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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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16
wpilibc/wpilibC++/lib/DigitalInput.cpp
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@@ -9,9 +9,6 @@
#include "Resource.h"
#include "WPIErrors.h"
// TODO: This is not a good place for this...
Resource *interruptsResource = NULL;
/**
* Create an instance of a DigitalInput.
* Creates a digital input given a channel. Common creation routine for all
@@ -21,7 +18,6 @@ void DigitalInput::InitDigitalInput(uint32_t channel)
{
m_table = NULL;
char buf[64];
Resource::CreateResourceObject(&interruptsResource, interrupt_kNumSystems);
if (!CheckDigitalChannel(channel))
{
@@ -61,7 +57,7 @@ DigitalInput::~DigitalInput()
cleanInterrupts(m_interrupt, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_interrupt = NULL;
interruptsResource->Free(m_interruptIndex);
m_interrupts->Free(m_interruptIndex);
}
int32_t status = 0;
@@ -117,17 +113,17 @@ bool DigitalInput::GetAnalogTriggerForRouting()
* Request interrupts asynchronously on this digital input.
* @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
* Request interrupts in asynchronus mode where the user program interrupt handler will be
* called when an interrupt occurs.
* The default is interrupt on rising edges only.
*/
void DigitalInput::RequestInterrupts(InterruptHandlerFunction handler, void *param)
{
if (StatusIsFatal()) return;
uint32_t index = interruptsResource->Allocate("Async Interrupt");
uint32_t index = m_interrupts->Allocate("Async Interrupt");
if (index == ~0ul)
{
CloneError(interruptsResource);
CloneError(m_interrupts);
return;
}
m_interruptIndex = index;
@@ -152,10 +148,10 @@ void DigitalInput::RequestInterrupts(InterruptHandlerFunction handler, void *par
void DigitalInput::RequestInterrupts()
{
if (StatusIsFatal()) return;
uint32_t index = interruptsResource->Allocate("Sync Interrupt");
uint32_t index = m_interrupts->Allocate("Sync Interrupt");
if (index == ~0ul)
{
CloneError(interruptsResource);
CloneError(m_interrupts);
return;
}
m_interruptIndex = index;