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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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63
hal/lib/athena/DIO.cpp
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@@ -29,7 +29,7 @@ extern "C" {
* Create a new instance of a digital port.
*/
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle port_handle,
uint8_t input, int32_t* status) {
int32_t input, int32_t* status) {
initializeDigital(status);
if (*status != 0) return HAL_kInvalidHandle;
@@ -58,7 +58,7 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle port_handle,
tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
if (port->pin < kNumDigitalHeaders) {
uint32_t bitToSet = 1 << port->pin;
uint32_t bitToSet = 1u << port->pin;
if (input) {
outputEnable.Headers =
outputEnable.Headers & (~bitToSet); // clear the bit for read
@@ -67,10 +67,9 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle port_handle,
outputEnable.Headers | bitToSet; // set the bit for write
}
} else {
uint32_t bitToSet = 1 << remapMXPChannel(port->pin);
uint32_t bitToSet = 1u << remapMXPChannel(port->pin);
// Disable special functions on this pin
int16_t specialFunctions =
uint16_t specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
status);
@@ -158,23 +157,25 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
*status = HAL_HANDLE_ERROR;
return;
}
uint32_t id = *port;
int32_t id = *port;
if (dutyCycle > 1.0) dutyCycle = 1.0;
if (dutyCycle < 0.0) dutyCycle = 0.0;
float rawDutyCycle = 256.0 * dutyCycle;
double rawDutyCycle = 256.0 * dutyCycle;
if (rawDutyCycle > 255.5) rawDutyCycle = 255.5;
{
std::lock_guard<priority_recursive_mutex> sync(digitalPwmMutex);
uint8_t pwmPeriodPower = digitalSystem->readPWMPeriodPower(status);
uint16_t pwmPeriodPower = digitalSystem->readPWMPeriodPower(status);
if (pwmPeriodPower < 4) {
// The resolution of the duty cycle drops close to the highest
// frequencies.
rawDutyCycle = rawDutyCycle / std::pow(2.0, 4 - pwmPeriodPower);
}
if (id < 4)
digitalSystem->writePWMDutyCycleA(id, (uint8_t)rawDutyCycle, status);
digitalSystem->writePWMDutyCycleA(id, static_cast<uint8_t>(rawDutyCycle),
status);
else
digitalSystem->writePWMDutyCycleB(id - 4, (uint8_t)rawDutyCycle, status);
digitalSystem->writePWMDutyCycleB(
id - 4, static_cast<uint8_t>(rawDutyCycle), status);
}
}
@@ -185,13 +186,13 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
* @param channel The Digital Output channel to output on
*/
void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
uint32_t pin, int32_t* status) {
int32_t pin, int32_t* status) {
auto port = digitalPWMHandles.Get(pwmGenerator);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
uint32_t id = *port;
int32_t id = *port;
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
@@ -207,7 +208,7 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
* @param value The state to set the digital channel (if it is configured as an
* output)
*/
void HAL_SetDIO(HAL_DigitalHandle dio_port_handle, int16_t value,
void HAL_SetDIO(HAL_DigitalHandle dio_port_handle, HAL_Bool value,
int32_t* status) {
auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -223,19 +224,19 @@ void HAL_SetDIO(HAL_DigitalHandle dio_port_handle, int16_t value,
if (port->pin < kNumDigitalHeaders) {
if (value == 0) {
currentDIO.Headers = currentDIO.Headers & ~(1 << port->pin);
currentDIO.Headers = currentDIO.Headers & ~(1u << port->pin);
} else if (value == 1) {
currentDIO.Headers = currentDIO.Headers | (1 << port->pin);
currentDIO.Headers = currentDIO.Headers | (1u << port->pin);
}
} else {
if (value == 0) {
currentDIO.MXP = currentDIO.MXP & ~(1 << remapMXPChannel(port->pin));
currentDIO.MXP = currentDIO.MXP & ~(1u << remapMXPChannel(port->pin));
} else if (value == 1) {
currentDIO.MXP = currentDIO.MXP | (1 << remapMXPChannel(port->pin));
currentDIO.MXP = currentDIO.MXP | (1u << remapMXPChannel(port->pin));
}
uint32_t bitToSet = 1 << remapMXPChannel(port->pin);
int16_t specialFunctions =
int32_t bitToSet = 1 << remapMXPChannel(port->pin);
uint16_t specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
status);
@@ -251,7 +252,7 @@ void HAL_SetDIO(HAL_DigitalHandle dio_port_handle, int16_t value,
* @param channel The digital I/O channel
* @return The state of the specified channel
*/
bool HAL_GetDIO(HAL_DigitalHandle dio_port_handle, int32_t* status) {
HAL_Bool HAL_GetDIO(HAL_DigitalHandle dio_port_handle, int32_t* status) {
auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -267,8 +268,8 @@ bool HAL_GetDIO(HAL_DigitalHandle dio_port_handle, int32_t* status) {
return ((currentDIO.Headers >> port->pin) & 1) != 0;
} else {
// Disable special functions
uint32_t bitToSet = 1 << remapMXPChannel(port->pin);
int16_t specialFunctions =
int32_t bitToSet = 1 << remapMXPChannel(port->pin);
uint16_t specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
status);
@@ -284,7 +285,8 @@ bool HAL_GetDIO(HAL_DigitalHandle dio_port_handle, int32_t* status) {
* @param channel The digital I/O channel
* @return The direction of the specified channel
*/
bool HAL_GetDIODirection(HAL_DigitalHandle dio_port_handle, int32_t* status) {
HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dio_port_handle,
int32_t* status) {
auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -322,13 +324,14 @@ void HAL_Pulse(HAL_DigitalHandle dio_port_handle, double pulseLength,
tDIO::tPulse pulse;
if (port->pin < kNumDigitalHeaders) {
pulse.Headers = 1 << port->pin;
pulse.Headers = 1u << port->pin;
} else {
pulse.MXP = 1 << remapMXPChannel(port->pin);
pulse.MXP = 1u << remapMXPChannel(port->pin);
}
digitalSystem->writePulseLength(
(uint8_t)(1.0e9 * pulseLength / (pwmSystem->readLoopTiming(status) * 25)),
static_cast<uint8_t>(1.0e9 * pulseLength /
(pwmSystem->readLoopTiming(status) * 25)),
status);
digitalSystem->writePulse(pulse, status);
}
@@ -338,7 +341,7 @@ void HAL_Pulse(HAL_DigitalHandle dio_port_handle, double pulseLength,
*
* @return A pulse is in progress
*/
bool HAL_IsPulsing(HAL_DigitalHandle dio_port_handle, int32_t* status) {
HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dio_port_handle, int32_t* status) {
auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -358,7 +361,7 @@ bool HAL_IsPulsing(HAL_DigitalHandle dio_port_handle, int32_t* status) {
*
* @return A pulse on some line is in progress
*/
bool HAL_IsAnyPulsing(int32_t* status) {
HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
return pulseRegister.Headers != 0 && pulseRegister.MXP != 0;
}
@@ -423,7 +426,7 @@ int HAL_GetFilterSelect(HAL_DigitalHandle dio_port_handle, int32_t* status) {
* @param value The number of cycles that the signal must not transition to be
* counted as a transition.
*/
void HAL_SetFilterPeriod(int filter_index, uint32_t value, int32_t* status) {
void HAL_SetFilterPeriod(int32_t filter_index, int64_t value, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
digitalSystem->writeFilterPeriodHdr(filter_index, value, status);
if (*status == 0) {
@@ -443,7 +446,7 @@ void HAL_SetFilterPeriod(int filter_index, uint32_t value, int32_t* status) {
* @param value The number of cycles that the signal must not transition to be
* counted as a transition.
*/
uint32_t HAL_GetFilterPeriod(int filter_index, int32_t* status) {
int64_t HAL_GetFilterPeriod(int32_t filter_index, int32_t* status) {
uint32_t hdr_period = 0;
uint32_t mxp_period = 0;
{