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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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29
hal/lib/athena/FPGAEncoder.cpp
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@@ -16,7 +16,7 @@ using namespace hal;
namespace {
struct Encoder {
tEncoder* encoder;
uint32_t index;
uint8_t index;
};
}
@@ -30,15 +30,15 @@ extern "C" {
HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder(
HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
bool reverseDirection, int32_t* index, int32_t* status) {
HAL_Bool reverseDirection, int32_t* index, int32_t* status) {
bool routingAnalogTriggerA = false;
uint32_t routingPinA = 0;
uint8_t routingPinA = 0;
uint8_t routingModuleA = 0;
bool successA =
remapDigitalSource(digitalSourceHandleA, analogTriggerTypeA, routingPinA,
routingModuleA, routingAnalogTriggerA);
bool routingAnalogTriggerB = false;
uint32_t routingPinB = 0;
uint8_t routingPinB = 0;
uint8_t routingModuleB = 0;
bool successB =
remapDigitalSource(digitalSourceHandleB, analogTriggerTypeB, routingPinB,
@@ -61,8 +61,7 @@ HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder(
return HAL_kInvalidHandle;
}
encoder->index = static_cast<uint32_t>(getHandleIndex(handle));
encoder->index = static_cast<uint8_t>(getHandleIndex(handle));
*index = encoder->index;
// TODO: if (index == ~0ul) { CloneError(quadEncoders); return; }
encoder->encoder = tEncoder::create(encoder->index, status);
@@ -187,8 +186,8 @@ void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle,
* one where the most recent pulse width exceeds the MaxPeriod.
* @return True if the encoder is considered stopped.
*/
bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpga_encoder_handle,
int32_t* status) {
HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpga_encoder_handle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -201,8 +200,8 @@ bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpga_encoder_handle,
* The last direction the encoder value changed.
* @return The last direction the encoder value changed.
*/
bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpga_encoder_handle,
int32_t* status) {
HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpga_encoder_handle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -218,7 +217,7 @@ bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpga_encoder_handle,
* @param reverseDirection true if the encoder direction should be reversed
*/
void HAL_SetFPGAEncoderReverseDirection(
HAL_FPGAEncoderHandle fpga_encoder_handle, bool reverseDirection,
HAL_FPGAEncoderHandle fpga_encoder_handle, HAL_Bool reverseDirection,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
@@ -235,7 +234,7 @@ void HAL_SetFPGAEncoderReverseDirection(
* @param samplesToAverage The number of samples to average from 1 to 127.
*/
void HAL_SetFPGAEncoderSamplesToAverage(
HAL_FPGAEncoderHandle fpga_encoder_handle, uint32_t samplesToAverage,
HAL_FPGAEncoderHandle fpga_encoder_handle, int32_t samplesToAverage,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
@@ -254,7 +253,7 @@ void HAL_SetFPGAEncoderSamplesToAverage(
* mechanical imperfections or as oversampling to increase resolution.
* @return SamplesToAverage The number of samples being averaged (from 1 to 127)
*/
uint32_t HAL_GetFPGAEncoderSamplesToAverage(
int32_t HAL_GetFPGAEncoderSamplesToAverage(
HAL_FPGAEncoderHandle fpga_encoder_handle, int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
@@ -271,7 +270,7 @@ uint32_t HAL_GetFPGAEncoderSamplesToAverage(
void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpga_encoder_handle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
bool activeHigh, bool edgeSensitive,
HAL_Bool activeHigh, HAL_Bool edgeSensitive,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle);
if (encoder == nullptr) {
@@ -280,7 +279,7 @@ void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpga_encoder_handle,
}
bool routingAnalogTrigger = false;
uint32_t routingPin = 0;
uint8_t routingPin = 0;
uint8_t routingModule = 0;
bool success =
remapDigitalSource(digitalSourceHandle, analogTriggerType, routingPin,