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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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86
hal/lib/athena/FPGAEncoder.cpp
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@@ -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);