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https://github.com/wpilibsuite/allwpilib
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Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
532
hal/src/main/native/athena/DIO.cpp
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532
hal/src/main/native/athena/DIO.cpp
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@@ -0,0 +1,532 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "HAL/DIO.h"
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#include <cmath>
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#include "DigitalInternal.h"
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#include "HAL/handles/HandlesInternal.h"
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#include "HAL/handles/LimitedHandleResource.h"
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#include "PortsInternal.h"
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using namespace hal;
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// Create a mutex to protect changes to the digital output values
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static priority_recursive_mutex digitalDIOMutex;
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static LimitedHandleResource<HAL_DigitalPWMHandle, uint8_t,
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kNumDigitalPWMOutputs, HAL_HandleEnum::DigitalPWM>
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digitalPWMHandles;
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extern "C" {
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/**
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* Create a new instance of a digital port.
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*/
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HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
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HAL_Bool input, int32_t* status) {
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initializeDigital(status);
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if (*status != 0) return HAL_kInvalidHandle;
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int16_t channel = getPortHandleChannel(portHandle);
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if (channel == InvalidHandleIndex || channel >= kNumDigitalChannels) {
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*status = PARAMETER_OUT_OF_RANGE;
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return HAL_kInvalidHandle;
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}
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auto handle =
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digitalChannelHandles.Allocate(channel, HAL_HandleEnum::DIO, status);
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if (*status != 0)
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return HAL_kInvalidHandle; // failed to allocate. Pass error back.
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auto port = digitalChannelHandles.Get(handle, HAL_HandleEnum::DIO);
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if (port == nullptr) { // would only occur on thread issue.
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*status = HAL_HANDLE_ERROR;
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return HAL_kInvalidHandle;
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}
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port->channel = static_cast<uint8_t>(channel);
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std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
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tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
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if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
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if (!getPortHandleSPIEnable(portHandle)) {
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// if this flag is not set, we actually want DIO.
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uint32_t bitToSet = 1u << remapSPIChannel(port->channel);
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uint16_t specialFunctions = spiSystem->readEnableDIO(status);
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// Set the field to enable SPI DIO
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spiSystem->writeEnableDIO(specialFunctions | bitToSet, status);
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if (input) {
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outputEnable.SPIPort =
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outputEnable.SPIPort & (~bitToSet); // clear the field for read
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} else {
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outputEnable.SPIPort =
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outputEnable.SPIPort | bitToSet; // set the bits for write
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}
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}
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} else if (port->channel < kNumDigitalHeaders) {
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uint32_t bitToSet = 1u << port->channel;
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if (input) {
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outputEnable.Headers =
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outputEnable.Headers & (~bitToSet); // clear the bit for read
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} else {
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outputEnable.Headers =
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outputEnable.Headers | bitToSet; // set the bit for write
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}
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} else {
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uint32_t bitToSet = 1u << remapMXPChannel(port->channel);
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uint16_t specialFunctions =
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digitalSystem->readEnableMXPSpecialFunction(status);
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digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
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status);
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if (input) {
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outputEnable.MXP =
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outputEnable.MXP & (~bitToSet); // clear the bit for read
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} else {
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outputEnable.MXP = outputEnable.MXP | bitToSet; // set the bit for write
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}
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}
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digitalSystem->writeOutputEnable(outputEnable, status);
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return handle;
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}
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HAL_Bool HAL_CheckDIOChannel(int32_t channel) {
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return channel < kNumDigitalChannels && channel >= 0;
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}
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void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
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auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
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// no status, so no need to check for a proper free.
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digitalChannelHandles.Free(dioPortHandle, HAL_HandleEnum::DIO);
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if (port == nullptr) return;
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int32_t status = 0;
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std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
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if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
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// Unset the SPI flag
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int32_t bitToUnset = 1 << remapSPIChannel(port->channel);
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uint16_t specialFunctions = spiSystem->readEnableDIO(&status);
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spiSystem->writeEnableDIO(specialFunctions & ~bitToUnset, &status);
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} else if (port->channel >= kNumDigitalHeaders) {
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// Unset the MXP flag
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uint32_t bitToUnset = 1u << remapMXPChannel(port->channel);
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uint16_t specialFunctions =
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digitalSystem->readEnableMXPSpecialFunction(&status);
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digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToUnset,
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&status);
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}
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}
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/**
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* Allocate a DO PWM Generator.
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* Allocate PWM generators so that they are not accidentally reused.
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*
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* @return PWM Generator handle
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*/
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HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
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auto handle = digitalPWMHandles.Allocate();
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if (handle == HAL_kInvalidHandle) {
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*status = NO_AVAILABLE_RESOURCES;
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return HAL_kInvalidHandle;
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}
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auto id = digitalPWMHandles.Get(handle);
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if (id == nullptr) { // would only occur on thread issue.
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*status = HAL_HANDLE_ERROR;
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return HAL_kInvalidHandle;
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}
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*id = static_cast<uint8_t>(getHandleIndex(handle));
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return handle;
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}
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/**
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* Free the resource associated with a DO PWM generator.
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*
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* @param pwmGenerator The pwmGen to free that was allocated with
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* allocateDigitalPWM()
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*/
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void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) {
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digitalPWMHandles.Free(pwmGenerator);
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}
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/**
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* Change the frequency of the DO PWM generator.
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*
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* The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is
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* logarithmic.
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*
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* @param rate The frequency to output all digital output PWM signals.
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*/
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void HAL_SetDigitalPWMRate(double rate, int32_t* status) {
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// Currently rounding in the log rate domain... heavy weight toward picking a
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// higher freq.
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// TODO: Round in the linear rate domain.
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initializeDigital(status);
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if (*status != 0) return;
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uint8_t pwmPeriodPower = static_cast<uint8_t>(
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std::log(1.0 / (pwmSystem->readLoopTiming(status) * 0.25E-6 * rate)) /
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std::log(2.0) +
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0.5);
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digitalSystem->writePWMPeriodPower(pwmPeriodPower, status);
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}
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/**
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* Configure the duty-cycle of the PWM generator
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*
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* @param pwmGenerator The generator index reserved by allocateDigitalPWM()
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* @param dutyCycle The percent duty cycle to output [0..1].
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*/
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void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
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double dutyCycle, int32_t* status) {
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auto port = digitalPWMHandles.Get(pwmGenerator);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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int32_t id = *port;
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if (dutyCycle > 1.0) dutyCycle = 1.0;
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if (dutyCycle < 0.0) dutyCycle = 0.0;
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double rawDutyCycle = 256.0 * dutyCycle;
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if (rawDutyCycle > 255.5) rawDutyCycle = 255.5;
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{
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std::lock_guard<priority_recursive_mutex> sync(digitalPwmMutex);
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uint16_t pwmPeriodPower = digitalSystem->readPWMPeriodPower(status);
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if (pwmPeriodPower < 4) {
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// The resolution of the duty cycle drops close to the highest
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// frequencies.
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rawDutyCycle = rawDutyCycle / std::pow(2.0, 4 - pwmPeriodPower);
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}
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if (id < 4)
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digitalSystem->writePWMDutyCycleA(id, static_cast<uint8_t>(rawDutyCycle),
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status);
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else
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digitalSystem->writePWMDutyCycleB(
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id - 4, static_cast<uint8_t>(rawDutyCycle), status);
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}
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}
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/**
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* Configure which DO channel the PWM signal is output on
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*
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* @param pwmGenerator The generator index reserved by allocateDigitalPWM()
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* @param channel The Digital Output channel to output on
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*/
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void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
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int32_t channel, int32_t* status) {
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auto port = digitalPWMHandles.Get(pwmGenerator);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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int32_t id = *port;
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if (channel >= kNumDigitalHeaders &&
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channel <
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kNumDigitalHeaders + kNumDigitalMXPChannels) { // If it is on the MXP
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/* Then to write as a digital PWM channel an offset is needed to write on
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* the correct channel
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*/
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channel += kMXPDigitalPWMOffset;
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}
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digitalSystem->writePWMOutputSelect(id, channel, status);
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}
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/**
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* Write a digital I/O bit to the FPGA.
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* Set a single value on a digital I/O channel.
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*
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* @param channel The Digital I/O channel
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* @param value The state to set the digital channel (if it is configured as an
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* output)
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*/
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void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
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int32_t* status) {
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auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (value != 0 && value != 1) {
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if (value != 0) value = 1;
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}
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{
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std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
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tDIO::tDO currentDIO = digitalSystem->readDO(status);
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if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
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if (value == 0) {
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currentDIO.SPIPort =
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currentDIO.SPIPort & ~(1u << remapSPIChannel(port->channel));
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} else if (value == 1) {
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currentDIO.SPIPort =
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currentDIO.SPIPort | (1u << remapSPIChannel(port->channel));
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}
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} else if (port->channel < kNumDigitalHeaders) {
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if (value == 0) {
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currentDIO.Headers = currentDIO.Headers & ~(1u << port->channel);
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} else if (value == 1) {
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currentDIO.Headers = currentDIO.Headers | (1u << port->channel);
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}
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} else {
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if (value == 0) {
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currentDIO.MXP =
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currentDIO.MXP & ~(1u << remapMXPChannel(port->channel));
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} else if (value == 1) {
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currentDIO.MXP =
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currentDIO.MXP | (1u << remapMXPChannel(port->channel));
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}
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}
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digitalSystem->writeDO(currentDIO, status);
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}
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}
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/**
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* Read a digital I/O bit from the FPGA.
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* Get a single value from a digital I/O channel.
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*
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* @param channel The digital I/O channel
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* @return The state of the specified channel
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*/
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HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return false;
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}
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tDIO::tDI currentDIO = digitalSystem->readDI(status);
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// Shift 00000001 over channel-1 places.
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// AND it against the currentDIO
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// if it == 0, then return false
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// else return true
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if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
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return ((currentDIO.SPIPort >> remapSPIChannel(port->channel)) & 1) != 0;
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} else if (port->channel < kNumDigitalHeaders) {
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return ((currentDIO.Headers >> port->channel) & 1) != 0;
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} else {
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return ((currentDIO.MXP >> remapMXPChannel(port->channel)) & 1) != 0;
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}
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}
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/**
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* Read the direction of a the Digital I/O lines
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* A 1 bit means output and a 0 bit means input.
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*
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* @param channel The digital I/O channel
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* @return The direction of the specified channel
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*/
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HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return false;
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}
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tDIO::tOutputEnable currentOutputEnable =
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digitalSystem->readOutputEnable(status);
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// Shift 00000001 over port->channel-1 places.
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// AND it against the currentOutputEnable
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// if it == 0, then return false
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// else return true
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if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
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return ((currentOutputEnable.SPIPort >> remapSPIChannel(port->channel)) &
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1) != 0;
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} else if (port->channel < kNumDigitalHeaders) {
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return ((currentOutputEnable.Headers >> port->channel) & 1) != 0;
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} else {
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return ((currentOutputEnable.MXP >> remapMXPChannel(port->channel)) & 1) !=
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0;
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}
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}
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/**
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* Generate a single pulse.
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* Write a pulse to the specified digital output channel. There can only be a
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* single pulse going at any time.
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*
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* @param channel The Digital Output channel that the pulse should be output on
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* @param pulseLength The active length of the pulse (in seconds)
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*/
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void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
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int32_t* status) {
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auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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tDIO::tPulse pulse;
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if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
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pulse.SPIPort = 1u << remapSPIChannel(port->channel);
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} else if (port->channel < kNumDigitalHeaders) {
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pulse.Headers = 1u << port->channel;
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} else {
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pulse.MXP = 1u << remapMXPChannel(port->channel);
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}
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digitalSystem->writePulseLength(
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static_cast<uint8_t>(1.0e9 * pulseLength /
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(pwmSystem->readLoopTiming(status) * 25)),
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status);
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digitalSystem->writePulse(pulse, status);
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}
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/**
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* Check a DIO line to see if it is currently generating a pulse.
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*
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* @return A pulse is in progress
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*/
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HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
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auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return false;
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}
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tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
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if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
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return (pulseRegister.SPIPort & (1 << remapSPIChannel(port->channel))) != 0;
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} else if (port->channel < kNumDigitalHeaders) {
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return (pulseRegister.Headers & (1 << port->channel)) != 0;
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} else {
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return (pulseRegister.MXP & (1 << remapMXPChannel(port->channel))) != 0;
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}
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}
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/**
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* Check if any DIO line is currently generating a pulse.
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*
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* @return A pulse on some line is in progress
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*/
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HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
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initializeDigital(status);
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if (*status != 0) return false;
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tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
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return pulseRegister.Headers != 0 && pulseRegister.MXP != 0 &&
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pulseRegister.SPIPort != 0;
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}
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/**
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* Write the filter index from the FPGA.
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* Set the filter index used to filter out short pulses.
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*
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* @param dioPortHandle Handle to the digital I/O channel
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* @param filterIndex The filter index. Must be in the range 0 - 3, where 0
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* means "none" and 1 - 3 means filter # filterIndex - 1.
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*/
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void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
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int32_t* status) {
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auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
|
||||
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
|
||||
// Channels 10-15 are SPI channels, so subtract our MXP channels
|
||||
digitalSystem->writeFilterSelectHdr(port->channel - kNumDigitalMXPChannels,
|
||||
filterIndex, status);
|
||||
} else if (port->channel < kNumDigitalHeaders) {
|
||||
digitalSystem->writeFilterSelectHdr(port->channel, filterIndex, status);
|
||||
} else {
|
||||
digitalSystem->writeFilterSelectMXP(remapMXPChannel(port->channel),
|
||||
filterIndex, status);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Read the filter index from the FPGA.
|
||||
* Get the filter index used to filter out short pulses.
|
||||
*
|
||||
* @param dioPortHandle Handle to the digital I/O channel
|
||||
* @return filterIndex The filter index. Must be in the range 0 - 3,
|
||||
* where 0 means "none" and 1 - 3 means filter # filterIndex - 1.
|
||||
*/
|
||||
int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) {
|
||||
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
|
||||
if (port == nullptr) {
|
||||
*status = HAL_HANDLE_ERROR;
|
||||
return 0;
|
||||
}
|
||||
|
||||
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
|
||||
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
|
||||
// Channels 10-15 are SPI channels, so subtract our MXP channels
|
||||
return digitalSystem->readFilterSelectHdr(
|
||||
port->channel - kNumDigitalMXPChannels, status);
|
||||
} else if (port->channel < kNumDigitalHeaders) {
|
||||
return digitalSystem->readFilterSelectHdr(port->channel, status);
|
||||
} else {
|
||||
return digitalSystem->readFilterSelectMXP(remapMXPChannel(port->channel),
|
||||
status);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the filter period for the specified filter index.
|
||||
*
|
||||
* Set the filter period in FPGA cycles. Even though there are 2 different
|
||||
* filter index domains (MXP vs HDR), ignore that distinction for now since it
|
||||
* compilicates the interface. That can be changed later.
|
||||
*
|
||||
* @param filterIndex The filter index, 0 - 2.
|
||||
* @param value The number of cycles that the signal must not transition to be
|
||||
* counted as a transition.
|
||||
*/
|
||||
void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status) {
|
||||
initializeDigital(status);
|
||||
if (*status != 0) return;
|
||||
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
|
||||
digitalSystem->writeFilterPeriodHdr(filterIndex, value, status);
|
||||
if (*status == 0) {
|
||||
digitalSystem->writeFilterPeriodMXP(filterIndex, value, status);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the filter period for the specified filter index.
|
||||
*
|
||||
* Get the filter period in FPGA cycles. Even though there are 2 different
|
||||
* filter index domains (MXP vs HDR), ignore that distinction for now since it
|
||||
* compilicates the interface. Set status to NiFpga_Status_SoftwareFault if the
|
||||
* filter values miss-match.
|
||||
*
|
||||
* @param filterIndex The filter index, 0 - 2.
|
||||
* @param value The number of cycles that the signal must not transition to be
|
||||
* counted as a transition.
|
||||
*/
|
||||
int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status) {
|
||||
initializeDigital(status);
|
||||
if (*status != 0) return 0;
|
||||
uint32_t hdrPeriod = 0;
|
||||
uint32_t mxpPeriod = 0;
|
||||
{
|
||||
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
|
||||
hdrPeriod = digitalSystem->readFilterPeriodHdr(filterIndex, status);
|
||||
if (*status == 0) {
|
||||
mxpPeriod = digitalSystem->readFilterPeriodMXP(filterIndex, status);
|
||||
}
|
||||
}
|
||||
if (hdrPeriod != mxpPeriod) {
|
||||
*status = NiFpga_Status_SoftwareFault;
|
||||
return -1;
|
||||
}
|
||||
return hdrPeriod;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user