Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-26 01:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Switches AnalogInputs and AnalogTriggers to Handles (#117)

Browse Source 
Results in a breaking change to AnalogTrigger int constructor. If a user wants
multiple AnalogTriggers, they must use the AnalogInput constructor.
This commit is contained in:
Thad House
2016-06-27 21:32:30 -07:00
committed by Peter Johnson
parent 77a1af44c4
commit e8e052712e
18 changed files with 516 additions and 341 deletions
Download Patch File Download Diff File Expand all files Collapse all files

138
hal/lib/athena/AnalogInput.cpp
View File

@@ -24,37 +24,48 @@ extern "C" {
/**
* Initialize the analog input port using the given port object.
*/
void* initializeAnalogInputPort(HalPortHandle port_handle, int32_t* status) {
HalAnalogInputHandle initializeAnalogInputPort(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;
}
HalAnalogInputHandle handle = analogInputHandles.Allocate(pin, status);
if (*status != 0)
return HAL_INVALID_HANDLE; // failed to allocate. Pass error back.
// Initialize port structure
AnalogPort* analog_port = new AnalogPort();
analog_port->pin = (uint8_t)pin;
if (isAccumulatorChannel(analog_port, status)) {
auto analog_port = analogInputHandles.Get(handle);
if (analog_port == nullptr) { // would only error on thread issue
*status = PARAMETER_OUT_OF_RANGE;
return HAL_INVALID_HANDLE;
}
analog_port->pin = static_cast<uint8_t>(pin);
if (isAccumulatorChannel(handle, status)) {
analog_port->accumulator = tAccumulator::create(pin, status);
} else
analog_port->accumulator = nullptr;
// Set default configuration
analogInputSystem->writeScanList(pin, pin, status);
setAnalogAverageBits(analog_port, kDefaultAverageBits, status);
setAnalogOversampleBits(analog_port, kDefaultOversampleBits, status);
return analog_port;
setAnalogAverageBits(handle, kDefaultAverageBits, status);
setAnalogOversampleBits(handle, kDefaultOversampleBits, status);
return handle;
}
void freeAnalogInputPort(void* analog_port_pointer) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
void freeAnalogInputPort(HalAnalogInputHandle analog_port_handle) {
auto port = analogInputHandles.Get(analog_port_handle);
if (!port) return;
// no status, so no need to check for a proper free.
analogInputHandles.Free(analog_port_handle);
delete port->accumulator;
delete port;
}
/**
@@ -135,9 +146,13 @@ float getAnalogSampleRate(int32_t* status) {
* @param analog_port_pointer Pointer to the analog port to configure.
* @param bits Number of bits to average.
*/
void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits,
int32_t* status) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
void setAnalogAverageBits(HalAnalogInputHandle analog_port_handle,
uint32_t bits, int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
return;
}
analogInputSystem->writeAverageBits(port->pin, bits, status);
}
@@ -150,8 +165,13 @@ void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits,
* @param analog_port_pointer Pointer to the analog port to use.
* @return Bits to average.
*/
uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t* status) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
uint32_t getAnalogAverageBits(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
return kDefaultAverageBits;
}
uint32_t result = analogInputSystem->readAverageBits(port->pin, status);
return result;
}
@@ -167,9 +187,13 @@ uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t* status) {
* @param analog_port_pointer Pointer to the analog port to use.
* @param bits Number of bits to oversample.
*/
void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits,
int32_t* status) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
void setAnalogOversampleBits(HalAnalogInputHandle analog_port_handle,
uint32_t bits, int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
return;
}
analogInputSystem->writeOversampleBits(port->pin, bits, status);
}
@@ -183,8 +207,13 @@ void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits,
* @param analog_port_pointer Pointer to the analog port to use.
* @return Bits to oversample.
*/
uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t* status) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
uint32_t getAnalogOversampleBits(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
return kDefaultOversampleBits;
}
uint32_t result = analogInputSystem->readOversampleBits(port->pin, status);
return result;
}
@@ -199,8 +228,13 @@ uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t* status) {
* @param analog_port_pointer Pointer to the analog port to use.
* @return A sample straight from the channel on this module.
*/
int16_t getAnalogValue(void* analog_port_pointer, int32_t* status) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
int16_t getAnalogValue(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
return 0;
}
int16_t value;
if (!checkAnalogInputChannel(port->pin)) {
return 0;
@@ -234,8 +268,13 @@ int16_t getAnalogValue(void* analog_port_pointer, int32_t* status) {
* @param analog_port_pointer Pointer to the analog port to use.
* @return A sample from the oversample and average engine for the channel.
*/
int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t* status) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
int32_t getAnalogAverageValue(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
return 0;
}
int32_t value;
if (!checkAnalogInputChannel(port->pin)) {
return 0;
@@ -264,10 +303,11 @@ int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t* status) {
* @param analog_port_pointer Pointer to the analog port to use.
* @return A scaled sample straight from the channel on this module.
*/
float getAnalogVoltage(void* analog_port_pointer, int32_t* status) {
int16_t value = getAnalogValue(analog_port_pointer, status);
uint32_t LSBWeight = getAnalogLSBWeight(analog_port_pointer, status);
int32_t offset = getAnalogOffset(analog_port_pointer, status);
float getAnalogVoltage(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
int16_t value = getAnalogValue(analog_port_handle, status);
uint32_t LSBWeight = getAnalogLSBWeight(analog_port_handle, status);
int32_t offset = getAnalogOffset(analog_port_handle, status);
float voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9;
return voltage;
}
@@ -285,12 +325,12 @@ float getAnalogVoltage(void* analog_port_pointer, int32_t* status) {
* @return A scaled sample from the output of the oversample and average engine
* for the channel.
*/
float getAnalogAverageVoltage(void* analog_port_pointer, int32_t* status) {
int32_t value = getAnalogAverageValue(analog_port_pointer, status);
uint32_t LSBWeight = getAnalogLSBWeight(analog_port_pointer, status);
int32_t offset = getAnalogOffset(analog_port_pointer, status);
uint32_t oversampleBits =
getAnalogOversampleBits(analog_port_pointer, status);
float getAnalogAverageVoltage(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
int32_t value = getAnalogAverageValue(analog_port_handle, status);
uint32_t LSBWeight = getAnalogLSBWeight(analog_port_handle, status);
int32_t offset = getAnalogOffset(analog_port_handle, status);
uint32_t oversampleBits = getAnalogOversampleBits(analog_port_handle, status);
float voltage =
((LSBWeight * 1.0e-9 * value) / (float)(1 << oversampleBits)) -
offset * 1.0e-9;
@@ -309,8 +349,8 @@ float getAnalogAverageVoltage(void* analog_port_pointer, int32_t* status) {
* @param voltage The voltage to convert.
* @return The raw value for the channel.
*/
int32_t getAnalogVoltsToValue(void* analog_port_pointer, double voltage,
int32_t* status) {
int32_t getAnalogVoltsToValue(HalAnalogInputHandle analog_port_handle,
double voltage, int32_t* status) {
if (voltage > 5.0) {
voltage = 5.0;
*status = VOLTAGE_OUT_OF_RANGE;
@@ -319,8 +359,8 @@ int32_t getAnalogVoltsToValue(void* analog_port_pointer, double voltage,
voltage = 0.0;
*status = VOLTAGE_OUT_OF_RANGE;
}
uint32_t LSBWeight = getAnalogLSBWeight(analog_port_pointer, status);
int32_t offset = getAnalogOffset(analog_port_pointer, status);
uint32_t LSBWeight = getAnalogLSBWeight(analog_port_handle, status);
int32_t offset = getAnalogOffset(analog_port_handle, status);
int32_t value = (int32_t)((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9));
return value;
}
@@ -335,8 +375,13 @@ int32_t getAnalogVoltsToValue(void* analog_port_pointer, double voltage,
* @param analog_port_pointer Pointer to the analog port to use.
* @return Least significant bit weight.
*/
uint32_t getAnalogLSBWeight(void* analog_port_pointer, int32_t* status) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
uint32_t getAnalogLSBWeight(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
return 0;
}
uint32_t lsbWeight = FRC_NetworkCommunication_nAICalibration_getLSBWeight(
0, port->pin, status); // XXX: aiSystemIndex == 0?
return lsbWeight;
@@ -352,8 +397,13 @@ uint32_t getAnalogLSBWeight(void* analog_port_pointer, int32_t* status) {
* @param analog_port_pointer Pointer to the analog port to use.
* @return Offset constant.
*/
int32_t getAnalogOffset(void* analog_port_pointer, int32_t* status) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
int32_t getAnalogOffset(HalAnalogInputHandle analog_port_handle,
int32_t* status) {
auto port = analogInputHandles.Get(analog_port_handle);
if (port == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
return 0;
}
int32_t offset = FRC_NetworkCommunication_nAICalibration_getOffset(
0, port->pin, status); // XXX: aiSystemIndex == 0?
return offset;