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Use units in SPI

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This commit is contained in:
Peter Johnson
2019-08-24 21:28:20 -07:00
parent 07ac711b31
commit 5dd0d1b7db
4 changed files with 82 additions and 11 deletions
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4
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2019 FIRST. 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 the root directory of */
/* the project. */
@@ -14,7 +14,7 @@
using namespace frc;
static constexpr double kSamplePeriod = 0.0005;
static constexpr auto kSamplePeriod = 0.0005_s;
static constexpr double kCalibrationSampleTime = 5.0;
static constexpr double kDegreePerSecondPerLSB = 0.0125;

2
wpilibc/src/main/native/cpp/PIDController.cpp
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@@ -31,7 +31,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
double period)
: PIDBase(Kp, Ki, Kd, Kf, source, output) {
m_controlLoop = std::make_unique<Notifier>(&PIDController::Calculate, this);
m_controlLoop->StartPeriodic(period);
m_controlLoop->StartPeriodic(units::second_t(period));
}
PIDController::~PIDController() {

32
wpilibc/src/main/native/cpp/SPI.cpp
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@@ -259,12 +259,16 @@ void SPI::SetAutoTransmitData(wpi::ArrayRef<uint8_t> dataToSend, int zeroSize) {
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void SPI::StartAutoRate(double period) {
void SPI::StartAutoRate(units::second_t period) {
int32_t status = 0;
HAL_StartSPIAutoRate(m_port, period, &status);
HAL_StartSPIAutoRate(m_port, period.to<double>(), &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void SPI::StartAutoRate(double period) {
StartAutoRate(units::second_t(period));
}
void SPI::StartAutoTrigger(DigitalSource& source, bool rising, bool falling) {
int32_t status = 0;
HAL_StartSPIAutoTrigger(
@@ -286,14 +290,19 @@ void SPI::ForceAutoRead() {
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
int SPI::ReadAutoReceivedData(uint32_t* buffer, int numToRead, double timeout) {
int SPI::ReadAutoReceivedData(uint32_t* buffer, int numToRead,
units::second_t timeout) {
int32_t status = 0;
int32_t val =
HAL_ReadSPIAutoReceivedData(m_port, buffer, numToRead, timeout, &status);
int32_t val = HAL_ReadSPIAutoReceivedData(m_port, buffer, numToRead,
timeout.to<double>(), &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return val;
}
int SPI::ReadAutoReceivedData(uint32_t* buffer, int numToRead, double timeout) {
return ReadAutoReceivedData(buffer, numToRead, units::second_t(timeout));
}
int SPI::GetAutoDroppedCount() {
int32_t status = 0;
int32_t val = HAL_GetSPIAutoDroppedCount(m_port, &status);
@@ -301,9 +310,9 @@ int SPI::GetAutoDroppedCount() {
return val;
}
void SPI::InitAccumulator(double period, int cmd, int xferSize, int validMask,
int validValue, int dataShift, int dataSize,
bool isSigned, bool bigEndian) {
void SPI::InitAccumulator(units::second_t period, int cmd, int xferSize,
int validMask, int validValue, int dataShift,
int dataSize, bool isSigned, bool bigEndian) {
InitAuto(xferSize * kAccumulateDepth);
uint8_t cmdBytes[4] = {0, 0, 0, 0};
if (bigEndian) {
@@ -328,6 +337,13 @@ void SPI::InitAccumulator(double period, int cmd, int xferSize, int validMask,
m_accum->m_notifier.StartPeriodic(period * kAccumulateDepth / 2);
}
void SPI::InitAccumulator(double period, int cmd, int xferSize, int validMask,
int validValue, int dataShift, int dataSize,
bool isSigned, bool bigEndian) {
InitAccumulator(units::second_t(period), cmd, xferSize, validMask, validValue,
dataShift, dataSize, isSigned, bigEndian);
}
void SPI::FreeAccumulator() {
m_accum.reset(nullptr);
FreeAuto();