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

Move Analog Outputs to Handles (#112)

Browse Source
This commit is contained in:
Thad House
2016-06-27 11:32:40 -07:00
committed by Peter Johnson
parent 95d40ed01f
commit e1d4845ccd
8 changed files with 85 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files

61
hal/lib/athena/AnalogOutput.cpp
View File

@@ -10,37 +10,55 @@
#include "AnalogInternal.h"
#include "HAL/Errors.h"
#include "handles/HandlesInternal.h"
#include "handles/IndexedHandleResource.h"
using namespace hal;
namespace {
struct AnalogOutput {
uint8_t pin;
};
}
static IndexedHandleResource<HalAnalogOutputHandle, AnalogOutput,
kAnalogOutputPins, HalHandleEnum::AnalogOutput>
analogOutputHandles;
extern "C" {
/**
* Initialize the analog output port using the given port object.
*/
void* initializeAnalogOutputPort(HalPortHandle port_handle, int32_t* status) {
HalAnalogOutputHandle initializeAnalogOutputPort(HalPortHandle port_handle,
int32_t* status) {
initializeAnalog(status);
if (*status != 0) return nullptr;
if (*status != 0) return HAL_INVALID_HANDLE;
int16_t pin = getPortHandlePin(port_handle);
if (pin == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return nullptr;
return HAL_INVALID_HANDLE;
}
// Initialize port structure
AnalogPort* analog_port = new AnalogPort();
analog_port->pin = (uint8_t)pin;
analog_port->accumulator = nullptr;
return analog_port;
HalAnalogOutputHandle handle = analogOutputHandles.Allocate(pin, status);
if (*status != 0)
return HAL_INVALID_HANDLE; // failed to allocate. Pass error back.
auto port = analogOutputHandles.Get(handle);
if (port == nullptr) { // would only error on thread issue
*status = PARAMETER_OUT_OF_RANGE;
return HAL_INVALID_HANDLE;
}
port->pin = static_cast<uint8_t>(pin);
return handle;
}
void freeAnalogOutputPort(void* analog_port_pointer) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
if (!port) return;
delete port->accumulator;
delete port;
void freeAnalogOutputPort(HalAnalogOutputHandle analog_output_handle) {
// no status, so no need to check for a proper free.
analogOutputHandles.Free(analog_output_handle);
}
/**
@@ -55,9 +73,13 @@ bool checkAnalogOutputChannel(uint32_t pin) {
return false;
}
void setAnalogOutput(void* analog_port_pointer, double voltage,
void setAnalogOutput(HalAnalogOutputHandle analog_output_handle, double voltage,
int32_t* status) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
auto port = analogOutputHandles.Get(analog_output_handle);
if (port == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
return;
}
uint16_t rawValue = (uint16_t)(voltage / 5.0 * 0x1000);
@@ -69,8 +91,13 @@ void setAnalogOutput(void* analog_port_pointer, double voltage,
analogOutputSystem->writeMXP(port->pin, rawValue, status);
}
double getAnalogOutput(void* analog_port_pointer, int32_t* status) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
double getAnalogOutput(HalAnalogOutputHandle analog_output_handle,
int32_t* status) {
auto port = analogOutputHandles.Get(analog_output_handle);
if (port == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
return 0.0;
}
uint16_t rawValue = analogOutputSystem->readMXP(port->pin, status);