Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-30 02:31:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Moved C++ comments from source files to headers (#1111)

Browse Source 
Also sorted functions in C++ sources to match order in related headers.
This commit is contained in:
Tyler Veness
2018-05-31 20:47:15 -07:00
committed by Peter Johnson
parent d9971a705a
commit 8c680a26f8
234 changed files with 9936 additions and 9309 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
hal/src/main/native/athena/Accelerometer.cpp
View File

@@ -198,10 +198,6 @@ static double unpackAxis(int16_t raw) {
extern "C" {
/**
* Set the accelerometer to active or standby mode. It must be in standby
* mode to change any configuration.
*/
void HAL_SetAccelerometerActive(HAL_Bool active) {
initializeAccelerometer();
@@ -210,10 +206,6 @@ void HAL_SetAccelerometerActive(HAL_Bool active) {
writeRegister(kReg_CtrlReg1, ctrlReg1 | (active ? 1 : 0));
}
/**
* Set the range of values that can be measured (either 2, 4, or 8 g-forces).
* The accelerometer should be in standby mode when this is called.
*/
void HAL_SetAccelerometerRange(HAL_AccelerometerRange range) {
initializeAccelerometer();
@@ -224,11 +216,6 @@ void HAL_SetAccelerometerRange(HAL_AccelerometerRange range) {
writeRegister(kReg_XYZDataCfg, xyzDataCfg | range);
}
/**
* Get the x-axis acceleration
*
* This is a floating point value in units of 1 g-force
*/
double HAL_GetAccelerometerX(void) {
initializeAccelerometer();
@@ -237,11 +224,6 @@ double HAL_GetAccelerometerX(void) {
return unpackAxis(raw);
}
/**
* Get the y-axis acceleration
*
* This is a floating point value in units of 1 g-force
*/
double HAL_GetAccelerometerY(void) {
initializeAccelerometer();
@@ -250,11 +232,6 @@ double HAL_GetAccelerometerY(void) {
return unpackAxis(raw);
}
/**
* Get the z-axis acceleration
*
* This is a floating point value in units of 1 g-force
*/
double HAL_GetAccelerometerZ(void) {
initializeAccelerometer();

65
hal/src/main/native/athena/AnalogAccumulator.cpp
View File

@@ -20,12 +20,6 @@ void InitializeAnalogAccumulator() {}
extern "C" {
/**
* Is the channel attached to an accumulator.
*
* @param analogPortHandle Handle to the analog port.
* @return The analog channel is attached to an accumulator.
*/
HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -39,11 +33,6 @@ HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle,
return false;
}
/**
* Initialize the accumulator.
*
* @param analogPortHandle Handle to the analog port.
*/
void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
if (!HAL_IsAccumulatorChannel(analogPortHandle, status)) {
@@ -54,11 +43,6 @@ void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle,
HAL_ResetAccumulator(analogPortHandle, status);
}
/**
* Resets the accumulator to the initial value.
*
* @param analogPortHandle Handle to the analog port.
*/
void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -73,21 +57,6 @@ void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle,
port->accumulator->strobeReset(status);
}
/**
* Set the center value of the accumulator.
*
* The center value is subtracted from each A/D value before it is added to the
* accumulator. This is used for the center value of devices like gyros and
* accelerometers to make integration work and to take the device offset into
* account when integrating.
*
* This center value is based on the output of the oversampled and averaged
* source from channel 1. Because of this, any non-zero oversample bits will
* affect the size of the value for this field.
*
* @param analogPortHandle Handle to the analog port.
* @param center The center value of the accumulator.
*/
void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle,
int32_t center, int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -102,12 +71,6 @@ void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle,
port->accumulator->writeCenter(center, status);
}
/**
* Set the accumulator's deadband.
*
* @param analogPortHandle Handle to the analog port.
* @param deadband The deadband of the accumulator.
*/
void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle,
int32_t deadband, int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -122,15 +85,6 @@ void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle,
port->accumulator->writeDeadband(deadband, status);
}
/**
* Read the accumulated value.
*
* Read the value that has been accumulating on channel 1.
* The accumulator is attached after the oversample and average engine.
*
* @param analogPortHandle Handle to the analog port.
* @return The 64-bit value accumulated since the last Reset().
*/
int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -146,15 +100,6 @@ int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle,
return value;
}
/**
* Read the number of accumulated values.
*
* Read the count of the accumulated values since the accumulator was last
* Reset().
*
* @param analogPortHandle Handle to the analog port.
* @return The number of times samples from the channel were accumulated.
*/
int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -169,16 +114,6 @@ int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle,
return port->accumulator->readOutput_Count(status);
}
/**
* Read the accumulated value and the number of accumulated values atomically.
*
* This function reads the value and count from the FPGA atomically.
* This can be used for averaging.
*
* @param analogPortHandle Handle to the analog port.
* @param value Pointer to the 64-bit accumulated output.
* @param count Pointer to the number of accumulation cycles.
*/
void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analogPortHandle,
int64_t* value, int64_t* count, int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);

199
hal/src/main/native/athena/AnalogInput.cpp
View File

@@ -27,11 +27,6 @@ using namespace hal;
extern "C" {
/**
* Initialize the analog input port using the given port object.
*
* @param portHandle Handle to the port to initialize.
*/
HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle,
int32_t* status) {
hal::init::CheckInit();
@@ -70,41 +65,17 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle,
return handle;
}
/**
* @param analogPortHandle Handle to the analog port.
*/
void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle) {
// no status, so no need to check for a proper free.
analogInputHandles->Free(analogPortHandle);
}
/**
* Check that the analog module number is valid.
*
* @param module The analog module number.
* @return Analog module is valid and present
*/
HAL_Bool HAL_CheckAnalogModule(int32_t module) { return module == 1; }
/**
* Check that the analog output channel number is value.
* Verify that the analog channel number is one of the legal channel numbers.
* Channel numbers are 0-based.
*
* @param channel The analog output channel number.
* @return Analog channel is valid
*/
HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel) {
return channel < kNumAnalogInputs && channel >= 0;
}
/**
* Set the sample rate.
*
* This is a global setting for the Athena and effects all channels.
*
* @param samplesPerSecond The number of samples per channel per second.
*/
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
// TODO: This will change when variable size scan lists are implemented.
// TODO: Need double comparison with epsilon.
@@ -114,14 +85,6 @@ void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
setAnalogSampleRate(samplesPerSecond, status);
}
/**
* Get the current sample rate.
*
* This assumes one entry in the scan list.
* This is a global setting for the Athena and effects all channels.
*
* @return Sample rate.
*/
double HAL_GetAnalogSampleRate(int32_t* status) {
initializeAnalog(status);
if (*status != 0) return 0;
@@ -131,16 +94,6 @@ double HAL_GetAnalogSampleRate(int32_t* status) {
return static_cast<double>(kTimebase) / static_cast<double>(ticksPerSample);
}
/**
* Set the number of averaging bits.
*
* This sets the number of averaging bits. The actual number of averaged samples
* is 2**bits. Use averaging to improve the stability of your measurement at the
* expense of sampling rate. The averaging is done automatically in the FPGA.
*
* @param analogPortHandle Handle to the analog port to configure.
* @param bits Number of bits to average.
*/
void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -152,15 +105,6 @@ void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
status);
}
/**
* Get the number of averaging bits.
*
* This gets the number of averaging bits from the FPGA. The actual number of
* averaged samples is 2**bits. The averaging is done automatically in the FPGA.
*
* @param analogPortHandle Handle to the analog port to use.
* @return Bits to average.
*/
int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -172,17 +116,6 @@ int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
return result;
}
/**
* Set the number of oversample bits.
*
* This sets the number of oversample bits. The actual number of oversampled
* values is 2**bits. Use oversampling to improve the resolution of your
* measurements at the expense of sampling rate. The oversampling is done
* automatically in the FPGA.
*
* @param analogPortHandle Handle to the analog port to use.
* @param bits Number of bits to oversample.
*/
void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -194,16 +127,6 @@ void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
static_cast<uint8_t>(bits), status);
}
/**
* Get the number of oversample bits.
*
* This gets the number of oversample bits from the FPGA. The actual number of
* oversampled values is 2**bits. The oversampling is done automatically in the
* FPGA.
*
* @param analogPortHandle Handle to the analog port to use.
* @return Bits to oversample.
*/
int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -215,16 +138,6 @@ int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
return result;
}
/**
* Get a sample straight from the channel on this module.
*
* The sample is a 12-bit value representing the 0V to 5V range of the A/D
* converter in the module. The units are in A/D converter codes. Use
* GetVoltage() to get the analog value in calibrated units.
*
* @param analogPortHandle Handle to the analog port to use.
* @return A sample straight from the channel on this module.
*/
int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -243,20 +156,6 @@ int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
return static_cast<int16_t>(analogInputSystem->readOutput(status));
}
/**
* Get a sample from the output of the oversample and average engine for the
* channel.
*
* The sample is 12-bit + the value configured in SetOversampleBits().
* The value configured in SetAverageBits() will cause this value to be averaged
* 2**bits number of samples. This is not a sliding window. The sample will not
* change until 2**(OversamplBits + AverageBits) samples have been acquired from
* the module on this channel. Use GetAverageVoltage() to get the analog value
* in calibrated units.
*
* @param analogPortHandle Handle to the analog port to use.
* @return A sample from the oversample and average engine for the channel.
*/
int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -274,62 +173,6 @@ int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
return static_cast<int32_t>(analogInputSystem->readOutput(status));
}
/**
* Get a scaled sample straight from the channel on this module.
*
* The value is scaled to units of Volts using the calibrated scaling data from
* GetLSBWeight() and GetOffset().
*
* @param analogPortHandle Handle to the analog port to use.
* @return A scaled sample straight from the channel on this module.
*/
double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
int32_t value = HAL_GetAnalogValue(analogPortHandle, status);
int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status);
int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status);
double voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9;
return voltage;
}
/**
* Get a scaled sample from the output of the oversample and average engine for
* the channel.
*
* The value is scaled to units of Volts using the calibrated scaling data from
* GetLSBWeight() and GetOffset(). Using oversampling will cause this value to
* be higher resolution, but it will update more slowly. Using averaging will
* cause this value to be more stable, but it will update more slowly.
*
* @param analogPortHandle Handle to the analog port to use.
* @return A scaled sample from the output of the oversample and average engine
* for the channel.
*/
double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
int32_t value = HAL_GetAnalogAverageValue(analogPortHandle, status);
int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status);
int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status);
int32_t oversampleBits =
HAL_GetAnalogOversampleBits(analogPortHandle, status);
double voltage =
LSBWeight * 1.0e-9 * value / static_cast<double>(1 << oversampleBits) -
offset * 1.0e-9;
return voltage;
}
/**
* Convert a voltage to a raw value for a specified channel.
*
* This process depends on the calibration of each channel, so the channel must
* be specified.
*
* @todo This assumes raw values. Oversampling not supported as is.
*
* @param analogPortHandle Handle to the analog port to use.
* @param voltage The voltage to convert.
* @return The raw value for the channel.
*/
int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
double voltage, int32_t* status) {
if (voltage > 5.0) {
@@ -347,16 +190,28 @@ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
return value;
}
/**
* Get the factory scaling least significant bit weight constant.
* The least significant bit weight constant for the channel that was calibrated
* in manufacturing and stored in an eeprom in the module.
*
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
*
* @param analogPortHandle Handle to the analog port to use.
* @return Least significant bit weight.
*/
double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
int32_t value = HAL_GetAnalogValue(analogPortHandle, status);
int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status);
int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status);
double voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9;
return voltage;
}
double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
int32_t value = HAL_GetAnalogAverageValue(analogPortHandle, status);
int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status);
int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status);
int32_t oversampleBits =
HAL_GetAnalogOversampleBits(analogPortHandle, status);
double voltage =
LSBWeight * 1.0e-9 * value / static_cast<double>(1 << oversampleBits) -
offset * 1.0e-9;
return voltage;
}
int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
@@ -369,16 +224,6 @@ int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
return lsbWeight;
}
/**
* Get the factory scaling offset constant.
* The offset constant for the channel that was calibrated in manufacturing and
* stored in an eeprom in the module.
*
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
*
* @param analogPortHandle Handle to the analog port to use.
* @return Offset constant.
*/
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);

43
hal/src/main/native/athena/AnalogInternal.cpp
View File

@@ -41,9 +41,6 @@ void InitializeAnalogInternal() {
}
} // namespace init
/**
* Initialize the analog System.
*/
void initializeAnalog(int32_t* status) {
hal::init::CheckInit();
if (analogSystemInitialized) return;
@@ -56,41 +53,22 @@ void initializeAnalog(int32_t* status) {
analogSystemInitialized = true;
}
/**
* Return the number of channels on the module in use.
*
* @return Active channels.
*/
int32_t getAnalogNumActiveChannels(int32_t* status) {
int32_t scanSize = analogInputSystem->readConfig_ScanSize(status);
if (scanSize == 0) return 8;
return scanSize;
}
/**
* Get the number of active channels.
*
* This is an internal function to allow the atomic update of both the
* number of active channels and the sample rate.
*
* When the number of channels changes, use the new value. Otherwise,
* return the curent value.
*
* @return Value to write to the active channels field.
*/
void setAnalogNumChannelsToActivate(int32_t channels) {
analogNumChannelsToActivate = channels;
}
int32_t getAnalogNumChannelsToActivate(int32_t* status) {
if (analogNumChannelsToActivate == 0)
return getAnalogNumActiveChannels(status);
return analogNumChannelsToActivate;
}
/**
* Set the sample rate.
*
* This is a global setting for the Athena and effects all channels.
*
* @param samplesPerSecond The number of samples per channel per second.
*/
void setAnalogSampleRate(double samplesPerSecond, int32_t* status) {
// TODO: This will change when variable size scan lists are implemented.
// TODO: Need double comparison with epsilon.
@@ -119,17 +97,4 @@ void setAnalogSampleRate(double samplesPerSecond, int32_t* status) {
setAnalogNumChannelsToActivate(0);
}
/**
* Set the number of active channels.
*
* Store the number of active channels to set. Don't actually commit to
* hardware
* until SetSampleRate().
*
* @param channels Number of active channels.
*/
void setAnalogNumChannelsToActivate(int32_t channels) {
analogNumChannelsToActivate = channels;
}
} // namespace hal

47
hal/src/main/native/athena/AnalogInternal.h
View File

@@ -40,10 +40,49 @@ extern IndexedHandleResource<HAL_AnalogInputHandle, hal::AnalogPort,
kNumAnalogInputs, HAL_HandleEnum::AnalogInput>*
analogInputHandles;
int32_t getAnalogNumActiveChannels(int32_t* status);
int32_t getAnalogNumChannelsToActivate(int32_t* status);
void setAnalogNumChannelsToActivate(int32_t channels);
void setAnalogSampleRate(double samplesPerSecond, int32_t* status);
/**
* Initialize the analog System.
*/
void initializeAnalog(int32_t* status);
/**
* Return the number of channels on the module in use.
*
* @return Active channels.
*/
int32_t getAnalogNumActiveChannels(int32_t* status);
/**
* Set the number of active channels.
*
* Store the number of active channels to set. Don't actually commit to
* hardware
* until SetSampleRate().
*
* @param channels Number of active channels.
*/
void setAnalogNumChannelsToActivate(int32_t channels);
/**
* Get the number of active channels.
*
* This is an internal function to allow the atomic update of both the
* number of active channels and the sample rate.
*
* When the number of channels changes, use the new value. Otherwise,
* return the curent value.
*
* @return Value to write to the active channels field.
*/
int32_t getAnalogNumChannelsToActivate(int32_t* status);
/**
* Set the sample rate.
*
* This is a global setting for the Athena and effects all channels.
*
* @param samplesPerSecond The number of samples per channel per second.
*/
void setAnalogSampleRate(double samplesPerSecond, int32_t* status);
} // namespace hal

18
hal/src/main/native/athena/AnalogOutput.cpp
View File

@@ -41,9 +41,6 @@ void InitializeAnalogOutput() {
extern "C" {
/**
* Initialize the analog output port using the given port object.
*/
HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
int32_t* status) {
hal::init::CheckInit();
@@ -78,17 +75,6 @@ void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle) {
analogOutputHandles->Free(analogOutputHandle);
}
/**
* Check that the analog output channel number is value.
* Verify that the analog channel number is one of the legal channel numbers.
* Channel numbers are 0-based.
*
* @return Analog channel is valid
*/
HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel) {
return channel < kNumAnalogOutputs && channel >= 0;
}
void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
double voltage, int32_t* status) {
auto port = analogOutputHandles->Get(analogOutputHandle);
@@ -120,4 +106,8 @@ double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
return rawValue * 5.0 / 0x1000;
}
HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel) {
return channel < kNumAnalogOutputs && channel >= 0;
}
} // extern "C"

31
hal/src/main/native/athena/AnalogTrigger.cpp
View File

@@ -94,10 +94,6 @@ void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
trigger->trigger->writeUpperLimit(upper, status);
}
/**
* Set the upper and lower limits of the analog trigger.
* The limits are given as floating point voltage values.
*/
void HAL_SetAnalogTriggerLimitsVoltage(
HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
int32_t* status) {
@@ -118,11 +114,6 @@ void HAL_SetAnalogTriggerLimitsVoltage(
HAL_GetAnalogVoltsToValue(trigger->analogHandle, upper, status), status);
}
/**
* Configure the analog trigger to use the averaged vs. raw values.
* If the value is true, then the averaged value is selected for the analog
* trigger, otherwise the immediate value is used.
*/
void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_Bool useAveragedValue, int32_t* status) {
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
@@ -138,12 +129,6 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
trigger->trigger->writeSourceSelect_Averaged(useAveragedValue, status);
}
/**
* Configure the analog trigger to use a filtered value.
* The analog trigger will operate with a 3 point average rejection filter. This
* is designed to help with 360 degree pot applications for the period where the
* pot crosses through zero.
*/
void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_Bool useFilteredValue, int32_t* status) {
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
@@ -159,11 +144,6 @@ void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
trigger->trigger->writeSourceSelect_Filter(useFilteredValue, status);
}
/**
* Return the InWindow output of the analog trigger.
* True if the analog input is between the upper and lower limits.
* @return The InWindow output of the analog trigger.
*/
HAL_Bool HAL_GetAnalogTriggerInWindow(
HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) {
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
@@ -174,13 +154,6 @@ HAL_Bool HAL_GetAnalogTriggerInWindow(
return trigger->trigger->readOutput_InHysteresis(trigger->index, status) != 0;
}
/**
* Return the TriggerState output of the analog trigger.
* True if above upper limit.
* False if below lower limit.
* If in Hysteresis, maintain previous state.
* @return The TriggerState output of the analog trigger.
*/
HAL_Bool HAL_GetAnalogTriggerTriggerState(
HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) {
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
@@ -191,10 +164,6 @@ HAL_Bool HAL_GetAnalogTriggerTriggerState(
return trigger->trigger->readOutput_OverLimit(trigger->index, status) != 0;
}
/**
* Get the state of the analog trigger output.
* @return The state of the analog trigger output.
*/
HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_AnalogTriggerType type,
int32_t* status) {

110
hal/src/main/native/athena/Counter.cpp
View File

@@ -77,10 +77,6 @@ void HAL_SetCounterAverageSize(HAL_CounterHandle counterHandle, int32_t size,
counter->counter->writeTimerConfig_AverageSize(size, status);
}
/**
* Set the source object that causes the counter to count up.
* Set the up counting DigitalSource.
*/
void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
@@ -115,10 +111,6 @@ void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle,
counter->counter->strobeReset(status);
}
/**
* Set the edge sensitivity on an up counting source.
* Set the up source to either detect rising edges or falling edges.
*/
void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status) {
@@ -131,9 +123,6 @@ void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle,
counter->counter->writeConfig_UpFallingEdge(fallingEdge, status);
}
/**
* Disable the up counting source to the counter.
*/
void HAL_ClearCounterUpSource(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
@@ -148,10 +137,6 @@ void HAL_ClearCounterUpSource(HAL_CounterHandle counterHandle,
counter->counter->writeConfig_UpSource_AnalogTrigger(false, status);
}
/**
* Set the source object that causes the counter to count down.
* Set the down counting DigitalSource.
*/
void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
@@ -189,10 +174,6 @@ void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle,
counter->counter->strobeReset(status);
}
/**
* Set the edge sensitivity on a down counting source.
* Set the down source to either detect rising edges or falling edges.
*/
void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status) {
@@ -205,9 +186,6 @@ void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle,
counter->counter->writeConfig_DownFallingEdge(fallingEdge, status);
}
/**
* Disable the down counting source to the counter.
*/
void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
@@ -222,10 +200,6 @@ void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle,
counter->counter->writeConfig_DownSource_AnalogTrigger(false, status);
}
/**
* Set standard up / down counting mode on this counter.
* Up and down counts are sourced independently from two inputs.
*/
void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
@@ -236,11 +210,6 @@ void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle,
counter->counter->writeConfig_Mode(HAL_Counter_kTwoPulse, status);
}
/**
* Set external direction mode on this counter.
* Counts are sourced on the Up counter input.
* The Down counter input represents the direction to count.
*/
void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
@@ -251,10 +220,6 @@ void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle,
counter->counter->writeConfig_Mode(HAL_Counter_kExternalDirection, status);
}
/**
* Set Semi-period mode on this counter.
* Counts up on both rising and falling edges.
*/
void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle,
HAL_Bool highSemiPeriod, int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
@@ -267,13 +232,6 @@ void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle,
HAL_SetCounterUpdateWhenEmpty(counterHandle, false, status);
}
/**
* Configure the counter to count in up or down based on the length of the input
* pulse.
* This mode is most useful for direction sensitive gear tooth sensors.
* @param threshold The pulse length beyond which the counter counts the
* opposite direction. Units are seconds.
*/
void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle,
double threshold, int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
@@ -288,13 +246,6 @@ void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle,
status);
}
/**
* Get the Samples to Average which specifies the number of samples of the timer
* to
* average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @return SamplesToAverage The number of samples being averaged (from 1 to 127)
*/
int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
@@ -305,12 +256,6 @@ int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
return counter->counter->readTimerConfig_AverageSize(status);
}
/**
* Set the Samples to Average which specifies the number of samples of the timer
* to average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @param samplesToAverage The number of samples to average from 1 to 127.
*/
void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
int32_t samplesToAverage, int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
@@ -324,11 +269,6 @@ void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
counter->counter->writeTimerConfig_AverageSize(samplesToAverage, status);
}
/**
* Reset the Counter to zero.
* Set the counter value to zero. This doesn't effect the running state of the
* counter, just sets the current value to zero.
*/
void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
@@ -338,11 +278,6 @@ void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status) {
counter->counter->strobeReset(status);
}
/**
* Read the current counter value.
* Read the value at this instant. It may still be running, so it reflects the
* current value. Next time it is read, it might have a different value.
*/
int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
@@ -353,12 +288,6 @@ int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status) {
return value;
}
/*
* Get the Period of the most recent count.
* Returns the time interval of the most recent count. This can be used for
* velocity calculations to determine shaft speed.
* @returns The period of the last two pulses in units of seconds.
*/
double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
@@ -381,14 +310,6 @@ double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status) {
2.5e-8); // result * timebase (currently 25ns)
}
/**
* Set the maximum period where the device is still considered "moving".
* Sets the maximum period where the device is considered moving. This value is
* used to determine the "stopped" state of the counter using the GetStopped
* method.
* @param maxPeriod The maximum period where the counted device is considered
* moving in seconds.
*/
void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod,
int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
@@ -400,19 +321,6 @@ void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod,
static_cast<uint32_t>(maxPeriod * 4.0e8), status);
}
/**
* Select whether you want to continue updating the event timer output when
* there are no samples captured. The output of the event timer has a buffer of
* periods that are averaged and posted to a register on the FPGA. When the
* timer detects that the event source has stopped (based on the MaxPeriod) the
* buffer of samples to be averaged is emptied. If you enable the update when
* empty, you will be notified of the stopped source and the event time will
* report 0 samples. If you disable update when empty, the most recent average
* will remain on the output until a new sample is acquired. You will never see
* 0 samples output (except when there have been no events since an FPGA reset)
* and you will likely not see the stopped bit become true (since it is updated
* at the end of an average and there are no samples to average).
*/
void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle,
HAL_Bool enabled, int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
@@ -423,14 +331,6 @@ void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle,
counter->counter->writeTimerConfig_UpdateWhenEmpty(enabled, status);
}
/**
* Determine if the clock is stopped.
* Determine if the clocked input is stopped based on the MaxPeriod value set
* using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the
* device (and counter) are assumed to be stopped and it returns true.
* @return Returns true if the most recent counter period exceeds the MaxPeriod
* value set by SetMaxPeriod.
*/
HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
@@ -441,10 +341,6 @@ HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle,
return counter->counter->readTimerOutput_Stalled(status);
}
/**
* The last direction the counter value changed.
* @return The last direction the counter value changed.
*/
HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles->Get(counterHandle);
@@ -456,12 +352,6 @@ HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle,
return value;
}
/**
* Set the Counter to return reversed sensing on the direction.
* This allows counters to change the direction they are counting in the case of
* 1X and 2X quadrature encoding only. Any other counter mode isn't supported.
* @param reverseDirection true if the value counted should be negated.
*/
void HAL_SetCounterReverseDirection(HAL_CounterHandle counterHandle,
HAL_Bool reverseDirection,
int32_t* status) {

120
hal/src/main/native/athena/DIO.cpp
View File

@@ -42,9 +42,6 @@ void InitializeDIO() {
extern "C" {
/**
* Create a new instance of a digital port.
*/
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
HAL_Bool input, int32_t* status) {
hal::init::CheckInit();
@@ -163,12 +160,6 @@ void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
}
}
/**
* Allocate a DO PWM Generator.
* Allocate PWM generators so that they are not accidentally reused.
*
* @return PWM Generator handle
*/
HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
auto handle = digitalPWMHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
@@ -186,24 +177,10 @@ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
return handle;
}
/**
* Free the resource associated with a DO PWM generator.
*
* @param pwmGenerator The pwmGen to free that was allocated with
* allocateDigitalPWM()
*/
void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) {
digitalPWMHandles->Free(pwmGenerator);
}
/**
* Change the frequency of the DO PWM generator.
*
* The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is
* logarithmic.
*
* @param rate The frequency to output all digital output PWM signals.
*/
void HAL_SetDigitalPWMRate(double rate, int32_t* status) {
// Currently rounding in the log rate domain... heavy weight toward picking a
// higher freq.
@@ -215,12 +192,6 @@ void HAL_SetDigitalPWMRate(double rate, int32_t* status) {
digitalSystem->writePWMPeriodPower(pwmPeriodPower, status);
}
/**
* Configure the duty-cycle of the PWM generator
*
* @param pwmGenerator The generator index reserved by allocateDigitalPWM()
* @param dutyCycle The percent duty cycle to output [0..1].
*/
void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
double dutyCycle, int32_t* status) {
auto port = digitalPWMHandles->Get(pwmGenerator);
@@ -250,12 +221,6 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
}
}
/**
* Configure which DO channel the PWM signal is output on
*
* @param pwmGenerator The generator index reserved by allocateDigitalPWM()
* @param channel The Digital Output channel to output on
*/
void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
int32_t channel, int32_t* status) {
auto port = digitalPWMHandles->Get(pwmGenerator);
@@ -275,14 +240,6 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
digitalSystem->writePWMOutputSelect(id, channel, status);
}
/**
* Write a digital I/O bit to the FPGA.
* Set a single value on a digital I/O channel.
*
* @param channel The Digital I/O channel
* @param value The state to set the digital channel (if it is configured as an
* output)
*/
void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
@@ -324,12 +281,6 @@ 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);
@@ -368,13 +319,6 @@ void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
}
}
/**
* Read a digital I/O bit from the FPGA.
* Get a single value from a digital I/O channel.
*
* @param channel The digital I/O channel
* @return The state of the specified channel
*/
HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -396,13 +340,6 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
}
}
/**
* Read the direction of a the Digital I/O lines
* A 1 bit means output and a 0 bit means input.
*
* @param channel The digital I/O channel
* @return The direction of the specified channel
*/
HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -427,14 +364,6 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
}
}
/**
* Generate a single pulse.
* Write a pulse to the specified digital output channel. There can only be a
* single pulse going at any time.
*
* @param channel The Digital Output channel that the pulse should be output on
* @param pulseLength The active length of the pulse (in seconds)
*/
void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
@@ -459,11 +388,6 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
digitalSystem->writePulse(pulse, status);
}
/**
* Check a DIO line to see if it is currently generating a pulse.
*
* @return A pulse is in progress
*/
HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -481,11 +405,6 @@ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
}
}
/**
* Check if any DIO line is currently generating a pulse.
*
* @return A pulse on some line is in progress
*/
HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
initializeDigital(status);
if (*status != 0) return false;
@@ -494,14 +413,6 @@ HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
pulseRegister.SPIPort != 0;
}
/**
* Write the filter index from the FPGA.
* Set the filter index used to filter out short pulses.
*
* @param dioPortHandle Handle to the digital I/O channel
* @param filterIndex The filter index. Must be in the range 0 - 3, where 0
* means "none" and 1 - 3 means filter # filterIndex - 1.
*/
void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
@@ -523,14 +434,6 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
}
}
/**
* Read the filter index from the FPGA.
* Get the filter index used to filter out short pulses.
*
* @param dioPortHandle Handle to the digital I/O channel
* @return filterIndex The filter index. Must be in the range 0 - 3,
* where 0 means "none" and 1 - 3 means filter # filterIndex - 1.
*/
int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -551,17 +454,6 @@ int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) {
}
}
/**
* Set the filter period for the specified filter index.
*
* Set the filter period in FPGA cycles. Even though there are 2 different
* filter index domains (MXP vs HDR), ignore that distinction for now since it
* compilicates the interface. That can be changed later.
*
* @param filterIndex The filter index, 0 - 2.
* @param value The number of cycles that the signal must not transition to be
* counted as a transition.
*/
void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status) {
initializeDigital(status);
if (*status != 0) return;
@@ -572,18 +464,6 @@ void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status) {
}
}
/**
* Get the filter period for the specified filter index.
*
* Get the filter period in FPGA cycles. Even though there are 2 different
* filter index domains (MXP vs HDR), ignore that distinction for now since it
* compilicates the interface. Set status to NiFpga_Status_SoftwareFault if the
* filter values miss-match.
*
* @param filterIndex The filter index, 0 - 2.
* @param value The number of cycles that the signal must not transition to be
* counted as a transition.
*/
int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status) {
initializeDigital(status);
if (*status != 0) return 0;

41
hal/src/main/native/athena/DigitalInternal.cpp
View File

@@ -67,9 +67,6 @@ int32_t ComputeDigitalMask(HAL_DigitalHandle handle, int32_t* status) {
}
} // namespace detail
/**
* Initialize the digital system.
*/
void initializeDigital(int32_t* status) {
hal::init::CheckInit();
static std::atomic_bool initialized{false};
@@ -135,32 +132,6 @@ void initializeDigital(int32_t* status) {
initialized = true;
}
/**
* Map SPI channel numbers from their physical number (27 to 31) to their
* position in the bit field.
*/
int32_t remapSPIChannel(int32_t channel) { return channel - 26; }
/**
* Map DIO channel numbers from their physical number (10 to 26) to their
* position in the bit field.
*/
int32_t remapMXPChannel(int32_t channel) { return channel - 10; }
int32_t remapMXPPWMChannel(int32_t channel) {
if (channel < 14) {
return channel - 10; // first block of 4 pwms (MXP 0-3)
} else {
return channel - 6; // block of PWMs after SPI
}
}
/**
* remap the digital source channel and set the module.
* If it's an analog trigger, determine the module from the high order routing
* channel else do normal digital input remapping based on channel number
* (MXP)
*/
bool remapDigitalSource(HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
uint8_t& channel, uint8_t& module,
@@ -192,6 +163,18 @@ bool remapDigitalSource(HAL_Handle digitalSourceHandle,
}
}
int32_t remapMXPChannel(int32_t channel) { return channel - 10; }
int32_t remapMXPPWMChannel(int32_t channel) {
if (channel < 14) {
return channel - 10; // first block of 4 pwms (MXP 0-3)
} else {
return channel - 6; // block of PWMs after SPI
}
}
int32_t remapSPIChannel(int32_t channel) { return channel - 26; }
} // namespace hal
// Unused function here to test template compile.

25
hal/src/main/native/athena/DigitalInternal.h
View File

@@ -81,12 +81,33 @@ extern DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
extern wpi::mutex digitalDIOMutex;
/**
* Initialize the digital system.
*/
void initializeDigital(int32_t* status);
/**
* remap the digital source channel and set the module.
* If it's an analog trigger, determine the module from the high order routing
* channel else do normal digital input remapping based on channel number
* (MXP)
*/
bool remapDigitalSource(HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
uint8_t& channel, uint8_t& module, bool& analogTrigger);
int32_t remapSPIChannel(int32_t channel);
int32_t remapMXPPWMChannel(int32_t channel);
/**
* Map DIO channel numbers from their physical number (10 to 26) to their
* position in the bit field.
*/
int32_t remapMXPChannel(int32_t channel);
int32_t remapMXPPWMChannel(int32_t channel);
/**
* Map SPI channel numbers from their physical number (27 to 31) to their
* position in the bit field.
*/
int32_t remapSPIChannel(int32_t channel);
} // namespace hal

67
hal/src/main/native/athena/FPGAEncoder.cpp
View File

@@ -102,10 +102,6 @@ void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
fpgaEncoderHandles->Free(fpgaEncoderHandle);
}
/**
* Reset the Encoder distance to zero.
* Resets the current count to zero on the encoder.
*/
void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status) {
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -116,12 +112,6 @@ void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
encoder->encoder->strobeReset(status);
}
/**
* Gets the fpga value from the encoder.
* The fpga value is the actual count unscaled by the 1x, 2x, or 4x scale
* factor.
* @return Current fpga count from the encoder
*/
int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status) {
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -132,16 +122,6 @@ int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
return encoder->encoder->readOutput_Value(status);
}
/**
* Returns the period of the most recent pulse.
* Returns the period of the most recent Encoder pulse in seconds.
* This method compenstates for the decoding type.
*
* @deprecated Use GetRate() in favor of this method. This returns unscaled
* periods and GetRate() scales using value from SetDistancePerPulse().
*
* @return Period in seconds of the most recent pulse.
*/
double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status) {
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -165,20 +145,6 @@ double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
return measuredPeriod / DECODING_SCALING_FACTOR;
}
/**
* Sets the maximum period for stopped detection.
* Sets the value that represents the maximum period of the Encoder before it
* will assume that the attached device is stopped. This timeout allows users
* to determine if the wheels or other shaft has stopped rotating.
* This method compensates for the decoding type.
*
* @deprecated Use SetMinRate() in favor of this method. This takes unscaled
* periods and SetMinRate() scales using value from SetDistancePerPulse().
*
* @param maxPeriod The maximum time between rising and falling edges before the
* FPGA will
* report the device stopped. This is expressed in seconds.
*/
void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
double maxPeriod, int32_t* status) {
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -191,13 +157,6 @@ void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
status);
}
/**
* Determine if the encoder is stopped.
* Using the MaxPeriod value, a boolean is returned that is true if the encoder
* is considered stopped and false if it is still moving. A stopped encoder is
* one where the most recent pulse width exceeds the MaxPeriod.
* @return True if the encoder is considered stopped.
*/
HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status) {
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -208,10 +167,6 @@ HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle,
return encoder->encoder->readTimerOutput_Stalled(status) != 0;
}
/**
* The last direction the encoder value changed.
* @return The last direction the encoder value changed.
*/
HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status) {
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -222,12 +177,6 @@ HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
return encoder->encoder->readOutput_Direction(status);
}
/**
* Set the direction sensing for this encoder.
* This sets the direction sensing on the encoder so that it could count in the
* correct software direction regardless of the mounting.
* @param reverseDirection true if the encoder direction should be reversed
*/
void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
HAL_Bool reverseDirection,
int32_t* status) {
@@ -239,12 +188,6 @@ void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
encoder->encoder->writeConfig_Reverse(reverseDirection, status);
}
/**
* Set the Samples to Average which specifies the number of samples of the timer
* to average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @param samplesToAverage The number of samples to average from 1 to 127.
*/
void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t samplesToAverage,
int32_t* status) {
@@ -259,12 +202,6 @@ void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle,
encoder->encoder->writeTimerConfig_AverageSize(samplesToAverage, status);
}
/**
* Get the Samples to Average which specifies the number of samples of the timer
* to average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @return SamplesToAverage The number of samples being averaged (from 1 to 127)
*/
int32_t HAL_GetFPGAEncoderSamplesToAverage(
HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) {
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -275,10 +212,6 @@ int32_t HAL_GetFPGAEncoderSamplesToAverage(
return encoder->encoder->readTimerConfig_AverageSize(status);
}
/**
* Set an index source for an encoder, which is an input that resets the
* encoder's count.
*/
void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpgaEncoderHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,

77
hal/src/main/native/athena/FPGAEncoder.h
View File

@@ -20,26 +20,103 @@ HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder(
HAL_Bool reverseDirection, int32_t* index, int32_t* status);
void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status);
/**
* Reset the Encoder distance to zero.
* Resets the current count to zero on the encoder.
*/
void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status);
/**
* Gets the fpga value from the encoder.
* The fpga value is the actual count unscaled by the 1x, 2x, or 4x scale
* factor.
* @return Current fpga count from the encoder
*/
int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status); // Raw value
/**
* Returns the period of the most recent pulse.
* Returns the period of the most recent Encoder pulse in seconds.
* This method compenstates for the decoding type.
*
* @deprecated Use GetRate() in favor of this method. This returns unscaled
* periods and GetRate() scales using value from SetDistancePerPulse().
*
* @return Period in seconds of the most recent pulse.
*/
double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status);
/**
* Sets the maximum period for stopped detection.
* Sets the value that represents the maximum period of the Encoder before it
* will assume that the attached device is stopped. This timeout allows users
* to determine if the wheels or other shaft has stopped rotating.
* This method compensates for the decoding type.
*
* @deprecated Use SetMinRate() in favor of this method. This takes unscaled
* periods and SetMinRate() scales using value from SetDistancePerPulse().
*
* @param maxPeriod The maximum time between rising and falling edges before the
* FPGA will
* report the device stopped. This is expressed in seconds.
*/
void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
double maxPeriod, int32_t* status);
/**
* Determine if the encoder is stopped.
* Using the MaxPeriod value, a boolean is returned that is true if the encoder
* is considered stopped and false if it is still moving. A stopped encoder is
* one where the most recent pulse width exceeds the MaxPeriod.
* @return True if the encoder is considered stopped.
*/
HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status);
/**
* The last direction the encoder value changed.
* @return The last direction the encoder value changed.
*/
HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status);
/**
* Set the direction sensing for this encoder.
* This sets the direction sensing on the encoder so that it could count in the
* correct software direction regardless of the mounting.
* @param reverseDirection true if the encoder direction should be reversed
*/
void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
HAL_Bool reverseDirection,
int32_t* status);
/**
* Set the Samples to Average which specifies the number of samples of the timer
* to average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @param samplesToAverage The number of samples to average from 1 to 127.
*/
void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t samplesToAverage,
int32_t* status);
/**
* Get the Samples to Average which specifies the number of samples of the timer
* to average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @return SamplesToAverage The number of samples being averaged (from 1 to 127)
*/
int32_t HAL_GetFPGAEncoderSamplesToAverage(
HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status);
/**
* Set an index source for an encoder, which is an input that resets the
* encoder's count.
*/
void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpgaEncoderHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,

29
hal/src/main/native/athena/FRCDriverStation.cpp
View File

@@ -146,17 +146,7 @@ int32_t HAL_GetJoystickButtons(int32_t joystickNum,
return FRC_NetworkCommunication_getJoystickButtons(
joystickNum, &buttons->buttons, &buttons->count);
}
/**
* Retrieve the Joystick Descriptor for particular slot
* @param desc [out] descriptor (data transfer object) to fill in. desc is
* filled in regardless of success. In other words, if descriptor is not
* available, desc is filled in with default values matching the init-values in
* Java and C++ Driverstation for when caller requests a too-large joystick
* index.
*
* @return error code reported from Network Comm back-end. Zero is good,
* nonzero is bad.
*/
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* desc) {
desc->isXbox = 0;
@@ -333,16 +323,8 @@ bool HAL_IsNewControlData(void) {
return true;
}
/**
* Waits for the newest DS packet to arrive. Note that this is a blocking call.
*/
void HAL_WaitForDSData(void) { HAL_WaitForDSDataTimeout(0); }
/**
* Waits for the newest DS packet to arrive. If timeout is <= 0, this will wait
* forever. Otherwise, it will wait until either a new packet, or the timeout
* time has passed. Returns true on new data, false on timeout.
*/
HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
@@ -375,11 +357,6 @@ static void newDataOccur(uint32_t refNum) {
newDSDataAvailableCond->notify_all();
}
/*
* Call this to initialize the driver station communication. This will properly
* handle multiple calls. However note that this CANNOT be called from a library
* that interfaces with LabVIEW.
*/
void HAL_InitializeDriverStation(void) {
hal::init::CheckInit();
static std::atomic_bool initialized{false};
@@ -399,10 +376,6 @@ void HAL_InitializeDriverStation(void) {
initialized = true;
}
/*
* Releases the DS Mutex to allow proper shutdown of any threads that are
* waiting on it.
*/
void HAL_ReleaseDSMutex(void) { newDataOccur(refNumber); }
} // extern "C"

32
hal/src/main/native/athena/HAL.cpp
View File

@@ -84,9 +84,6 @@ HAL_PortHandle HAL_GetPort(int32_t channel) {
return createPortHandle(channel, 1);
}
/**
* @deprecated Uses module numbers
*/
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel) {
// Dont allow a number that wouldn't fit in a uint8_t
if (channel < 0 || channel >= 255) return HAL_kInvalidHandle;
@@ -215,16 +212,8 @@ const char* HAL_GetErrorMessage(int32_t code) {
}
}
/**
* Returns the runtime type of this HAL
*/
HAL_RuntimeType HAL_GetRuntimeType(void) { return HAL_Athena; }
/**
* Return the FPGA Version number.
* For now, expect this to be competition year.
* @return FPGA Version number.
*/
int32_t HAL_GetFPGAVersion(int32_t* status) {
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
@@ -233,14 +222,6 @@ int32_t HAL_GetFPGAVersion(int32_t* status) {
return global->readVersion(status);
}
/**
* Return the FPGA Revision number.
* The format of the revision is 3 numbers.
* The 12 most significant bits are the Major Revision.
* the next 8 bits are the Minor Revision.
* The 12 least significant bits are the Build Number.
* @return FPGA Revision number.
*/
int64_t HAL_GetFPGARevision(int32_t* status) {
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
@@ -249,12 +230,6 @@ int64_t HAL_GetFPGARevision(int32_t* status) {
return global->readRevision(status);
}
/**
* Read the microsecond-resolution timer on the FPGA.
*
* @return The current time in microseconds according to the FPGA (since FPGA
* reset).
*/
uint64_t HAL_GetFPGATime(int32_t* status) {
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
@@ -273,10 +248,6 @@ uint64_t HAL_GetFPGATime(int32_t* status) {
return (upper2 << 32) + lower;
}
/**
* Get the state of the "USER" button on the roboRIO
* @return true if the button is currently pressed down
*/
HAL_Bool HAL_GetFPGAButton(int32_t* status) {
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
@@ -360,9 +331,6 @@ static bool killExistingProgram(int timeout, int mode) {
return true;
}
/**
* Call this to start up HAL. This is required for robot programs.
*/
HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
static std::atomic_bool initialized{false};
static wpi::mutex initializeMutex;

41
hal/src/main/native/athena/I2C.cpp
View File

@@ -41,11 +41,6 @@ void InitializeI2C() {}
extern "C" {
/*
* Initialize the I2C port. Opens the port if necessary and saves the handle.
* If opening the MXP port, also sets up the channel functions appropriately
* @param port The port to open, 0 for the on-board, 1 for the MXP.
*/
void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
hal::init::CheckInit();
initializeDigital(status);
@@ -90,18 +85,6 @@ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
}
}
/**
* Generic transaction.
*
* This is a lower-level interface to the I2C hardware giving you more control
* over each transaction.
*
* @param dataToSend Buffer of data to send as part of the transaction.
* @param sendSize Number of bytes to send as part of the transaction.
* @param dataReceived Buffer to read data into.
* @param receiveSize Number of bytes to read from the device.
* @return >= 0 on success or -1 on transfer abort.
*/
int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
const uint8_t* dataToSend, int32_t sendSize,
uint8_t* dataReceived, int32_t receiveSize) {
@@ -133,17 +116,6 @@ int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
}
}
/**
* Execute a write transaction with the device.
*
* Write a single byte to a register on a device and wait until the
* transaction is complete.
*
* @param registerAddress The address of the register on the device to be
* written.
* @param data The byte to write to the register on the device.
* @return >= 0 on success or -1 on transfer abort.
*/
int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
const uint8_t* dataToSend, int32_t sendSize) {
if (port > 1) {
@@ -170,19 +142,6 @@ int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
}
}
/**
* Execute a read transaction with the device.
*
* Read bytes from a device.
* Most I2C devices will auto-increment the register pointer internally allowing
* you to read consecutive registers on a device in a single transaction.
*
* @param registerAddress The register to read first in the transaction.
* @param count The number of bytes to read in the transaction.
* @param buffer A pointer to the array of bytes to store the data read from the
* device.
* @return >= 0 on success or -1 on transfer abort.
*/
int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
int32_t count) {
if (port > 1) {

26
hal/src/main/native/athena/Interrupts.cpp
View File

@@ -123,13 +123,6 @@ void* HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle,
return param;
}
/**
* In synchronous mode, wait for the defined interrupt to occur.
* @param timeout Timeout in seconds
* @param ignorePrevious If true, ignore interrupts that happened before
* waitForInterrupt was called.
* @return The mask of interrupts that fired.
*/
int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interruptHandle,
double timeout, HAL_Bool ignorePrevious,
int32_t* status) {
@@ -152,12 +145,6 @@ int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interruptHandle,
return result;
}
/**
* Enable interrupts to occur on this input.
* Interrupts are disabled when the RequestInterrupt call is made. This gives
* time to do the setup of the other options before starting to field
* interrupts.
*/
void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle,
int32_t* status) {
auto anInterrupt = interruptHandles->Get(interruptHandle);
@@ -168,9 +155,6 @@ void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle,
anInterrupt->manager->enable(status);
}
/**
* Disable Interrupts without without deallocating structures.
*/
void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle,
int32_t* status) {
auto anInterrupt = interruptHandles->Get(interruptHandle);
@@ -181,11 +165,6 @@ void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle,
anInterrupt->manager->disable(status);
}
/**
* Return the timestamp for the rising interrupt that occurred most recently.
* This is in the same time domain as GetClock().
* @return Timestamp in seconds since boot.
*/
double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle,
int32_t* status) {
auto anInterrupt = interruptHandles->Get(interruptHandle);
@@ -197,11 +176,6 @@ double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle,
return timestamp * 1e-6;
}
/**
* Return the timestamp for the falling interrupt that occurred most recently.
* This is in the same time domain as GetClock().
* @return Timestamp in seconds since boot.
*/
double HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interruptHandle,
int32_t* status) {
auto anInterrupt = interruptHandles->Get(interruptHandle);

60
hal/src/main/native/athena/PWM.cpp
View File

@@ -235,14 +235,6 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
return port->eliminateDeadband;
}
/**
* Set a PWM channel to the desired value. The values range from 0 to 255 and
* the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The PWM value to set.
*/
void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
@@ -258,15 +250,6 @@ void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
}
}
/**
* Set a PWM channel to the desired scaled value. The values range from -1 to 1
* and
* the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The scaled PWM value to set.
*/
void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
@@ -313,15 +296,6 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
}
/**
* Set a PWM channel to the desired position value. The values range from 0 to 1
* and
* the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The scaled PWM value to set.
*/
void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
@@ -359,12 +333,6 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
HAL_SetPWMRaw(pwmPortHandle, kPwmDisabled, status);
}
/**
* Get a value from a PWM channel. The values range from 0 to 255.
*
* @param channel The PWM channel to read from.
* @return The raw PWM value.
*/
int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
@@ -379,12 +347,6 @@ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
}
}
/**
* Get a scaled value from a PWM channel. The values range from -1 to 1.
*
* @param channel The PWM channel to read from.
* @return The scaled PWM value.
*/
double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
@@ -417,12 +379,6 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
}
}
/**
* Get a position value from a PWM channel. The values range from 0 to 1.
*
* @param channel The PWM channel to read from.
* @return The scaled PWM value.
*/
double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
@@ -459,12 +415,6 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
pwmSystem->writeZeroLatch(port->channel, false, status);
}
/**
* Set how how often the PWM signal is squelched, thus scaling the period.
*
* @param channel The PWM channel to configure.
* @param squelchMask The 2-bit mask of outputs to squelch.
*/
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
@@ -481,22 +431,12 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
}
}
/**
* Get the loop timing of the PWM system
*
* @return The loop time
*/
int32_t HAL_GetPWMLoopTiming(int32_t* status) {
initializeDigital(status);
if (*status != 0) return 0;
return pwmSystem->readLoopTiming(status);
}
/**
* Get the pwm starting cycle time
*
* @return The pwm cycle start time.
*/
uint64_t HAL_GetPWMCycleStartTime(int32_t* status) {
initializeDigital(status);
if (*status != 0) return 0;

42
hal/src/main/native/athena/Power.cpp
View File

@@ -35,115 +35,73 @@ void InitializePower() {}
extern "C" {
/**
* Get the roboRIO input voltage
*/
double HAL_GetVinVoltage(int32_t* status) {
initializePower(status);
return power->readVinVoltage(status) / 4.096 * 0.025733 - 0.029;
}
/**
* Get the roboRIO input current
*/
double HAL_GetVinCurrent(int32_t* status) {
initializePower(status);
return power->readVinCurrent(status) / 4.096 * 0.017042 - 0.071;
}
/**
* Get the 6V rail voltage
*/
double HAL_GetUserVoltage6V(int32_t* status) {
initializePower(status);
return power->readUserVoltage6V(status) / 4.096 * 0.007019 - 0.014;
}
/**
* Get the 6V rail current
*/
double HAL_GetUserCurrent6V(int32_t* status) {
initializePower(status);
return power->readUserCurrent6V(status) / 4.096 * 0.005566 - 0.009;
}
/**
* Get the active state of the 6V rail
*/
HAL_Bool HAL_GetUserActive6V(int32_t* status) {
initializePower(status);
return power->readStatus_User6V(status) == 4;
}
/**
* Get the fault count for the 6V rail
*/
int32_t HAL_GetUserCurrentFaults6V(int32_t* status) {
initializePower(status);
return static_cast<int32_t>(
power->readFaultCounts_OverCurrentFaultCount6V(status));
}
/**
* Get the 5V rail voltage
*/
double HAL_GetUserVoltage5V(int32_t* status) {
initializePower(status);
return power->readUserVoltage5V(status) / 4.096 * 0.005962 - 0.013;
}
/**
* Get the 5V rail current
*/
double HAL_GetUserCurrent5V(int32_t* status) {
initializePower(status);
return power->readUserCurrent5V(status) / 4.096 * 0.001996 - 0.002;
}
/**
* Get the active state of the 5V rail
*/
HAL_Bool HAL_GetUserActive5V(int32_t* status) {
initializePower(status);
return power->readStatus_User5V(status) == 4;
}
/**
* Get the fault count for the 5V rail
*/
int32_t HAL_GetUserCurrentFaults5V(int32_t* status) {
initializePower(status);
return static_cast<int32_t>(
power->readFaultCounts_OverCurrentFaultCount5V(status));
}
/**
* Get the 3.3V rail voltage
*/
double HAL_GetUserVoltage3V3(int32_t* status) {
initializePower(status);
return power->readUserVoltage3V3(status) / 4.096 * 0.004902 - 0.01;
}
/**
* Get the 3.3V rail current
*/
double HAL_GetUserCurrent3V3(int32_t* status) {
initializePower(status);
return power->readUserCurrent3V3(status) / 4.096 * 0.002486 - 0.003;
}
/**
* Get the active state of the 3.3V rail
*/
HAL_Bool HAL_GetUserActive3V3(int32_t* status) {
initializePower(status);
return power->readStatus_User3V3(status) == 4;
}
/**
* Get the fault count for the 3.3V rail
*/
int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
initializePower(status);
return static_cast<int32_t>(

7
hal/src/main/native/athena/Relay.cpp
View File

@@ -93,10 +93,6 @@ HAL_Bool HAL_CheckRelayChannel(int32_t channel) {
return channel < kNumRelayHeaders && channel >= 0;
}
/**
* Set the state of a relay.
* Set the state of a relay output.
*/
void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
int32_t* status) {
auto port = relayHandles->Get(relayPortHandle);
@@ -127,9 +123,6 @@ void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
}
}
/**
* Get the current state of the relay channel
*/
HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status) {
auto port = relayHandles->Get(relayPortHandle);
if (port == nullptr) {

84
hal/src/main/native/athena/SPI.cpp
View File

@@ -100,11 +100,6 @@ static void CommonSPIPortFree(void) {
}
}
/*
* Initialize the spi port. Opens the port if necessary and saves the handle.
* If opening the MXP port, also sets up the channel functions appropriately
* @param port The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP
*/
void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
hal::init::CheckInit();
if (port < 0 || port >= kSpiMaxHandles) {
@@ -244,18 +239,6 @@ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
}
}
/**
* Generic transaction.
*
* This is a lower-level interface to the spi hardware giving you more control
* over each transaction.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param dataToSend Buffer of data to send as part of the transaction.
* @param dataReceived Buffer to read data into.
* @param size Number of bytes to transfer. [0..7]
* @return Number of bytes transferred, -1 for error
*/
int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size) {
if (port < 0 || port >= kSpiMaxHandles) {
@@ -274,16 +257,6 @@ int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,
return ioctl(HAL_GetSPIHandle(port), SPI_IOC_MESSAGE(1), &xfer);
}
/**
* Execute a write transaction with the device.
*
* Write to a device and wait until the transaction is complete.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param datToSend The data to write to the register on the device.
* @param sendSize The number of bytes to be written
* @return The number of bytes written. -1 for an error
*/
int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend,
int32_t sendSize) {
if (port < 0 || port >= kSpiMaxHandles) {
@@ -301,19 +274,6 @@ int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend,
return ioctl(HAL_GetSPIHandle(port), SPI_IOC_MESSAGE(1), &xfer);
}
/**
* Execute a read from the device.
*
* This method does not write any data out to the device
* Most spi devices will require a register address to be written before
* they begin returning data
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param buffer A pointer to the array of bytes to store the data read from the
* device.
* @param count The number of bytes to read in the transaction. [1..7]
* @return Number of bytes read. -1 for error.
*/
int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count) {
if (port < 0 || port >= kSpiMaxHandles) {
return -1;
@@ -330,11 +290,6 @@ int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count) {
return ioctl(HAL_GetSPIHandle(port), SPI_IOC_MESSAGE(1), &xfer);
}
/**
* Close the SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_CloseSPI(HAL_SPIPort port) {
if (port < 0 || port >= kSpiMaxHandles) {
return;
@@ -375,12 +330,6 @@ void HAL_CloseSPI(HAL_SPIPort port) {
}
}
/**
* Set the clock speed for the SPI bus.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param speed The speed in Hz (0-1MHz)
*/
void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed) {
if (port < 0 || port >= kSpiMaxHandles) {
return;
@@ -390,16 +339,6 @@ void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed) {
ioctl(HAL_GetSPIHandle(port), SPI_IOC_WR_MAX_SPEED_HZ, &speed);
}
/**
* Set the SPI options
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param msbFirst True to write the MSB first, False for LSB first
* @param sampleOnTrailing True to sample on the trailing edge, False to sample
* on the leading edge
* @param clkIdleHigh True to set the clock to active low, False to set the
* clock active high
*/
void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
HAL_Bool sampleOnTrailing, HAL_Bool clkIdleHigh) {
if (port < 0 || port >= kSpiMaxHandles) {
@@ -415,11 +354,6 @@ void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
ioctl(HAL_GetSPIHandle(port), SPI_IOC_WR_MODE, &mode);
}
/**
* Set the CS Active high for a SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) {
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
@@ -435,11 +369,6 @@ void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) {
}
}
/**
* Set the CS Active low for a SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) {
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
@@ -455,12 +384,6 @@ void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) {
}
}
/**
* Get the stored handle for a SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @return The stored handle for the SPI port. 0 represents no stored handle.
*/
int32_t HAL_GetSPIHandle(HAL_SPIPort port) {
if (port < 0 || port >= kSpiMaxHandles) {
return 0;
@@ -483,13 +406,6 @@ int32_t HAL_GetSPIHandle(HAL_SPIPort port) {
}
}
/**
* Set the stored handle for a SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
* MXP.
* @param handle The value of the handle for the port.
*/
void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle) {
if (port < 0 || port >= kSpiMaxHandles) {
return;

40
hal/src/main/native/athena/Threads.cpp
View File

@@ -20,14 +20,6 @@ void InitializeThreads() {}
extern "C" {
/**
* Get the thread priority for the specified thread.
*
* @param handle Native handle pointer to the thread to get the priority for
* @param isRealTime Set to true if thread is realtime, otherwise false
* @param status Error status variable. 0 on success
* @return The current thread priority. Scaled 1-99, with 1 being highest.
*/
int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
int32_t* status) {
sched_param sch;
@@ -49,31 +41,11 @@ int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
}
}
/**
* Get the thread priority for the current thread.
*
* @param handle Native handle pointer to the thread to get the priority for
* @param isRealTime Set to true if thread is realtime, otherwise false
* @param status Error status variable. 0 on success
* @return The current thread priority. Scaled 1-99, with 1 being highest.
*/
int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status) {
auto thread = pthread_self();
return HAL_GetThreadPriority(&thread, isRealTime, status);
}
/**
* Sets the thread priority for the specified thread
*
* @param thread Reference to the thread to set the priority of
* @param realTime Set to true to set a realtime priority, false for standard
* priority
* @param priority Priority to set the thread to. Scaled 1-99, with 1 being
* highest
* @param status Error status variable. 0 on success
*
* @return The success state of setting the priority
*/
HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
int32_t priority, int32_t* status) {
if (handle == nullptr) {
@@ -109,18 +81,6 @@ HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
}
}
/**
* Sets the thread priority for the current thread
*
* @param thread Reference to the thread to set the priority of
* @param realTime Set to true to set a realtime priority, false for standard
* priority
* @param priority Priority to set the thread to. Scaled 1-99, with 1 being
* highest
* @param status Error status variable. 0 on success
*
* @return The success state of setting the priority
*/
HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
int32_t* status) {
auto thread = pthread_self();

27
hal/src/main/native/include/HAL/Accelerometer.h
View File

@@ -18,10 +18,37 @@ enum HAL_AccelerometerRange : int32_t {
#ifdef __cplusplus
extern "C" {
#endif
/**
* Set the accelerometer to active or standby mode. It must be in standby
* mode to change any configuration.
*/
void HAL_SetAccelerometerActive(HAL_Bool active);
/**
* Set the range of values that can be measured (either 2, 4, or 8 g-forces).
* The accelerometer should be in standby mode when this is called.
*/
void HAL_SetAccelerometerRange(HAL_AccelerometerRange range);
/**
* Get the x-axis acceleration
*
* This is a floating point value in units of 1 g-force
*/
double HAL_GetAccelerometerX(void);
/**
* Get the y-axis acceleration
*
* This is a floating point value in units of 1 g-force
*/
double HAL_GetAccelerometerY(void);
/**
* Get the z-axis acceleration
*
* This is a floating point value in units of 1 g-force
*/
double HAL_GetAccelerometerZ(void);
#ifdef __cplusplus
} // extern "C"

72
hal/src/main/native/include/HAL/AnalogAccumulator.h
View File

@@ -15,20 +15,92 @@
extern "C" {
#endif
/**
* Is the channel attached to an accumulator.
*
* @param analogPortHandle Handle to the analog port.
* @return The analog channel is attached to an accumulator.
*/
HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Initialize the accumulator.
*
* @param analogPortHandle Handle to the analog port.
*/
void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Resets the accumulator to the initial value.
*
* @param analogPortHandle Handle to the analog port.
*/
void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Set the center value of the accumulator.
*
* The center value is subtracted from each A/D value before it is added to the
* accumulator. This is used for the center value of devices like gyros and
* accelerometers to make integration work and to take the device offset into
* account when integrating.
*
* This center value is based on the output of the oversampled and averaged
* source from channel 1. Because of this, any non-zero oversample bits will
* affect the size of the value for this field.
*
* @param analogPortHandle Handle to the analog port.
* @param center The center value of the accumulator.
*/
void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle,
int32_t center, int32_t* status);
/**
* Set the accumulator's deadband.
*
* @param analogPortHandle Handle to the analog port.
* @param deadband The deadband of the accumulator.
*/
void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle,
int32_t deadband, int32_t* status);
/**
* Read the accumulated value.
*
* Read the value that has been accumulating on channel 1.
* The accumulator is attached after the oversample and average engine.
*
* @param analogPortHandle Handle to the analog port.
* @return The 64-bit value accumulated since the last Reset().
*/
int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Read the number of accumulated values.
*
* Read the count of the accumulated values since the accumulator was last
* Reset().
*
* @param analogPortHandle Handle to the analog port.
* @return The number of times samples from the channel were accumulated.
*/
int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Read the accumulated value and the number of accumulated values atomically.
*
* This function reads the value and count from the FPGA atomically.
* This can be used for averaging.
*
* @param analogPortHandle Handle to the analog port.
* @param value Pointer to the 64-bit accumulated output.
* @param count Pointer to the number of accumulation cycles.
*/
void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analogPortHandle,
int64_t* value, int64_t* count, int32_t* status);
#ifdef __cplusplus

170
hal/src/main/native/include/HAL/AnalogInput.h
View File

@@ -15,34 +15,204 @@
extern "C" {
#endif
/**
* Initialize the analog input port using the given port object.
*
* @param portHandle Handle to the port to initialize.
*/
HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle,
int32_t* status);
/**
* @param analogPortHandle Handle to the analog port.
*/
void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle);
/**
* Check that the analog module number is valid.
*
* @param module The analog module number.
* @return Analog module is valid and present
*/
HAL_Bool HAL_CheckAnalogModule(int32_t module);
/**
* Check that the analog output channel number is value.
* Verify that the analog channel number is one of the legal channel numbers.
* Channel numbers are 0-based.
*
* @param channel The analog output channel number.
* @return Analog channel is valid
*/
HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel);
/**
* Set the sample rate.
*
* This is a global setting for the Athena and effects all channels.
*
* @param samplesPerSecond The number of samples per channel per second.
*/
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status);
/**
* Get the current sample rate.
*
* This assumes one entry in the scan list.
* This is a global setting for the Athena and effects all channels.
*
* @return Sample rate.
*/
double HAL_GetAnalogSampleRate(int32_t* status);
/**
* Set the number of averaging bits.
*
* This sets the number of averaging bits. The actual number of averaged samples
* is 2**bits. Use averaging to improve the stability of your measurement at the
* expense of sampling rate. The averaging is done automatically in the FPGA.
*
* @param analogPortHandle Handle to the analog port to configure.
* @param bits Number of bits to average.
*/
void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status);
/**
* Get the number of averaging bits.
*
* This gets the number of averaging bits from the FPGA. The actual number of
* averaged samples is 2**bits. The averaging is done automatically in the FPGA.
*
* @param analogPortHandle Handle to the analog port to use.
* @return Bits to average.
*/
int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Set the number of oversample bits.
*
* This sets the number of oversample bits. The actual number of oversampled
* values is 2**bits. Use oversampling to improve the resolution of your
* measurements at the expense of sampling rate. The oversampling is done
* automatically in the FPGA.
*
* @param analogPortHandle Handle to the analog port to use.
* @param bits Number of bits to oversample.
*/
void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status);
/**
* Get the number of oversample bits.
*
* This gets the number of oversample bits from the FPGA. The actual number of
* oversampled values is 2**bits. The oversampling is done automatically in the
* FPGA.
*
* @param analogPortHandle Handle to the analog port to use.
* @return Bits to oversample.
*/
int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Get a sample straight from the channel on this module.
*
* The sample is a 12-bit value representing the 0V to 5V range of the A/D
* converter in the module. The units are in A/D converter codes. Use
* GetVoltage() to get the analog value in calibrated units.
*
* @param analogPortHandle Handle to the analog port to use.
* @return A sample straight from the channel on this module.
*/
int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Get a sample from the output of the oversample and average engine for the
* channel.
*
* The sample is 12-bit + the value configured in SetOversampleBits().
* The value configured in SetAverageBits() will cause this value to be averaged
* 2**bits number of samples. This is not a sliding window. The sample will not
* change until 2**(OversamplBits + AverageBits) samples have been acquired from
* the module on this channel. Use GetAverageVoltage() to get the analog value
* in calibrated units.
*
* @param analogPortHandle Handle to the analog port to use.
* @return A sample from the oversample and average engine for the channel.
*/
int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Convert a voltage to a raw value for a specified channel.
*
* This process depends on the calibration of each channel, so the channel must
* be specified.
*
* @todo This assumes raw values. Oversampling not supported as is.
*
* @param analogPortHandle Handle to the analog port to use.
* @param voltage The voltage to convert.
* @return The raw value for the channel.
*/
int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
double voltage, int32_t* status);
/**
* Get a scaled sample straight from the channel on this module.
*
* The value is scaled to units of Volts using the calibrated scaling data from
* GetLSBWeight() and GetOffset().
*
* @param analogPortHandle Handle to the analog port to use.
* @return A scaled sample straight from the channel on this module.
*/
double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Get a scaled sample from the output of the oversample and average engine for
* the channel.
*
* The value is scaled to units of Volts using the calibrated scaling data from
* GetLSBWeight() and GetOffset(). Using oversampling will cause this value to
* be higher resolution, but it will update more slowly. Using averaging will
* cause this value to be more stable, but it will update more slowly.
*
* @param analogPortHandle Handle to the analog port to use.
* @return A scaled sample from the output of the oversample and average engine
* for the channel.
*/
double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Get the factory scaling least significant bit weight constant.
* The least significant bit weight constant for the channel that was calibrated
* in manufacturing and stored in an eeprom in the module.
*
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
*
* @param analogPortHandle Handle to the analog port to use.
* @return Least significant bit weight.
*/
int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
/**
* Get the factory scaling offset constant.
* The offset constant for the channel that was calibrated in manufacturing and
* stored in an eeprom in the module.
*
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
*
* @param analogPortHandle Handle to the analog port to use.
* @return Offset constant.
*/
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
int32_t* status);
#ifdef __cplusplus

14
hal/src/main/native/include/HAL/AnalogOutput.h
View File

@@ -15,13 +15,27 @@
extern "C" {
#endif
/**
* Initialize the analog output port using the given port object.
*/
HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
int32_t* status);
void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle);
void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
double voltage, int32_t* status);
double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
int32_t* status);
/**
* Check that the analog output channel number is value.
* Verify that the analog channel number is one of the legal channel numbers.
* Channel numbers are 0-based.
*
* @return Analog channel is valid
*/
HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel);
#ifdef __cplusplus
} // extern "C"

37
hal/src/main/native/include/HAL/AnalogTrigger.h
View File

@@ -28,17 +28,54 @@ void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
int32_t lower, int32_t upper,
int32_t* status);
/**
* Set the upper and lower limits of the analog trigger.
* The limits are given as floating point voltage values.
*/
void HAL_SetAnalogTriggerLimitsVoltage(
HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
int32_t* status);
/**
* Configure the analog trigger to use the averaged vs. raw values.
* If the value is true, then the averaged value is selected for the analog
* trigger, otherwise the immediate value is used.
*/
void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_Bool useAveragedValue, int32_t* status);
/**
* Configure the analog trigger to use a filtered value.
* The analog trigger will operate with a 3 point average rejection filter. This
* is designed to help with 360 degree pot applications for the period where the
* pot crosses through zero.
*/
void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_Bool useFilteredValue, int32_t* status);
/**
* Return the InWindow output of the analog trigger.
* True if the analog input is between the upper and lower limits.
* @return The InWindow output of the analog trigger.
*/
HAL_Bool HAL_GetAnalogTriggerInWindow(
HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status);
/**
* Return the TriggerState output of the analog trigger.
* True if above upper limit.
* False if below lower limit.
* If in Hysteresis, maintain previous state.
* @return The TriggerState output of the analog trigger.
*/
HAL_Bool HAL_GetAnalogTriggerTriggerState(
HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status);
/**
* Get the state of the analog trigger output.
* @return The state of the analog trigger output.
*/
HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_AnalogTriggerType type,
int32_t* status);

129
hal/src/main/native/include/HAL/Counter.h
View File

@@ -27,45 +27,174 @@ HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
void HAL_FreeCounter(HAL_CounterHandle counterHandle, int32_t* status);
void HAL_SetCounterAverageSize(HAL_CounterHandle counterHandle, int32_t size,
int32_t* status);
/**
* Set the source object that causes the counter to count up.
* Set the up counting DigitalSource.
*/
void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
int32_t* status);
/**
* Set the edge sensitivity on an up counting source.
* Set the up source to either detect rising edges or falling edges.
*/
void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status);
/**
* Disable the up counting source to the counter.
*/
void HAL_ClearCounterUpSource(HAL_CounterHandle counterHandle, int32_t* status);
/**
* Set the source object that causes the counter to count down.
* Set the down counting DigitalSource.
*/
void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
int32_t* status);
/**
* Set the edge sensitivity on a down counting source.
* Set the down source to either detect rising edges or falling edges.
*/
void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status);
/**
* Disable the down counting source to the counter.
*/
void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle,
int32_t* status);
/**
* Set standard up / down counting mode on this counter.
* Up and down counts are sourced independently from two inputs.
*/
void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle, int32_t* status);
/**
* Set standard up / down counting mode on this counter.
* Up and down counts are sourced independently from two inputs.
*/
void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle,
int32_t* status);
/**
* Set Semi-period mode on this counter.
* Counts up on both rising and falling edges.
*/
void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle,
HAL_Bool highSemiPeriod, int32_t* status);
/**
* Configure the counter to count in up or down based on the length of the input
* pulse.
* This mode is most useful for direction sensitive gear tooth sensors.
* @param threshold The pulse length beyond which the counter counts the
* opposite direction. Units are seconds.
*/
void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle,
double threshold, int32_t* status);
/**
* Get the Samples to Average which specifies the number of samples of the timer
* to
* average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @return SamplesToAverage The number of samples being averaged (from 1 to 127)
*/
int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
int32_t* status);
/**
* Set the Samples to Average which specifies the number of samples of the timer
* to average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @param samplesToAverage The number of samples to average from 1 to 127.
*/
void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
int32_t samplesToAverage, int32_t* status);
/**
* Reset the Counter to zero.
* Set the counter value to zero. This doesn't effect the running state of the
* counter, just sets the current value to zero.
*/
void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status);
/**
* Read the current counter value.
* Read the value at this instant. It may still be running, so it reflects the
* current value. Next time it is read, it might have a different value.
*/
int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status);
/*
* Get the Period of the most recent count.
* Returns the time interval of the most recent count. This can be used for
* velocity calculations to determine shaft speed.
* @returns The period of the last two pulses in units of seconds.
*/
double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status);
/**
* Set the maximum period where the device is still considered "moving".
* Sets the maximum period where the device is considered moving. This value is
* used to determine the "stopped" state of the counter using the GetStopped
* method.
* @param maxPeriod The maximum period where the counted device is considered
* moving in seconds.
*/
void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod,
int32_t* status);
/**
* Select whether you want to continue updating the event timer output when
* there are no samples captured. The output of the event timer has a buffer of
* periods that are averaged and posted to a register on the FPGA. When the
* timer detects that the event source has stopped (based on the MaxPeriod) the
* buffer of samples to be averaged is emptied. If you enable the update when
* empty, you will be notified of the stopped source and the event time will
* report 0 samples. If you disable update when empty, the most recent average
* will remain on the output until a new sample is acquired. You will never see
* 0 samples output (except when there have been no events since an FPGA reset)
* and you will likely not see the stopped bit become true (since it is updated
* at the end of an average and there are no samples to average).
*/
void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle,
HAL_Bool enabled, int32_t* status);
/**
* Determine if the clock is stopped.
* Determine if the clocked input is stopped based on the MaxPeriod value set
* using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the
* device (and counter) are assumed to be stopped and it returns true.
* @return Returns true if the most recent counter period exceeds the MaxPeriod
* value set by SetMaxPeriod.
*/
HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle,
int32_t* status);
/**
* The last direction the counter value changed.
* @return The last direction the counter value changed.
*/
HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle,
int32_t* status);
/**
* Set the Counter to return reversed sensing on the direction.
* This allows counters to change the direction they are counting in the case of
* 1X and 2X quadrature encoding only. Any other counter mode isn't supported.
* @param reverseDirection true if the value counted should be negated.
*/
void HAL_SetCounterReverseDirection(HAL_CounterHandle counterHandle,
HAL_Bool reverseDirection, int32_t* status);
#ifdef __cplusplus

137
hal/src/main/native/include/HAL/DIO.h
View File

@@ -15,32 +15,169 @@
extern "C" {
#endif
/**
* Create a new instance of a digital port.
*/
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
HAL_Bool input, int32_t* status);
HAL_Bool HAL_CheckDIOChannel(int32_t channel);
void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle);
/**
* Allocate a DO PWM Generator.
* Allocate PWM generators so that they are not accidentally reused.
*
* @return PWM Generator handle
*/
HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status);
/**
* Free the resource associated with a DO PWM generator.
*
* @param pwmGenerator The pwmGen to free that was allocated with
* allocateDigitalPWM()
*/
void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status);
/**
* Change the frequency of the DO PWM generator.
*
* The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is
* logarithmic.
*
* @param rate The frequency to output all digital output PWM signals.
*/
void HAL_SetDigitalPWMRate(double rate, int32_t* status);
/**
* Configure the duty-cycle of the PWM generator
*
* @param pwmGenerator The generator index reserved by allocateDigitalPWM()
* @param dutyCycle The percent duty cycle to output [0..1].
*/
void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
double dutyCycle, int32_t* status);
/**
* Configure which DO channel the PWM signal is output on
*
* @param pwmGenerator The generator index reserved by allocateDigitalPWM()
* @param channel The Digital Output channel to output on
*/
void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
int32_t channel, int32_t* status);
/**
* Write a digital I/O bit to the FPGA.
* Set a single value on a digital I/O channel.
*
* @param channel The Digital I/O channel
* @param value The state to set the digital channel (if it is configured as an
* output)
*/
void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
int32_t* status);
/**
* 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);
/**
* Read a digital I/O bit from the FPGA.
* Get a single value from a digital I/O channel.
*
* @param channel The digital I/O channel
* @return The state of the specified channel
*/
HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status);
/**
* Read the direction of a the Digital I/O lines
* A 1 bit means output and a 0 bit means input.
*
* @param channel The digital I/O channel
* @return The direction of the specified channel
*/
HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status);
/**
* Generate a single pulse.
* Write a pulse to the specified digital output channel. There can only be a
* single pulse going at any time.
*
* @param channel The Digital Output channel that the pulse should be output on
* @param pulseLength The active length of the pulse (in seconds)
*/
void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
int32_t* status);
/**
* Check a DIO line to see if it is currently generating a pulse.
*
* @return A pulse is in progress
*/
HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status);
/**
* Check if any DIO line is currently generating a pulse.
*
* @return A pulse on some line is in progress
*/
HAL_Bool HAL_IsAnyPulsing(int32_t* status);
/**
* Write the filter index from the FPGA.
* Set the filter index used to filter out short pulses.
*
* @param dioPortHandle Handle to the digital I/O channel
* @param filterIndex The filter index. Must be in the range 0 - 3, where 0
* means "none" and 1 - 3 means filter # filterIndex - 1.
*/
void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
int32_t* status);
/**
* Read the filter index from the FPGA.
* Get the filter index used to filter out short pulses.
*
* @param dioPortHandle Handle to the digital I/O channel
* @return filterIndex The filter index. Must be in the range 0 - 3,
* where 0 means "none" and 1 - 3 means filter # filterIndex - 1.
*/
int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status);
/**
* Set the filter period for the specified filter index.
*
* Set the filter period in FPGA cycles. Even though there are 2 different
* filter index domains (MXP vs HDR), ignore that distinction for now since it
* compilicates the interface. That can be changed later.
*
* @param filterIndex The filter index, 0 - 2.
* @param value The number of cycles that the signal must not transition to be
* counted as a transition.
*/
void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status);
/**
* Get the filter period for the specified filter index.
*
* Get the filter period in FPGA cycles. Even though there are 2 different
* filter index domains (MXP vs HDR), ignore that distinction for now since it
* compilicates the interface. Set status to NiFpga_Status_SoftwareFault if the
* filter values miss-match.
*
* @param filterIndex The filter index, 0 - 2.
* @param value The number of cycles that the signal must not transition to be
* counted as a transition.
*/
int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status);
#ifdef __cplusplus
} // extern "C"

34
hal/src/main/native/include/HAL/DriverStation.h
View File

@@ -108,8 +108,21 @@ int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
int32_t HAL_GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons);
/**
* Retrieve the Joystick Descriptor for particular slot
* @param desc [out] descriptor (data transfer object) to fill in. desc is
* filled in regardless of success. In other words, if descriptor is not
* available, desc is filled in with default values matching the init-values in
* Java and C++ Driverstation for when caller requests a too-large joystick
* index.
*
* @return error code reported from Network Comm back-end. Zero is good,
* nonzero is bad.
*/
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* desc);
HAL_Bool HAL_GetJoystickIsXbox(int32_t joystickNum);
int32_t HAL_GetJoystickType(int32_t joystickNum);
char* HAL_GetJoystickName(int32_t joystickNum);
@@ -124,10 +137,31 @@ void HAL_FreeMatchInfo(HAL_MatchInfo* info);
#ifndef HAL_USE_LABVIEW
/**
* Releases the DS Mutex to allow proper shutdown of any threads that are
* waiting on it.
*/
void HAL_ReleaseDSMutex(void);
bool HAL_IsNewControlData(void);
/**
* Waits for the newest DS packet to arrive. Note that this is a blocking call.
*/
void HAL_WaitForDSData(void);
/**
* Waits for the newest DS packet to arrive. If timeout is <= 0, this will wait
* forever. Otherwise, it will wait until either a new packet, or the timeout
* time has passed. Returns true on new data, false on timeout.
*/
HAL_Bool HAL_WaitForDSDataTimeout(double timeout);
/**
* Call this to initialize the driver station communication. This will properly
* handle multiple calls. However note that this CANNOT be called from a library
* that interfaces with LabVIEW.
*/
void HAL_InitializeDriverStation(void);
void HAL_ObserveUserProgramStarting(void);

5
hal/src/main/native/include/HAL/Extensions.h
View File

@@ -21,5 +21,10 @@ typedef int halsim_extension_init_func_t(void);
extern "C" {
int HAL_LoadOneExtension(const char* library);
/**
* Load any extra halsim libraries provided in the HALSIM_EXTENSIONS
* environment variable.
*/
int HAL_LoadExtensions(void);
} // extern "C"

32
hal/src/main/native/include/HAL/HAL.h
View File

@@ -51,10 +51,29 @@ extern "C" {
const char* HAL_GetErrorMessage(int32_t code);
/**
* Return the FPGA Version number.
* For now, expect this to be competition year.
* @return FPGA Version number.
*/
int32_t HAL_GetFPGAVersion(int32_t* status);
/**
* Return the FPGA Revision number.
* The format of the revision is 3 numbers.
* The 12 most significant bits are the Major Revision.
* the next 8 bits are the Minor Revision.
* The 12 least significant bits are the Build Number.
* @return FPGA Revision number.
*/
int64_t HAL_GetFPGARevision(int32_t* status);
HAL_RuntimeType HAL_GetRuntimeType(void);
/**
* Get the state of the "USER" button on the roboRIO
* @return true if the button is currently pressed down
*/
HAL_Bool HAL_GetFPGAButton(int32_t* status);
HAL_Bool HAL_GetSystemActive(int32_t* status);
@@ -65,10 +84,23 @@ void HAL_BaseInitialize(int32_t* status);
#ifndef HAL_USE_LABVIEW
HAL_PortHandle HAL_GetPort(int32_t channel);
/**
* @deprecated Uses module numbers
*/
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
/**
* Read the microsecond-resolution timer on the FPGA.
*
* @return The current time in microseconds according to the FPGA (since FPGA
* reset).
*/
uint64_t HAL_GetFPGATime(int32_t* status);
/**
* Call this to start up HAL. This is required for robot programs.
*/
HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode);
// ifdef's definition is to allow for default parameters in C++.

45
hal/src/main/native/include/HAL/I2C.h
View File

@@ -15,14 +15,59 @@ enum HAL_I2CPort : int32_t { HAL_I2C_kOnboard = 0, HAL_I2C_kMXP };
extern "C" {
#endif
/**
* Initialize the I2C port. Opens the port if necessary and saves the handle.
* If opening the MXP port, also sets up the channel functions appropriately
* @param port The port to open, 0 for the on-board, 1 for the MXP.
*/
void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status);
/**
* Generic transaction.
*
* This is a lower-level interface to the I2C hardware giving you more control
* over each transaction.
*
* @param dataToSend Buffer of data to send as part of the transaction.
* @param sendSize Number of bytes to send as part of the transaction.
* @param dataReceived Buffer to read data into.
* @param receiveSize Number of bytes to read from the device.
* @return >= 0 on success or -1 on transfer abort.
*/
int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
const uint8_t* dataToSend, int32_t sendSize,
uint8_t* dataReceived, int32_t receiveSize);
/**
* Execute a write transaction with the device.
*
* Write a single byte to a register on a device and wait until the
* transaction is complete.
*
* @param registerAddress The address of the register on the device to be
* written.
* @param data The byte to write to the register on the device.
* @return >= 0 on success or -1 on transfer abort.
*/
int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
const uint8_t* dataToSend, int32_t sendSize);
/**
* Execute a read transaction with the device.
*
* Read bytes from a device.
* Most I2C devices will auto-increment the register pointer internally allowing
* you to read consecutive registers on a device in a single transaction.
*
* @param registerAddress The register to read first in the transaction.
* @param count The number of bytes to read in the transaction.
* @param buffer A pointer to the array of bytes to store the data read from the
* device.
* @return >= 0 on success or -1 on transfer abort.
*/
int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
int32_t count);
void HAL_CloseI2C(HAL_I2CPort port);
#ifdef __cplusplus
} // extern "C"

31
hal/src/main/native/include/HAL/Interrupts.h
View File

@@ -22,16 +22,47 @@ typedef void (*HAL_InterruptHandlerFunction)(uint32_t interruptAssertedMask,
HAL_InterruptHandle HAL_InitializeInterrupts(HAL_Bool watcher, int32_t* status);
void* HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status);
/**
* In synchronous mode, wait for the defined interrupt to occur.
* @param timeout Timeout in seconds
* @param ignorePrevious If true, ignore interrupts that happened before
* waitForInterrupt was called.
* @return The mask of interrupts that fired.
*/
int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interruptHandle,
double timeout, HAL_Bool ignorePrevious,
int32_t* status);
/**
* Enable interrupts to occur on this input.
* Interrupts are disabled when the RequestInterrupt call is made. This gives
* time to do the setup of the other options before starting to field
* interrupts.
*/
void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status);
/**
* Disable Interrupts without without deallocating structures.
*/
void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle,
int32_t* status);
/**
* Return the timestamp for the rising interrupt that occurred most recently.
* This is in the same time domain as GetClock().
* @return Timestamp in seconds since boot.
*/
double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle,
int32_t* status);
/**
* Return the timestamp for the falling interrupt that occurred most recently.
* This is in the same time domain as GetClock().
* @return Timestamp in seconds since boot.
*/
double HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interruptHandle,
int32_t* status);
void HAL_RequestInterrupts(HAL_InterruptHandle interruptHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,

71
hal/src/main/native/include/HAL/PWM.h
View File

@@ -36,20 +36,91 @@ void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
HAL_Bool eliminateDeadband, int32_t* status);
HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
int32_t* status);
/**
* Set a PWM channel to the desired value. The values range from 0 to 255 and
* the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The PWM value to set.
*/
void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
int32_t* status);
/**
* Set a PWM channel to the desired scaled value. The values range from -1 to 1
* and
* the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The scaled PWM value to set.
*/
void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
int32_t* status);
/**
* Set a PWM channel to the desired position value. The values range from 0 to 1
* and
* the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The scaled PWM value to set.
*/
void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double position,
int32_t* status);
void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status);
/**
* Get a value from a PWM channel. The values range from 0 to 255.
*
* @param channel The PWM channel to read from.
* @return The raw PWM value.
*/
int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status);
/**
* Get a scaled value from a PWM channel. The values range from -1 to 1.
*
* @param channel The PWM channel to read from.
* @return The scaled PWM value.
*/
double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status);
/**
* Get a position value from a PWM channel. The values range from 0 to 1.
*
* @param channel The PWM channel to read from.
* @return The scaled PWM value.
*/
double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status);
void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status);
/**
* Set how how often the PWM signal is squelched, thus scaling the period.
*
* @param channel The PWM channel to configure.
* @param squelchMask The 2-bit mask of outputs to squelch.
*/
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
int32_t* status);
/**
* Get the loop timing of the PWM system
*
* @return The loop time
*/
int32_t HAL_GetPWMLoopTiming(int32_t* status);
/**
* Get the pwm starting cycle time
*
* @return The pwm cycle start time.
*/
uint64_t HAL_GetPWMCycleStartTime(int32_t* status);
#ifdef __cplusplus
} // extern "C"

55
hal/src/main/native/include/HAL/Power.h
View File

@@ -15,19 +15,74 @@
extern "C" {
#endif
/**
* Get the roboRIO input voltage
*/
double HAL_GetVinVoltage(int32_t* status);
/**
* Get the roboRIO input current
*/
double HAL_GetVinCurrent(int32_t* status);
/**
* Get the 6V rail voltage
*/
double HAL_GetUserVoltage6V(int32_t* status);
/**
* Get the 6V rail current
*/
double HAL_GetUserCurrent6V(int32_t* status);
/**
* Get the active state of the 6V rail
*/
HAL_Bool HAL_GetUserActive6V(int32_t* status);
/**
* Get the fault count for the 6V rail
*/
int32_t HAL_GetUserCurrentFaults6V(int32_t* status);
/**
* Get the 5V rail voltage
*/
double HAL_GetUserVoltage5V(int32_t* status);
/**
* Get the 5V rail current
*/
double HAL_GetUserCurrent5V(int32_t* status);
/**
* Get the active state of the 5V rail
*/
HAL_Bool HAL_GetUserActive5V(int32_t* status);
/**
* Get the fault count for the 5V rail
*/
int32_t HAL_GetUserCurrentFaults5V(int32_t* status);
/**
* Get the 3.3V rail voltage
*/
double HAL_GetUserVoltage3V3(int32_t* status);
/**
* Get the 3.3V rail current
*/
double HAL_GetUserCurrent3V3(int32_t* status);
/**
* Get the active state of the 3.3V rail
*/
HAL_Bool HAL_GetUserActive3V3(int32_t* status);
/**
* Get the fault count for the 3.3V rail
*/
int32_t HAL_GetUserCurrentFaults3V3(int32_t* status);
#ifdef __cplusplus
} // extern "C"

8
hal/src/main/native/include/HAL/Relay.h
View File

@@ -21,8 +21,16 @@ void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle);
HAL_Bool HAL_CheckRelayChannel(int32_t channel);
/**
* Set the state of a relay.
* Set the state of a relay output.
*/
void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
int32_t* status);
/**
* Get the current state of the relay channel
*/
HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status);
#ifdef __cplusplus
} // extern "C"

102
hal/src/main/native/include/HAL/SPI.h
View File

@@ -24,36 +24,138 @@ enum HAL_SPIPort : int32_t {
extern "C" {
#endif
/**
* Initialize the spi port. Opens the port if necessary and saves the handle.
* If opening the MXP port, also sets up the channel functions appropriately
* @param port The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP
*/
void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status);
/**
* Generic transaction.
*
* This is a lower-level interface to the spi hardware giving you more control
* over each transaction.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param dataToSend Buffer of data to send as part of the transaction.
* @param dataReceived Buffer to read data into.
* @param size Number of bytes to transfer. [0..7]
* @return Number of bytes transferred, -1 for error
*/
int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size);
/**
* Execute a write transaction with the device.
*
* Write to a device and wait until the transaction is complete.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param datToSend The data to write to the register on the device.
* @param sendSize The number of bytes to be written
* @return The number of bytes written. -1 for an error
*/
int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend,
int32_t sendSize);
/**
* Execute a read from the device.
*
* This method does not write any data out to the device
* Most spi devices will require a register address to be written before
* they begin returning data
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param buffer A pointer to the array of bytes to store the data read from the
* device.
* @param count The number of bytes to read in the transaction. [1..7]
* @return Number of bytes read. -1 for error.
*/
int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count);
/**
* Close the SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_CloseSPI(HAL_SPIPort port);
/**
* Set the clock speed for the SPI bus.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param speed The speed in Hz (0-1MHz)
*/
void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed);
/**
* Set the SPI options
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param msbFirst True to write the MSB first, False for LSB first
* @param sampleOnTrailing True to sample on the trailing edge, False to sample
* on the leading edge
* @param clkIdleHigh True to set the clock to active low, False to set the
* clock active high
*/
void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
HAL_Bool sampleOnTrailing, HAL_Bool clkIdleHigh);
/**
* Set the CS Active high for a SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status);
/**
* Set the CS Active low for a SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status);
/**
* Get the stored handle for a SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @return The stored handle for the SPI port. 0 represents no stored handle.
*/
int32_t HAL_GetSPIHandle(HAL_SPIPort port);
/**
* Set the stored handle for a SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
* MXP.
* @param handle The value of the handle for the port.
*/
void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle);
void HAL_InitSPIAuto(HAL_SPIPort port, int32_t bufferSize, int32_t* status);
void HAL_FreeSPIAuto(HAL_SPIPort port, int32_t* status);
void HAL_StartSPIAutoRate(HAL_SPIPort port, double period, int32_t* status);
void HAL_StartSPIAutoTrigger(HAL_SPIPort port, HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
HAL_Bool triggerRising, HAL_Bool triggerFalling,
int32_t* status);
void HAL_StopSPIAuto(HAL_SPIPort port, int32_t* status);
void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend,
int32_t dataSize, int32_t zeroSize,
int32_t* status);
void HAL_ForceSPIAutoRead(HAL_SPIPort port, int32_t* status);
int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint8_t* buffer,
int32_t numToRead, double timeout,
int32_t* status);
int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status);
#ifdef __cplusplus

43
hal/src/main/native/include/HAL/Threads.h
View File

@@ -18,11 +18,54 @@
#include "HAL/Types.h"
extern "C" {
/**
* Get the thread priority for the specified thread.
*
* @param handle Native handle pointer to the thread to get the priority for
* @param isRealTime Set to true if thread is realtime, otherwise false
* @param status Error status variable. 0 on success
* @return The current thread priority. Scaled 1-99, with 1 being highest.
*/
int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
int32_t* status);
/**
* Get the thread priority for the current thread.
*
* @param handle Native handle pointer to the thread to get the priority for
* @param isRealTime Set to true if thread is realtime, otherwise false
* @param status Error status variable. 0 on success
* @return The current thread priority. Scaled 1-99, with 1 being highest.
*/
int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status);
/**
* Sets the thread priority for the specified thread
*
* @param thread Reference to the thread to set the priority of
* @param realTime Set to true to set a realtime priority, false for standard
* priority
* @param priority Priority to set the thread to. Scaled 1-99, with 1 being
* highest
* @param status Error status variable. 0 on success
*
* @return The success state of setting the priority
*/
HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
int32_t priority, int32_t* status);
/**
* Sets the thread priority for the current thread
*
* @param thread Reference to the thread to set the priority of
* @param realTime Set to true to set a realtime priority, false for standard
* priority
* @param priority Priority to set the thread to. Scaled 1-99, with 1 being
* highest
* @param status Error status variable. 0 on success
*
* @return The success state of setting the priority
*/
HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
int32_t* status);
} // extern "C"

120
hal/src/main/native/sim/DIO.cpp
View File

@@ -37,9 +37,6 @@ void InitializeDIO() {
extern "C" {
/**
* Create a new instance of a digital port.
*/
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
HAL_Bool input, int32_t* status) {
hal::init::CheckInit();
@@ -84,12 +81,6 @@ void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
SimDIOData[port->channel].SetInitialized(true);
}
/**
* Allocate a DO PWM Generator.
* Allocate PWM generators so that they are not accidentally reused.
*
* @return PWM Generator handle
*/
HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
auto handle = digitalPWMHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
@@ -109,12 +100,6 @@ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
return handle;
}
/**
* Free the resource associated with a DO PWM generator.
*
* @param pwmGenerator The pwmGen to free that was allocated with
* allocateDigitalPWM()
*/
void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) {
auto port = digitalPWMHandles->Get(pwmGenerator);
digitalPWMHandles->Free(pwmGenerator);
@@ -123,14 +108,6 @@ void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) {
SimDigitalPWMData[id].SetInitialized(false);
}
/**
* Change the frequency of the DO PWM generator.
*
* The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is
* logarithmic.
*
* @param rate The frequency to output all digital output PWM signals.
*/
void HAL_SetDigitalPWMRate(double rate, int32_t* status) {
// Currently rounding in the log rate domain... heavy weight toward picking a
// higher freq.
@@ -143,12 +120,6 @@ void HAL_SetDigitalPWMRate(double rate, int32_t* status) {
// digitalSystem->writePWMPeriodPower(pwmPeriodPower, status);
}
/**
* Configure the duty-cycle of the PWM generator
*
* @param pwmGenerator The generator index reserved by allocateDigitalPWM()
* @param dutyCycle The percent duty cycle to output [0..1].
*/
void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
double dutyCycle, int32_t* status) {
auto port = digitalPWMHandles->Get(pwmGenerator);
@@ -162,12 +133,6 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
SimDigitalPWMData[id].SetDutyCycle(dutyCycle);
}
/**
* Configure which DO channel the PWM signal is output on
*
* @param pwmGenerator The generator index reserved by allocateDigitalPWM()
* @param channel The Digital Output channel to output on
*/
void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
int32_t channel, int32_t* status) {
auto port = digitalPWMHandles->Get(pwmGenerator);
@@ -179,14 +144,6 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
SimDigitalPWMData[id].SetPin(channel);
}
/**
* Write a digital I/O bit to the FPGA.
* Set a single value on a digital I/O channel.
*
* @param channel The Digital I/O channel
* @param value The state to set the digital channel (if it is configured as an
* output)
*/
void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
@@ -200,12 +157,6 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
SimDIOData[port->channel].SetValue(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);
@@ -217,13 +168,6 @@ void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
SimDIOData[port->channel].SetIsInput(input);
}
/**
* Read a digital I/O bit from the FPGA.
* Get a single value from a digital I/O channel.
*
* @param channel The digital I/O channel
* @return The state of the specified channel
*/
HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -236,13 +180,6 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
return value;
}
/**
* Read the direction of a the Digital I/O lines
* A 1 bit means output and a 0 bit means input.
*
* @param channel The digital I/O channel
* @return The direction of the specified channel
*/
HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -255,14 +192,6 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
return value;
}
/**
* Generate a single pulse.
* Write a pulse to the specified digital output channel. There can only be a
* single pulse going at any time.
*
* @param channel The Digital Output channel that the pulse should be output on
* @param pulseLength The active length of the pulse (in seconds)
*/
void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
@@ -273,11 +202,6 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
// TODO (Thad) Add this
}
/**
* Check a DIO line to see if it is currently generating a pulse.
*
* @return A pulse is in progress
*/
HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -288,23 +212,10 @@ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
// TODO (Thad) Add this
}
/**
* Check if any DIO line is currently generating a pulse.
*
* @return A pulse on some line is in progress
*/
HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
return false; // TODO(Thad) Figure this out
}
/**
* Write the filter index from the FPGA.
* Set the filter index used to filter out short pulses.
*
* @param dioPortHandle Handle to the digital I/O channel
* @param filterIndex The filter index. Must be in the range 0 - 3, where 0
* means "none" and 1 - 3 means filter # filterIndex - 1.
*/
void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
@@ -316,14 +227,6 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
// TODO(Thad) Figure this out
}
/**
* Read the filter index from the FPGA.
* Get the filter index used to filter out short pulses.
*
* @param dioPortHandle Handle to the digital I/O channel
* @return filterIndex The filter index. Must be in the range 0 - 3,
* where 0 means "none" and 1 - 3 means filter # filterIndex - 1.
*/
int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -334,33 +237,10 @@ int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) {
// TODO(Thad) Figure this out
}
/**
* Set the filter period for the specified filter index.
*
* Set the filter period in FPGA cycles. Even though there are 2 different
* filter index domains (MXP vs HDR), ignore that distinction for now since it
* compilicates the interface. That can be changed later.
*
* @param filterIndex The filter index, 0 - 2.
* @param value The number of cycles that the signal must not transition to be
* counted as a transition.
*/
void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status) {
// TODO(Thad) figure this out
}
/**
* Get the filter period for the specified filter index.
*
* Get the filter period in FPGA cycles. Even though there are 2 different
* filter index domains (MXP vs HDR), ignore that distinction for now since it
* compilicates the interface. Set status to NiFpga_Status_SoftwareFault if the
* filter values miss-match.
*
* @param filterIndex The filter index, 0 - 2.
* @param value The number of cycles that the signal must not transition to be
* counted as a transition.
*/
int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status) {
return 0; // TODO(Thad) figure this out
}

30
hal/src/main/native/sim/DigitalInternal.cpp
View File

@@ -28,26 +28,6 @@ void InitializeDigitalInternal() {
}
} // namespace init
/**
* Map DIO channel numbers from their physical number (10 to 26) to their
* position in the bit field.
*/
int32_t remapMXPChannel(int32_t channel) { return channel - 10; }
int32_t remapMXPPWMChannel(int32_t channel) {
if (channel < 14) {
return channel - 10; // first block of 4 pwms (MXP 0-3)
} else {
return channel - 6; // block of PWMs after SPI
}
}
/**
* remap the digital source channel and set the module.
* If it's an analog trigger, determine the module from the high order routing
* channel else do normal digital input remapping based on channel number
* (MXP)
*/
bool remapDigitalSource(HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
uint8_t& channel, uint8_t& module,
@@ -75,6 +55,16 @@ bool remapDigitalSource(HAL_Handle digitalSourceHandle,
}
}
int32_t remapMXPChannel(int32_t channel) { return channel - 10; }
int32_t remapMXPPWMChannel(int32_t channel) {
if (channel < 14) {
return channel - 10; // first block of 4 pwms (MXP 0-3)
} else {
return channel - 6; // block of PWMs after SPI
}
}
int32_t GetDigitalInputChannel(HAL_DigitalHandle handle, int32_t* status) {
auto digital = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
if (digital == nullptr) {

15
hal/src/main/native/sim/DigitalInternal.h
View File

@@ -70,11 +70,24 @@ extern DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
kNumDigitalChannels + kNumPWMHeaders>*
digitalChannelHandles;
/**
* Remap the digital source channel and set the module.
*
* If it's an analog trigger, determine the module from the high order routing
* channel else do normal digital input remapping based on channel number
* (MXP).
*/
bool remapDigitalSource(HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
uint8_t& channel, uint8_t& module, bool& analogTrigger);
int32_t remapMXPPWMChannel(int32_t channel);
/**
* Map DIO channel numbers from their physical number (10 to 26) to their
* position in the bit field.
*/
int32_t remapMXPChannel(int32_t channel);
int32_t remapMXPPWMChannel(int32_t channel);
int32_t GetDigitalInputChannel(HAL_DigitalHandle handle, int32_t* status);
} // namespace hal

29
hal/src/main/native/sim/DriverStation.cpp
View File

@@ -124,17 +124,7 @@ int32_t HAL_GetJoystickButtons(int32_t joystickNum,
SimDriverStationData->GetJoystickButtons(joystickNum, buttons);
return 0;
}
/**
* Retrieve the Joystick Descriptor for particular slot
* @param desc [out] descriptor (data transfer object) to fill in. desc is
* filled in regardless of success. In other words, if descriptor is not
* available, desc is filled in with default values matching the init-values in
* Java and C++ Driverstation for when caller requests a too-large joystick
* index.
*
* @return error code reported from Network Comm back-end. Zero is good,
* nonzero is bad.
*/
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* desc) {
SimDriverStationData->GetJoystickDescriptor(joystickNum, desc);
@@ -241,16 +231,8 @@ bool HAL_IsNewControlData(void) {
return true;
}
/**
* Waits for the newest DS packet to arrive. Note that this is a blocking call.
*/
void HAL_WaitForDSData(void) { HAL_WaitForDSDataTimeout(0); }
/**
* Waits for the newest DS packet to arrive. If timeout is <= 0, this will wait
* forever. Otherwise, it will wait until either a new packet, or the timeout
* time has passed. Returns true on new data, false on timeout.
*/
HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
@@ -284,11 +266,6 @@ static int32_t newDataOccur(uint32_t refNum) {
return 0;
}
/*
* Call this to initialize the driver station communication. This will properly
* handle multiple calls. However note that this CANNOT be called from a library
* that interfaces with LabVIEW.
*/
void HAL_InitializeDriverStation(void) {
hal::init::CheckInit();
static std::atomic_bool initialized{false};
@@ -305,10 +282,6 @@ void HAL_InitializeDriverStation(void) {
initialized = true;
}
/*
* Releases the DS Mutex to allow proper shutdown of any threads that are
* waiting on it.
*/
void HAL_ReleaseDSMutex(void) { newDataOccur(refNumber); }
} // extern "C"

4
hal/src/main/native/sim/Extensions.cpp
View File

@@ -67,10 +67,6 @@ int HAL_LoadOneExtension(const char* library) {
return rc;
}
/**
* Load any extra halsim libraries provided in the HALSIM_EXTENSIONS
* environment variable.
*/
int HAL_LoadExtensions(void) {
int rc = 1;
wpi::SmallVector<wpi::StringRef, 2> libraries;

29
hal/src/main/native/sim/HAL.cpp
View File

@@ -83,9 +83,6 @@ HAL_PortHandle HAL_GetPort(int32_t channel) {
return createPortHandle(channel, 1);
}
/**
* @deprecated Uses module numbers
*/
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel) {
// Dont allow a number that wouldn't fit in a uint8_t
if (channel < 0 || channel >= 255) return HAL_kInvalidHandle;
@@ -204,44 +201,18 @@ const char* HAL_GetErrorMessage(int32_t code) {
}
}
/**
* Returns the runtime type of this HAL
*/
HAL_RuntimeType HAL_GetRuntimeType(void) { return HAL_Mock; }
/**
* Return the FPGA Version number.
* For now, expect this to be competition year.
* @return FPGA Version number.
*/
int32_t HAL_GetFPGAVersion(int32_t* status) {
return 2018; // Automatically script this at some point
}
/**
* Return the FPGA Revision number.
* The format of the revision is 3 numbers.
* The 12 most significant bits are the Major Revision.
* the next 8 bits are the Minor Revision.
* The 12 least significant bits are the Build Number.
* @return FPGA Revision number.
*/
int64_t HAL_GetFPGARevision(int32_t* status) {
return 0; // TODO: Find a better number to return;
}
/**
* Read the microsecond-resolution timer on the FPGA.
*
* @return The current time in microseconds according to the FPGA (since FPGA
* reset).
*/
uint64_t HAL_GetFPGATime(int32_t* status) { return hal::GetFPGATime(); }
/**
* Get the state of the "USER" button on the roboRIO
* @return true if the button is currently pressed down
*/
HAL_Bool HAL_GetFPGAButton(int32_t* status) {
return SimRoboRioData[0].GetFPGAButton();
}

60
hal/src/main/native/sim/PWM.cpp
View File

@@ -166,14 +166,6 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
return port->eliminateDeadband;
}
/**
* Set a PWM channel to the desired value. The values range from 0 to 255 and
* the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The PWM value to set.
*/
void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
@@ -185,15 +177,6 @@ void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
SimPWMData[port->channel].SetRawValue(value);
}
/**
* Set a PWM channel to the desired scaled value. The values range from -1 to 1
* and
* the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The scaled PWM value to set.
*/
void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
@@ -215,15 +198,6 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
SimPWMData[port->channel].SetSpeed(speed);
}
/**
* Set a PWM channel to the desired position value. The values range from 0 to 1
* and
* the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The scaled PWM value to set.
*/
void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
@@ -256,12 +230,6 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
SimPWMData[port->channel].SetSpeed(0);
}
/**
* Get a value from a PWM channel. The values range from 0 to 255.
*
* @param channel The PWM channel to read from.
* @return The raw PWM value.
*/
int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
@@ -272,12 +240,6 @@ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
return SimPWMData[port->channel].GetRawValue();
}
/**
* Get a scaled value from a PWM channel. The values range from -1 to 1.
*
* @param channel The PWM channel to read from.
* @return The scaled PWM value.
*/
double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
@@ -295,12 +257,6 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
return speed;
}
/**
* Get a position value from a PWM channel. The values range from 0 to 1.
*
* @param channel The PWM channel to read from.
* @return The scaled PWM value.
*/
double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
@@ -329,12 +285,6 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
SimPWMData[port->channel].SetZeroLatch(false);
}
/**
* Set how how often the PWM signal is squelched, thus scaling the period.
*
* @param channel The PWM channel to configure.
* @param squelchMask The 2-bit mask of outputs to squelch.
*/
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
@@ -346,17 +296,7 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
SimPWMData[port->channel].SetPeriodScale(squelchMask);
}
/**
* Get the loop timing of the PWM system
*
* @return The loop time
*/
int32_t HAL_GetPWMLoopTiming(int32_t* status) { return kExpectedLoopTiming; }
/**
* Get the pwm starting cycle time
*
* @return The pwm cycle start time.
*/
uint64_t HAL_GetPWMCycleStartTime(int32_t* status) { return 0; }
} // extern "C"