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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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71
hal/lib/athena/SPI.cpp
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@@ -40,7 +40,7 @@ static HAL_DigitalHandle spiMXPDigitalHandle4 = HAL_kInvalidHandle;
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @return The semaphore for the SPI port.
*/
static priority_recursive_mutex& spiGetSemaphore(uint8_t port) {
static priority_recursive_mutex& spiGetSemaphore(int32_t port) {
if (port < 4)
return spiOnboardSemaphore;
else
@@ -52,7 +52,7 @@ extern "C" {
struct SPIAccumulator {
std::atomic<HAL_NotifierHandle> notifier{0};
uint64_t triggerTime;
uint32_t period;
int32_t period;
int64_t value = 0;
uint32_t count = 0;
@@ -62,8 +62,8 @@ struct SPIAccumulator {
int32_t deadband = 0;
uint8_t cmd[4]; // command to send (up to 4 bytes)
uint32_t valid_mask;
uint32_t valid_value;
int32_t valid_mask;
int32_t valid_value;
int32_t data_max; // one more than max data value
int32_t data_msb_mask; // data field MSB mask (for signed)
uint8_t data_shift; // data field shift right amount, in bits
@@ -80,7 +80,7 @@ SPIAccumulator* spiAccumulators[5] = {nullptr, nullptr, nullptr, nullptr,
* If opening the MXP port, also sets up the pin functions appropriately
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_InitializeSPI(uint8_t port, int32_t* status) {
void HAL_InitializeSPI(int32_t port, int32_t* status) {
if (spiSystem == nullptr) spiSystem = tSPI::create(status);
if (HAL_GetSPIHandle(port) != 0) return;
switch (port) {
@@ -132,6 +132,7 @@ void HAL_InitializeSPI(uint8_t port, int32_t* status) {
HAL_SetSPIHandle(4, spilib_open("/dev/spidev1.0"));
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
break;
}
return;
@@ -149,8 +150,8 @@ void HAL_InitializeSPI(uint8_t port, int32_t* status) {
* @param size Number of bytes to transfer. [0..7]
* @return Number of bytes transferred, -1 for error
*/
int32_t HAL_TransactionSPI(uint8_t port, uint8_t* dataToSend,
uint8_t* dataReceived, uint8_t size) {
int32_t HAL_TransactionSPI(int32_t port, uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
return spilib_writeread(
HAL_GetSPIHandle(port), reinterpret_cast<const char*>(dataToSend),
@@ -167,7 +168,7 @@ int32_t HAL_TransactionSPI(uint8_t port, uint8_t* dataToSend,
* @param sendSize The number of bytes to be written
* @return The number of bytes written. -1 for an error
*/
int32_t HAL_WriteSPI(uint8_t port, uint8_t* dataToSend, uint8_t sendSize) {
int32_t HAL_WriteSPI(int32_t port, uint8_t* dataToSend, int32_t sendSize) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
return spilib_write(HAL_GetSPIHandle(port),
reinterpret_cast<const char*>(dataToSend),
@@ -187,7 +188,7 @@ int32_t HAL_WriteSPI(uint8_t port, uint8_t* dataToSend, uint8_t sendSize) {
* @param count The number of bytes to read in the transaction. [1..7]
* @return Number of bytes read. -1 for error.
*/
int32_t HAL_ReadSPI(uint8_t port, uint8_t* buffer, uint8_t count) {
int32_t HAL_ReadSPI(int32_t port, uint8_t* buffer, int32_t count) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
return spilib_read(HAL_GetSPIHandle(port), reinterpret_cast<char*>(buffer),
static_cast<int32_t>(count));
@@ -198,7 +199,7 @@ int32_t HAL_ReadSPI(uint8_t port, uint8_t* buffer, uint8_t count) {
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_CloseSPI(uint8_t port) {
void HAL_CloseSPI(int32_t port) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
if (spiAccumulators[port]) {
int32_t status = 0;
@@ -221,7 +222,7 @@ void HAL_CloseSPI(uint8_t port) {
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param speed The speed in Hz (0-1MHz)
*/
void HAL_SetSPISpeed(uint8_t port, uint32_t speed) {
void HAL_SetSPISpeed(int32_t port, int32_t speed) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
spilib_setspeed(HAL_GetSPIHandle(port), speed);
}
@@ -236,11 +237,11 @@ void HAL_SetSPISpeed(uint8_t port, uint32_t speed) {
* @param clk_idle_high True to set the clock to active low, False to set the
* clock active high
*/
void HAL_SetSPIOpts(uint8_t port, int msb_first, int sample_on_trailing,
int clk_idle_high) {
void HAL_SetSPIOpts(int32_t port, HAL_Bool msb_first,
HAL_Bool sample_on_trailing, HAL_Bool clk_idle_high) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
spilib_setopts(HAL_GetSPIHandle(port), msb_first, sample_on_trailing,
clk_idle_high);
spilib_setopts(HAL_GetSPIHandle(port), (int)msb_first,
(int)sample_on_trailing, (int)clk_idle_high);
}
/**
@@ -248,7 +249,7 @@ void HAL_SetSPIOpts(uint8_t port, int msb_first, int sample_on_trailing,
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SetSPIChipSelectActiveHigh(uint8_t port, int32_t* status) {
void HAL_SetSPIChipSelectActiveHigh(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
if (port < 4) {
spiSystem->writeChipSelectActiveHigh_Hdr(
@@ -263,7 +264,7 @@ void HAL_SetSPIChipSelectActiveHigh(uint8_t port, int32_t* status) {
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SetSPIChipSelectActiveLow(uint8_t port, int32_t* status) {
void HAL_SetSPIChipSelectActiveLow(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
if (port < 4) {
spiSystem->writeChipSelectActiveHigh_Hdr(
@@ -279,7 +280,7 @@ void HAL_SetSPIChipSelectActiveLow(uint8_t port, int32_t* status) {
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @return The stored handle for the SPI port. 0 represents no stored handle.
*/
int32_t HAL_GetSPIHandle(uint8_t port) {
int32_t HAL_GetSPIHandle(int32_t port) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
switch (port) {
case 0:
@@ -304,7 +305,7 @@ int32_t HAL_GetSPIHandle(uint8_t port) {
* MXP.
* @param handle The value of the handle for the port.
*/
void HAL_SetSPIHandle(uint8_t port, int32_t handle) {
void HAL_SetSPIHandle(int32_t port, int32_t handle) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
switch (port) {
case 0:
@@ -352,7 +353,7 @@ static void spiAccumulatorProcess(uint64_t currentTime, void* param) {
}
// process response
if ((resp & accum->valid_mask) == accum->valid_value) {
if ((resp & accum->valid_mask) == static_cast<uint32_t>(accum->valid_value)) {
// valid sensor data; extract data field
int32_t data = static_cast<int32_t>(resp >> accum->data_shift);
data &= accum->data_max - 1;
@@ -395,11 +396,11 @@ static void spiAccumulatorProcess(uint64_t currentTime, void* param) {
* @param is_signed Is data field signed?
* @param big_endian Is device big endian?
*/
void HAL_InitSPIAccumulator(uint8_t port, uint32_t period, uint32_t cmd,
uint8_t xfer_size, uint32_t valid_mask,
uint32_t valid_value, uint8_t data_shift,
uint8_t data_size, bool is_signed, bool big_endian,
int32_t* status) {
void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd,
int32_t xfer_size, int32_t valid_mask,
int32_t valid_value, int32_t data_shift,
int32_t data_size, HAL_Bool is_signed,
HAL_Bool big_endian, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
if (port > 4) return;
if (!spiAccumulators[port]) spiAccumulators[port] = new SPIAccumulator();
@@ -439,7 +440,7 @@ void HAL_InitSPIAccumulator(uint8_t port, uint32_t period, uint32_t cmd,
/**
* Frees a SPI accumulator.
*/
void HAL_FreeSPIAccumulator(uint8_t port, int32_t* status) {
void HAL_FreeSPIAccumulator(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
@@ -455,7 +456,7 @@ void HAL_FreeSPIAccumulator(uint8_t port, int32_t* status) {
/**
* Resets the accumulator to zero.
*/
void HAL_ResetSPIAccumulator(uint8_t port, int32_t* status) {
void HAL_ResetSPIAccumulator(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
@@ -476,7 +477,7 @@ void HAL_ResetSPIAccumulator(uint8_t port, int32_t* status) {
* integration work
* and to take the device offset into account when integrating.
*/
void HAL_SetSPIAccumulatorCenter(uint8_t port, int32_t center,
void HAL_SetSPIAccumulatorCenter(int32_t port, int32_t center,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
@@ -490,7 +491,7 @@ void HAL_SetSPIAccumulatorCenter(uint8_t port, int32_t center,
/**
* Set the accumulator's deadband.
*/
void HAL_SetSPIAccumulatorDeadband(uint8_t port, int32_t deadband,
void HAL_SetSPIAccumulatorDeadband(int32_t port, int32_t deadband,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
@@ -504,7 +505,7 @@ void HAL_SetSPIAccumulatorDeadband(uint8_t port, int32_t deadband,
/**
* Read the last value read by the accumulator engine.
*/
int32_t HAL_GetSPIAccumulatorLastValue(uint8_t port, int32_t* status) {
int32_t HAL_GetSPIAccumulatorLastValue(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
@@ -519,7 +520,7 @@ int32_t HAL_GetSPIAccumulatorLastValue(uint8_t port, int32_t* status) {
*
* @return The 64-bit value accumulated since the last Reset().
*/
int64_t HAL_GetSPIAccumulatorValue(uint8_t port, int32_t* status) {
int64_t HAL_GetSPIAccumulatorValue(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
@@ -537,7 +538,7 @@ int64_t HAL_GetSPIAccumulatorValue(uint8_t port, int32_t* status) {
*
* @return The number of times samples from the channel were accumulated.
*/
uint32_t HAL_GetSPIAccumulatorCount(uint8_t port, int32_t* status) {
int64_t HAL_GetSPIAccumulatorCount(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
@@ -552,9 +553,9 @@ uint32_t HAL_GetSPIAccumulatorCount(uint8_t port, int32_t* status) {
*
* @return The accumulated average value (value / count).
*/
double HAL_GetSPIAccumulatorAverage(uint8_t port, int32_t* status) {
double HAL_GetSPIAccumulatorAverage(int32_t port, int32_t* status) {
int64_t value;
uint32_t count;
int64_t count;
HAL_GetAccumulatorOutput(port, &value, &count, status);
if (count == 0) return 0.0;
return static_cast<double>(value) / count;
@@ -569,7 +570,7 @@ double HAL_GetSPIAccumulatorAverage(uint8_t port, int32_t* status) {
* @param value Pointer to the 64-bit accumulated output.
* @param count Pointer to the number of accumulation cycles.
*/
void HAL_GetSPIAccumulatorOutput(uint8_t port, int64_t* value, uint32_t* count,
void HAL_GetSPIAccumulatorOutput(int32_t port, int64_t* value, int64_t* count,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
SPIAccumulator* accum = spiAccumulators[port];