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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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118
hal/lib/athena/PWM.cpp
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@@ -41,15 +41,16 @@ static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) {
extern "C" {
HalDigitalHandle initializePWMPort(HalPortHandle port_handle, int32_t* status) {
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle,
int32_t* status) {
initializeDigital(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;
}
uint8_t origPin = static_cast<uint8_t>(pin);
@@ -60,15 +61,15 @@ HalDigitalHandle initializePWMPort(HalPortHandle port_handle, int32_t* status) {
pin = remapMXPPWMChannel(pin) + 10; // remap MXP to proper channel
}
auto handle = digitalPinHandles.Allocate(pin, HalHandleEnum::PWM, status);
auto handle = digitalPinHandles.Allocate(pin, HAL_HandleEnum::PWM, status);
if (*status != 0)
return HAL_INVALID_HANDLE; // failed to allocate. Pass error back.
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
auto port = digitalPinHandles.Get(handle, HalHandleEnum::PWM);
auto port = digitalPinHandles.Get(handle, HAL_HandleEnum::PWM);
if (port == nullptr) { // would only occur on thread issue.
*status = HAL_HANDLE_ERROR;
return HAL_INVALID_HANDLE;
return HAL_kInvalidHandle;
}
port->pin = origPin;
@@ -80,8 +81,8 @@ HalDigitalHandle initializePWMPort(HalPortHandle port_handle, int32_t* status) {
return handle;
}
void freePWMPort(HalDigitalHandle pwm_port_handle, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
void HAL_FreePWMPort(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;
return;
@@ -95,15 +96,15 @@ void freePWMPort(HalDigitalHandle pwm_port_handle, int32_t* status) {
status);
}
digitalPinHandles.Free(pwm_port_handle, HalHandleEnum::PWM);
digitalPinHandles.Free(pwm_port_handle, HAL_HandleEnum::PWM);
}
bool checkPWMChannel(uint8_t pin) { return pin < kNumPWMPins; }
bool HAL_CheckPWMChannel(uint8_t pin) { return pin < kNumPWMPins; }
void setPWMConfig(HalDigitalHandle pwm_port_handle, double max,
double deadbandMax, double center, double deadbandMin,
double min, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
void HAL_SetPWMConfig(HAL_DigitalHandle pwm_port_handle, double max,
double deadbandMax, double center, double deadbandMin,
double min, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -111,7 +112,7 @@ void setPWMConfig(HalDigitalHandle pwm_port_handle, double max,
// calculate the loop time in milliseconds
double loopTime =
getLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3);
HAL_GetLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3);
if (*status != 0) return;
int32_t maxPwm = (int32_t)((max - kDefaultPwmCenter) / loopTime +
@@ -133,10 +134,11 @@ void setPWMConfig(HalDigitalHandle pwm_port_handle, double max,
port->configSet = true;
}
void setPWMConfigRaw(HalDigitalHandle pwm_port_handle, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -149,11 +151,11 @@ void setPWMConfigRaw(HalDigitalHandle pwm_port_handle, int32_t maxPwm,
port->minPwm = minPwm;
}
void getPWMConfigRaw(HalDigitalHandle pwm_port_handle, int32_t* maxPwm,
int32_t* deadbandMaxPwm, int32_t* centerPwm,
int32_t* deadbandMinPwm, int32_t* minPwm,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t* maxPwm,
int32_t* deadbandMaxPwm, int32_t* centerPwm,
int32_t* deadbandMinPwm, int32_t* minPwm,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -165,9 +167,9 @@ void getPWMConfigRaw(HalDigitalHandle pwm_port_handle, int32_t* maxPwm,
*minPwm = port->minPwm;
}
void setPWMEliminateDeadband(HalDigitalHandle pwm_port_handle,
uint8_t eliminateDeadband, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
uint8_t eliminateDeadband, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -175,9 +177,9 @@ void setPWMEliminateDeadband(HalDigitalHandle pwm_port_handle,
port->eliminateDeadband = eliminateDeadband;
}
uint8_t getPWMEliminateDeadband(HalDigitalHandle pwm_port_handle,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
uint8_t 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;
return false;
@@ -193,9 +195,9 @@ uint8_t getPWMEliminateDeadband(HalDigitalHandle pwm_port_handle,
* @param channel The PWM channel to set.
* @param value The PWM value to set.
*/
void setPWMRaw(HalDigitalHandle pwm_port_handle, uint16_t value,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, uint16_t value,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -217,9 +219,9 @@ void setPWMRaw(HalDigitalHandle pwm_port_handle, uint16_t value,
* @param channel The PWM channel to set.
* @param value The scaled PWM value to set.
*/
void setPWMSpeed(HalDigitalHandle pwm_port_handle, float speed,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, float speed,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -256,7 +258,7 @@ void setPWMSpeed(HalDigitalHandle pwm_port_handle, float speed,
return;
}
setPWMRaw(pwm_port_handle, rawValue, status);
HAL_SetPWMRaw(pwm_port_handle, rawValue, status);
}
/**
@@ -268,9 +270,9 @@ void setPWMSpeed(HalDigitalHandle pwm_port_handle, float speed,
* @param channel The PWM channel to set.
* @param value The scaled PWM value to set.
*/
void setPWMPosition(HalDigitalHandle pwm_port_handle, float pos,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, float pos,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -297,11 +299,11 @@ void setPWMPosition(HalDigitalHandle pwm_port_handle, float pos,
return;
}
setPWMRaw(pwm_port_handle, rawValue, status);
HAL_SetPWMRaw(pwm_port_handle, rawValue, status);
}
void setPWMDisabled(HalDigitalHandle pwm_port_handle, int32_t* status) {
setPWMRaw(pwm_port_handle, kPwmDisabled, status);
void HAL_SetPWMDisabled(HAL_DigitalHandle pwm_port_handle, int32_t* status) {
HAL_SetPWMRaw(pwm_port_handle, kPwmDisabled, status);
}
/**
@@ -310,8 +312,8 @@ void setPWMDisabled(HalDigitalHandle pwm_port_handle, int32_t* status) {
* @param channel The PWM channel to read from.
* @return The raw PWM value.
*/
uint16_t getPWMRaw(HalDigitalHandle pwm_port_handle, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
uint16_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;
return 0;
@@ -330,8 +332,8 @@ uint16_t getPWMRaw(HalDigitalHandle pwm_port_handle, int32_t* status) {
* @param channel The PWM channel to read from.
* @return The scaled PWM value.
*/
float getPWMSpeed(HalDigitalHandle pwm_port_handle, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
float 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;
return 0;
@@ -341,7 +343,7 @@ float getPWMSpeed(HalDigitalHandle pwm_port_handle, int32_t* status) {
return 0;
}
int32_t value = getPWMRaw(pwm_port_handle, status);
int32_t value = HAL_GetPWMRaw(pwm_port_handle, status);
if (*status != 0) return 0;
DigitalPort* dPort = port.get();
@@ -368,8 +370,8 @@ float getPWMSpeed(HalDigitalHandle pwm_port_handle, int32_t* status) {
* @param channel The PWM channel to read from.
* @return The scaled PWM value.
*/
float getPWMPosition(HalDigitalHandle pwm_port_handle, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
float 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;
return 0;
@@ -379,7 +381,7 @@ float getPWMPosition(HalDigitalHandle pwm_port_handle, int32_t* status) {
return 0;
}
int32_t value = getPWMRaw(pwm_port_handle, status);
int32_t value = HAL_GetPWMRaw(pwm_port_handle, status);
if (*status != 0) return 0;
DigitalPort* dPort = port.get();
@@ -393,8 +395,8 @@ float getPWMPosition(HalDigitalHandle pwm_port_handle, int32_t* status) {
}
}
void latchPWMZero(HalDigitalHandle pwm_port_handle, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
void HAL_LatchPWMZero(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;
return;
@@ -410,9 +412,9 @@ void latchPWMZero(HalDigitalHandle pwm_port_handle, int32_t* status) {
* @param channel The PWM channel to configure.
* @param squelchMask The 2-bit mask of outputs to squelch.
*/
void setPWMPeriodScale(HalDigitalHandle pwm_port_handle, uint32_t squelchMask,
int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM);
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwm_port_handle,
uint32_t squelchMask, int32_t* status) {
auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -431,7 +433,7 @@ void setPWMPeriodScale(HalDigitalHandle pwm_port_handle, uint32_t squelchMask,
*
* @return The loop time
*/
uint16_t getLoopTiming(int32_t* status) {
uint16_t HAL_GetLoopTiming(int32_t* status) {
return pwmSystem->readLoopTiming(status);
}
}