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

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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
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61
hal/lib/athena/Encoder.cpp
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@@ -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) {