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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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44
hal/lib/athena/AnalogInternal.cpp
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@@ -7,6 +7,8 @@
#include "AnalogInternal.h"
#include <atomic>
#include "ChipObject.h"
#include "HAL/AnalogInput.h"
#include "HAL/cpp/priority_mutex.h"
@@ -23,18 +25,21 @@ IndexedHandleResource<HAL_AnalogInputHandle, hal::AnalogPort, kNumAnalogInputs,
static int32_t analogNumChannelsToActivate = 0;
bool analogSystemInitialized = false;
static std::atomic<bool> analogSystemInitialized{false};
bool analogSampleRateSet = false;
/**
* Initialize the analog System.
*/
void initializeAnalog(int32_t* status) {
if (analogSystemInitialized) return;
std::lock_guard<priority_recursive_mutex> sync(analogRegisterWindowMutex);
if (analogSystemInitialized) return;
analogInputSystem.reset(tAI::create(status));
analogOutputSystem.reset(tAO::create(status));
setAnalogNumChannelsToActivate(kNumAnalogInputs);
HAL_SetAnalogSampleRate(kDefaultSampleRate, status);
setAnalogSampleRate(kDefaultSampleRate, status);
analogSystemInitialized = true;
}
@@ -66,6 +71,41 @@ int32_t getAnalogNumChannelsToActivate(int32_t* status) {
return analogNumChannelsToActivate;
}
/**
* Set the sample rate.
*
* This is a global setting for the Athena and effects all channels.
*
* @param samplesPerSecond The number of samples per channel per second.
*/
void 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);
}
/**
* Set the number of active channels.
*