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Switches HAL to fixed length signed integers, and adds our own HAL_Bool Type (#155)

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* Switches HAL to fixed length signed integers, and adds our own HAL_Bool type

* Replaces HAL Floats with Doubles

Doubles are just as fast as floats with optimizations turned on, so
switches to all doubles. All made doubles for consistency.

* Prepends HAL/ to HAL include files. Also fixes some range errors
This commit is contained in:
Thad House
2016-07-12 10:45:14 -07:00
committed by Peter Johnson
parent 4a98e68815
commit b51e85ae26
89 changed files with 900 additions and 795 deletions
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54
hal/lib/athena/AnalogGyro.cpp
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@@ -18,17 +18,17 @@
namespace {
struct AnalogGyro {
HAL_AnalogInputHandle handle;
float voltsPerDegreePerSecond;
float offset;
uint32_t center;
double voltsPerDegreePerSecond;
double offset;
int32_t center;
};
}
static constexpr uint32_t kOversampleBits = 10;
static constexpr uint32_t kAverageBits = 0;
static constexpr float kSamplesPerSecond = 50.0;
static constexpr float kCalibrationSampleTime = 5.0;
static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
static constexpr double kSamplesPerSecond = 50.0;
static constexpr double kCalibrationSampleTime = 5.0;
static constexpr double kDefaultVoltsPerDegreePerSecond = 0.007;
using namespace hal;
@@ -102,8 +102,8 @@ void HAL_FreeAnalogGyro(HAL_GyroHandle handle) {
}
void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
float voltsPerDegreePerSecond, float offset,
uint32_t center, int32_t* status) {
double voltsPerDegreePerSecond, double offset,
int32_t center, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -117,7 +117,7 @@ void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
}
void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
float voltsPerDegreePerSecond,
double voltsPerDegreePerSecond,
int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
@@ -137,10 +137,10 @@ void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
HAL_ResetAccumulator(gyro->handle, status);
if (*status != 0) return;
const float sampleTime = 1.0f / HAL_GetAnalogSampleRate(status);
const float overSamples =
const double sampleTime = 1.0 / HAL_GetAnalogSampleRate(status);
const double overSamples =
1 << HAL_GetAnalogOversampleBits(gyro->handle, status);
const float averageSamples =
const double averageSamples =
1 << HAL_GetAnalogAverageBits(gyro->handle, status);
if (*status != 0) return;
Wait(sampleTime * overSamples * averageSamples);
@@ -158,46 +158,46 @@ void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
Wait(kCalibrationSampleTime);
int64_t value;
uint32_t count;
int64_t count;
HAL_GetAccumulatorOutput(gyro->handle, &value, &count, status);
if (*status != 0) return;
gyro->center = static_cast<uint32_t>(
static_cast<float>(value) / static_cast<float>(count) + .5);
gyro->center = static_cast<int32_t>(
static_cast<double>(value) / static_cast<double>(count) + .5);
gyro->offset = static_cast<float>(value) / static_cast<float>(count) -
static_cast<float>(gyro->center);
gyro->offset = static_cast<double>(value) / static_cast<double>(count) -
static_cast<double>(gyro->center);
HAL_SetAccumulatorCenter(gyro->handle, gyro->center, status);
if (*status != 0) return;
HAL_ResetAnalogGyro(handle, status);
}
void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, float volts,
void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
int32_t deadband = volts * 1e9 /
HAL_GetAnalogLSBWeight(gyro->handle, status) *
(1 << HAL_GetAnalogOversampleBits(gyro->handle, status));
int32_t deadband = static_cast<int32_t>(
volts * 1e9 / HAL_GetAnalogLSBWeight(gyro->handle, status) *
(1 << HAL_GetAnalogOversampleBits(gyro->handle, status)));
if (*status != 0) return;
HAL_SetAccumulatorDeadband(gyro->handle, deadband, status);
}
float HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status) {
double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int64_t rawValue = 0;
uint32_t count = 0;
int64_t count = 0;
HAL_GetAccumulatorOutput(gyro->handle, &rawValue, &count, status);
int64_t value =
rawValue - static_cast<int64_t>(static_cast<float>(count) * gyro->offset);
int64_t value = rawValue - static_cast<int64_t>(static_cast<double>(count) *
gyro->offset);
double scaledValue =
value * 1e-9 *
@@ -222,7 +222,7 @@ double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status) {
gyro->voltsPerDegreePerSecond);
}
float HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status) {
double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -231,7 +231,7 @@ float HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status) {
return gyro->offset;
}
uint32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status) {
int32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;