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Revert "Uses ComputeDigitalMask function across HAL DIO (#837)" (#1005)

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This reverts commit c84bd744c8.
This commit is contained in:
Peter Johnson
2018-04-29 21:48:53 -07:00
committed by GitHub
parent c84bd744c8
commit a8fd88840d
3 changed files with 116 additions and 43 deletions
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134
hal/src/main/native/athena/DIO.cpp
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@@ -10,7 +10,6 @@
#include <cmath>
#include "DigitalInternal.h"
#include "HAL/cpp/UnsafeDIO.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/LimitedHandleResource.h"
#include "PortsInternal.h"
@@ -67,18 +66,10 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
port->channel = static_cast<uint8_t>(channel);
auto mask = ComputeDigitalMask(port->channel);
std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
if (input) {
outputEnable.value |= mask;
} else {
outputEnable.value &= ~mask;
}
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
if (!getPortHandleSPIEnable(portHandle)) {
// if this flag is not set, we actually want DIO.
@@ -87,14 +78,38 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
uint16_t specialFunctions = spiSystem->readEnableDIO(status);
// Set the field to enable SPI DIO
spiSystem->writeEnableDIO(specialFunctions | bitToSet, status);
if (input) {
outputEnable.SPIPort =
outputEnable.SPIPort & (~bitToSet); // clear the field for read
} else {
outputEnable.SPIPort =
outputEnable.SPIPort | bitToSet; // set the bits for write
}
}
} else if (port->channel >= kNumDigitalHeaders) {
} else if (port->channel < kNumDigitalHeaders) {
uint32_t bitToSet = 1u << port->channel;
if (input) {
outputEnable.Headers =
outputEnable.Headers & (~bitToSet); // clear the bit for read
} else {
outputEnable.Headers =
outputEnable.Headers | bitToSet; // set the bit for write
}
} else {
uint32_t bitToSet = 1u << remapMXPChannel(port->channel);
uint16_t specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
status);
if (input) {
outputEnable.MXP =
outputEnable.MXP & (~bitToSet); // clear the bit for read
} else {
outputEnable.MXP = outputEnable.MXP | bitToSet; // set the bit for write
}
}
digitalSystem->writeOutputEnable(outputEnable, status);
@@ -256,18 +271,36 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
*status = HAL_HANDLE_ERROR;
return;
}
auto mask = ComputeDigitalMask(port->channel);
if (value != 0 && value != 1) {
if (value != 0) value = 1;
}
{
std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
tDIO::tDO currentDIO = digitalSystem->readDO(status);
if (value) {
currentDIO.value &= ~mask;
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
if (value == 0) {
currentDIO.SPIPort =
currentDIO.SPIPort & ~(1u << remapSPIChannel(port->channel));
} else if (value == 1) {
currentDIO.SPIPort =
currentDIO.SPIPort | (1u << remapSPIChannel(port->channel));
}
} else if (port->channel < kNumDigitalHeaders) {
if (value == 0) {
currentDIO.Headers = currentDIO.Headers & ~(1u << port->channel);
} else if (value == 1) {
currentDIO.Headers = currentDIO.Headers | (1u << port->channel);
}
} else {
currentDIO.value |= mask;
if (value == 0) {
currentDIO.MXP =
currentDIO.MXP & ~(1u << remapMXPChannel(port->channel));
} else if (value == 1) {
currentDIO.MXP =
currentDIO.MXP | (1u << remapMXPChannel(port->channel));
}
}
digitalSystem->writeDO(currentDIO, status);
}
}
@@ -285,17 +318,33 @@ void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
*status = HAL_HANDLE_ERROR;
return;
}
auto mask = ComputeDigitalMask(port->channel);
{
std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
tDIO::tOutputEnable currentDIO = digitalSystem->readOutputEnable(status);
if (input) {
currentDIO.value |= mask;
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
if (input) {
currentDIO.SPIPort =
currentDIO.SPIPort & ~(1u << remapSPIChannel(port->channel));
} else {
currentDIO.SPIPort =
currentDIO.SPIPort | (1u << remapSPIChannel(port->channel));
}
} else if (port->channel < kNumDigitalHeaders) {
if (input) {
currentDIO.Headers = currentDIO.Headers & ~(1u << port->channel);
} else {
currentDIO.Headers = currentDIO.Headers | (1u << port->channel);
}
} else {
currentDIO.value &= ~mask;
if (input) {
currentDIO.MXP =
currentDIO.MXP & ~(1u << remapMXPChannel(port->channel));
} else {
currentDIO.MXP =
currentDIO.MXP | (1u << remapMXPChannel(port->channel));
}
}
digitalSystem->writeOutputEnable(currentDIO, status);
}
}
@@ -319,9 +368,13 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
// if it == 0, then return false
// else return true
auto mask = ComputeDigitalMask(port->channel);
return (currentDIO.value & mask) != 0;
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
return ((currentDIO.SPIPort >> remapSPIChannel(port->channel)) & 1) != 0;
} else if (port->channel < kNumDigitalHeaders) {
return ((currentDIO.Headers >> port->channel) & 1) != 0;
} else {
return ((currentDIO.MXP >> remapMXPChannel(port->channel)) & 1) != 0;
}
}
/**
@@ -344,9 +397,15 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
// if it == 0, then return false
// else return true
auto mask = ComputeDigitalMask(port->channel);
return (currentOutputEnable.value & mask) != 0;
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
return ((currentOutputEnable.SPIPort >> remapSPIChannel(port->channel)) &
1) != 0;
} else if (port->channel < kNumDigitalHeaders) {
return ((currentOutputEnable.Headers >> port->channel) & 1) != 0;
} else {
return ((currentOutputEnable.MXP >> remapMXPChannel(port->channel)) & 1) !=
0;
}
}
/**
@@ -366,7 +425,13 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
}
tDIO::tPulse pulse;
pulse.value = ComputeDigitalMask(port->channel);
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
pulse.SPIPort = 1u << remapSPIChannel(port->channel);
} else if (port->channel < kNumDigitalHeaders) {
pulse.Headers = 1u << port->channel;
} else {
pulse.MXP = 1u << remapMXPChannel(port->channel);
}
digitalSystem->writePulseLength(
static_cast<uint8_t>(1.0e9 * pulseLength /
@@ -388,8 +453,13 @@ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
}
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
auto mask = ComputeDigitalMask(port->channel);
return (pulseRegister.value & mask) != 0;
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
return (pulseRegister.SPIPort & (1 << remapSPIChannel(port->channel))) != 0;
} else if (port->channel < kNumDigitalHeaders) {
return (pulseRegister.Headers & (1 << port->channel)) != 0;
} else {
return (pulseRegister.MXP & (1 << remapMXPChannel(port->channel))) != 0;
}
}
/**
@@ -401,8 +471,8 @@ HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
initializeDigital(status);
if (*status != 0) return false;
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
pulseRegister.Reserved = 0;
return pulseRegister.value != 0;
return pulseRegister.Headers != 0 && pulseRegister.MXP != 0 &&
pulseRegister.SPIPort != 0;
}
/**