Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

12
hal/lib/athena/DigitalInternal.cpp
View File

@@ -69,7 +69,7 @@ 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 < kNumPWMPins; pwm_index++) {
for (uint8_t pwm_index = 0; pwm_index < kNumPWMPins; pwm_index++) {
// Copy of SetPWM
if (pwm_index < tPWM::kNumHdrRegisters) {
pwmSystem->writeHdr(pwm_index, kPwmDisabled, status);
@@ -94,9 +94,9 @@ void initializeDigital(int32_t* status) {
* Map DIO pin numbers from their physical number (10 to 26) to their position
* in the bit field.
*/
uint32_t remapMXPChannel(uint32_t pin) { return pin - 10; }
int32_t remapMXPChannel(int32_t pin) { return pin - 10; }
uint32_t remapMXPPWMChannel(uint32_t pin) {
int32_t remapMXPPWMChannel(int32_t pin) {
if (pin < 14) {
return pin - 10; // first block of 4 pwms (MXP 0-3)
} else {
@@ -110,17 +110,17 @@ uint32_t remapMXPPWMChannel(uint32_t pin) {
* channel else do normal digital input remapping based on pin number (MXP)
*/
bool remapDigitalSource(HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType, uint32_t& pin,
HAL_AnalogTriggerType analogTriggerType, uint8_t& pin,
uint8_t& module, bool& analogTrigger) {
if (isHandleType(digitalSourceHandle, HAL_HandleEnum::AnalogTrigger)) {
// If handle passed, index is not negative
uint32_t index = getHandleIndex(digitalSourceHandle);
int32_t index = getHandleIndex(digitalSourceHandle);
pin = (index << 2) + analogTriggerType;
module = pin >> 4;
analogTrigger = true;
return true;
} else if (isHandleType(digitalSourceHandle, HAL_HandleEnum::DIO)) {
uint32_t index = getHandleIndex(digitalSourceHandle);
int32_t index = getHandleIndex(digitalSourceHandle);
if (index >= kNumDigitalHeaders) {
pin = remapMXPChannel(index);
module = 1;