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Analog interrupts in C++

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Analog interrupts now work in C++.

The interrupts Resource was moved from a global in DigitalInput
to a static member of SensorBase.

An analog interrupt IT was added, and the digital interrupt one modified
to prevent a linker error.

Change-Id: I9a300daafed15e9666a4ccb405a509615e3dbb06
This commit is contained in:
Thomas Clark
2014-08-04 12:19:31 -04:00
parent f57a2dc5a9
commit d521eb79b9
7 changed files with 89 additions and 20 deletions
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49
wpilibc/wpilibC++/lib/AnalogTriggerOutput.cpp
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@@ -27,6 +27,14 @@ AnalogTriggerOutput::AnalogTriggerOutput(AnalogTrigger *trigger, AnalogTriggerTy
AnalogTriggerOutput::~AnalogTriggerOutput()
{
if (m_interrupt != NULL)
{
int32_t status = 0;
cleanInterrupts(m_interrupt, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_interrupt = NULL;
m_interrupts->Free(m_interruptIndex);
}
}
/**
@@ -54,7 +62,7 @@ uint32_t AnalogTriggerOutput::GetChannelForRouting()
*/
uint32_t AnalogTriggerOutput::GetModuleForRouting()
{
return m_trigger->m_index >> 2;
return 0;
}
/**
@@ -67,16 +75,51 @@ bool AnalogTriggerOutput::GetAnalogTriggerForRouting()
/**
* Request interrupts asynchronously on this analog trigger output.
* TODO: Hardware supports interrupts on Analog Trigger outputs... WPILib should too
* @param handler The address of the interrupt handler function of type tInterruptHandler that
* will be called whenever there is an interrupt on the digitial input port.
* Request interrupts in synchronus mode where the user program interrupt handler will be
* called when an interrupt occurs.
*/
void AnalogTriggerOutput::RequestInterrupts(InterruptHandlerFunction handler, void *param)
{
if (StatusIsFatal()) return;
uint32_t index = m_interrupts->Allocate("Async Interrupt");
if (index == ~0ul)
{
CloneError(m_interrupts);
return;
}
m_interruptIndex = index;
AllocateInterrupts(false);
int32_t status = 0;
requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
GetAnalogTriggerForRouting(), &status);
attachInterruptHandler(m_interrupt, handler, param, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Request interrupts synchronously on this analog trigger output.
* TODO: Hardware supports interrupts on Analog Trigger outputs... WPILib should too
* Request interrupts in asynchronus mode where the user program will have to
* explicitly wait for the interrupt to occur.
*/
void AnalogTriggerOutput::RequestInterrupts()
{
if (StatusIsFatal()) return;
uint32_t index = m_interrupts->Allocate("Sync Interrupt");
if (index == ~0ul)
{
CloneError(m_interrupts);
return;
}
m_interruptIndex = index;
AllocateInterrupts(true);
int32_t status = 0;
requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
GetAnalogTriggerForRouting(), &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}