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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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85
hal/lib/athena/DIO.cpp
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@@ -10,6 +10,7 @@
#include <cmath>
#include "DigitalInternal.h"
#include "handles/HandlesInternal.h"
static_assert(sizeof(uint32_t) <= sizeof(void*),
"This file shoves uint32_ts into pointers.");
@@ -24,13 +25,20 @@ extern "C" {
/**
* Create a new instance of a digital port.
*/
void* initializeDigitalPort(void* port_pointer, int32_t* status) {
void* initializeDigitalPort(HalPortHandle port_handle, int32_t* status) {
initializeDigital(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
DigitalPort* digital_port = new DigitalPort();
digital_port->port = *port;
digital_port->pin = (uint8_t)pin;
return digital_port;
}
@@ -132,9 +140,13 @@ void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t* status) {
*/
bool allocateDIO(void* digital_port_pointer, bool input, int32_t* status) {
DigitalPort* port = (DigitalPort*)digital_port_pointer;
if (port == nullptr) {
*status = NULL_PARAMETER;
return false;
}
char buf[64];
snprintf(buf, 64, "DIO %d", port->port.pin);
if (DIOChannels->Allocate(port->port.pin, buf) == ~0ul) {
snprintf(buf, 64, "DIO %d", port->pin);
if (DIOChannels->Allocate(port->pin, buf) == ~0ul) {
*status = RESOURCE_IS_ALLOCATED;
return false;
}
@@ -144,8 +156,8 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t* status) {
tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
if (port->port.pin < kNumHeaders) {
uint32_t bitToSet = 1 << port->port.pin;
if (port->pin < kNumHeaders) {
uint32_t bitToSet = 1 << port->pin;
if (input) {
outputEnable.Headers =
outputEnable.Headers & (~bitToSet); // clear the bit for read
@@ -154,7 +166,7 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t* status) {
outputEnable.Headers | bitToSet; // set the bit for write
}
} else {
uint32_t bitToSet = 1 << remapMXPChannel(port->port.pin);
uint32_t bitToSet = 1 << remapMXPChannel(port->pin);
// Disable special functions on this pin
short specialFunctions =
@@ -184,7 +196,7 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t* status) {
void freeDIO(void* digital_port_pointer, int32_t* status) {
DigitalPort* port = (DigitalPort*)digital_port_pointer;
if (!port) return;
DIOChannels->Free(port->port.pin);
DIOChannels->Free(port->pin);
}
/**
@@ -204,22 +216,20 @@ void setDIO(void* digital_port_pointer, short value, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
tDIO::tDO currentDIO = digitalSystem->readDO(status);
if (port->port.pin < kNumHeaders) {
if (port->pin < kNumHeaders) {
if (value == 0) {
currentDIO.Headers = currentDIO.Headers & ~(1 << port->port.pin);
currentDIO.Headers = currentDIO.Headers & ~(1 << port->pin);
} else if (value == 1) {
currentDIO.Headers = currentDIO.Headers | (1 << port->port.pin);
currentDIO.Headers = currentDIO.Headers | (1 << port->pin);
}
} else {
if (value == 0) {
currentDIO.MXP =
currentDIO.MXP & ~(1 << remapMXPChannel(port->port.pin));
currentDIO.MXP = currentDIO.MXP & ~(1 << remapMXPChannel(port->pin));
} else if (value == 1) {
currentDIO.MXP =
currentDIO.MXP | (1 << remapMXPChannel(port->port.pin));
currentDIO.MXP = currentDIO.MXP | (1 << remapMXPChannel(port->pin));
}
uint32_t bitToSet = 1 << remapMXPChannel(port->port.pin);
uint32_t bitToSet = 1 << remapMXPChannel(port->pin);
short specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
@@ -244,17 +254,17 @@ bool getDIO(void* digital_port_pointer, int32_t* status) {
// if it == 0, then return false
// else return true
if (port->port.pin < kNumHeaders) {
return ((currentDIO.Headers >> port->port.pin) & 1) != 0;
if (port->pin < kNumHeaders) {
return ((currentDIO.Headers >> port->pin) & 1) != 0;
} else {
// Disable special functions
uint32_t bitToSet = 1 << remapMXPChannel(port->port.pin);
uint32_t bitToSet = 1 << remapMXPChannel(port->pin);
short specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
status);
return ((currentDIO.MXP >> remapMXPChannel(port->port.pin)) & 1) != 0;
return ((currentDIO.MXP >> remapMXPChannel(port->pin)) & 1) != 0;
}
}
@@ -269,16 +279,15 @@ bool getDIODirection(void* digital_port_pointer, int32_t* status) {
DigitalPort* port = (DigitalPort*)digital_port_pointer;
tDIO::tOutputEnable currentOutputEnable =
digitalSystem->readOutputEnable(status);
// Shift 00000001 over port->port.pin-1 places.
// Shift 00000001 over port->pin-1 places.
// AND it against the currentOutputEnable
// if it == 0, then return false
// else return true
if (port->port.pin < kNumHeaders) {
return ((currentOutputEnable.Headers >> port->port.pin) & 1) != 0;
if (port->pin < kNumHeaders) {
return ((currentOutputEnable.Headers >> port->pin) & 1) != 0;
} else {
return ((currentOutputEnable.MXP >> remapMXPChannel(port->port.pin)) & 1) !=
0;
return ((currentOutputEnable.MXP >> remapMXPChannel(port->pin)) & 1) != 0;
}
}
@@ -294,10 +303,10 @@ void pulse(void* digital_port_pointer, double pulseLength, int32_t* status) {
DigitalPort* port = (DigitalPort*)digital_port_pointer;
tDIO::tPulse pulse;
if (port->port.pin < kNumHeaders) {
pulse.Headers = 1 << port->port.pin;
if (port->pin < kNumHeaders) {
pulse.Headers = 1 << port->pin;
} else {
pulse.MXP = 1 << remapMXPChannel(port->port.pin);
pulse.MXP = 1 << remapMXPChannel(port->pin);
}
digitalSystem->writePulseLength(
@@ -315,10 +324,10 @@ bool isPulsing(void* digital_port_pointer, int32_t* status) {
DigitalPort* port = (DigitalPort*)digital_port_pointer;
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
if (port->port.pin < kNumHeaders) {
return (pulseRegister.Headers & (1 << port->port.pin)) != 0;
if (port->pin < kNumHeaders) {
return (pulseRegister.Headers & (1 << port->pin)) != 0;
} else {
return (pulseRegister.MXP & (1 << remapMXPChannel(port->port.pin))) != 0;
return (pulseRegister.MXP & (1 << remapMXPChannel(port->pin))) != 0;
}
}
@@ -345,10 +354,10 @@ void setFilterSelect(void* digital_port_pointer, int filter_index,
DigitalPort* port = (DigitalPort*)digital_port_pointer;
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
if (port->port.pin < kNumHeaders) {
digitalSystem->writeFilterSelectHdr(port->port.pin, filter_index, status);
if (port->pin < kNumHeaders) {
digitalSystem->writeFilterSelectHdr(port->pin, filter_index, status);
} else {
digitalSystem->writeFilterSelectMXP(remapMXPChannel(port->port.pin),
digitalSystem->writeFilterSelectMXP(remapMXPChannel(port->pin),
filter_index, status);
}
}
@@ -365,10 +374,10 @@ int getFilterSelect(void* digital_port_pointer, int32_t* status) {
DigitalPort* port = (DigitalPort*)digital_port_pointer;
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
if (port->port.pin < kNumHeaders) {
return digitalSystem->readFilterSelectHdr(port->port.pin, status);
if (port->pin < kNumHeaders) {
return digitalSystem->readFilterSelectHdr(port->pin, status);
} else {
return digitalSystem->readFilterSelectMXP(remapMXPChannel(port->port.pin),
return digitalSystem->readFilterSelectMXP(remapMXPChannel(port->pin),
status);
}
}