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Checks for system initialization in functions that can be called before creating handle based objects (#285)

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This commit is contained in:
Thad House
2016-10-23 10:00:34 -07:00
committed by Peter Johnson
parent c46c490376
commit df4a2c07f0
7 changed files with 67 additions and 31 deletions
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29
hal/lib/athena/AnalogInput.cpp
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@@ -19,8 +19,6 @@
using namespace hal;
static bool analogSampleRateSet = false;
extern "C" {
/**
* Initialize the analog input port using the given port object.
@@ -103,28 +101,9 @@ void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
// TODO: This will change when variable size scan lists are implemented.
// TODO: Need float comparison with epsilon.
// wpi_assert(!sampleRateSet || GetSampleRate() == samplesPerSecond);
analogSampleRateSet = true;
// Compute the convert rate
uint32_t ticksPerSample =
static_cast<uint32_t>(static_cast<double>(kTimebase) / samplesPerSecond);
uint32_t ticksPerConversion =
ticksPerSample / getAnalogNumChannelsToActivate(status);
// ticksPerConversion must be at least 80
if (ticksPerConversion < 80) {
if ((*status) >= 0) *status = SAMPLE_RATE_TOO_HIGH;
ticksPerConversion = 80;
}
// Atomically set the scan size and the convert rate so that the sample rate
// is constant
tAI::tConfig config;
config.ScanSize = getAnalogNumChannelsToActivate(status);
config.ConvertRate = ticksPerConversion;
analogInputSystem->writeConfig(config, status);
// Indicate that the scan size has been commited to hardware.
setAnalogNumChannelsToActivate(0);
initializeAnalog(status);
if (*status != 0) return;
setAnalogSampleRate(samplesPerSecond, status);
}
/**
@@ -136,6 +115,8 @@ void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
* @return Sample rate.
*/
double HAL_GetAnalogSampleRate(int32_t* status) {
initializeAnalog(status);
if (*status != 0) return 0;
uint32_t ticksPerConversion = analogInputSystem->readLoopTiming(status);
uint32_t ticksPerSample =
ticksPerConversion * getAnalogNumActiveChannels(status);