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Adds port constants to the HAL (#130)

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This commit is contained in:
Thad House
2016-07-02 23:19:14 -07:00
committed by Peter Johnson
parent 0e127679c1
commit b45e0917ae
25 changed files with 175 additions and 91 deletions
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26
hal/lib/athena/DIO.cpp
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@@ -10,21 +10,17 @@
#include <cmath>
#include "DigitalInternal.h"
#include "PortsInternal.h"
#include "handles/HandlesInternal.h"
#include "handles/LimitedHandleResource.h"
static_assert(sizeof(uint32_t) <= sizeof(void*),
"This file shoves uint32_ts into pointers.");
using namespace hal;
// Create a mutex to protect changes to the digital output values
static priority_recursive_mutex digitalDIOMutex;
static LimitedHandleResource<HalDigitalPWMHandle, uint8_t,
tDIO::kNumPWMDutyCycleAElements +
tDIO::kNumPWMDutyCycleBElements,
HalHandleEnum::DigitalPWM>
kNumDigitalPWMOutputs, HalHandleEnum::DigitalPWM>
digitalPWMHandles;
extern "C" {
@@ -61,7 +57,7 @@ HalDigitalHandle initializeDIOPort(HalPortHandle port_handle, uint8_t input,
tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
if (port->pin < kNumHeaders) {
if (port->pin < kNumDigitalHeaders) {
uint32_t bitToSet = 1 << port->pin;
if (input) {
outputEnable.Headers =
@@ -196,7 +192,7 @@ void setDigitalPWMOutputChannel(HalDigitalPWMHandle pwmGenerator, uint32_t pin,
return;
}
uint32_t id = *port;
if (pin >= kNumHeaders) { // if it is on the MXP
if (pin >= kNumDigitalHeaders) { // if it is on the MXP
pin += kMXPDigitalPWMOffset; // then to write as a digital PWM pin requires
// an offset to write on the correct pin
}
@@ -224,7 +220,7 @@ void setDIO(HalDigitalHandle dio_port_handle, short value, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
tDIO::tDO currentDIO = digitalSystem->readDO(status);
if (port->pin < kNumHeaders) {
if (port->pin < kNumDigitalHeaders) {
if (value == 0) {
currentDIO.Headers = currentDIO.Headers & ~(1 << port->pin);
} else if (value == 1) {
@@ -266,7 +262,7 @@ bool getDIO(HalDigitalHandle dio_port_handle, int32_t* status) {
// if it == 0, then return false
// else return true
if (port->pin < kNumHeaders) {
if (port->pin < kNumDigitalHeaders) {
return ((currentDIO.Headers >> port->pin) & 1) != 0;
} else {
// Disable special functions
@@ -300,7 +296,7 @@ bool getDIODirection(HalDigitalHandle dio_port_handle, int32_t* status) {
// if it == 0, then return false
// else return true
if (port->pin < kNumHeaders) {
if (port->pin < kNumDigitalHeaders) {
return ((currentOutputEnable.Headers >> port->pin) & 1) != 0;
} else {
return ((currentOutputEnable.MXP >> remapMXPChannel(port->pin)) & 1) != 0;
@@ -324,7 +320,7 @@ void pulse(HalDigitalHandle dio_port_handle, double pulseLength,
}
tDIO::tPulse pulse;
if (port->pin < kNumHeaders) {
if (port->pin < kNumDigitalHeaders) {
pulse.Headers = 1 << port->pin;
} else {
pulse.MXP = 1 << remapMXPChannel(port->pin);
@@ -349,7 +345,7 @@ bool isPulsing(HalDigitalHandle dio_port_handle, int32_t* status) {
}
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
if (port->pin < kNumHeaders) {
if (port->pin < kNumDigitalHeaders) {
return (pulseRegister.Headers & (1 << port->pin)) != 0;
} else {
return (pulseRegister.MXP & (1 << remapMXPChannel(port->pin))) != 0;
@@ -383,7 +379,7 @@ void setFilterSelect(HalDigitalHandle dio_port_handle, int filter_index,
}
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
if (port->pin < kNumHeaders) {
if (port->pin < kNumDigitalHeaders) {
digitalSystem->writeFilterSelectHdr(port->pin, filter_index, status);
} else {
digitalSystem->writeFilterSelectMXP(remapMXPChannel(port->pin),
@@ -407,7 +403,7 @@ int getFilterSelect(HalDigitalHandle dio_port_handle, int32_t* status) {
}
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
if (port->pin < kNumHeaders) {
if (port->pin < kNumDigitalHeaders) {
return digitalSystem->readFilterSelectHdr(port->pin, status);
} else {
return digitalSystem->readFilterSelectMXP(remapMXPChannel(port->pin),