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Move PWM allocation to HAL to allow for checking against DIO allocation

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Re-number MXP DIO to match pinout (include SPI and I2C pins) (fixes artf2664)
Change PWM MXP mapping to accommodate DIO re-mapping
This re-implementation also fixes artf2668 for C++ and Java
Change the test bench to reflect this change also

Change-Id: If30bd6a85a9f1f619fbde06a4ecd595a15fd28f7
This commit is contained in:
Kevin O'Connor
2014-08-05 17:27:43 -04:00
committed by Thomas Clark
parent deb335d96d
commit 59473ab7a7
9 changed files with 105 additions and 41 deletions
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49
hal/lib/Athena/Digital.cpp
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@@ -62,6 +62,7 @@ tRelay* relaySystem = NULL;
tPWM* pwmSystem = NULL;
Resource *DIOChannels = NULL;
Resource *DO_PWMGenerators = NULL;
Resource *PWMChannels = NULL;
bool digitalSystemsInitialized = false;
@@ -99,6 +100,7 @@ void initializeDigital(int32_t *status) {
Resource::CreateResourceObject(&DIOChannels, tDIO::kNumSystems * kDigitalPins);
Resource::CreateResourceObject(&DO_PWMGenerators, tDIO::kNumPWMDutyCycleAElements + tDIO::kNumPWMDutyCycleBElements);
Resource::CreateResourceObject(&PWMChannels, tPWM::kNumSystems * kPwmPins);
digitalSystem = tDIO::create(status);
// Relay Setup
@@ -165,15 +167,19 @@ bool checkRelayChannel(void* digital_port_pointer) {
}
/**
* Map DIO pin numbers from their physical number (10 to 19) to their position
* Map DIO pin numbers from their physical number (10 to 26) to their position
* in the bit field.
*/
uint32_t remapMXPChannel(uint32_t pin) {
if(pin < 14) {
return pin - 10; // First four digital headers
} else {
return pin - 6; // Last 8 digital headers, not counting the SPI pins
}
return pin - 10;
}
uint32_t remapMXPPWMChannel(uint32_t pin) {
if(pin < 14) {
return pin - 10; //first block of 4 pwms (MXP 0-3)
} else {
return pin - 6; //block of PWMs after SPI
}
}
/**
@@ -191,11 +197,6 @@ void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status) {
pwmSystem->writeHdr(port->port.pin, value, status);
} else {
pwmSystem->writeMXP(port->port.pin - tPWM::kNumHdrRegisters, value, status);
// Enable special functions on this pin
uint32_t bitToSet = 1 << remapMXPChannel(port->port.pin);
short specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet, status);
}
}
@@ -426,6 +427,32 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
return true;
}
bool allocatePWMChannel(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
char buf[64];
snprintf(buf, 64, "PWM %d", port->port.pin);
if (PWMChannels->Allocate(port->port.pin, buf) == ~0ul) return false;
if (port->port.pin > tPWM::kNumHdrRegisters-1) {
snprintf(buf, 64, "PWM %d and DIO %d", port->port.pin, remapMXPPWMChannel(port->port.pin) + 10);
if (DIOChannels->Allocate(remapMXPPWMChannel(port->port.pin) + 10, buf) == ~0ul) return false;
uint32_t bitToSet = 1 << remapMXPPWMChannel(port->port.pin);
short specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet, status);
}
return true;
}
void freePWMChannel(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
PWMChannels->Free(port->port.pin);
if(port->port.pin > tPWM::kNumHdrRegisters-1) {
DIOChannels->Free(remapMXPPWMChannel(port->port.pin) + 10);
uint32_t bitToUnset = 1 << remapMXPPWMChannel(port->port.pin);
short specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToUnset, status);
}
}
/**
* Free the resource associated with a digital I/O channel.
*