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Prepends all HAL functions with HAL_ (#146)

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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
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97
hal/lib/athena/AnalogInput.cpp
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@@ -25,43 +25,43 @@ extern "C" {
/**
* Initialize the analog input port using the given port object.
*/
HalAnalogInputHandle initializeAnalogInputPort(HalPortHandle port_handle,
int32_t* status) {
HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle port_handle,
int32_t* status) {
initializeAnalog(status);
if (*status != 0) return HAL_INVALID_HANDLE;
if (*status != 0) return HAL_kInvalidHandle;
int16_t pin = getPortHandlePin(port_handle);
if (pin == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return HAL_INVALID_HANDLE;
return HAL_kInvalidHandle;
}
HalAnalogInputHandle handle = analogInputHandles.Allocate(pin, status);
HAL_AnalogInputHandle handle = analogInputHandles.Allocate(pin, 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 analog_port = analogInputHandles.Get(handle);
if (analog_port == nullptr) { // would only error on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_INVALID_HANDLE;
return HAL_kInvalidHandle;
}
analog_port->pin = static_cast<uint8_t>(pin);
if (isAccumulatorChannel(handle, status)) {
if (HAL_IsAccumulatorChannel(handle, status)) {
analog_port->accumulator = tAccumulator::create(pin, status);
} else
analog_port->accumulator = nullptr;
// Set default configuration
analogInputSystem->writeScanList(pin, pin, status);
setAnalogAverageBits(handle, kDefaultAverageBits, status);
setAnalogOversampleBits(handle, kDefaultOversampleBits, status);
HAL_SetAnalogAverageBits(handle, kDefaultAverageBits, status);
HAL_SetAnalogOversampleBits(handle, kDefaultOversampleBits, status);
return handle;
}
void freeAnalogInputPort(HalAnalogInputHandle analog_port_handle) {
void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analog_port_handle) {
auto port = analogInputHandles.Get(analog_port_handle);
if (!port) return;
// no status, so no need to check for a proper free.
@@ -74,7 +74,7 @@ void freeAnalogInputPort(HalAnalogInputHandle analog_port_handle) {
*
* @return Analog module is valid and present
*/
bool checkAnalogModule(uint8_t module) { return module == 1; }
bool HAL_CheckAnalogModule(uint8_t module) { return module == 1; }
/**
* Check that the analog output channel number is value.
@@ -83,7 +83,7 @@ bool checkAnalogModule(uint8_t module) { return module == 1; }
*
* @return Analog channel is valid
*/
bool checkAnalogInputChannel(uint32_t pin) {
bool HAL_CheckAnalogInputChannel(uint32_t pin) {
if (pin < kNumAnalogInputs) return true;
return false;
}
@@ -95,7 +95,7 @@ bool checkAnalogInputChannel(uint32_t pin) {
*
* @param samplesPerSecond The number of samples per channel per second.
*/
void setAnalogSampleRate(double samplesPerSecond, int32_t* status) {
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
// TODO: This will change when variable size scan lists are implemented.
// TODO: Need float comparison with epsilon.
// wpi_assert(!sampleRateSet || GetSampleRate() == samplesPerSecond);
@@ -130,7 +130,7 @@ void setAnalogSampleRate(double samplesPerSecond, int32_t* status) {
*
* @return Sample rate.
*/
float getAnalogSampleRate(int32_t* status) {
float HAL_GetAnalogSampleRate(int32_t* status) {
uint32_t ticksPerConversion = analogInputSystem->readLoopTiming(status);
uint32_t ticksPerSample =
ticksPerConversion * getAnalogNumActiveChannels(status);
@@ -147,8 +147,8 @@ float getAnalogSampleRate(int32_t* status) {
* @param analog_port_pointer Pointer to the analog port to configure.
* @param bits Number of bits to average.
*/
void setAnalogAverageBits(HalAnalogInputHandle analog_port_handle,
uint32_t bits, int32_t* status) {
void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle,
uint32_t bits, int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -166,8 +166,8 @@ void setAnalogAverageBits(HalAnalogInputHandle analog_port_handle,
* @param analog_port_pointer Pointer to the analog port to use.
* @return Bits to average.
*/
uint32_t getAnalogAverageBits(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
uint32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle,
int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -188,8 +188,8 @@ uint32_t getAnalogAverageBits(HalAnalogInputHandle analog_port_handle,
* @param analog_port_pointer Pointer to the analog port to use.
* @param bits Number of bits to oversample.
*/
void setAnalogOversampleBits(HalAnalogInputHandle analog_port_handle,
uint32_t bits, int32_t* status) {
void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle,
uint32_t bits, int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -208,8 +208,8 @@ void setAnalogOversampleBits(HalAnalogInputHandle analog_port_handle,
* @param analog_port_pointer Pointer to the analog port to use.
* @return Bits to oversample.
*/
uint32_t getAnalogOversampleBits(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
uint32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle,
int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -229,15 +229,15 @@ uint32_t getAnalogOversampleBits(HalAnalogInputHandle analog_port_handle,
* @param analog_port_pointer Pointer to the analog port to use.
* @return A sample straight from the channel on this module.
*/
int16_t getAnalogValue(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
int16_t HAL_GetAnalogValue(HAL_AnalogInputHandle analog_port_handle,
int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int16_t value;
if (!checkAnalogInputChannel(port->pin)) {
if (!HAL_CheckAnalogInputChannel(port->pin)) {
return 0;
}
@@ -269,15 +269,15 @@ int16_t getAnalogValue(HalAnalogInputHandle analog_port_handle,
* @param analog_port_pointer Pointer to the analog port to use.
* @return A sample from the oversample and average engine for the channel.
*/
int32_t getAnalogAverageValue(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analog_port_handle,
int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int32_t value;
if (!checkAnalogInputChannel(port->pin)) {
if (!HAL_CheckAnalogInputChannel(port->pin)) {
return 0;
}
@@ -304,11 +304,11 @@ int32_t getAnalogAverageValue(HalAnalogInputHandle analog_port_handle,
* @param analog_port_pointer Pointer to the analog port to use.
* @return A scaled sample straight from the channel on this module.
*/
float getAnalogVoltage(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
int16_t value = getAnalogValue(analog_port_handle, status);
uint32_t LSBWeight = getAnalogLSBWeight(analog_port_handle, status);
int32_t offset = getAnalogOffset(analog_port_handle, status);
float HAL_GetAnalogVoltage(HAL_AnalogInputHandle analog_port_handle,
int32_t* status) {
int16_t value = HAL_GetAnalogValue(analog_port_handle, status);
uint32_t LSBWeight = HAL_GetAnalogLSBWeight(analog_port_handle, status);
int32_t offset = HAL_GetAnalogOffset(analog_port_handle, status);
float voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9;
return voltage;
}
@@ -326,12 +326,13 @@ float getAnalogVoltage(HalAnalogInputHandle analog_port_handle,
* @return A scaled sample from the output of the oversample and average engine
* for the channel.
*/
float getAnalogAverageVoltage(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
int32_t value = getAnalogAverageValue(analog_port_handle, status);
uint32_t LSBWeight = getAnalogLSBWeight(analog_port_handle, status);
int32_t offset = getAnalogOffset(analog_port_handle, status);
uint32_t oversampleBits = getAnalogOversampleBits(analog_port_handle, status);
float HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analog_port_handle,
int32_t* status) {
int32_t value = HAL_GetAnalogAverageValue(analog_port_handle, status);
uint32_t LSBWeight = HAL_GetAnalogLSBWeight(analog_port_handle, status);
int32_t offset = HAL_GetAnalogOffset(analog_port_handle, status);
uint32_t oversampleBits =
HAL_GetAnalogOversampleBits(analog_port_handle, status);
float voltage =
((LSBWeight * 1.0e-9 * value) / (float)(1 << oversampleBits)) -
offset * 1.0e-9;
@@ -350,8 +351,8 @@ float getAnalogAverageVoltage(HalAnalogInputHandle analog_port_handle,
* @param voltage The voltage to convert.
* @return The raw value for the channel.
*/
int32_t getAnalogVoltsToValue(HalAnalogInputHandle analog_port_handle,
double voltage, int32_t* status) {
int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analog_port_handle,
double voltage, int32_t* status) {
if (voltage > 5.0) {
voltage = 5.0;
*status = VOLTAGE_OUT_OF_RANGE;
@@ -360,8 +361,8 @@ int32_t getAnalogVoltsToValue(HalAnalogInputHandle analog_port_handle,
voltage = 0.0;
*status = VOLTAGE_OUT_OF_RANGE;
}
uint32_t LSBWeight = getAnalogLSBWeight(analog_port_handle, status);
int32_t offset = getAnalogOffset(analog_port_handle, status);
uint32_t LSBWeight = HAL_GetAnalogLSBWeight(analog_port_handle, status);
int32_t offset = HAL_GetAnalogOffset(analog_port_handle, status);
int32_t value = (int32_t)((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9));
return value;
}
@@ -376,8 +377,8 @@ int32_t getAnalogVoltsToValue(HalAnalogInputHandle analog_port_handle,
* @param analog_port_pointer Pointer to the analog port to use.
* @return Least significant bit weight.
*/
uint32_t getAnalogLSBWeight(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
uint32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analog_port_handle,
int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -398,8 +399,8 @@ uint32_t getAnalogLSBWeight(HalAnalogInputHandle analog_port_handle,
* @param analog_port_pointer Pointer to the analog port to use.
* @return Offset constant.
*/
int32_t getAnalogOffset(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analog_port_handle,
int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;