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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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12
hal/lib/athena/DigitalInternal.cpp
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@@ -13,11 +13,10 @@
#include "ChipObject.h"
#include "FRC_NetworkCommunication/LoadOut.h"
#include "HAL/HAL.h"
#include "HAL/cpp/Resource.h"
#include "HAL/Ports.h"
#include "HAL/cpp/priority_mutex.h"
#include "PortsInternal.h"
static_assert(sizeof(uint32_t) <= sizeof(void*),
"This file shoves uint32_ts into pointers.");
namespace hal {
// Create a mutex to protect changes to the DO PWM config
priority_recursive_mutex digitalPwmMutex;
@@ -28,7 +27,8 @@ tPWM* pwmSystem = nullptr;
bool digitalSystemsInitialized = false;
DigitalHandleResource<HalDigitalHandle, DigitalPort, kDigitalPins + kNumHeaders>
DigitalHandleResource<HalDigitalHandle, DigitalPort,
kNumDigitalPins + kNumPWMHeaders>
digitalPinHandles;
/**
@@ -67,7 +67,7 @@ void initializeDigital(int32_t* status) {
(kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime + .5);
pwmSystem->writeConfig_MinHigh(minHigh, status);
// Ensure that PWM output values are set to OFF
for (uint32_t pwm_index = 0; pwm_index < kPwmPins; pwm_index++) {
for (uint32_t pwm_index = 0; pwm_index < kNumPWMPins; pwm_index++) {
// Copy of SetPWM
if (pwm_index < tPWM::kNumHdrRegisters) {
pwmSystem->writeHdr(pwm_index, kPwmDisabled, status);
@@ -112,7 +112,7 @@ extern "C++" void remapDigitalSource(bool analogTrigger, uint32_t& pin,
if (analogTrigger) {
module = pin >> 4;
} else {
if (pin >= kNumHeaders) {
if (pin >= kNumDigitalHeaders) {
pin = remapMXPChannel(pin);
module = 1;
} else {