Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Hardcode channels for LSB weight (#2153)

Browse Source 
Avoids a mutex and a lookup.
This commit is contained in:
Thad House
2019-12-06 20:56:40 -08:00
committed by Peter Johnson
parent b2ae75acd8
commit d8f11eb149
1 changed files with 28 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

44
hal/src/main/native/athena/AnalogInput.cpp
View File

@@ -224,26 +224,38 @@ double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int32_t lsbWeight = FRC_NetworkCommunication_nAICalibration_getLSBWeight(
0, port->channel, status); // XXX: aiSystemIndex == 0?
return lsbWeight;
// On the roboRIO, LSB is the same for all channels. So the channel lookup can
// be avoided
return FRC_NetworkCommunication_nAICalibration_getLSBWeight(0, 0, status);
// Keep the old code for future hardware
// auto port = analogInputHandles->Get(analogPortHandle);
// if (port == nullptr) {
// *status = HAL_HANDLE_ERROR;
// return 0;
// }
// int32_t lsbWeight = FRC_NetworkCommunication_nAICalibration_getLSBWeight(
// 0, port->channel, status); // XXX: aiSystemIndex == 0?
// return lsbWeight;
}
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int32_t offset = FRC_NetworkCommunication_nAICalibration_getOffset(
0, port->channel, status); // XXX: aiSystemIndex == 0?
return offset;
// On the roboRIO, offset is the same for all channels. So the channel lookup
// can be avoided
return FRC_NetworkCommunication_nAICalibration_getOffset(0, 0, status);
// Keep the old code for future hardware
// auto port = analogInputHandles->Get(analogPortHandle);
// if (port == nullptr) {
// *status = HAL_HANDLE_ERROR;
// return 0;
// }
// int32_t offset = FRC_NetworkCommunication_nAICalibration_getOffset(
// 0, port->channel, status); // XXX: aiSystemIndex == 0?
// return offset;
}
} // extern "C"