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Adds TriState DIO functionality to the HAL (#835)

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Adds a function to raw set the DIO direction. Also adds a C++ unsafe
function to enable fast setting of DIO direction.
This commit is contained in:
Thad House
2017-12-14 00:17:29 -08:00
committed by Peter Johnson
parent de134a5c60
commit 7eab4371f4
5 changed files with 164 additions and 3 deletions
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47
hal/src/main/native/athena/DIO.cpp
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@@ -16,9 +16,6 @@
using namespace hal;
// Create a mutex to protect changes to the digital output values
static wpi::mutex digitalDIOMutex;
// Create a mutex to protect changes to the DO PWM config
static wpi::mutex digitalPwmMutex;
@@ -308,6 +305,50 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
}
}
/**
* Set direction of a DIO channel.
*
* @param channel The Digital I/O channel
* @param input true to set input, false for output
*/
void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
{
std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
tDIO::tOutputEnable currentDIO = digitalSystem->readOutputEnable(status);
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
if (input) {
currentDIO.SPIPort =
currentDIO.SPIPort & ~(1u << remapSPIChannel(port->channel));
} else {
currentDIO.SPIPort =
currentDIO.SPIPort | (1u << remapSPIChannel(port->channel));
}
} else if (port->channel < kNumDigitalHeaders) {
if (input) {
currentDIO.Headers = currentDIO.Headers & ~(1u << port->channel);
} else {
currentDIO.Headers = currentDIO.Headers | (1u << port->channel);
}
} else {
if (input) {
currentDIO.MXP =
currentDIO.MXP & ~(1u << remapMXPChannel(port->channel));
} else {
currentDIO.MXP =
currentDIO.MXP | (1u << remapMXPChannel(port->channel));
}
}
digitalSystem->writeOutputEnable(currentDIO, status);
}
}
/**
* Read a digital I/O bit from the FPGA.
* Get a single value from a digital I/O channel.