Splits the HAL Analog Implementation Files (#82)

hal/lib/athena/AnalogInternal.cpp

@@ -0,0 +1,76 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "AnalogInternal.h"
+
+#include "ChipObject.h"
+#include "HAL/AnalogInput.h"
+#include "HAL/Port.h"
+#include "HAL/cpp/priority_mutex.h"
+
+namespace hal {
+priority_recursive_mutex analogRegisterWindowMutex;
+tAI* analogInputSystem = nullptr;
+tAO* analogOutputSystem = nullptr;
+static uint32_t analogNumChannelsToActivate = 0;
+
+bool analogSystemInitialized = false;
+
+/**
+ * Initialize the analog System.
+ */
+void initializeAnalog(int32_t* status) {
+  std::lock_guard<priority_recursive_mutex> sync(analogRegisterWindowMutex);
+  if (analogSystemInitialized) return;
+  analogInputSystem = tAI::create(status);
+  analogOutputSystem = tAO::create(status);
+  setAnalogNumChannelsToActivate(kAnalogInputPins);
+  setAnalogSampleRate(kDefaultSampleRate, status);
+  analogSystemInitialized = true;
+}
+
+/**
+ * Return the number of channels on the module in use.
+ *
+ * @return Active channels.
+ */
+uint32_t getAnalogNumActiveChannels(int32_t* status) {
+  uint32_t scanSize = analogInputSystem->readConfig_ScanSize(status);
+  if (scanSize == 0) return 8;
+  return scanSize;
+}
+
+/**
+ * Get the number of active channels.
+ *
+ * This is an internal function to allow the atomic update of both the
+ * number of active channels and the sample rate.
+ *
+ * When the number of channels changes, use the new value.  Otherwise,
+ * return the curent value.
+ *
+ * @return Value to write to the active channels field.
+ */
+uint32_t getAnalogNumChannelsToActivate(int32_t* status) {
+  if (analogNumChannelsToActivate == 0)
+    return getAnalogNumActiveChannels(status);
+  return analogNumChannelsToActivate;
+}
+
+/**
+ * Set the number of active channels.
+ *
+ * Store the number of active channels to set.  Don't actually commit to
+ * hardware
+ * until SetSampleRate().
+ *
+ * @param channels Number of active channels.
+ */
+void setAnalogNumChannelsToActivate(uint32_t channels) {
+  analogNumChannelsToActivate = channels;
+}
+}