mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
Splits the HAL Analog Implementation Files (#82)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
51ff9e9f69
commit
ed7d2d6aa6
354
hal/lib/athena/AnalogInput.cpp
Normal file
354
hal/lib/athena/AnalogInput.cpp
Normal file
@@ -0,0 +1,354 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2016. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#include "HAL/AnalogInput.h"
|
||||
|
||||
#include <mutex>
|
||||
|
||||
#include "AnalogInternal.h"
|
||||
#include "FRC_NetworkCommunication/AICalibration.h"
|
||||
#include "HAL/AnalogAccumulator.h"
|
||||
#include "HAL/HAL.h"
|
||||
#include "HAL/cpp/priority_mutex.h"
|
||||
|
||||
using namespace hal;
|
||||
|
||||
static bool analogSampleRateSet = false;
|
||||
|
||||
extern "C" {
|
||||
/**
|
||||
* Initialize the analog input port using the given port object.
|
||||
*/
|
||||
void* initializeAnalogInputPort(void* port_pointer, int32_t* status) {
|
||||
initializeAnalog(status);
|
||||
Port* port = (Port*)port_pointer;
|
||||
|
||||
// Initialize port structure
|
||||
AnalogPort* analog_port = new AnalogPort();
|
||||
analog_port->port = *port;
|
||||
if (isAccumulatorChannel(analog_port, status)) {
|
||||
analog_port->accumulator = tAccumulator::create(port->pin, status);
|
||||
} else
|
||||
analog_port->accumulator = nullptr;
|
||||
|
||||
// Set default configuration
|
||||
analogInputSystem->writeScanList(port->pin, port->pin, status);
|
||||
setAnalogAverageBits(analog_port, kDefaultAverageBits, status);
|
||||
setAnalogOversampleBits(analog_port, kDefaultOversampleBits, status);
|
||||
return analog_port;
|
||||
}
|
||||
|
||||
void freeAnalogInputPort(void* analog_port_pointer) {
|
||||
AnalogPort* port = (AnalogPort*)analog_port_pointer;
|
||||
if (!port) return;
|
||||
delete port->accumulator;
|
||||
delete port;
|
||||
}
|
||||
|
||||
/**
|
||||
* Check that the analog module number is valid.
|
||||
*
|
||||
* @return Analog module is valid and present
|
||||
*/
|
||||
bool checkAnalogModule(uint8_t module) { return module == 1; }
|
||||
|
||||
/**
|
||||
* Check that the analog output channel number is value.
|
||||
* Verify that the analog channel number is one of the legal channel numbers.
|
||||
* Channel numbers are 0-based.
|
||||
*
|
||||
* @return Analog channel is valid
|
||||
*/
|
||||
bool checkAnalogInputChannel(uint32_t pin) {
|
||||
if (pin < kAnalogInputPins) return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* 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 = (uint32_t)((float)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);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the current sample rate.
|
||||
*
|
||||
* This assumes one entry in the scan list.
|
||||
* This is a global setting for the Athena and effects all channels.
|
||||
*
|
||||
* @return Sample rate.
|
||||
*/
|
||||
float getAnalogSampleRate(int32_t* status) {
|
||||
uint32_t ticksPerConversion = analogInputSystem->readLoopTiming(status);
|
||||
uint32_t ticksPerSample =
|
||||
ticksPerConversion * getAnalogNumActiveChannels(status);
|
||||
return (float)kTimebase / (float)ticksPerSample;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the number of averaging bits.
|
||||
*
|
||||
* This sets the number of averaging bits. The actual number of averaged samples
|
||||
* is 2**bits. Use averaging to improve the stability of your measurement at the
|
||||
* expense of sampling rate. The averaging is done automatically in the FPGA.
|
||||
*
|
||||
* @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;
|
||||
analogInputSystem->writeAverageBits(port->port.pin, bits, status);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the number of averaging bits.
|
||||
*
|
||||
* This gets the number of averaging bits from the FPGA. The actual number of
|
||||
* averaged samples is 2**bits. The averaging is done automatically in the FPGA.
|
||||
*
|
||||
* @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 result = analogInputSystem->readAverageBits(port->port.pin, status);
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the number of oversample bits.
|
||||
*
|
||||
* This sets the number of oversample bits. The actual number of oversampled
|
||||
* values is 2**bits. Use oversampling to improve the resolution of your
|
||||
* measurements at the expense of sampling rate. The oversampling is done
|
||||
* automatically in the FPGA.
|
||||
*
|
||||
* @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;
|
||||
analogInputSystem->writeOversampleBits(port->port.pin, bits, status);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the number of oversample bits.
|
||||
*
|
||||
* This gets the number of oversample bits from the FPGA. The actual number of
|
||||
* oversampled values is 2**bits. The oversampling is done automatically in the
|
||||
* FPGA.
|
||||
*
|
||||
* @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 result =
|
||||
analogInputSystem->readOversampleBits(port->port.pin, status);
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get a sample straight from the channel on this module.
|
||||
*
|
||||
* The sample is a 12-bit value representing the 0V to 5V range of the A/D
|
||||
* converter in the module. The units are in A/D converter codes. Use
|
||||
* GetVoltage() to get the analog value in calibrated units.
|
||||
*
|
||||
* @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 value;
|
||||
if (!checkAnalogInputChannel(port->port.pin)) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
tAI::tReadSelect readSelect;
|
||||
readSelect.Channel = port->port.pin;
|
||||
readSelect.Averaged = false;
|
||||
|
||||
{
|
||||
std::lock_guard<priority_recursive_mutex> sync(analogRegisterWindowMutex);
|
||||
analogInputSystem->writeReadSelect(readSelect, status);
|
||||
analogInputSystem->strobeLatchOutput(status);
|
||||
value = (int16_t)analogInputSystem->readOutput(status);
|
||||
}
|
||||
|
||||
return value;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get a sample from the output of the oversample and average engine for the
|
||||
* channel.
|
||||
*
|
||||
* The sample is 12-bit + the value configured in SetOversampleBits().
|
||||
* The value configured in SetAverageBits() will cause this value to be averaged
|
||||
* 2**bits number of samples. This is not a sliding window. The sample will not
|
||||
* change until 2**(OversamplBits + AverageBits) samples have been acquired from
|
||||
* the module on this channel. Use GetAverageVoltage() to get the analog value
|
||||
* in calibrated units.
|
||||
*
|
||||
* @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 value;
|
||||
if (!checkAnalogInputChannel(port->port.pin)) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
tAI::tReadSelect readSelect;
|
||||
readSelect.Channel = port->port.pin;
|
||||
readSelect.Averaged = true;
|
||||
|
||||
{
|
||||
std::lock_guard<priority_recursive_mutex> sync(analogRegisterWindowMutex);
|
||||
analogInputSystem->writeReadSelect(readSelect, status);
|
||||
analogInputSystem->strobeLatchOutput(status);
|
||||
value = (int32_t)analogInputSystem->readOutput(status);
|
||||
}
|
||||
|
||||
return value;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get a scaled sample straight from the channel on this module.
|
||||
*
|
||||
* The value is scaled to units of Volts using the calibrated scaling data from
|
||||
* GetLSBWeight() and GetOffset().
|
||||
*
|
||||
* @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 voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9;
|
||||
return voltage;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get a scaled sample from the output of the oversample and average engine for
|
||||
* the channel.
|
||||
*
|
||||
* The value is scaled to units of Volts using the calibrated scaling data from
|
||||
* GetLSBWeight() and GetOffset(). Using oversampling will cause this value to
|
||||
* be higher resolution, but it will update more slowly. Using averaging will
|
||||
* cause this value to be more stable, but it will update more slowly.
|
||||
*
|
||||
* @param analog_port_pointer Pointer to the analog port to use.
|
||||
* @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 voltage =
|
||||
((LSBWeight * 1.0e-9 * value) / (float)(1 << oversampleBits)) -
|
||||
offset * 1.0e-9;
|
||||
return voltage;
|
||||
}
|
||||
|
||||
/**
|
||||
* Convert a voltage to a raw value for a specified channel.
|
||||
*
|
||||
* This process depends on the calibration of each channel, so the channel
|
||||
* must be specified.
|
||||
*
|
||||
* @todo This assumes raw values. Oversampling not supported as is.
|
||||
*
|
||||
* @param analog_port_pointer Pointer to the analog port to use.
|
||||
* @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) {
|
||||
if (voltage > 5.0) {
|
||||
voltage = 5.0;
|
||||
*status = VOLTAGE_OUT_OF_RANGE;
|
||||
}
|
||||
if (voltage < 0.0) {
|
||||
voltage = 0.0;
|
||||
*status = VOLTAGE_OUT_OF_RANGE;
|
||||
}
|
||||
uint32_t LSBWeight = getAnalogLSBWeight(analog_port_pointer, status);
|
||||
int32_t offset = getAnalogOffset(analog_port_pointer, status);
|
||||
int32_t value = (int32_t)((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9));
|
||||
return value;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the factory scaling least significant bit weight constant.
|
||||
* The least significant bit weight constant for the channel that was calibrated
|
||||
* in manufacturing and stored in an eeprom in the module.
|
||||
*
|
||||
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
|
||||
*
|
||||
* @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 lsbWeight = FRC_NetworkCommunication_nAICalibration_getLSBWeight(
|
||||
0, port->port.pin, status); // XXX: aiSystemIndex == 0?
|
||||
return lsbWeight;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the factory scaling offset constant.
|
||||
* The offset constant for the channel that was calibrated in manufacturing and
|
||||
* stored in an eeprom in the module.
|
||||
*
|
||||
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
|
||||
*
|
||||
* @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 offset = FRC_NetworkCommunication_nAICalibration_getOffset(
|
||||
0, port->port.pin, status); // XXX: aiSystemIndex == 0?
|
||||
return offset;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user