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Changes HAL Port from a pointer to a handle (#93)

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HAL Port is using a special handle, where the module and pin are bit
shifted straight into the handle. This is one of the few special cases
we have, but for the way port is used it is much cleaner and uses much
less memory.  Plus it is generic and not specific to one type.
This commit is contained in:
Thad House
2016-06-05 15:23:58 -07:00
committed by Peter Johnson
parent 5a82f73d9b
commit fc515f4572
44 changed files with 288 additions and 233 deletions
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39
hal/lib/athena/AnalogInput.cpp
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@@ -14,6 +14,7 @@
#include "HAL/AnalogAccumulator.h"
#include "HAL/HAL.h"
#include "HAL/cpp/priority_mutex.h"
#include "handles/HandlesInternal.h"
using namespace hal;
@@ -23,20 +24,27 @@ extern "C" {
/**
* Initialize the analog input port using the given port object.
*/
void* initializeAnalogInputPort(void* port_pointer, int32_t* status) {
void* initializeAnalogInputPort(HalPortHandle port_handle, int32_t* status) {
initializeAnalog(status);
Port* port = (Port*)port_pointer;
if (*status != 0) return nullptr;
int16_t pin = getPortHandlePin(port_handle);
if (pin == HAL_HANDLE_INVALID_TYPE) {
*status = PARAMETER_OUT_OF_RANGE;
return nullptr;
}
// Initialize port structure
AnalogPort* analog_port = new AnalogPort();
analog_port->port = *port;
analog_port->pin = (uint8_t)pin;
if (isAccumulatorChannel(analog_port, status)) {
analog_port->accumulator = tAccumulator::create(port->pin, status);
analog_port->accumulator = tAccumulator::create(pin, status);
} else
analog_port->accumulator = nullptr;
// Set default configuration
analogInputSystem->writeScanList(port->pin, port->pin, status);
analogInputSystem->writeScanList(pin, pin, status);
setAnalogAverageBits(analog_port, kDefaultAverageBits, status);
setAnalogOversampleBits(analog_port, kDefaultOversampleBits, status);
return analog_port;
@@ -130,7 +138,7 @@ float getAnalogSampleRate(int32_t* status) {
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);
analogInputSystem->writeAverageBits(port->pin, bits, status);
}
/**
@@ -144,7 +152,7 @@ void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits,
*/
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);
uint32_t result = analogInputSystem->readAverageBits(port->pin, status);
return result;
}
@@ -162,7 +170,7 @@ uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t* status) {
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);
analogInputSystem->writeOversampleBits(port->pin, bits, status);
}
/**
@@ -177,8 +185,7 @@ void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits,
*/
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);
uint32_t result = analogInputSystem->readOversampleBits(port->pin, status);
return result;
}
@@ -195,12 +202,12 @@ uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t* status) {
int16_t getAnalogValue(void* analog_port_pointer, int32_t* status) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
int16_t value;
if (!checkAnalogInputChannel(port->port.pin)) {
if (!checkAnalogInputChannel(port->pin)) {
return 0;
}
tAI::tReadSelect readSelect;
readSelect.Channel = port->port.pin;
readSelect.Channel = port->pin;
readSelect.Averaged = false;
{
@@ -230,12 +237,12 @@ int16_t getAnalogValue(void* analog_port_pointer, int32_t* status) {
int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t* status) {
AnalogPort* port = (AnalogPort*)analog_port_pointer;
int32_t value;
if (!checkAnalogInputChannel(port->port.pin)) {
if (!checkAnalogInputChannel(port->pin)) {
return 0;
}
tAI::tReadSelect readSelect;
readSelect.Channel = port->port.pin;
readSelect.Channel = port->pin;
readSelect.Averaged = true;
{
@@ -331,7 +338,7 @@ int32_t getAnalogVoltsToValue(void* analog_port_pointer, double voltage,
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?
0, port->pin, status); // XXX: aiSystemIndex == 0?
return lsbWeight;
}
@@ -348,7 +355,7 @@ uint32_t getAnalogLSBWeight(void* analog_port_pointer, int32_t* status) {
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?
0, port->pin, status); // XXX: aiSystemIndex == 0?
return offset;
}
}