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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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58
hal/lib/athena/PWM.cpp
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@@ -74,8 +74,8 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle,
port->pin = origPin;
uint32_t bitToSet = 1 << remapMXPPWMChannel(port->pin);
int16_t specialFunctions =
int32_t bitToSet = 1 << remapMXPPWMChannel(port->pin);
unsigned short specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet,
status);
@@ -90,8 +90,8 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
}
if (port->pin > tPWM::kNumHdrRegisters - 1) {
uint32_t bitToUnset = 1 << remapMXPPWMChannel(port->pin);
int16_t specialFunctions =
int32_t bitToUnset = 1 << remapMXPPWMChannel(port->pin);
unsigned short specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToUnset,
status);
@@ -100,7 +100,9 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
digitalPinHandles.Free(pwm_port_handle, HAL_HandleEnum::PWM);
}
bool HAL_CheckPWMChannel(uint8_t pin) { return pin < kNumPWMPins; }
HAL_Bool HAL_CheckPWMChannel(int32_t pin) {
return (pin < kNumPWMPins) && (pin >= 0);
}
void HAL_SetPWMConfig(HAL_DigitalHandle pwm_port_handle, double max,
double deadbandMax, double center, double deadbandMin,
@@ -169,7 +171,7 @@ void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t* maxPwm,
}
void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
uint8_t eliminateDeadband, int32_t* status) {
HAL_Bool eliminateDeadband, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -178,8 +180,8 @@ void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
port->eliminateDeadband = eliminateDeadband;
}
uint8_t HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
int32_t* status) {
HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -196,7 +198,7 @@ uint8_t HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
* @param channel The PWM channel to set.
* @param value The PWM value to set.
*/
void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, uint16_t value,
void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t value,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
@@ -220,7 +222,7 @@ void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, uint16_t value,
* @param channel The PWM channel to set.
* @param value The scaled PWM value to set.
*/
void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, float speed,
void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, double speed,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
@@ -246,12 +248,12 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, float speed,
rawValue = GetCenterPwm(dPort);
} else if (speed > 0.0) {
rawValue = static_cast<int32_t>(
speed * static_cast<float>(GetPositiveScaleFactor(dPort)) +
static_cast<float>(GetMinPositivePwm(dPort)) + 0.5);
speed * static_cast<double>(GetPositiveScaleFactor(dPort)) +
static_cast<double>(GetMinPositivePwm(dPort)) + 0.5);
} else {
rawValue = static_cast<int32_t>(
speed * static_cast<float>(GetNegativeScaleFactor(dPort)) +
static_cast<float>(GetMaxNegativePwm(dPort)) + 0.5);
speed * static_cast<double>(GetNegativeScaleFactor(dPort)) +
static_cast<double>(GetMaxNegativePwm(dPort)) + 0.5);
}
if (!((rawValue >= GetMinNegativePwm(dPort)) &&
@@ -273,7 +275,7 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, float speed,
* @param channel The PWM channel to set.
* @param value The scaled PWM value to set.
*/
void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, float pos,
void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, double pos,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
@@ -294,8 +296,8 @@ void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, float pos,
// note, need to perform the multiplication below as floating point before
// converting to int
uint16_t rawValue = static_cast<int32_t>(
(pos * static_cast<float>(GetFullRangeScaleFactor(dPort))) +
int32_t rawValue = static_cast<int32_t>(
(pos * static_cast<double>(GetFullRangeScaleFactor(dPort))) +
GetMinNegativePwm(dPort));
if (rawValue == kPwmDisabled) {
@@ -316,7 +318,7 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
* @param channel The PWM channel to read from.
* @return The raw PWM value.
*/
uint16_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -336,7 +338,7 @@ uint16_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
* @param channel The PWM channel to read from.
* @return The scaled PWM value.
*/
float HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
double HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -358,11 +360,11 @@ float HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
} else if (value < GetMinNegativePwm(dPort)) {
return -1.0;
} else if (value > GetMinPositivePwm(dPort)) {
return static_cast<float>(value - GetMinPositivePwm(dPort)) /
static_cast<float>(GetPositiveScaleFactor(dPort));
return static_cast<double>(value - GetMinPositivePwm(dPort)) /
static_cast<double>(GetPositiveScaleFactor(dPort));
} else if (value < GetMaxNegativePwm(dPort)) {
return static_cast<float>(value - GetMaxNegativePwm(dPort)) /
static_cast<float>(GetNegativeScaleFactor(dPort));
return static_cast<double>(value - GetMaxNegativePwm(dPort)) /
static_cast<double>(GetNegativeScaleFactor(dPort));
} else {
return 0.0;
}
@@ -374,7 +376,7 @@ float HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
* @param channel The PWM channel to read from.
* @return The scaled PWM value.
*/
float HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
double HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -394,8 +396,8 @@ float HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
} else if (value > GetMaxPositivePwm(dPort)) {
return 1.0;
} else {
return static_cast<float>(value - GetMinNegativePwm(dPort)) /
static_cast<float>(GetFullRangeScaleFactor(dPort));
return static_cast<double>(value - GetMinNegativePwm(dPort)) /
static_cast<double>(GetFullRangeScaleFactor(dPort));
}
}
@@ -417,7 +419,7 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
* @param squelchMask The 2-bit mask of outputs to squelch.
*/
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwm_port_handle,
uint32_t squelchMask, int32_t* status) {
int32_t squelchMask, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -437,7 +439,7 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwm_port_handle,
*
* @return The loop time
*/
uint16_t HAL_GetLoopTiming(int32_t* status) {
int32_t HAL_GetLoopTiming(int32_t* status) {
return pwmSystem->readLoopTiming(status);
}
}