Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-26 01:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

[hal,wpilib] Remove a ton of things related to the FPGA (#7846)

Browse Source 
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
This commit is contained in:
Thad House
2026-04-17 19:38:25 -07:00
committed by GitHub
parent fdb454a6b1
commit 6cb6903780
73 changed files with 69 additions and 1834 deletions
Download Patch File Download Diff File Expand all files Collapse all files

93
hal/src/main/native/sim/AnalogInput.cpp
View File

@@ -43,7 +43,6 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
}
analog_port->channel = static_cast<uint8_t>(channel);
analog_port->isAccumulator = false;
SimAnalogInData[channel].initialized = true;
SimAnalogInData[channel].simDevice = 0;
@@ -80,52 +79,6 @@ void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
SimAnalogInData[port->channel].simDevice = device;
}
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
// No op
}
double HAL_GetAnalogSampleRate(int32_t* status) {
return kDefaultSampleRate;
}
void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimAnalogInData[port->channel].averageBits = bits;
}
int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
return SimAnalogInData[port->channel].averageBits;
}
void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimAnalogInData[port->channel].oversampleBits = bits;
}
int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
return SimAnalogInData[port->channel].oversampleBits;
}
int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -137,27 +90,12 @@ int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
double voltage = SimAnalogInData[port->channel].voltage;
return HAL_GetAnalogVoltsToValue(analogPortHandle, voltage, status);
}
int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
// No averaging supported
return HAL_GetAnalogValue(analogPortHandle, status);
}
int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
double voltage, int32_t* status) {
if (voltage > 5.0) {
voltage = 5.0;
*status = VOLTAGE_OUT_OF_RANGE;
}
if (voltage < 0.0) {
voltage = 0.0;
*status = VOLTAGE_OUT_OF_RANGE;
}
int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status);
int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status);
int32_t value =
static_cast<int32_t>((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9));
return value;
return static_cast<int32_t>(voltage * 4095.0 / 3.3);
}
double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -171,29 +109,6 @@ double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
double HAL_GetAnalogValueToVolts(HAL_AnalogInputHandle analogPortHandle,
int32_t rawValue, int32_t* status) {
int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status);
int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status);
double voltage = LSBWeight * 1.0e-9 * rawValue - offset * 1.0e-9;
return voltage;
}
double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0.0;
}
// No averaging supported
return SimAnalogInData[port->channel].voltage;
}
int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
return 1220703;
}
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
return 0;
return rawValue / 4095.0 * 3.3;
}
} // extern "C"

6
hal/src/main/native/sim/AnalogInternal.hpp
View File

@@ -13,15 +13,9 @@
#include "wpi/hal/handles/IndexedHandleResource.hpp"
namespace wpi::hal {
constexpr int32_t kTimebase = 40000000; ///< 40 MHz clock
constexpr int32_t kDefaultOversampleBits = 0;
constexpr int32_t kDefaultAverageBits = 7;
constexpr double kDefaultSampleRate = 50000.0;
static constexpr uint32_t kAccumulatorChannels[] = {0, 1};
struct AnalogPort {
uint8_t channel;
bool isAccumulator;
std::string previousAllocation;
};

19
hal/src/main/native/sim/Constants.cpp
View File

@@ -1,19 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "wpi/hal/Constants.h"
#include "ConstantsInternal.hpp"
using namespace wpi::hal;
namespace wpi::hal::init {
void InitializeConstants() {}
} // namespace wpi::hal::init
extern "C" {
int32_t HAL_GetSystemClockTicksPerMicrosecond(void) {
return kSystemClockTicksPerMicrosecond;
}
} // extern "C"

11
hal/src/main/native/sim/ConstantsInternal.hpp
View File

@@ -1,11 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <stdint.h>
namespace wpi::hal {
constexpr int32_t kSystemClockTicksPerMicrosecond = 40;
} // namespace wpi::hal

1
hal/src/main/native/sim/HAL.cpp
View File

@@ -86,7 +86,6 @@ void InitializeHAL() {
InitializeAnalogInput();
InitializeAnalogInternal();
InitializeCAN();
InitializeConstants();
InitializeCounter();
InitializeDigitalInternal();
InitializeDIO();

1
hal/src/main/native/sim/HALInitializer.hpp
View File

@@ -38,7 +38,6 @@ extern void InitializeAlert();
extern void InitializeAnalogInput();
extern void InitializeAnalogInternal();
extern void InitializeCAN();
extern void InitializeConstants();
extern void InitializeCounter();
extern void InitializeDigitalInternal();
extern void InitializeDIO();

1
hal/src/main/native/sim/MockHooks.cpp
View File

@@ -7,7 +7,6 @@
#include <algorithm>
#include <atomic>
#include <chrono>
#include <cstdio>
#include <thread>
#include "MockHooksInternal.hpp"

2
hal/src/main/native/sim/PWM.cpp
View File

@@ -4,8 +4,6 @@
#include "wpi/hal/PWM.h"
#include <cmath>
#include "DigitalInternal.hpp"
#include "HALInitializer.hpp"
#include "HALInternal.hpp"

3
hal/src/main/native/sim/Ports.cpp
View File

@@ -16,6 +16,9 @@ extern "C" {
int32_t HAL_GetNumCanBuses(void) {
return kNumCanBuses;
}
int32_t HAL_GetNumSmartIo(void) {
return kNumSmartIo;
}
int32_t HAL_GetNumAnalogInputs(void) {
return kNumAnalogInputs;
}

1
hal/src/main/native/sim/PortsInternal.hpp
View File

@@ -9,6 +9,7 @@
namespace wpi::hal {
constexpr int32_t kNumCanBuses = 5;
constexpr int32_t kAccelerometers = 1;
constexpr int32_t kNumSmartIo = 6;
constexpr int32_t kNumAccumulators = 2;
constexpr int32_t kNumAnalogInputs = 8;
constexpr int32_t kNumAnalogOutputs = 2;

6
hal/src/main/native/sim/mockdata/AnalogInData.cpp
View File

@@ -18,8 +18,6 @@ AnalogInData* wpi::hal::SimAnalogInData;
void AnalogInData::ResetData() {
initialized.Reset(false);
simDevice = 0;
averageBits.Reset(7);
oversampleBits.Reset(0);
voltage.Reset(0.0);
}
@@ -37,8 +35,6 @@ HAL_SimDeviceHandle HALSIM_GetAnalogInSimDevice(int32_t index) {
SimAnalogInData, LOWERNAME)
DEFINE_CAPI(HAL_Bool, Initialized, initialized)
DEFINE_CAPI(int32_t, AverageBits, averageBits)
DEFINE_CAPI(int32_t, OversampleBits, oversampleBits)
DEFINE_CAPI(double, Voltage, voltage)
#define REGISTER(NAME) \
@@ -48,8 +44,6 @@ void HALSIM_RegisterAnalogInAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify) {
REGISTER(initialized);
REGISTER(averageBits);
REGISTER(oversampleBits);
REGISTER(voltage);
}
} // extern "C"

4
hal/src/main/native/sim/mockdata/AnalogInDataInternal.hpp
View File

@@ -11,16 +11,12 @@
namespace wpi::hal {
class AnalogInData {
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
HAL_SIMDATAVALUE_DEFINE_NAME(AverageBits)
HAL_SIMDATAVALUE_DEFINE_NAME(OversampleBits)
HAL_SIMDATAVALUE_DEFINE_NAME(Voltage)
public:
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
false};
std::atomic<HAL_SimDeviceHandle> simDevice;
SimDataValue<int32_t, HAL_MakeInt, GetAverageBitsName> averageBits{7};
SimDataValue<int32_t, HAL_MakeInt, GetOversampleBitsName> oversampleBits{0};
SimDataValue<double, HAL_MakeDouble, GetVoltageName> voltage{0.0};
virtual void ResetData();