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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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13
hal/lib/athena/Relay.cpp
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@@ -28,8 +28,8 @@ static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayPins,
static priority_recursive_mutex digitalRelayMutex;
extern "C" {
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle port_handle, uint8_t fwd,
int32_t* status) {
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle port_handle,
HAL_Bool fwd, int32_t* status) {
initializeDigital(status);
if (*status != 0) return HAL_kInvalidHandle;
@@ -69,18 +69,19 @@ void HAL_FreeRelayPort(HAL_RelayHandle relay_port_handle) {
relayHandles.Free(relay_port_handle);
}
bool HAL_CheckRelayChannel(uint8_t pin) {
HAL_Bool HAL_CheckRelayChannel(int32_t pin) {
// roboRIO only has 4 headers, and the FPGA has
// seperate functions for forward and reverse,
// instead of seperate pin IDs
return pin < kNumRelayHeaders;
return (pin < kNumRelayHeaders) && (pin >= 0);
}
/**
* Set the state of a relay.
* Set the state of a relay output.
*/
void HAL_SetRelay(HAL_RelayHandle relay_port_handle, bool on, int32_t* status) {
void HAL_SetRelay(HAL_RelayHandle relay_port_handle, HAL_Bool on,
int32_t* status) {
auto port = relayHandles.Get(relay_port_handle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -112,7 +113,7 @@ void HAL_SetRelay(HAL_RelayHandle relay_port_handle, bool on, int32_t* status) {
/**
* Get the current state of the relay channel
*/
bool HAL_GetRelay(HAL_RelayHandle relay_port_handle, int32_t* status) {
HAL_Bool HAL_GetRelay(HAL_RelayHandle relay_port_handle, int32_t* status) {
auto port = relayHandles.Get(relay_port_handle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;