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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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36
hal/lib/athena/HALAthena.cpp
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@@ -45,12 +45,19 @@ using namespace hal;
extern "C" {
HAL_PortHandle HAL_GetPort(uint8_t pin) { return createPortHandle(pin, 1); }
HAL_PortHandle HAL_GetPort(int32_t pin) {
// Dont allow a number that wouldn't fit in a uint8_t
if (pin < 0 || pin >= 255) return HAL_kInvalidHandle;
return createPortHandle(pin, 1);
}
/**
* @deprecated Uses module numbers
*/
HAL_PortHandle HAL_GetPortWithModule(uint8_t module, uint8_t pin) {
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t pin) {
// Dont allow a number that wouldn't fit in a uint8_t
if (pin < 0 || pin >= 255) return HAL_kInvalidHandle;
if (module < 0 || module >= 255) return HAL_kInvalidHandle;
return createPortHandle(pin, module);
}
@@ -164,7 +171,7 @@ const char* HAL_GetErrorMessage(int32_t code) {
* For now, expect this to be competition year.
* @return FPGA Version number.
*/
uint16_t HAL_GetFPGAVersion(int32_t* status) {
int32_t HAL_GetFPGAVersion(int32_t* status) {
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
@@ -180,7 +187,7 @@ uint16_t HAL_GetFPGAVersion(int32_t* status) {
* The 12 least significant bits are the Build Number.
* @return FPGA Revision number.
*/
uint32_t HAL_GetFPGARevision(int32_t* status) {
int64_t HAL_GetFPGARevision(int32_t* status) {
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
@@ -212,7 +219,7 @@ uint64_t HAL_GetFPGATime(int32_t* status) {
* Get the state of the "USER" button on the roboRIO
* @return true if the button is currently pressed down
*/
bool HAL_GetFPGAButton(int32_t* status) {
HAL_Bool HAL_GetFPGAButton(int32_t* status) {
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return false;
@@ -220,13 +227,14 @@ bool HAL_GetFPGAButton(int32_t* status) {
return global->readUserButton(status);
}
int HAL_SetErrorData(const char* errors, int errorsLength, int wait_ms) {
int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
int32_t wait_ms) {
return setErrorData(errors, errorsLength, wait_ms);
}
int HAL_SendError(int isError, int32_t errorCode, int isLVCode,
const char* details, const char* location,
const char* callStack, int printMsg) {
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg) {
// Avoid flooding console by keeping track of previous 5 error
// messages and only printing again if they're longer than 1 second old.
static constexpr int KEEP_MSGS = 5;
@@ -270,7 +278,7 @@ int HAL_SendError(int isError, int32_t errorCode, int isLVCode,
return retval;
}
bool HAL_GetSystemActive(int32_t* status) {
HAL_Bool HAL_GetSystemActive(int32_t* status) {
if (!watchdog) {
*status = NiFpga_Status_ResourceNotInitialized;
return false;
@@ -278,7 +286,7 @@ bool HAL_GetSystemActive(int32_t* status) {
return watchdog->readStatus_SystemActive(status);
}
bool HAL_GetBrownedOut(int32_t* status) {
HAL_Bool HAL_GetBrownedOut(int32_t* status) {
if (!watchdog) {
*status = NiFpga_Status_ResourceNotInitialized;
return false;
@@ -312,7 +320,7 @@ void HAL_WaitForDSData() {
/**
* Call this to start up HAL. This is required for robot programs.
*/
int HAL_Initialize(int mode) {
int32_t HAL_Initialize(int32_t mode) {
setlinebuf(stdin);
setlinebuf(stdout);
@@ -382,8 +390,8 @@ int HAL_Initialize(int mode) {
return 1;
}
uint32_t HAL_Report(uint8_t resource, uint8_t instanceNumber, uint8_t context,
const char* feature) {
int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
const char* feature) {
if (feature == nullptr) {
feature = "";
}