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Removed analog and digital module numbers

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AnalogModule and DigitalModule classes still exist, at least until they are
refactored into the classes that use them.

Change-Id: I5544d5418822f19d54ba0a5d651e64fad8b7b10d
This commit is contained in:
thomasclark
2014-06-13 17:45:10 -04:00
parent aa3b24092a
commit 58021f7397
90 changed files with 852 additions and 1988 deletions
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65
wpilibc/wpilibC++/lib/DigitalOutput.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
@@ -14,19 +14,14 @@ extern Resource *interruptsResource;
/**
* Create an instance of a DigitalOutput.
* Creates a digital output given a slot and channel. Common creation routine
* for all constructors.
* Creates a digital output given a channel. Common creation routine for all
* constructors.
*/
void DigitalOutput::InitDigitalOutput(uint8_t moduleNumber, uint32_t channel)
void DigitalOutput::InitDigitalOutput(uint32_t channel)
{
m_table = NULL;
char buf[64];
if (!CheckDigitalModule(moduleNumber))
{
snprintf(buf, 64, "Digital Module %d", moduleNumber);
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
return;
}
if (!CheckDigitalChannel(channel))
{
snprintf(buf, 64, "Digital Channel %d", channel);
@@ -35,33 +30,21 @@ void DigitalOutput::InitDigitalOutput(uint8_t moduleNumber, uint32_t channel)
}
m_channel = channel;
m_pwmGenerator = ~0ul;
m_module = DigitalModule::GetInstance(moduleNumber);
m_module = DigitalModule::GetInstance(1);
m_module->AllocateDIO(m_channel, false);
HALReport(HALUsageReporting::kResourceType_DigitalOutput, channel, moduleNumber - 1);
HALReport(HALUsageReporting::kResourceType_DigitalOutput, channel);
}
/**
* Create an instance of a digital output.
* Create a digital output given a channel. The default module is used.
* Create a digital output given a channel.
*
* @param channel The digital channel (1..14).
* @param channel The digital channel (0..19)
*/
DigitalOutput::DigitalOutput(uint32_t channel)
{
InitDigitalOutput(GetDefaultDigitalModule(), channel);
}
/**
* Create an instance of a digital output.
* Create an instance of a digital output given a module number and channel.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The digital channel (1..14).
*/
DigitalOutput::DigitalOutput(uint8_t moduleNumber, uint32_t channel)
{
InitDigitalOutput(moduleNumber, channel);
InitDigitalOutput(channel);
}
/**
@@ -117,11 +100,11 @@ bool DigitalOutput::IsPulsing()
/**
* Change the PWM frequency of the PWM output on a Digital Output line.
*
*
* The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is logarithmic.
*
*
* There is only one PWM frequency per digital module.
*
*
* @param rate The frequency to output all digital output PWM signals on this module.
*/
void DigitalOutput::SetPWMRate(float rate)
@@ -132,14 +115,14 @@ void DigitalOutput::SetPWMRate(float rate)
/**
* Enable a PWM Output on this line.
*
*
* Allocate one of the 4 DO PWM generator resources from this module.
*
*
* Supply the initial duty-cycle to output so as to avoid a glitch when first starting.
*
*
* The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less)
* but is reduced the higher the frequency of the PWM signal is.
*
*
* @param initialDutyCycle The duty-cycle to start generating. [0..1]
*/
void DigitalOutput::EnablePWM(float initialDutyCycle)
@@ -153,7 +136,7 @@ void DigitalOutput::EnablePWM(float initialDutyCycle)
/**
* Change this line from a PWM output back to a static Digital Output line.
*
*
* Free up one of the 4 DO PWM generator resources that were in use.
*/
void DigitalOutput::DisablePWM()
@@ -167,10 +150,10 @@ void DigitalOutput::DisablePWM()
/**
* Change the duty-cycle that is being generated on the line.
*
*
* The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less)
* but is reduced the higher the frequency of the PWM signal is.
*
*
* @param dutyCycle The duty-cycle to change to. [0..1]
*/
void DigitalOutput::UpdateDutyCycle(float dutyCycle)
@@ -192,8 +175,8 @@ uint32_t DigitalOutput::GetChannelForRouting()
*/
uint32_t DigitalOutput::GetModuleForRouting()
{
if (StatusIsFatal()) return 0;
return m_module->GetNumber() - 1;
if (StatusIsFatal()) return 0;
return m_module->GetNumber() - 1;
}
/**
@@ -227,7 +210,7 @@ void DigitalOutput::RequestInterrupts(InterruptHandlerFunction handler, void *pa
AllocateInterrupts(false);
int32_t status = 0;
requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
requestInterrupts(m_interrupt, 1, GetChannelForRouting(),
GetAnalogTriggerForRouting(), &status);
SetUpSourceEdge(true, false);
attachInterruptHandler(m_interrupt, handler, param, &status);
@@ -307,5 +290,3 @@ void DigitalOutput::InitTable(ITable *subTable) {
ITable * DigitalOutput::GetTable() {
return m_table;
}