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Merge "Encoders and counters work on the MXP"

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This commit is contained in:
Jonathan Leitschuh (WPI)
2014-07-16 12:10:30 -07:00
committed by Gerrit Code Review
parent f566c087dc cb9df310dc
commit 80c5c09f77
1 changed files with 21 additions and 0 deletions
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21
hal/lib/Athena/Digital.cpp
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@@ -681,6 +681,11 @@ void setCounterUpSourceWithModule(void* counter_pointer, uint8_t module, uint32_
bool analogTrigger, int32_t *status) {
Counter* counter = (Counter*) counter_pointer;
if(pin >= kNumHeaders) {
pin = remapMXPChannel(pin);
module = 1;
}
counter->counter->writeConfig_UpSource_Module(module, status);
counter->counter->writeConfig_UpSource_Channel(pin, status);
counter->counter->writeConfig_UpSource_AnalogTrigger(analogTrigger, status);
@@ -730,6 +735,12 @@ void setCounterDownSourceWithModule(void* counter_pointer, uint8_t module, uint3
*status = PARAMETER_OUT_OF_RANGE;
return;
}
if(pin >= kNumHeaders) {
pin = remapMXPChannel(pin);
module = 1;
}
counter->counter->writeConfig_DownSource_Module(module, status);
counter->counter->writeConfig_DownSource_Channel(pin, status);
counter->counter->writeConfig_DownSource_AnalogTrigger(analogTrigger, status);
@@ -974,6 +985,16 @@ void* initializeEncoder(uint8_t port_a_module, uint32_t port_a_pin, bool port_a_
// Initialize encoder structure
Encoder* encoder = new Encoder();
if(port_a_pin >= kNumHeaders) {
port_a_pin = remapMXPChannel(port_a_pin);
port_a_module = 1;
}
if(port_b_pin >= kNumHeaders) {
port_b_pin = remapMXPChannel(port_b_pin);
port_b_module = 1;
}
Resource::CreateResourceObject(&quadEncoders, tEncoder::kNumSystems);
encoder->index = quadEncoders->Allocate("4X Encoder");
*index = encoder->index;