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Improved error handling in HAL Digital and Solenoid systems.

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Change-Id: Iafd68c5bd143e9ee87ecf714bccb2c77e599b649
This commit is contained in:
Colby Skeggs
2015-02-06 17:15:41 -08:00
committed by Dustin Spicuzza
parent 91891081b9
commit d690974ad0
2 changed files with 75 additions and 21 deletions
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94
hal/lib/Athena/Digital.cpp
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@@ -160,6 +160,44 @@ bool checkRelayChannel(void* digital_port_pointer) {
return port->port.pin < kRelayPins;
}
/**
* Check a port to make sure that it is not NULL and is a valid PWM port.
*
* Sets the status to contain the appropriate error.
*
* @return true if the port passed validation.
*/
static bool verifyPWMChannel(DigitalPort *port, int32_t *status) {
if (port == NULL) {
*status = NULL_PARAMETER;
return false;
} else if (!checkPWMChannel(port)) {
*status = PARAMETER_OUT_OF_RANGE;
return false;
} else {
return true;
}
}
/**
* Check a port to make sure that it is not NULL and is a valid Relay port.
*
* Sets the status to contain the appropriate error.
*
* @return true if the port passed validation.
*/
static bool verifyRelayChannel(DigitalPort *port, int32_t *status) {
if (port == NULL) {
*status = NULL_PARAMETER;
return false;
} else if (!checkRelayChannel(port)) {
*status = PARAMETER_OUT_OF_RANGE;
return false;
} else {
return true;
}
}
/**
* Map DIO pin numbers from their physical number (10 to 26) to their position
* in the bit field.
@@ -185,7 +223,7 @@ uint32_t remapMXPPWMChannel(uint32_t pin) {
*/
void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkPWMChannel(port);
if (!verifyPWMChannel(port, status)) { return; }
if(port->port.pin < tPWM::kNumHdrRegisters) {
pwmSystem->writeHdr(port->port.pin, value, status);
@@ -202,7 +240,7 @@ void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status) {
*/
unsigned short getPWM(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkPWMChannel(port);
if (!verifyPWMChannel(port, status)) { return 0; }
if(port->port.pin < tPWM::kNumHdrRegisters) {
return pwmSystem->readHdr(port->port.pin, status);
@@ -213,6 +251,8 @@ unsigned short getPWM(void* digital_port_pointer, int32_t *status) {
void latchPWMZero(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
if (!verifyPWMChannel(port, status)) { return; }
pwmSystem->writeZeroLatch(port->port.pin, true, status);
pwmSystem->writeZeroLatch(port->port.pin, false, status);
}
@@ -225,7 +265,7 @@ void latchPWMZero(void* digital_port_pointer, int32_t *status) {
*/
void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkPWMChannel(port);
if (!verifyPWMChannel(port, status)) { return; }
if(port->port.pin < tPWM::kNumPeriodScaleHdrElements) {
pwmSystem->writePeriodScaleHdr(port->port.pin, squelchMask, status);
@@ -316,7 +356,10 @@ void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t *status) {
*/
void setRelayForward(void* digital_port_pointer, bool on, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkRelayChannel(port);
if (!verifyRelayChannel(port, status)) {
return;
}
{
std::lock_guard<priority_recursive_mutex> sync(digitalRelayMutex);
uint8_t forwardRelays = relaySystem->readValue_Forward(status);
@@ -335,7 +378,10 @@ void setRelayForward(void* digital_port_pointer, bool on, int32_t *status) {
*/
void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkRelayChannel(port);
if (!verifyRelayChannel(port, status)) {
return;
}
{
std::lock_guard<priority_recursive_mutex> sync(digitalRelayMutex);
uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
@@ -352,6 +398,8 @@ void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status) {
*/
bool getRelayForward(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
if (!verifyRelayChannel(port, status)) { return false; }
uint8_t forwardRelays = relaySystem->readValue_Forward(status);
return (forwardRelays & (1 << port->port.pin)) != 0;
}
@@ -361,6 +409,8 @@ bool getRelayForward(void* digital_port_pointer, int32_t *status) {
*/
bool getRelayReverse(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
if (!verifyRelayChannel(port, status)) { return false; }
uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
return (reverseRelays & (1 << port->port.pin)) != 0;
}
@@ -415,26 +465,30 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
}
bool allocatePWMChannel(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
char buf[64];
snprintf(buf, 64, "PWM %d", port->port.pin);
if (PWMChannels->Allocate(port->port.pin, buf) == ~0ul) {
*status = RESOURCE_IS_ALLOCATED;
return false;
DigitalPort* port = (DigitalPort*) digital_port_pointer;
if (!verifyPWMChannel(port, status)) { return false; }
char buf[64];
snprintf(buf, 64, "PWM %d", port->port.pin);
if (PWMChannels->Allocate(port->port.pin, buf) == ~0ul) {
*status = RESOURCE_IS_ALLOCATED;
return false;
}
if (port->port.pin > tPWM::kNumHdrRegisters-1) {
snprintf(buf, 64, "PWM %d and DIO %d", port->port.pin, remapMXPPWMChannel(port->port.pin) + 10);
if (DIOChannels->Allocate(remapMXPPWMChannel(port->port.pin) + 10, buf) == ~0ul) return false;
uint32_t bitToSet = 1 << remapMXPPWMChannel(port->port.pin);
short specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet, status);
}
return true;
if (port->port.pin > tPWM::kNumHdrRegisters-1) {
snprintf(buf, 64, "PWM %d and DIO %d", port->port.pin, remapMXPPWMChannel(port->port.pin) + 10);
if (DIOChannels->Allocate(remapMXPPWMChannel(port->port.pin) + 10, buf) == ~0ul) return false;
uint32_t bitToSet = 1 << remapMXPPWMChannel(port->port.pin);
short specialFunctions = digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet, status);
}
return true;
}
void freePWMChannel(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
if (!verifyPWMChannel(port, status)) { return; }
PWMChannels->Free(port->port.pin);
if(port->port.pin > tPWM::kNumHdrRegisters-1) {
DIOChannels->Free(remapMXPPWMChannel(port->port.pin) + 10);
@@ -529,7 +583,7 @@ bool getDIO(void* digital_port_pointer, int32_t *status) {
bool getDIODirection(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
tDIO::tOutputEnable currentOutputEnable = digitalSystem->readOutputEnable(status);
//Shift 00000001 over port->port.pin-1 places.
//Shift 00000001 over port->port.pin-1 places.
//AND it against the currentOutputEnable
//if it == 0, then return false
//else return true