Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Prepends all HAL functions with HAL_ (#146)

Browse Source
This commit is contained in:
Thad House
2016-07-09 00:24:26 -07:00
committed by Peter Johnson
parent 5ad28d58ec
commit b637b9ee4c
162 changed files with 2855 additions and 2747 deletions
Download Patch File Download Diff File Expand all files Collapse all files

100
hal/lib/athena/AnalogGyro.cpp
View File

@@ -17,7 +17,7 @@
namespace {
struct AnalogGyro {
HalAnalogInputHandle handle;
HAL_AnalogInputHandle handle;
float voltsPerDegreePerSecond;
float offset;
uint32_t center;
@@ -32,8 +32,8 @@ static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
using namespace hal;
static IndexedHandleResource<HalGyroHandle, AnalogGyro, kNumAccumulators,
HalHandleEnum::AnalogGyro>
static IndexedHandleResource<HAL_GyroHandle, AnalogGyro, kNumAccumulators,
HAL_HandleEnum::AnalogGyro>
analogGyroHandles;
static void Wait(double seconds) {
@@ -42,13 +42,13 @@ static void Wait(double seconds) {
}
extern "C" {
HalGyroHandle initializeAnalogGyro(HalAnalogInputHandle analog_handle,
int32_t* status) {
if (!isAccumulatorChannel(analog_handle, status)) {
HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analog_handle,
int32_t* status) {
if (!HAL_IsAccumulatorChannel(analog_handle, status)) {
if (*status == 0) {
*status = PARAMETER_OUT_OF_RANGE;
}
return HAL_INVALID_HANDLE;
return HAL_kInvalidHandle;
}
// handle known to be correct, so no need to type check
@@ -57,13 +57,13 @@ HalGyroHandle initializeAnalogGyro(HalAnalogInputHandle analog_handle,
auto handle = analogGyroHandles.Allocate(channel, status);
if (*status != 0)
return HAL_INVALID_HANDLE; // failed to allocate. Pass error back.
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
// Initialize port structure
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) { // would only error on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_INVALID_HANDLE;
return HAL_kInvalidHandle;
}
gyro->handle = analog_handle;
@@ -74,7 +74,7 @@ HalGyroHandle initializeAnalogGyro(HalAnalogInputHandle analog_handle,
return handle;
}
void setupAnalogGyro(HalGyroHandle handle, int32_t* status) {
void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -83,25 +83,27 @@ void setupAnalogGyro(HalGyroHandle handle, int32_t* status) {
gyro->voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
setAnalogAverageBits(gyro->handle, kAverageBits, status);
HAL_SetAnalogAverageBits(gyro->handle, kAverageBits, status);
if (*status != 0) return;
setAnalogOversampleBits(gyro->handle, kOversampleBits, status);
HAL_SetAnalogOversampleBits(gyro->handle, kOversampleBits, status);
if (*status != 0) return;
float sampleRate =
kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
setAnalogSampleRate(sampleRate, status);
HAL_SetAnalogSampleRate(sampleRate, status);
if (*status != 0) return;
Wait(0.1);
setAnalogGyroDeadband(handle, 0.0f, status);
HAL_SetAnalogGyroDeadband(handle, 0.0f, status);
if (*status != 0) return;
}
void freeAnalogGyro(HalGyroHandle handle) { analogGyroHandles.Free(handle); }
void HAL_FreeAnalogGyro(HAL_GyroHandle handle) {
analogGyroHandles.Free(handle);
}
void setAnalogGyroParameters(HalGyroHandle handle,
float voltsPerDegreePerSecond, float offset,
uint32_t center, int32_t* status) {
void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
float voltsPerDegreePerSecond, float offset,
uint32_t center, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -111,12 +113,12 @@ void setAnalogGyroParameters(HalGyroHandle handle,
gyro->voltsPerDegreePerSecond = voltsPerDegreePerSecond;
gyro->offset = offset;
gyro->center = center;
setAccumulatorCenter(gyro->handle, center, status);
HAL_SetAccumulatorCenter(gyro->handle, center, status);
}
void setAnalogGyroVoltsPerDegreePerSecond(HalGyroHandle handle,
float voltsPerDegreePerSecond,
int32_t* status) {
void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
float voltsPerDegreePerSecond,
int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -126,59 +128,63 @@ void setAnalogGyroVoltsPerDegreePerSecond(HalGyroHandle handle,
gyro->voltsPerDegreePerSecond = voltsPerDegreePerSecond;
}
void resetAnalogGyro(HalGyroHandle handle, int32_t* status) {
void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
resetAccumulator(gyro->handle, status);
HAL_ResetAccumulator(gyro->handle, status);
if (*status != 0) return;
const float sampleTime = 1.0f / getAnalogSampleRate(status);
const float overSamples = 1 << getAnalogOversampleBits(gyro->handle, status);
const float averageSamples = 1 << getAnalogAverageBits(gyro->handle, status);
const float sampleTime = 1.0f / HAL_GetAnalogSampleRate(status);
const float overSamples =
1 << HAL_GetAnalogOversampleBits(gyro->handle, status);
const float averageSamples =
1 << HAL_GetAnalogAverageBits(gyro->handle, status);
if (*status != 0) return;
Wait(sampleTime * overSamples * averageSamples);
}
void calibrateAnalogGyro(HalGyroHandle handle, int32_t* status) {
void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
initAccumulator(gyro->handle, status);
HAL_InitAccumulator(gyro->handle, status);
if (*status != 0) return;
Wait(kCalibrationSampleTime);
int64_t value;
uint32_t count;
getAccumulatorOutput(gyro->handle, &value, &count, status);
HAL_GetAccumulatorOutput(gyro->handle, &value, &count, status);
if (*status != 0) return;
gyro->center = (uint32_t)((float)value / (float)count + .5);
gyro->offset = ((float)value / (float)count) - (float)gyro->center;
setAccumulatorCenter(gyro->handle, gyro->center, status);
HAL_SetAccumulatorCenter(gyro->handle, gyro->center, status);
if (*status != 0) return;
resetAnalogGyro(handle, status);
HAL_ResetAnalogGyro(handle, status);
}
void setAnalogGyroDeadband(HalGyroHandle handle, float volts, int32_t* status) {
void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, float volts,
int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
int32_t deadband = volts * 1e9 / getAnalogLSBWeight(gyro->handle, status) *
(1 << getAnalogOversampleBits(gyro->handle, status));
int32_t deadband = volts * 1e9 /
HAL_GetAnalogLSBWeight(gyro->handle, status) *
(1 << HAL_GetAnalogOversampleBits(gyro->handle, status));
if (*status != 0) return;
setAccumulatorDeadband(gyro->handle, deadband, status);
HAL_SetAccumulatorDeadband(gyro->handle, deadband, status);
}
float getAnalogGyroAngle(HalGyroHandle handle, int32_t* status) {
float HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -186,33 +192,33 @@ float getAnalogGyroAngle(HalGyroHandle handle, int32_t* status) {
}
int64_t rawValue = 0;
uint32_t count = 0;
getAccumulatorOutput(gyro->handle, &rawValue, &count, status);
HAL_GetAccumulatorOutput(gyro->handle, &rawValue, &count, status);
int64_t value = rawValue - (int64_t)((float)count * gyro->offset);
double scaledValue =
value * 1e-9 * (double)getAnalogLSBWeight(gyro->handle, status) *
(double)(1 << getAnalogAverageBits(gyro->handle, status)) /
(getAnalogSampleRate(status) * gyro->voltsPerDegreePerSecond);
value * 1e-9 * (double)HAL_GetAnalogLSBWeight(gyro->handle, status) *
(double)(1 << HAL_GetAnalogAverageBits(gyro->handle, status)) /
(HAL_GetAnalogSampleRate(status) * gyro->voltsPerDegreePerSecond);
return (float)scaledValue;
}
double getAnalogGyroRate(HalGyroHandle handle, int32_t* status) {
double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
return (getAnalogAverageValue(gyro->handle, status) -
return (HAL_GetAnalogAverageValue(gyro->handle, status) -
((double)gyro->center + gyro->offset)) *
1e-9 * getAnalogLSBWeight(gyro->handle, status) /
((1 << getAnalogOversampleBits(gyro->handle, status)) *
1e-9 * HAL_GetAnalogLSBWeight(gyro->handle, status) /
((1 << HAL_GetAnalogOversampleBits(gyro->handle, status)) *
gyro->voltsPerDegreePerSecond);
}
float getAnalogGyroOffset(HalGyroHandle handle, int32_t* status) {
float HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -221,7 +227,7 @@ float getAnalogGyroOffset(HalGyroHandle handle, int32_t* status) {
return gyro->offset;
}
uint32_t getAnalogGyroCenter(HalGyroHandle handle, int32_t* status) {
uint32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;