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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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19
hal/lib/athena/Relay.cpp
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@@ -8,6 +8,7 @@
#include "HAL/Relay.h"
#include "DigitalInternal.h"
#include "PortsInternal.h"
#include "handles/IndexedHandleResource.h"
using namespace hal;
@@ -19,10 +20,7 @@ struct Relay {
};
}
constexpr uint32_t kRelayPins = 8;
constexpr uint32_t kRelayHeaders = kRelayPins / 2; // Number of FPGA ID's
static IndexedHandleResource<HalRelayHandle, Relay, kRelayPins,
static IndexedHandleResource<HalRelayHandle, Relay, kNumRelayPins,
HalHandleEnum::Relay>
relayHandles;
@@ -42,7 +40,7 @@ HalRelayHandle initializeRelayPort(HalPortHandle port_handle, uint8_t fwd,
return HAL_INVALID_HANDLE;
}
if (!fwd) pin += kRelayHeaders; // add 4 to reverse pins
if (!fwd) pin += kNumRelayHeaders; // add 4 to reverse pins
auto handle = relayHandles.Allocate(pin, status);
@@ -56,8 +54,8 @@ HalRelayHandle initializeRelayPort(HalPortHandle port_handle, uint8_t fwd,
}
if (!fwd) {
pin -= kRelayHeaders; // subtract number of headers to put pin in range.
port->fwd = false; // set to reverse
pin -= kNumRelayHeaders; // subtract number of headers to put pin in range.
port->fwd = false; // set to reverse
} else {
port->fwd = true; // set to forward
}
@@ -72,9 +70,10 @@ void freeRelayPort(HalRelayHandle relay_port_handle) {
}
bool checkRelayChannel(uint8_t pin) {
return pin < kRelayHeaders; // roboRIO only has 4 headers, and the FPGA has
// seperate functions for forward and reverse,
// instead of seperate pin IDs
// roboRIO only has 4 headers, and the FPGA has
// seperate functions for forward and reverse,
// instead of seperate pin IDs
return pin < kNumRelayHeaders;
}
/**