodingScale = encodingType == HAL_Encoder_k1X ? 1 : 2;
break;
@@ -52,9 +51,10 @@ Encoder::Encoder(uint8_t port_a_module, uint32_t port_a_pin,
}
}
void Encoder::SetupCounter(uint8_t port_a_module, uint32_t port_a_pin,
bool port_a_analog_trigger, uint8_t port_b_module,
uint32_t port_b_pin, bool port_b_analog_trigger,
void Encoder::SetupCounter(HalHandle digitalSourceHandleA,
AnalogTriggerType analogTriggerTypeA,
HalHandle digitalSourceHandleB,
AnalogTriggerType analogTriggerTypeB,
bool reverseDirection,
EncoderEncodingType encodingType, int32_t* status) {
m_encodingScale = encodingType == HAL_Encoder_k1X ? 1 : 2;
@@ -62,9 +62,11 @@ void Encoder::SetupCounter(uint8_t port_a_module, uint32_t port_a_pin,
if (*status != 0) return;
setCounterMaxPeriod(m_counter, 0.5, status);
if (*status != 0) return;
setCounterUpSource(m_counter, port_a_pin, port_a_analog_trigger, status);
setCounterUpSource(m_counter, digitalSourceHandleA, analogTriggerTypeA,
status);
if (*status != 0) return;
setCounterDownSource(m_counter, port_b_pin, port_b_analog_trigger, status);
setCounterDownSource(m_counter, digitalSourceHandleB, analogTriggerTypeB,
status);
if (*status != 0) return;
if (encodingType == HAL_Encoder_k1X) {
setCounterUpSourceEdge(m_counter, true, false, status);
@@ -187,7 +189,8 @@ int32_t Encoder::GetSamplesToAverage(int32_t* status) const {
}
}
void Encoder::SetIndexSource(uint32_t pin, bool analogTrigger,
void Encoder::SetIndexSource(HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType,
EncoderIndexingType type, int32_t* status) {
if (m_counter) {
*status = HAL_COUNTER_NOT_SUPPORTED;
@@ -197,8 +200,8 @@ void Encoder::SetIndexSource(uint32_t pin, bool analogTrigger,
(type == HAL_kResetWhileHigh) || (type == HAL_kResetOnRisingEdge);
bool edgeSensitive =
(type == HAL_kResetOnFallingEdge) || (type == HAL_kResetOnRisingEdge);
setFPGAEncoderIndexSource(m_encoder, pin, analogTrigger, activeHigh,
edgeSensitive, status);
setFPGAEncoderIndexSource(m_encoder, digitalSourceHandle, analogTriggerType,
activeHigh, edgeSensitive, status);
}
double Encoder::DecodingScaleFactor() const {
@@ -221,13 +224,12 @@ static LimitedClassedHandleResource<HalEncoderHandle, Encoder,
extern "C" {
HalEncoderHandle initializeEncoder(
uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
HalHandle digitalSourceHandleA, AnalogTriggerType analogTriggerTypeA,
HalHandle digitalSourceHandleB, AnalogTriggerType analogTriggerTypeB,
bool reverseDirection, EncoderEncodingType encodingType, int32_t* status) {
auto encoder = std::make_shared<Encoder>(
port_a_module, port_a_pin, port_a_analog_trigger, port_b_module,
port_b_pin, port_b_analog_trigger, reverseDirection, encodingType,
status);
digitalSourceHandleA, analogTriggerTypeA, digitalSourceHandleB,
analogTriggerTypeB, reverseDirection, encodingType, status);
if (*status != 0) return HAL_INVALID_HANDLE; // return in creation error
auto handle = encoderHandles.Allocate(encoder);
if (handle == HAL_INVALID_HANDLE) {
@@ -413,15 +415,16 @@ EncoderEncodingType getEncoderEncodingType(HalEncoderHandle encoder_handle,
return encoder->GetEncodingType();
}
void setEncoderIndexSource(HalEncoderHandle encoder_handle, uint32_t pin,
uint8_t analogTrigger, EncoderIndexingType type,
int32_t* status) {
void setEncoderIndexSource(HalEncoderHandle encoder_handle,
HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType,
EncoderIndexingType type, int32_t* status) {
auto encoder = encoderHandles.Get(encoder_handle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
encoder->SetIndexSource(pin, analogTrigger, type, status);
encoder->SetIndexSource(digitalSourceHandle, analogTriggerType, type, status);
}
int32_t getEncoderFPGAIndex(HalEncoderHandle encoder_handle, int32_t* status) {

18
hal/lib/athena/EncoderInternal.h
View File

@@ -14,9 +14,8 @@
namespace hal {
class Encoder {
public:
Encoder(uint8_t port_a_module, uint32_t port_a_pin,
bool port_a_analog_trigger, uint8_t port_b_module,
uint32_t port_b_pin, bool port_b_analog_trigger,
Encoder(HalHandle digitalSourceHandleA, AnalogTriggerType analogTriggerTypeA,
HalHandle digitalSourceHandleB, AnalogTriggerType analogTriggerTypeB,
bool reverseDirection, EncoderEncodingType encodingType,
int32_t* status);
~Encoder();
@@ -39,7 +38,8 @@ class Encoder {
void SetSamplesToAverage(int samplesToAverage, int32_t* status);
int32_t GetSamplesToAverage(int32_t* status) const;
void SetIndexSource(uint32_t pin, bool analogTrigger,
void SetIndexSource(HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType,
EncoderIndexingType type, int32_t* status);
int32_t GetFPGAIndex() const { return m_index; }
@@ -53,11 +53,11 @@ class Encoder {
EncoderEncodingType GetEncodingType() const { return m_encodingType; }
private:
void SetupCounter(uint8_t port_a_module, uint32_t port_a_pin,
bool port_a_analog_trigger, uint8_t port_b_module,
uint32_t port_b_pin, bool port_b_analog_trigger,
bool reverseDirection, EncoderEncodingType encodingType,
int32_t* status);
void SetupCounter(HalHandle digitalSourceHandleA,
AnalogTriggerType analogTriggerTypeA,
HalHandle digitalSourceHandleB,
AnalogTriggerType analogTriggerTypeB, bool reverseDirection,
EncoderEncodingType encodingType, int32_t* status);
HalFPGAEncoderHandle m_encoder = HAL_INVALID_HANDLE;

86
hal/lib/athena/FPGAEncoder.cpp
View File

@@ -27,12 +27,29 @@ static LimitedHandleResource<HalFPGAEncoderHandle, Encoder, kNumEncoders,
fpgaEncoderHandles;
extern "C" {
HalFPGAEncoderHandle initializeFPGAEncoder(
uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
bool reverseDirection, int32_t* index, int32_t* status) {
remapDigitalSource(port_a_analog_trigger, port_a_pin, port_a_module);
remapDigitalSource(port_b_analog_trigger, port_b_pin, port_b_module);
HalFPGAEncoderHandle initializeFPGAEncoder(HalHandle digitalSourceHandleA,
AnalogTriggerType analogTriggerTypeA,
HalHandle digitalSourceHandleB,
AnalogTriggerType analogTriggerTypeB,
bool reverseDirection,
int32_t* index, int32_t* status) {
bool routingAnalogTriggerA = false;
uint32_t routingPinA = 0;
uint8_t routingModuleA = 0;
bool successA =
remapDigitalSource(digitalSourceHandleA, analogTriggerTypeA, routingPinA,
routingModuleA, routingAnalogTriggerA);
bool routingAnalogTriggerB = false;
uint32_t routingPinB = 0;
uint8_t routingModuleB = 0;
bool successB =
remapDigitalSource(digitalSourceHandleB, analogTriggerTypeB, routingPinB,
routingModuleB, routingAnalogTriggerB);
if (!successA || !successB) {
*status = HAL_HANDLE_ERROR;
return HAL_INVALID_HANDLE;
}
auto handle = fpgaEncoderHandles.Allocate();
if (handle == HAL_INVALID_HANDLE) { // out of resources
@@ -42,7 +59,7 @@ HalFPGAEncoderHandle initializeFPGAEncoder(
auto encoder = fpgaEncoderHandles.Get(handle);
if (encoder == nullptr) { // will only error on thread issue
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_HANDLE_ERROR;
return HAL_INVALID_HANDLE;
}
@@ -51,13 +68,13 @@ HalFPGAEncoderHandle initializeFPGAEncoder(
*index = encoder->index;
// TODO: if (index == ~0ul) { CloneError(quadEncoders); return; }
encoder->encoder = tEncoder::create(encoder->index, status);
encoder->encoder->writeConfig_ASource_Module(port_a_module, status);
encoder->encoder->writeConfig_ASource_Channel(port_a_pin, status);
encoder->encoder->writeConfig_ASource_AnalogTrigger(port_a_analog_trigger,
encoder->encoder->writeConfig_ASource_Module(routingModuleA, status);
encoder->encoder->writeConfig_ASource_Channel(routingPinA, status);
encoder->encoder->writeConfig_ASource_AnalogTrigger(routingAnalogTriggerA,
status);
encoder->encoder->writeConfig_BSource_Module(port_b_module, status);
encoder->encoder->writeConfig_BSource_Channel(port_b_pin, status);
encoder->encoder->writeConfig_BSource_AnalogTrigger(port_b_analog_trigger,
encoder->encoder->writeConfig_BSource_Module(routingModuleB, status);
encoder->encoder->writeConfig_BSource_Channel(routingPinB, status);
encoder->encoder->writeConfig_BSource_AnalogTrigger(routingAnalogTriggerB,
status);
encoder->encoder->strobeReset(status);
encoder->encoder->writeConfig_Reverse(reverseDirection, status);
@@ -71,7 +88,7 @@ void freeFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle,
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
fpgaEncoderHandles.Free(fpga_encoder_handle);
if (encoder == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_HANDLE_ERROR;
return;
}
delete encoder->encoder;
@@ -85,7 +102,7 @@ void resetFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_HANDLE_ERROR;
return;
}
encoder->encoder->strobeReset(status);
@@ -101,7 +118,7 @@ int32_t getFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_HANDLE_ERROR;
return 0;
}
return encoder->encoder->readOutput_Value(status);
@@ -121,7 +138,7 @@ double getFPGAEncoderPeriod(HalFPGAEncoderHandle fpga_encoder_handle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_HANDLE_ERROR;
return 0.0;
}
tEncoder::tTimerOutput output = encoder->encoder->readTimerOutput(status);
@@ -157,7 +174,7 @@ void setFPGAEncoderMaxPeriod(HalFPGAEncoderHandle fpga_encoder_handle,
double maxPeriod, int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_HANDLE_ERROR;
return;
}
encoder->encoder->writeTimerConfig_StallPeriod(
@@ -175,7 +192,7 @@ bool getFPGAEncoderStopped(HalFPGAEncoderHandle fpga_encoder_handle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_HANDLE_ERROR;
return false;
}
return encoder->encoder->readTimerOutput_Stalled(status) != 0;
@@ -189,7 +206,7 @@ bool getFPGAEncoderDirection(HalFPGAEncoderHandle fpga_encoder_handle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_HANDLE_ERROR;
return false;
}
return encoder->encoder->readOutput_Direction(status);
@@ -205,7 +222,7 @@ void setFPGAEncoderReverseDirection(HalFPGAEncoderHandle fpga_encoder_handle,
bool reverseDirection, int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_HANDLE_ERROR;
return;
}
encoder->encoder->writeConfig_Reverse(reverseDirection, status);
@@ -222,7 +239,7 @@ void setFPGAEncoderSamplesToAverage(HalFPGAEncoderHandle fpga_encoder_handle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_HANDLE_ERROR;
return;
}
if (samplesToAverage < 1 || samplesToAverage > 127) {
@@ -241,7 +258,7 @@ uint32_t getFPGAEncoderSamplesToAverage(
HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_HANDLE_ERROR;
return 0;
}
return encoder->encoder->readTimerConfig_AverageSize(status);
@@ -252,17 +269,30 @@ uint32_t getFPGAEncoderSamplesToAverage(
* encoder's count.
*/
void setFPGAEncoderIndexSource(HalFPGAEncoderHandle fpga_encoder_handle,
uint32_t pin, bool analogTrigger,
HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType,
bool activeHigh, bool edgeSensitive,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_HANDLE_ERROR;
return;
}
encoder->encoder->writeConfig_IndexSource_Channel((unsigned char)pin, status);
encoder->encoder->writeConfig_IndexSource_Module((unsigned char)0, status);
encoder->encoder->writeConfig_IndexSource_AnalogTrigger(analogTrigger,
bool routingAnalogTrigger = false;
uint32_t routingPin = 0;
uint8_t routingModule = 0;
bool success =
remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin,
routingModule, routingAnalogTrigger);
if (!success) {
*status = HAL_HANDLE_ERROR;
return;
}
encoder->encoder->writeConfig_IndexSource_Channel(routingPin, status);
encoder->encoder->writeConfig_IndexSource_Module(routingModule, status);
encoder->encoder->writeConfig_IndexSource_AnalogTrigger(routingAnalogTrigger,
status);
encoder->encoder->writeConfig_IndexActiveHigh(activeHigh, status);
encoder->encoder->writeConfig_IndexEdgeSensitive(edgeSensitive, status);

15
hal/lib/athena/FPGAEncoder.h
View File

@@ -9,14 +9,16 @@
#include <stdint.h>
#include "HAL/AnalogTrigger.h"
#include "HAL/Handles.h"
extern "C" {
HalFPGAEncoderHandle initializeFPGAEncoder(
uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
bool reverseDirection, int32_t* index,
int32_t* status); // TODO: fix routing
HalFPGAEncoderHandle initializeFPGAEncoder(HalHandle digitalSourceHandleA,
AnalogTriggerType analogTriggerTypeA,
HalHandle digitalSourceHandleB,
AnalogTriggerType analogTriggerTypeB,
bool reverseDirection,
int32_t* index, int32_t* status);
void freeFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status);
void resetFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle,
int32_t* status);
@@ -37,7 +39,8 @@ void setFPGAEncoderSamplesToAverage(HalFPGAEncoderHandle fpga_encoder_handle,
uint32_t getFPGAEncoderSamplesToAverage(
HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status);
void setFPGAEncoderIndexSource(HalFPGAEncoderHandle fpga_encoder_handle,
uint32_t pin, bool analogTrigger,
HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType,
bool activeHigh, bool edgeSensitive,
int32_t* status);
}

22
hal/lib/athena/Interrupts.cpp
View File

@@ -14,6 +14,7 @@
#include "DigitalInternal.h"
#include "HAL/Errors.h"
#include "PortsInternal.h"
#include "handles/HandlesInternal.h"
#include "handles/LimitedHandleResource.h"
using namespace hal;
@@ -147,19 +148,28 @@ double readFallingTimestamp(HalInterruptHandle interrupt_handle,
}
void requestInterrupts(HalInterruptHandle interrupt_handle,
uint8_t routing_module, uint32_t routing_pin,
bool routing_analog_trigger, int32_t* status) {
HalHandle digitalSourceHandle,
AnalogTriggerType analogTriggerType, int32_t* status) {
auto anInterrupt = interruptHandles.Get(interrupt_handle);
if (anInterrupt == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
anInterrupt->anInterrupt->writeConfig_WaitForAck(false, status);
remapDigitalSource(routing_analog_trigger, routing_pin, routing_module);
bool routingAnalogTrigger = false;
uint32_t routingPin = 0;
uint8_t routingModule = 0;
bool success =
remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin,
routingModule, routingAnalogTrigger);
if (!success) {
*status = HAL_HANDLE_ERROR;
return;
}
anInterrupt->anInterrupt->writeConfig_Source_AnalogTrigger(
routing_analog_trigger, status);
anInterrupt->anInterrupt->writeConfig_Source_Channel(routing_pin, status);
anInterrupt->anInterrupt->writeConfig_Source_Module(routing_module, status);
routingAnalogTrigger, status);
anInterrupt->anInterrupt->writeConfig_Source_Channel(routingPin, status);
anInterrupt->anInterrupt->writeConfig_Source_Module(routingModule, status);
}
void attachInterruptHandler(HalInterruptHandle interrupt_handle,

8
wpilibc/athena/include/AnalogTriggerOutput.h
View File

@@ -49,10 +49,10 @@ class AnalogTriggerOutput : public DigitalSource {
bool Get() const;
// DigitalSource interface
virtual uint32_t GetChannelForRouting() const override;
virtual uint32_t GetModuleForRouting() const override;
virtual bool GetAnalogTriggerForRouting() const override;
virtual HalHandle GetPortHandle() const override;
virtual HalHandle GetPortHandleForRouting() const override;
virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
virtual bool IsAnalogTrigger() const override;
virtual uint32_t GetChannel() const override;
protected:
AnalogTriggerOutput(const AnalogTrigger& trigger,

9
wpilibc/athena/include/DigitalInput.h
View File

@@ -29,13 +29,12 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable {
explicit DigitalInput(uint32_t channel);
virtual ~DigitalInput();
bool Get() const;
uint32_t GetChannel() const;
uint32_t GetChannel() const override;
// Digital Source Interface
virtual uint32_t GetChannelForRouting() const;
virtual uint32_t GetModuleForRouting() const;
virtual bool GetAnalogTriggerForRouting() const;
virtual HalHandle GetPortHandle() const;
virtual HalHandle GetPortHandleForRouting() const override;
virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
virtual bool IsAnalogTrigger() const override;
void UpdateTable();
void StartLiveWindowMode();

9
wpilibc/athena/include/DigitalOutput.h
View File

@@ -27,7 +27,7 @@ class DigitalOutput : public DigitalSource,
explicit DigitalOutput(uint32_t channel);
virtual ~DigitalOutput();
void Set(uint32_t value);
uint32_t GetChannel() const;
uint32_t GetChannel() const override;
void Pulse(float length);
bool IsPulsing() const;
void SetPWMRate(float rate);
@@ -36,10 +36,9 @@ class DigitalOutput : public DigitalSource,
void UpdateDutyCycle(float dutyCycle);
// Digital Source Interface
virtual uint32_t GetChannelForRouting() const;
virtual uint32_t GetModuleForRouting() const;
virtual bool GetAnalogTriggerForRouting() const;
virtual HalHandle GetPortHandle() const;
virtual HalHandle GetPortHandleForRouting() const override;
virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
virtual bool IsAnalogTrigger() const override;
virtual void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew);

8
wpilibc/athena/include/DigitalSource.h
View File

@@ -23,8 +23,8 @@
class DigitalSource : public InterruptableSensorBase {
public:
virtual ~DigitalSource() = default;
virtual uint32_t GetChannelForRouting() const = 0;
virtual uint32_t GetModuleForRouting() const = 0;
virtual bool GetAnalogTriggerForRouting() const = 0;
virtual HalHandle GetPortHandle() const = 0;
virtual HalHandle GetPortHandleForRouting() const = 0;
virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
virtual bool IsAnalogTrigger() const = 0;
virtual uint32_t GetChannel() const = 0;
};

1
wpilibc/athena/include/Encoder.h
View File

@@ -98,6 +98,7 @@ class Encoder : public SensorBase,
std::shared_ptr<DigitalSource> m_aSource; // the A phase of the quad encoder
std::shared_ptr<DigitalSource> m_bSource; // the B phase of the quad encoder
std::unique_ptr<DigitalSource> m_indexSource = nullptr;
HalEncoderHandle m_encoder = HAL_INVALID_HANDLE;
std::shared_ptr<ITable> m_table;

6
wpilibc/athena/include/InterruptableSensorBase.h
View File

@@ -9,6 +9,7 @@
#include <memory>
#include "HAL/AnalogTrigger.h"
#include "HAL/Interrupts.h"
#include "SensorBase.h"
@@ -23,9 +24,8 @@ class InterruptableSensorBase : public SensorBase {
InterruptableSensorBase();
virtual ~InterruptableSensorBase() = default;
virtual uint32_t GetChannelForRouting() const = 0;
virtual uint32_t GetModuleForRouting() const = 0;
virtual bool GetAnalogTriggerForRouting() const = 0;
virtual HalHandle GetPortHandleForRouting() const = 0;
virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
virtual void RequestInterrupts(
InterruptHandlerFunction handler,
void* param); ///< Asynchronus handler version.

36
wpilibc/athena/src/AnalogTriggerOutput.cpp
View File

@@ -50,26 +50,26 @@ bool AnalogTriggerOutput::Get() const {
return result;
}
/**
* @return The value to be written to the channel field of a routing mux.
*/
uint32_t AnalogTriggerOutput::GetChannelForRouting() const {
return (m_trigger.m_index << 2) + m_outputType;
}
/**
* @return The value to be written to the module field of a routing mux.
*/
uint32_t AnalogTriggerOutput::GetModuleForRouting() const { return 0; }
/**
* @return The value to be written to the module field of a routing mux.
*/
bool AnalogTriggerOutput::GetAnalogTriggerForRouting() const { return true; }
/**
* @return The HAL Handle to the specified source.
*/
HalHandle AnalogTriggerOutput::GetPortHandle() const {
HalHandle AnalogTriggerOutput::GetPortHandleForRouting() const {
return m_trigger.m_trigger;
}
/**
* Is source an AnalogTrigger
*/
bool AnalogTriggerOutput::IsAnalogTrigger() const { return true; }
/**
* @return The type of analog trigger output to be used.
*/
AnalogTriggerType AnalogTriggerOutput::GetAnalogTriggerTypeForRouting() const {
return m_outputType;
}
/**
* @return The channel of the source.
*/
uint32_t AnalogTriggerOutput::GetChannel() const { return m_trigger.m_index; }

8
wpilibc/athena/src/Counter.cpp
View File

@@ -234,8 +234,8 @@ void Counter::SetUpSource(std::shared_ptr<DigitalSource> source) {
CloneError(*m_upSource);
} else {
int32_t status = 0;
setCounterUpSource(m_counter, source->GetChannelForRouting(),
source->GetAnalogTriggerForRouting(), &status);
setCounterUpSource(m_counter, source->GetPortHandleForRouting(),
source->GetAnalogTriggerTypeForRouting(), &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
@@ -340,8 +340,8 @@ void Counter::SetDownSource(std::shared_ptr<DigitalSource> source) {
CloneError(*m_downSource);
} else {
int32_t status = 0;
setCounterDownSource(m_counter, source->GetChannelForRouting(),
source->GetAnalogTriggerForRouting(), &status);
setCounterDownSource(m_counter, source->GetPortHandleForRouting(),
source->GetAnalogTriggerTypeForRouting(), &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}

9
wpilibc/athena/src/DigitalGlitchFilter.cpp
View File

@@ -53,21 +53,22 @@ void DigitalGlitchFilter::DoAdd(DigitalSource* input, int requested_index) {
// here, we catch the issue more generally.
if (input) {
// we don't support GlitchFilters on AnalogTriggers.
if (input->GetAnalogTriggerForRouting()) {
if (input->IsAnalogTrigger()) {
wpi_setErrorWithContext(
-1, "Analog Triggers not supported for DigitalGlitchFilters");
return;
}
int32_t status = 0;
setFilterSelect(input->GetPortHandle(), requested_index, &status);
setFilterSelect(input->GetPortHandleForRouting(), requested_index, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
// Validate that we set it correctly.
int actual_index = getFilterSelect(input->GetPortHandle(), &status);
int actual_index =
getFilterSelect(input->GetPortHandleForRouting(), &status);
wpi_assertEqual(actual_index, requested_index);
HALReport(HALUsageReporting::kResourceType_DigitalInput,
input->GetChannelForRouting());
input->GetChannel());
}
}

29
wpilibc/athena/src/DigitalInput.cpp
View File

@@ -78,25 +78,22 @@ bool DigitalInput::Get() const {
*/
uint32_t DigitalInput::GetChannel() const { return m_channel; }
/**
* @return The value to be written to the channel field of a routing mux.
*/
uint32_t DigitalInput::GetChannelForRouting() const { return GetChannel(); }
/**
* @return The value to be written to the module field of a routing mux.
*/
uint32_t DigitalInput::GetModuleForRouting() const { return 0; }
/**
* @return The value to be written to the analog trigger field of a routing mux.
*/
bool DigitalInput::GetAnalogTriggerForRouting() const { return false; }
/**
* @return The HAL Handle to the specified source.
*/
HalHandle DigitalInput::GetPortHandle() const { return m_handle; }
HalHandle DigitalInput::GetPortHandleForRouting() const { return m_handle; }
/**
* Is source an AnalogTrigger
*/
bool DigitalInput::IsAnalogTrigger() const { return false; }
/**
* @return The type of analog trigger output to be used. 0 for Digitals
*/
AnalogTriggerType DigitalInput::GetAnalogTriggerTypeForRouting() const {
return (AnalogTriggerType)0;
}
void DigitalInput::UpdateTable() {
if (m_table != nullptr) {

29
wpilibc/athena/src/DigitalOutput.cpp
View File

@@ -193,25 +193,22 @@ void DigitalOutput::UpdateDutyCycle(float dutyCycle) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* @return The value to be written to the channel field of a routing mux.
*/
uint32_t DigitalOutput::GetChannelForRouting() const { return GetChannel(); }
/**
* @return The value to be written to the module field of a routing mux.
*/
uint32_t DigitalOutput::GetModuleForRouting() const { return 0; }
/**
* @return The value to be written to the analog trigger field of a routing mux.
*/
bool DigitalOutput::GetAnalogTriggerForRouting() const { return false; }
/**
* @return The HAL Handle to the specified source.
*/
HalHandle DigitalOutput::GetPortHandle() const { return m_handle; }
HalHandle DigitalOutput::GetPortHandleForRouting() const { return m_handle; }
/**
* Is source an AnalogTrigger
*/
bool DigitalOutput::IsAnalogTrigger() const { return false; }
/**
* @return The type of analog trigger output to be used. 0 for Digitals
*/
AnalogTriggerType DigitalOutput::GetAnalogTriggerTypeForRouting() const {
return (AnalogTriggerType)0;
}
void DigitalOutput::ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) {

27
wpilibc/athena/src/Encoder.cpp
View File

@@ -31,18 +31,18 @@
*/
void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
int32_t status = 0;
m_encoder = initializeEncoder(
m_aSource->GetModuleForRouting(), m_aSource->GetChannelForRouting(),
m_aSource->GetAnalogTriggerForRouting(), m_bSource->GetModuleForRouting(),
m_bSource->GetChannelForRouting(),
m_bSource->GetAnalogTriggerForRouting(), reverseDirection,
(EncoderEncodingType)encodingType, &status);
m_encoder = initializeEncoder(m_aSource->GetPortHandleForRouting(),
m_aSource->GetAnalogTriggerTypeForRouting(),
m_bSource->GetPortHandleForRouting(),
m_bSource->GetAnalogTriggerTypeForRouting(),
reverseDirection,
(EncoderEncodingType)encodingType, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
HALReport(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(),
encodingType);
LiveWindow::GetInstance()->AddSensor("Encoder",
m_aSource->GetChannelForRouting(), this);
LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannel(),
this);
}
/**
@@ -447,10 +447,9 @@ double Encoder::PIDGet() {
* @param type The state that will cause the encoder to reset
*/
void Encoder::SetIndexSource(uint32_t channel, Encoder::IndexingType type) {
int32_t status = 0;
setEncoderIndexSource(m_encoder, channel, false, (EncoderIndexingType)type,
&status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
// Force digital input if just given an index
m_indexSource = std::make_unique<DigitalInput>(channel);
SetIndexSource(m_indexSource.get(), type);
}
/**
@@ -478,8 +477,8 @@ void Encoder::SetIndexSource(DigitalSource* source,
void Encoder::SetIndexSource(const DigitalSource& source,
Encoder::IndexingType type) {
int32_t status = 0;
setEncoderIndexSource(m_encoder, source.GetChannelForRouting(),
source.GetAnalogTriggerForRouting(),
setEncoderIndexSource(m_encoder, source.GetPortHandleForRouting(),
source.GetAnalogTriggerTypeForRouting(),
(EncoderIndexingType)type, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

8
wpilibc/athena/src/InterruptableSensorBase.cpp
View File

@@ -30,8 +30,8 @@ void InterruptableSensorBase::RequestInterrupts(
if (StatusIsFatal()) return; // if allocate failed, out of interrupts
int32_t status = 0;
requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
GetAnalogTriggerForRouting(), &status);
requestInterrupts(m_interrupt, GetPortHandleForRouting(),
GetAnalogTriggerTypeForRouting(), &status);
SetUpSourceEdge(true, false);
attachInterruptHandler(m_interrupt, handler, param, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -52,8 +52,8 @@ void InterruptableSensorBase::RequestInterrupts() {
if (StatusIsFatal()) return; // if allocate failed, out of interrupts
int32_t status = 0;
requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
GetAnalogTriggerForRouting(), &status);
requestInterrupts(m_interrupt, GetPortHandleForRouting(),
GetAnalogTriggerTypeForRouting(), &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
SetUpSourceEdge(true, false);
}

22
wpilibj/src/athena/cpp/lib/CounterJNI.cpp
View File

@@ -82,17 +82,19 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterAverageSize(
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterUpSource
* Signature: (IIZ)V
* Signature: (III)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSource(
JNIEnv* env, jclass, jint id, jint pin, jboolean analogTrigger) {
JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType) {
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSource";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "Pin = " << pin;
COUNTERJNI_LOG(logDEBUG) << "AnalogTrigger = " << (jint)analogTrigger;
COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
int32_t status = 0;
setCounterUpSource((HalCounterHandle)id, pin, analogTrigger, &status);
setCounterUpSource((HalCounterHandle)id, (HalHandle)digitalSourceHandle,
(AnalogTriggerType)analogTriggerType, &status);
COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -138,13 +140,15 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterUpSource(
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSource(
JNIEnv* env, jclass, jint id, jint pin, jboolean analogTrigger) {
JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType) {
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSource";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "Pin = " << pin;
COUNTERJNI_LOG(logDEBUG) << "AnalogTrigger = " << (jint)analogTrigger;
COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
int32_t status = 0;
setCounterDownSource((HalCounterHandle)id, pin, analogTrigger, &status);
setCounterDownSource((HalCounterHandle)id, (HalHandle)digitalSourceHandle,
(AnalogTriggerType)analogTriggerType, &status);
COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
if (status == PARAMETER_OUT_OF_RANGE) {
ThrowIllegalArgumentException(env,

43
wpilibj/src/athena/cpp/lib/EncoderJNI.cpp
View File

@@ -29,29 +29,27 @@ extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: initializeEncoder
* Signature: (BIZBIZZI)I
* Signature: (IIIIZI)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder(
JNIEnv* env, jclass, jbyte port_a_module, jint port_a_pin,
jboolean port_a_analog_trigger, jbyte port_b_module, jint port_b_pin,
jboolean port_b_analog_trigger, jboolean reverseDirection, jint encodingType) {
JNIEnv* env, jclass, jint digitalSourceHandleA, jint analogTriggerTypeA,
jint digitalSourceHandleB, jint analogTriggerTypeB, jboolean reverseDirection,
jint encodingType) {
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
ENCODERJNI_LOG(logDEBUG) << "Module A = " << (jint)port_a_module;
ENCODERJNI_LOG(logDEBUG) << "Pin A = " << port_a_pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger A = "
<< (jint)port_a_analog_trigger;
ENCODERJNI_LOG(logDEBUG) << "Module B = " << (jint)port_b_module;
ENCODERJNI_LOG(logDEBUG) << "Pin B = " << port_b_pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger B = "
<< (jint)port_b_analog_trigger;
ENCODERJNI_LOG(logDEBUG) << "Source Handle A = " << digitalSourceHandleA;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type A = "
<< analogTriggerTypeA;
ENCODERJNI_LOG(logDEBUG) << "Source Handle B = " << digitalSourceHandleB;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type B = "
<< analogTriggerTypeB;
ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
ENCODERJNI_LOG(logDEBUG) << "EncodingType = " << encodingType;
int32_t status = 0;
auto encoder = initializeEncoder(
port_a_module, port_a_pin, port_a_analog_trigger, port_b_module,
port_b_pin, port_b_analog_trigger, reverseDirection,
(EncoderEncodingType)encodingType, &status);
(HalHandle)digitalSourceHandleA, (AnalogTriggerType)analogTriggerTypeA,
(HalHandle)digitalSourceHandleB, (AnalogTriggerType)analogTriggerTypeB,
reverseDirection, (EncoderEncodingType)encodingType, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
ENCODERJNI_LOG(logDEBUG) << "ENCODER Handle = " << encoder;
@@ -336,20 +334,21 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage(
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderIndexSource
* Signature: (IIZI)V
* Signature: (IIII)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource(
JNIEnv* env, jclass, jint id, jint pin, jboolean analogTrigger,
jint type) {
JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType, jint type) {
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
ENCODERJNI_LOG(logDEBUG) << "Pin = " << pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger = "
<< (analogTrigger ? "true" : "false");
ENCODERJNI_LOG(logDEBUG) << "Source Handle = " << digitalSourceHandle;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type = "
<< analogTriggerType;
ENCODERJNI_LOG(logDEBUG) << "IndexingType = " << type;
int32_t status = 0;
setEncoderIndexSource((HalEncoderHandle)id, pin, analogTrigger,
setEncoderIndexSource((HalEncoderHandle)id, (HalHandle)digitalSourceHandle,
(AnalogTriggerType)analogTriggerType,
(EncoderIndexingType)type, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);

16
wpilibj/src/athena/cpp/lib/InterruptJNI.cpp
View File

@@ -257,22 +257,20 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readFallingTimestamp(
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: requestInterrupts
* Signature: (JBIZ)V
* Signature: (III)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts(
JNIEnv* env, jclass, jint interrupt_handle, jbyte routing_module,
jint routing_pin, jboolean routing_analog_trigger) {
JNIEnv* env, jclass, jint interrupt_handle, jint digitalSourceHandle,
jint analogTriggerType) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle;
INTERRUPTJNI_LOG(logDEBUG) << "routing module = " << (jint)routing_module;
INTERRUPTJNI_LOG(logDEBUG) << "routing pin = " << routing_pin;
INTERRUPTJNI_LOG(logDEBUG) << "routing analog trigger = "
<< (jint)routing_analog_trigger;
INTERRUPTJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
INTERRUPTJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
int32_t status = 0;
requestInterrupts((HalInterruptHandle)interrupt_handle, (uint8_t)routing_module,
(uint32_t)routing_pin, routing_analog_trigger, &status);
requestInterrupts((HalInterruptHandle)interrupt_handle, (HalHandle)digitalSourceHandle,
(AnalogTriggerType)analogTriggerType, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);

22
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
View File

@@ -101,23 +101,23 @@ public class AnalogTriggerOutput extends DigitalSource {
}
@Override
public int getChannelForRouting() {
return (m_trigger.m_index << 2) + m_outputType.m_value;
public int getPortHandleForRouting() {
return m_trigger.m_port;
}
@Override
public byte getModuleForRouting() {
return (byte) (m_trigger.m_index >> 2);
}
@Override
public boolean getAnalogTriggerForRouting() {
return true;
public int getAnalogTriggerTypeForRouting() {
return m_outputType.m_value;
}
@Override
public int getPortHandle() {
return m_trigger.m_port;
public int getChannel() {
return m_trigger.m_index;
}
@Override
public boolean isAnalogTrigger() {
return true;
}
/**

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java
View File

@@ -230,8 +230,8 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
m_allocatedUpSource = false;
}
m_upSource = source;
CounterJNI.setCounterUpSource(m_counter, source.getChannelForRouting(),
source.getAnalogTriggerForRouting());
CounterJNI.setCounterUpSource(m_counter, source.getPortHandleForRouting(),
source.getAnalogTriggerTypeForRouting());
}
/**
@@ -303,8 +303,8 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
m_downSource.free();
m_allocatedDownSource = false;
}
CounterJNI.setCounterDownSource(m_counter, source.getChannelForRouting(),
source.getAnalogTriggerForRouting());
CounterJNI.setCounterDownSource(m_counter, source.getPortHandleForRouting(),
source.getAnalogTriggerTypeForRouting());
m_downSource = source;
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
View File

@@ -54,12 +54,12 @@ public class DigitalGlitchFilter extends SensorBase {
private static void setFilter(DigitalSource input, int channelIndex) {
if (input != null) { // Counter might have just one input
// analog triggers are not supported for DigitalGlitchFilters
if (input.getAnalogTriggerForRouting()) {
if (input.isAnalogTrigger()) {
throw new IllegalStateException("Analog Triggers not supported for DigitalGlitchFilters");
}
DigitalGlitchFilterJNI.setFilterSelect(input.getPortHandle(), channelIndex);
DigitalGlitchFilterJNI.setFilterSelect(input.getPortHandleForRouting(), channelIndex);
int selected = DigitalGlitchFilterJNI.getFilterSelect(input.getPortHandle());
int selected = DigitalGlitchFilterJNI.getFilterSelect(input.getPortHandleForRouting());
if (selected != channelIndex) {
throw new IllegalStateException("DigitalGlitchFilterJNI.setFilterSelect("
+ channelIndex + ") failed -> " + selected);

24
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java
View File

@@ -65,37 +65,28 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
*
* @return The GPIO channel number that this object represents.
*/
@Override
public int getChannel() {
return m_channel;
}
/**
* Get the channel routing number.
* Get the analog trigger type.
*
* @return channel routing number
* @return false
*/
@Override
public int getChannelForRouting() {
return m_channel;
}
/**
* Get the module routing number.
*
* @return 0
*/
@Override
public byte getModuleForRouting() {
public int getAnalogTriggerTypeForRouting() {
return 0;
}
/**
* Is this an analog trigger.
*
* @return true if this is an analog trigger
*/
@Override
public boolean getAnalogTriggerForRouting() {
public boolean isAnalogTrigger() {
return false;
}
@@ -105,11 +96,10 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
* @return The HAL Handle to the specified source.
*/
@Override
public int getPortHandle() {
public int getPortHandleForRouting() {
return m_handle;
}
@Override
public String getSmartDashboardType() {
return "Digital Input";

23
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
View File

@@ -67,6 +67,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
/**
* @return The GPIO channel number that this object represents.
*/
@Override
public int getChannel() {
return m_channel;
}
@@ -170,34 +171,24 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
}
DIOJNI.setDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle);
}
/**
* Get the channel routing number.
*
* @return channel routing number
*/
@Override
public int getChannelForRouting() {
return m_channel;
}
/**
* Get the module routing number.
* Get the analog trigger type.
*
* @return 0
* @return false
*/
@Override
public byte getModuleForRouting() {
public int getAnalogTriggerTypeForRouting() {
return 0;
}
/**
* Is this an analog trigger.
*
* @return true if this is an analog trigger
*/
@Override
public boolean getAnalogTriggerForRouting() {
public boolean isAnalogTrigger() {
return false;
}
@@ -207,7 +198,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
* @return The HAL Handle to the specified source.
*/
@Override
public int getPortHandle() {
public int getPortHandleForRouting() {
return m_handle;
}

4
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalSource.java
View File

@@ -14,5 +14,7 @@ package edu.wpi.first.wpilibj;
* source. The source can either be a digital input or analog trigger but not both.
*/
public abstract class DigitalSource extends InterruptableSensorBase {
public abstract int getPortHandle();
public abstract boolean isAnalogTrigger();
public abstract int getChannel();
}

23
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj.hal.EncoderJNI;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.util.AllocationException;
/**
* Class to read quad encoders. Quadrature encoders are devices that count shaft rotation and can
@@ -72,15 +73,14 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* @param reverseDirection If true, counts down instead of up (this is all relative)
*/
private void initEncoder(boolean reverseDirection, final EncodingType type) {
m_encoder = EncoderJNI.initializeEncoder(m_aSource.getModuleForRouting(),
(byte)m_aSource.getChannelForRouting(), m_aSource.getAnalogTriggerForRouting(),
m_bSource.getModuleForRouting(), (byte)m_bSource.getChannelForRouting(),
m_bSource.getAnalogTriggerForRouting(), reverseDirection, type.value);
m_encoder = EncoderJNI.initializeEncoder(m_aSource.getPortHandleForRouting(),
m_aSource.getAnalogTriggerTypeForRouting(), m_bSource.getPortHandleForRouting(),
m_bSource.getAnalogTriggerTypeForRouting(), reverseDirection, type.value);
m_pidSource = PIDSourceType.kDisplacement;
UsageReporting.report(tResourceType.kResourceType_Encoder, getFPGAIndex(), type.value);
LiveWindow.addSensor("Encoder", m_aSource.getChannelForRouting(), this);
LiveWindow.addSensor("Encoder", m_aSource.getChannel(), this);
}
/**
@@ -164,7 +164,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
m_bSource = new DigitalInput(channelB);
m_indexSource = new DigitalInput(indexChannel);
initEncoder(reverseDirection, EncodingType.k4X);
setIndexSource(indexChannel);
setIndexSource(m_indexSource);
}
/**
@@ -564,7 +564,12 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* @param type The state that will cause the encoder to reset
*/
public void setIndexSource(int channel, IndexingType type) {
EncoderJNI.setEncoderIndexSource(m_encoder, channel, false, type.value);
if (m_allocatedI) {
throw new AllocationException("Digital Input for Indexing already allocated");
}
m_indexSource = new DigitalInput(channel);
m_allocatedI = true;
setIndexSource(m_indexSource, type);
}
/**
@@ -575,8 +580,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* @param type The state that will cause the encoder to reset
*/
public void setIndexSource(DigitalSource source, IndexingType type) {
EncoderJNI.setEncoderIndexSource(m_encoder, source.getChannelForRouting(),
source.getAnalogTriggerForRouting(), type.value);
EncoderJNI.setEncoderIndexSource(m_encoder, source.getPortHandleForRouting(),
source.getAnalogTriggerTypeForRouting(), type.value);
}
/**

19
wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
View File

@@ -61,21 +61,14 @@ public abstract class InterruptableSensorBase extends SensorBase {
*
* @return true if this is an analog trigger.
*/
abstract boolean getAnalogTriggerForRouting();
public abstract int getAnalogTriggerTypeForRouting();
/**
* The channel routing number.
*
* @return channel routing number
*/
abstract int getChannelForRouting();
/**
* The modules routing number.
*
* @return module routing number
*/
abstract byte getModuleForRouting();
public abstract int getPortHandleForRouting();
/**
* Request one of the 8 interrupts asynchronously on this digital input.
@@ -95,8 +88,8 @@ public abstract class InterruptableSensorBase extends SensorBase {
assert (m_interrupt != 0);
InterruptJNI.requestInterrupts(m_interrupt, getModuleForRouting(), getChannelForRouting(),
getAnalogTriggerForRouting());
InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(),
getAnalogTriggerTypeForRouting());
setUpSourceEdge(true, false);
InterruptJNI.attachInterruptHandler(m_interrupt, handler.m_function,
handler.overridableParameter());
@@ -116,8 +109,8 @@ public abstract class InterruptableSensorBase extends SensorBase {
assert (m_interrupt != 0);
InterruptJNI.requestInterrupts(m_interrupt, getModuleForRouting(), getChannelForRouting(),
getAnalogTriggerForRouting());
InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(),
getAnalogTriggerTypeForRouting());
setUpSourceEdge(true, false);
}

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/CounterJNI.java
View File

@@ -16,16 +16,16 @@ public class CounterJNI extends JNIWrapper {
public static native void setCounterAverageSize(int counterHandle, int size);
public static native void setCounterUpSource(int counterHandle, int pin,
boolean analogTrigger);
public static native void setCounterUpSource(int counterHandle, int digitalSourceHandle,
int analogTriggerType);
public static native void setCounterUpSourceEdge(int counterHandle, boolean risingEdge,
boolean fallingEdge);
public static native void clearCounterUpSource(int counterHandle);
public static native void setCounterDownSource(int counterHandle, int pin,
boolean analogTrigger);
public static native void setCounterDownSource(int counterHandle, int digitalSourceHandle,
int analogTriggerType);
public static native void setCounterDownSourceEdge(int counterHandle, boolean risingEdge,
boolean fallingEdge);

11
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/EncoderJNI.java
View File

@@ -11,10 +11,9 @@ import java.nio.IntBuffer;
public class EncoderJNI extends JNIWrapper {
public static native int initializeEncoder(byte portAModule, int portAPin,
boolean portAAnalogTrigger, byte portBModule,
int portBPin, boolean portBAnalogTrigger,
boolean reverseDirection, int encodingType);
public static native int initializeEncoder(int digitalSourceHandleA, int analogTriggerTypeA,
int digitalSourceHandleB, int analogTriggerTypeB,
boolean reverseDirection, int encodingType);
public static native void freeEncoder(int encoderHandle);
@@ -50,8 +49,8 @@ public class EncoderJNI extends JNIWrapper {
public static native int getEncoderSamplesToAverage(int encoderHandle);
public static native void setEncoderIndexSource(int encoderHandle, int pin,
boolean analogTrigger, int indexingType);
public static native void setEncoderIndexSource(int encoderHandle, int digitalSourceHandle,
int analogTriggerType, int indexingType);
@SuppressWarnings("AbbreviationAsWordInName")
public static native int getEncoderFPGAIndex(int encoderHandle);

4
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/InterruptJNI.java
View File

@@ -29,8 +29,8 @@ public class InterruptJNI extends JNIWrapper {
public static native double readFallingTimestamp(int interruptHandle);
public static native void requestInterrupts(int interruptHandle, byte routingModule,
int routingPin, boolean routingAnalogTrigger);
public static native void requestInterrupts(int interruptHandle, int digitalSourceHandle,
int analogTriggerType);
public static native void attachInterruptHandler(int interruptHandle,
InterruptJNIHandlerFunction handler,