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Updates to addressable LED (#2098)

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Only PWM Headers are supported, so enforce that.

Also fixes some init checks and init order checks.
This commit is contained in:
Thad House
2019-11-18 15:25:04 -08:00
committed by Peter Johnson
parent 1894219ef6
commit 6f6c6da9f5
5 changed files with 41 additions and 6 deletions
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15
hal/src/main/native/athena/AddressableLED.cpp
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@@ -13,6 +13,7 @@
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
#include "hal/ChipObject.h"
#include "hal/handles/HandlesInternal.h"
@@ -94,11 +95,23 @@ extern "C" {
HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
HAL_DigitalHandle outputPort, int32_t* status) {
hal::init::CheckInit();
auto digitalPort =
hal::digitalChannelHandles->Get(outputPort, hal::HAL_HandleEnum::PWM);
if (!digitalPort) {
*status = HAL_HANDLE_ERROR;
// If DIO was passed, channel error, else generic error
if (getHandleType(outputPort) == hal::HAL_HandleEnum::DIO) {
*status = HAL_LED_CHANNEL_ERROR;
} else {
*status = HAL_HANDLE_ERROR;
}
return HAL_kInvalidHandle;
}
if (digitalPort->channel >= kNumPWMHeaders) {
*status = HAL_LED_CHANNEL_ERROR;
return HAL_kInvalidHandle;
}

2
hal/src/main/native/athena/HAL.cpp
View File

@@ -217,6 +217,8 @@ const char* HAL_GetErrorMessage(int32_t code) {
return ERR_FRCSystem_NoDSConnection_MESSAGE;
case HAL_CAN_BUFFER_OVERRUN:
return HAL_CAN_BUFFER_OVERRUN_MESSAGE;
case HAL_LED_CHANNEL_ERROR:
return HAL_LED_CHANNEL_ERROR_MESSAGE;
default:
return "Unknown error status";
}

4
hal/src/main/native/include/hal/Errors.h
View File

@@ -94,6 +94,10 @@
#define HAL_HANDLE_ERROR_MESSAGE \
"HAL: A handle parameter was passed incorrectly"
#define HAL_LED_CHANNEL_ERROR -1099
#define HAL_LED_CHANNEL_ERROR_MESSAGE \
"HAL: Addressable LEDs only supported on PWM Headers, not MXP or DIO"
#define HAL_INVALID_DMA_ADDITION -1102
#define HAL_INVALID_DMA_ADDITION_MESSAGE \
"HAL_AddDMA() only works before HAL_StartDMA()"

24
hal/src/main/native/sim/AddressableLED.cpp
View File

@@ -44,6 +44,24 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
HAL_DigitalHandle outputPort, int32_t* status) {
hal::init::CheckInit();
auto digitalPort =
hal::digitalChannelHandles->Get(outputPort, hal::HAL_HandleEnum::PWM);
if (!digitalPort) {
// If DIO was passed, channel error, else generic error
if (getHandleType(outputPort) == hal::HAL_HandleEnum::DIO) {
*status = HAL_LED_CHANNEL_ERROR;
} else {
*status = HAL_HANDLE_ERROR;
}
return HAL_kInvalidHandle;
}
if (digitalPort->channel >= kNumPWMHeaders) {
*status = HAL_LED_CHANNEL_ERROR;
return HAL_kInvalidHandle;
}
HAL_AddressableLEDHandle handle = ledHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
*status = NO_AVAILABLE_RESOURCES;
@@ -57,11 +75,7 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
}
int16_t index = getHandleIndex(handle);
if (auto port = digitalChannelHandles->Get(outputPort, HAL_HandleEnum::PWM)) {
SimAddressableLEDData[index].outputPort = port->channel;
} else {
SimAddressableLEDData[index].outputPort = -1;
}
SimAddressableLEDData[index].outputPort = digitalPort->channel;
SimAddressableLEDData[index].length = 1;
SimAddressableLEDData[index].running = false;
SimAddressableLEDData[index].initialized = true;

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

@@ -207,6 +207,8 @@ const char* HAL_GetErrorMessage(int32_t code) {
return HAL_SIM_NOT_SUPPORTED_MESSAGE;
case HAL_CAN_BUFFER_OVERRUN:
return HAL_CAN_BUFFER_OVERRUN_MESSAGE;
case HAL_LED_CHANNEL_ERROR:
return HAL_LED_CHANNEL_ERROR_MESSAGE;
default:
return "Unknown error status";
}