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Switches HAL to manual instead of static initialization (#824)

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Only athena.

Will fix a whole lot of init issues.
This commit is contained in:
Thad House
2017-12-10 18:02:07 -08:00
committed by Peter Johnson
parent 1fa0adb091
commit 8bd48d6c34
36 changed files with 688 additions and 261 deletions
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40
hal/src/main/native/athena/PWM.cpp
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@@ -56,6 +56,12 @@ static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) {
return GetMaxPositivePwm(port) - GetMinNegativePwm(port);
} ///< The scale for positions.
namespace hal {
namespace init {
void InitializePWM() {}
} // namespace init
} // namespace hal
extern "C" {
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
@@ -79,12 +85,12 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
}
auto handle =
digitalChannelHandles.Allocate(channel, HAL_HandleEnum::PWM, status);
digitalChannelHandles->Allocate(channel, HAL_HandleEnum::PWM, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
auto port = digitalChannelHandles.Get(handle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::PWM);
if (port == nullptr) { // would only occur on thread issue.
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -101,7 +107,7 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
return handle;
}
void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -115,7 +121,7 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
status);
}
digitalChannelHandles.Free(pwmPortHandle, HAL_HandleEnum::PWM);
digitalChannelHandles->Free(pwmPortHandle, HAL_HandleEnum::PWM);
}
HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
@@ -125,7 +131,7 @@ HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double max,
double deadbandMax, double center, double deadbandMin,
double min, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -159,7 +165,7 @@ void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -176,7 +182,7 @@ void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
int32_t* deadbandMaxPwm, int32_t* centerPwm,
int32_t* deadbandMinPwm, int32_t* minPwm,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -190,7 +196,7 @@ void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
HAL_Bool eliminateDeadband, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -200,7 +206,7 @@ void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -218,7 +224,7 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
*/
void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -242,7 +248,7 @@ void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
*/
void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -297,7 +303,7 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
*/
void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -339,7 +345,7 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
* @return The raw PWM value.
*/
int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -359,7 +365,7 @@ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
* @return The scaled PWM value.
*/
double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -397,7 +403,7 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
* @return The scaled PWM value.
*/
double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -422,7 +428,7 @@ double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
}
void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -440,7 +446,7 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
*/
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;