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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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31
hal/src/main/native/athena/DigitalInternal.cpp
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@@ -18,6 +18,7 @@
#include "HAL/ChipObject.h"
#include "HAL/HAL.h"
#include "HAL/Ports.h"
#include "HAL/cpp/UnsafeDIO.h"
#include "PortsInternal.h"
namespace hal {
@@ -27,6 +28,9 @@ std::unique_ptr<tRelay> relaySystem;
std::unique_ptr<tPWM> pwmSystem;
std::unique_ptr<tSPI> spiSystem;
// Create a mutex to protect changes to the digital output values
wpi::mutex digitalDIOMutex;
DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
kNumDigitalChannels + kNumPWMHeaders>*
digitalChannelHandles;
@@ -40,6 +44,28 @@ void InitializeDigitalInternal() {
}
} // namespace init
namespace detail {
wpi::mutex& UnsafeGetDIOMutex() { return digitalDIOMutex; }
tDIO* UnsafeGetDigialSystem() { return digitalSystem.get(); }
int32_t ComputeDigitalMask(HAL_DigitalHandle handle, int32_t* status) {
auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
tDIO::tDO output;
output.value = 0;
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
output.SPIPort = (1u << remapSPIChannel(port->channel));
} else if (port->channel < kNumDigitalHeaders) {
output.Headers = (1u << port->channel);
} else {
output.MXP = (1u << remapMXPChannel(port->channel));
}
return output.value;
}
} // namespace detail
/**
* Initialize the digital system.
*/
@@ -165,3 +191,8 @@ bool remapDigitalSource(HAL_Handle digitalSourceHandle,
}
} // namespace hal
// Unused function here to test template compile.
__attribute__((unused)) static void CompileFunctorTest() {
hal::UnsafeManipulateDIO(0, nullptr, [](hal::DIOSetProxy& proxy) {});
}