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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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16
hal/lib/athena/DigitalInternal.cpp
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@@ -27,6 +27,7 @@ priority_recursive_mutex digitalPwmMutex;
std::unique_ptr<tDIO> digitalSystem;
std::unique_ptr<tRelay> relaySystem;
std::unique_ptr<tPWM> pwmSystem;
std::unique_ptr<tSPI> spiSystem;
static std::atomic<bool> digitalSystemsInitialized{false};
static priority_mutex initializeMutex;
@@ -94,9 +95,18 @@ void initializeDigital(int32_t* status) {
}
}
// SPI setup
spiSystem.reset(tSPI::create(status));
digitalSystemsInitialized = 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.
@@ -130,7 +140,11 @@ bool remapDigitalSource(HAL_Handle digitalSourceHandle,
return true;
} else if (isHandleType(digitalSourceHandle, HAL_HandleEnum::DIO)) {
int32_t index = getHandleIndex(digitalSourceHandle);
if (index >= kNumDigitalHeaders) {
if (index > kNumDigitalHeaders + kNumDigitalMXPChannels) {
// channels 10-15, so need to add headers to remap index
channel = remapSPIChannel(index) + kNumDigitalHeaders;
module = 0;
} else if (index >= kNumDigitalHeaders) {
channel = remapMXPChannel(index);
module = 1;
} else {