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Adds SPI DIO to WPILib (#256)

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This commit is contained in:
Thad House
2016-11-18 14:15:53 -08:00
committed by Peter Johnson
parent 6bc092f3ae
commit b115c75226
8 changed files with 218 additions and 50 deletions
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96
hal/lib/athena/DIO.cpp
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@@ -58,7 +58,24 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
if (port->channel < kNumDigitalHeaders) {
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
if (!getPortHandleSPIEnable(portHandle)) {
// if this flag is not set, we actually want DIO.
uint32_t bitToSet = 1u << remapSPIChannel(port->channel);
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) {
uint32_t bitToSet = 1u << port->channel;
if (input) {
outputEnable.Headers =
@@ -93,8 +110,26 @@ HAL_Bool HAL_CheckDIOChannel(int32_t channel) {
}
void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
// no status, so no need to check for a proper free.
digitalChannelHandles.Free(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) return;
int32_t status = 0;
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
// Unset the SPI flag
int32_t bitToUnset = 1 << remapSPIChannel(port->channel);
uint16_t specialFunctions = spiSystem->readEnableDIO(&status);
spiSystem->writeEnableDIO(specialFunctions & ~bitToUnset, &status);
} else if (port->channel >= kNumDigitalHeaders) {
// Unset the MXP flag
uint32_t bitToUnset = 1u << remapMXPChannel(port->channel);
uint16_t specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(&status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToUnset,
&status);
}
}
/**
@@ -200,7 +235,9 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
return;
}
int32_t id = *port;
if (channel >= kNumDigitalHeaders) { // If it is on the MXP
if (channel >= kNumDigitalHeaders &&
channel <
kNumDigitalHeaders + kNumDigitalMXPChannels) { // If it is on the MXP
/* Then to write as a digital PWM channel an offset is needed to write on
* the correct channel
*/
@@ -231,7 +268,15 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
tDIO::tDO currentDIO = digitalSystem->readDO(status);
if (port->channel < kNumDigitalHeaders) {
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) {
@@ -245,12 +290,6 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
currentDIO.MXP =
currentDIO.MXP | (1u << remapMXPChannel(port->channel));
}
int32_t bitToSet = 1 << remapMXPChannel(port->channel);
uint16_t specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
status);
}
digitalSystem->writeDO(currentDIO, status);
}
@@ -275,16 +314,11 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
// if it == 0, then return false
// else return true
if (port->channel < kNumDigitalHeaders) {
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 {
// Disable special functions
int32_t bitToSet = 1 << remapMXPChannel(port->channel);
uint16_t specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
status);
return ((currentDIO.MXP >> remapMXPChannel(port->channel)) & 1) != 0;
}
}
@@ -309,7 +343,10 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
// if it == 0, then return false
// else return true
if (port->channel < kNumDigitalHeaders) {
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) !=
@@ -334,7 +371,9 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
}
tDIO::tPulse pulse;
if (port->channel < kNumDigitalHeaders) {
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);
@@ -360,7 +399,9 @@ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
}
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
if (port->channel < kNumDigitalHeaders) {
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;
@@ -376,7 +417,8 @@ HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
initializeDigital(status);
if (*status != 0) return false;
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
return pulseRegister.Headers != 0 && pulseRegister.MXP != 0;
return pulseRegister.Headers != 0 && pulseRegister.MXP != 0 &&
pulseRegister.SPIPort != 0;
}
/**
@@ -396,7 +438,11 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
}
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
if (port->channel < kNumDigitalHeaders) {
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
// Channels 10-15 are SPI channels, so subtract our MXP channels
digitalSystem->writeFilterSelectHdr(port->channel - kNumDigitalMXPChannels,
filterIndex, status);
} else if (port->channel < kNumDigitalHeaders) {
digitalSystem->writeFilterSelectHdr(port->channel, filterIndex, status);
} else {
digitalSystem->writeFilterSelectMXP(remapMXPChannel(port->channel),
@@ -420,7 +466,11 @@ int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) {
}
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
if (port->channel < kNumDigitalHeaders) {
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
// Channels 10-15 are SPI channels, so subtract our MXP channels
return digitalSystem->readFilterSelectHdr(
port->channel - kNumDigitalMXPChannels, status);
} else if (port->channel < kNumDigitalHeaders) {
return digitalSystem->readFilterSelectHdr(port->channel, status);
} else {
return digitalSystem->readFilterSelectMXP(remapMXPChannel(port->channel),