Added support for Jenkins to generate doxygen.

Change-Id: I2febfe42cc9301446f796376cfe8e1ef6744f19a

.gitignore

@@ -11,6 +11,7 @@ bin/
 .cproject
 .settings/
 .classpath
+**/dependency-reduced-pom.xml
 
 #Java File extentions
 *.class

.hgignore

@@ -1,13 +0,0 @@
-syntax: re
-^\.hgignore$
-.*/target(?:/|$)
-.*/dist(?:/|$)
-eclipse-plugins/.*/bin(?:/|$)
-
-syntax: glob
-wpilibc/build/
-hal/build/
-networktables/cpp/build/
-build/
-networktables/OutlineViewer/nbproject/private
-*~

CMakeLists.txt

@@ -1,10 +1,11 @@
 cmake_minimum_required(VERSION 2.8)
 project(All-WPILib)
 set(CMAKE_BUILD_TYPE Debug)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wextra -Wno-unused-parameter -fPIC")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wall -Wextra -Wno-unused-parameter -fPIC")
 SET(CMAKE_SKIP_BUILD_RPATH TRUE)
 
 file(GLOB_RECURSE NI_LIBS ni-libraries/*.so*)
+get_filename_component(WPILIB_INCLUDES wpilibc/wpilibC++/include REALPATH)
 get_filename_component(HAL_API_INCLUDES hal/include REALPATH)
 get_filename_component(NWT_API_INCLUDES networktables/cpp/include REALPATH)
 add_subdirectory(hal)

cmake/run-cpp-tests.sh

@@ -4,13 +4,14 @@
 
 if [ $(which sshpass) ]
 then
-	sshpass -p "" ssh admin@10.1.90.2 killall FRCUserProgram
-	sshpass -p "" scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin
-	sshpass -p "" ssh admin@10.1.90.2 ./FRCUserProgram  $*
+	# Send stderr to /dev/null - the only thing printed to it is the login prompt
+	sshpass -p "" ssh admin@10.1.90.2 killall FRCUserProgram java 2> /dev/null
+	sshpass -p "" scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin 2> /dev/null
+	sshpass -p "" ssh admin@10.1.90.2 ./FRCUserProgram --gtest_color=yes $* 2> /dev/null
 else
 	ssh admin@10.1.90.2 killall FRCUserProgram
 	scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin
-	ssh admin@10.1.90.2 ./FRCUserProgram $*
+	ssh admin@10.1.90.2 ./FRCUserProgram --gtest_color=yes $*
 fi
 
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/WPILibCore.java

@@ -124,7 +124,7 @@ public class WPILibCore extends AbstractUIPlugin {
 			return target;
 		else {
 			int teamNumber = getTeamNumber(project);
-			return "10." + (teamNumber / 100) + "." + (teamNumber % 100) + ".2";
+			return "roborio-" + teamNumber + ".local";
 		}
 	}
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/NewProjectMainPage.java

@@ -35,15 +35,15 @@ public class NewProjectMainPage extends WizardPage {
 	private Text worldText;
 	private Button worldButton;
 
-	Button simpleRobot, iterativeRobot, commandRobot;
+	Button iterativeRobot, commandRobot;
 	private boolean showPackage;
 	private boolean showProjectTypes;
 	private TeamNumberPage teamNumberPage;
 
 	/**
 	 * Constructor for SampleNewWizardPage.
-	 * @param teamNumberPage 
-	 * 
+	 * @param teamNumberPage
+	 *
 	 * @param pageName
 	 */
 	public NewProjectMainPage(ISelection selection, TeamNumberPage teamNumberPage) {
@@ -77,7 +77,7 @@ public class NewProjectMainPage extends WizardPage {
 		if (showPackage) {
 			label = new Label(container, SWT.NULL);
 			label.setText("&Package:");
-		
+
 			packageText = new Text(container, SWT.BORDER | SWT.SINGLE);
 			gd = new GridData(GridData.FILL_HORIZONTAL);
 			packageText.setLayoutData(gd);
@@ -87,7 +87,7 @@ public class NewProjectMainPage extends WizardPage {
 				}
 			});
 		}
-		
+
 		if (showProjectTypes) {
 			Group projectTypeGroup = new Group(container, SWT.BORDER);
 			projectTypeGroup.setText("Project Type");
@@ -97,21 +97,13 @@ public class NewProjectMainPage extends WizardPage {
 			GridLayout groupLayout = new GridLayout();
 			groupLayout.numColumns = 1;
 			projectTypeGroup.setLayout(groupLayout);
-			
-			simpleRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
-			//simpleRobot.setData( RWT.MARKUP_ENABLED, Boolean.TRUE );
-			simpleRobot.setText("Simple Robot: A flexible robot project intended for robots that implement basic functionality. Can also be used as a starting point for teams with a custom framework.");
-			gd = new GridData(GridData.FILL_HORIZONTAL);
-			gd.widthHint = 300;
-			simpleRobot.setLayoutData(gd);
-			simpleRobot.setSelection(true);
-			
+
 			iterativeRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
 			iterativeRobot.setText("Iterative Robot: A robot project that allows robots to be implemented in an iterative manner.");
 			gd = new GridData(GridData.FILL_HORIZONTAL);
 			gd.widthHint = 300;
 			iterativeRobot.setLayoutData(gd);
-			
+
 			commandRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
 			commandRobot.setText("Command-Based Robot: A robot project that allows robots to be implemented using the command based model to allow complex functionality to be developed from simpler functionality.");
 			gd = new GridData(GridData.FILL_HORIZONTAL);
@@ -121,7 +113,7 @@ public class NewProjectMainPage extends WizardPage {
 
 		label = new Label(container, SWT.NULL);
 		label.setText("Simulation &World:");
-		
+
 
 		Composite comp = new Composite(container, SWT.NULL);
 		gd = new GridData(GridData.FILL_HORIZONTAL);
@@ -144,7 +136,7 @@ public class NewProjectMainPage extends WizardPage {
 				browse();
 			}
 		});
-		
+
 		initialize();
 		dialogChanged();
 		setControl(container);
@@ -162,7 +154,7 @@ public class NewProjectMainPage extends WizardPage {
 					@Override public void stateChanged(ChangeEvent e) {
 						String teamNumber = TeamNumberPage.getTeamNumberFromPage(teamNumberPage);
 						packageText.setText("org.usfirst.frc.team"+teamNumber+".robot");
-						
+
 					}
 				});
 			}
@@ -174,7 +166,7 @@ public class NewProjectMainPage extends WizardPage {
 	 */
 	private void dialogChanged() {
 		String projectName = getProjectName();
-		
+
 		String packageString = "";
 		if (showPackage) packageString = getPackage();
 
@@ -190,7 +182,7 @@ public class NewProjectMainPage extends WizardPage {
 			updateStatus("Must be valid java package");
 			return;
 		}
-		
+
 		updateStatus(null);
 	}
 
@@ -203,7 +195,7 @@ public class NewProjectMainPage extends WizardPage {
 		String result = dialog.open();
 		if (result != null) {
 			worldText.setText(result);
-		}	
+		}
 	}
 
 	private void updateStatus(String message) {
@@ -218,10 +210,9 @@ public class NewProjectMainPage extends WizardPage {
 	public String getPackage() {
 		return packageText.getText();
 	}
-	
+
 	public ProjectType getProjectType() {
 		if (!showProjectTypes) return null;
-		else if (simpleRobot.getSelection()) return types.get(ProjectType.SIMPLE);
 		else if (iterativeRobot.getSelection()) return types.get(ProjectType.ITERATIVE);
 		else return types.get(ProjectType.COMMAND_BASED);
 	}
@@ -237,7 +228,7 @@ public class NewProjectMainPage extends WizardPage {
 	public void setShowProjectTypes(boolean bool) {
 		showProjectTypes = bool;
 	}
-	
+
 	public void setProjectTypes(Map<String, ProjectType> types) {
 		showProjectTypes = true;
 		this.types = types;

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/plugin.xml

@@ -67,12 +67,21 @@
             type="new"
             wizardId="edu.wpi.first.wpilib.plugins.cpp.wizards.file_template.CommandWizard">
          <enablement>
-   			  <with
-                    variable="activeWorkbenchWindow.activePerspective">
-                 <equals
-                       value="org.eclipse.cdt.ui.CPerspective">
-                 </equals>
-              </with>
+               <with
+                     variable="selection">
+                  <iterate>
+                     <and>
+                        <test
+                            value="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                        <test
+                            value="org.eclipse.cdt.core.cnature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                     </and>
+                  </iterate>
+               </with>
          </enablement>
       </commonWizard>
       <commonWizard
@@ -80,12 +89,21 @@
             type="new"
             wizardId="edu.wpi.first.wpilib.plugins.cpp.wizards.file_template.CommandGroupWizard">
          <enablement>
-			  <with
-	                variable="activeWorkbenchWindow.activePerspective">
-	             <equals
-	                   value="org.eclipse.cdt.ui.CPerspective">
-	             </equals>
-	          </with>
+               <with
+                     variable="selection">
+                  <iterate>
+                     <and>
+                        <test
+                            value="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                        <test
+                            value="org.eclipse.cdt.core.cnature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                     </and>
+                  </iterate>
+               </with>
          </enablement>
       </commonWizard>
       <commonWizard
@@ -93,12 +111,21 @@
             type="new"
             wizardId="edu.wpi.first.wpilib.plugins.cpp.wizards.file_template.SubsystemWizard">
          <enablement>
-			  <with
-	                variable="activeWorkbenchWindow.activePerspective">
-	             <equals
-	                   value="org.eclipse.cdt.ui.CPerspective">
-	             </equals>
-	          </with>
+               <with
+                     variable="selection">
+                  <iterate>
+                     <and>
+                        <test
+                            value="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                        <test
+                            value="org.eclipse.cdt.core.cnature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                     </and>
+                  </iterate>
+               </with>
          </enablement>
       </commonWizard>
       <commonWizard
@@ -106,12 +133,21 @@
             type="new"
             wizardId="edu.wpi.first.wpilib.plugins.cpp.wizards.file_template.PIDSubsystemWizard">
          <enablement>
-			  <with
-	                variable="activeWorkbenchWindow.activePerspective">
-	             <equals
-	                   value="org.eclipse.cdt.ui.CPerspective">
-	             </equals>
-	          </with>
+               <with
+                     variable="selection">
+                  <iterate>
+                     <and>
+                        <test
+                            value="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                        <test
+                            value="org.eclipse.cdt.core.cnature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                     </and>
+                  </iterate>
+               </with>
          </enablement>
       </commonWizard>
       <commonWizard
@@ -119,12 +155,21 @@
             type="new"
             wizardId="edu.wpi.first.wpilib.plugins.cpp.wizards.file_template.TriggerWizard">
          <enablement>
-			  <with
-	                variable="activeWorkbenchWindow.activePerspective">
-	             <equals
-	                   value="org.eclipse.cdt.ui.CPerspective">
-	             </equals>
-	          </with>
+               <with
+                     variable="selection">
+                  <iterate>
+                     <and>
+                        <test
+                            value="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                        <test
+                            value="org.eclipse.cdt.core.cnature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                     </and>
+                  </iterate>
+               </with>
          </enablement>
       </commonWizard>
    </extension>
@@ -147,10 +192,10 @@
          point="org.eclipse.debug.ui.launchShortcuts">
       <shortcut
             class="edu.wpi.first.wpilib.plugins.cpp.launching.DeployLaunchShortcut"
-            description="Deploy the WPILib project to the athena board."
+            description="Deploy the WPILib project to the roboRIO"
             icon="resources/icons/wpi.ico"
             id="edu.wpi.first.wpilib.plugins.cpp.launching.deploy"
-            label="WPILib Deploy Configure Builder"
+            label="WPILib C++ Deploy"
             modes="run,debug">
             <contextualLaunch>
             <enablement>
@@ -172,20 +217,20 @@
             </enablement>
          </contextualLaunch>
          <description
-               description="Deploy the WPILib project to the athena board."
+               description="Deploy the WPILib project to the roboRIO"
                mode="run">
          </description>
          <description
-               description="Deploy the WPILib project to the athena board and debug it."
+               description="Deploy the WPILib project to the roboRIO"
                mode="debug">
          </description>
       </shortcut>
       <shortcut
             class="edu.wpi.first.wpilib.plugins.cpp.launching.SimulateLaunchShortcut"
             description="Test the WPILib project using the Gazebo simulator."
-            icon="resources/icons/wpi.ico"
+            icon="resources/icons/Gazebo.png"
             id="edu.wpi.first.wpilib.plugins.cpp.launching.simulate"
-            label="WPILib Simulate"
+            label="WPILib C++ Simulation"
             modes="run,debug">
             <contextualLaunch>
             <enablement>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject

@@ -28,6 +28,7 @@
 								<option id="gnu.cpp.compiler.option.optimization.level.549514425" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.debugging.level.1682909384" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
 							        <option id="gnu.cpp.compiler.option.include.paths.1597382905" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
 								  <listOptionValue builtIn="false" value="$cpp-location/include"/>
 							        </option>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.963785380" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
@@ -38,10 +39,11 @@
 									<listOptionValue builtIn="false" value="$cpp-location/lib"/>
 								</option>
 								<option id="gnu.cpp.link.option.libs.1072058280" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
+									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="WPILibAthena"/>
+									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="HALAthena"/>
 									<listOptionValue builtIn="false" value="NetworkTables"/>
-									<listOptionValue builtIn="false" value="FRC_FPGA_ChipObject"/>
 									<listOptionValue builtIn="false" value="FRC_NetworkCommunication"/>
 									<listOptionValue builtIn="false" value="i2c"/>
 									<listOptionValue builtIn="false" value="ni_emb"/>
@@ -58,6 +60,7 @@
 								</option>
 								<option id="gnu.cpp.link.option.flags.1747959472" name="Linker flags" superClass="gnu.cpp.link.option.flags" value="-Wl,-rpath-link,$cpp-location/lib" valueType="string"/>
 								<option id="gnu.cpp.link.option.other.1891020896" name="Other options (-Xlinker [option])" superClass="gnu.cpp.link.option.other" valueType="stringList">
+									<listOptionValue builtIn="false" value="-export-dynamic"/>
 								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1757265359" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
@@ -167,7 +170,9 @@
 							<tool id="cdt.managedbuild.tool.gnu.c.linker.base.66697269" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
 							<tool command="g++" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GLDErrorParser" id="cdt.managedbuild.tool.gnu.cpp.linker.base.2094820582" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
 								<option id="gnu.cpp.link.option.libs.1563598353" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
+									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="WPILibSim"/>
+									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="gazebo"/>
 									<listOptionValue builtIn="false" value="gazebo_transport"/>
 									<listOptionValue builtIn="false" value="gazebo_msgs"/>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/build.properties

@@ -2,8 +2,9 @@
 username=admin
 password=
 deploy.dir=/home/admin
-deploy.run.command=./runcppprogram
-deploy.debug.command=./debugcppprogram
+deploy.kill.command=/usr/local/frc/bin/frcKillRobot.sh -t -r
+deploy.log.file=/var/local/natinst/log/FRC_UserProgram.log
+command.dir=/home/lvuser/
 
 # Libraries to use
 wpilib=${user.home}/wpilib/cpp/${cpp-version}
@@ -21,8 +22,8 @@ build.dir=build
 out.exe=Debug/${out}
 
 # Simulation
-simulation.world.file=$world
+simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
 sim.exe=Simulate/${out}
 wpilib.sim=${wpilib}/sim
 sim.tools=${wpilib.sim}/tools
-sim.lib=${wpilib.sim}/lib
+sim.lib=${wpilib.sim}/lib

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandBase.cpp

@@ -6,7 +6,7 @@
 ExampleSubsystem* CommandBase::examplesubsystem = NULL;
 OI* CommandBase::oi = NULL;
 
-CommandBase::CommandBase(std::string name) :
+CommandBase::CommandBase(char const *name) :
 		Command(name)
 {
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandBase.h

@@ -14,7 +14,7 @@
 class CommandBase: public Command
 {
 public:
-	CommandBase(std::string name);
+	CommandBase(char const *name);
 	CommandBase();
 	static void init();
 	// Create a single static instance of all of your subsystems

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/sample/Robot.cpp

@@ -1,12 +1,16 @@
 #include "WPILib.h"
 
 /**
- * This is a demo program showing the use of the RobotBase class.
- * The SimpleRobot class is the base of a robot application that will automatically call your
+ * This is a demo program showing the use of the RobotDrive class.
+ * The SampleRobot class is the base of a robot application that will automatically call your
  * Autonomous and OperatorControl methods at the right time as controlled by the switches on
  * the driver station or the field controls.
+ *
+ * WARNING: While it may look like a good choice to use for your code if you're inexperienced,
+ * don't. Unless you know what you are doing, complex code will be much more difficult under
+ * this system. Use IterativeRobot or Command-Based instead if you're new.
  */
-class Robot: public SimpleRobot
+class Robot: public SampleRobot
 {
 	RobotDrive myRobot; // robot drive system
 	Joystick stick; // only joystick
@@ -31,7 +35,7 @@ public:
 	}
 
 	/**
-	 * Runs the motors with arcade steering. 
+	 * Runs the motors with arcade steering.
 	 */
 	void OperatorControl()
 	{
@@ -48,7 +52,6 @@ public:
 	 */
 	void Test()
 	{
-
 	}
 };
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/DeployLaunchShortcut.java

@@ -3,6 +3,7 @@ package edu.wpi.first.wpilib.plugins.cpp.launching;
 import java.util.ArrayList;
 import java.util.Collection;
 import java.util.List;
+import java.io.File;
 
 import org.eclipse.cdt.debug.core.ICDTLaunchConfigurationConstants;
 import org.eclipse.cdt.debug.core.executables.Executable;
@@ -28,12 +29,13 @@ import org.eclipse.ui.PlatformUI;
 
 import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
+import edu.wpi.first.wpilib.plugins.core.launching.AntLauncher;
 
 /**
  * Launch shortcut base functionality, common for deploying to the robot.
  * Retrieves the project the operation is being called on, and runs the correct
  * ant targets based on polymorphically determined data values
- * 
+ *
  * @author Ryan O'Meara
  * @author Alex Henning
  */
@@ -46,7 +48,7 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 	/**
 	 * Returns the launch type of the shortcut that was used, one of the
 	 * constants defined in BaseLaunchShortcut
-	 * 
+	 *
 	 * @return Launch shortcut type
 	 */
 	public String getLaunchType()
@@ -91,7 +93,7 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 	}
 	
 	/**
-	 * 
+	 *
 	 * @param activeProj
 	 *            The project that the script will be run on/from
 	 * @param mode
@@ -99,23 +101,34 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 	 *            ILaunchManager.DEBUG_MODE)
 	 */
 	public void runConfig(IProject activeProj, String mode, Shell shell) {
-        // TODO: figure out UI issues. that's why this is undocumented
-		ILaunchConfigurationWorkingCopy config;
-		try {
-			config = getRemoteDebugConfig(activeProj);
-			//config.doSave(); // NOTE: For debugging
-			//org.eclipse.debug.core.DebugPlugin.getDefault().getLaunchManager().addLaunch(config.launch(mode, null));
-			//THIS IS MADDENING! we want to add to the recent history, but I can't seem to find a public api to do so, so lets just launch the config dialog
-			//DebugUITools.openLaunchConfigurationPropertiesDialog(shell, config, "org.eclipse.cdt.launch.launchGroup");
-			//config.launch(mode, new NullProgressMonitor(), false, true);
-			DebugUITools.launch(config, mode);
-		} catch (CoreException e) {
-			WPILibCPPPlugin.logError("Debug attach failed.", e);
+		if(mode.equals(ILaunchManager.RUN_MODE)) {
+			// Regular deploys are done with an ant script for now, for both
+			// C++ and Java.
+			WPILibCPPPlugin.logInfo("Running ant file: " + activeProj.getLocation().toOSString() + File.separator + "build.xml");
+			WPILibCPPPlugin.logInfo("Targets: deploy, Mode: " + mode);
+			AntLauncher.runAntFile(new File (activeProj.getLocation().toOSString() + File.separator + "build.xml"), "deploy", null, mode);
+		} else {
+			// Debug deploys are done with the Eclipse Remote System Explorer,
+			// which lets it work with Eclipse's C++ debugger.
+			
+			// TODO: figure out UI issues. that's why this is undocumented
+			ILaunchConfigurationWorkingCopy config;
+			try {
+				config = getRemoteDebugConfig(activeProj);
+				//config.doSave(); // NOTE: For debugging
+				//org.eclipse.debug.core.DebugPlugin.getDefault().getLaunchManager().addLaunch(config.launch(mode, null));
+				//THIS IS MADDENING! we want to add to the recent history, but I can't seem to find a public api to do so, so lets just launch the config dialog
+				//DebugUITools.openLaunchConfigurationPropertiesDialog(shell, config, "org.eclipse.cdt.launch.launchGroup");
+				//config.launch(mode, new NullProgressMonitor(), false, true);
+				DebugUITools.launch(config, mode);
+			} catch (CoreException e) {
+				WPILibCPPPlugin.logError("Debug attach failed.", e);
+			}
+			
+			try {
+				activeProj.refreshLocal(Resource.DEPTH_INFINITE, null);
+			} catch (Exception e) {}
 		}
-		
-		try {
-			activeProj.refreshLocal(Resource.DEPTH_INFINITE, null);
-		} catch (Exception e) {}
 	}
 	
 	private ILaunchConfigurationWorkingCopy getRemoteDebugConfig(IProject activeProj) throws CoreException
@@ -128,7 +141,7 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 		ILaunchConfigurationWorkingCopy config = type.newInstance(null, activeProj.getName());
 		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROJECT_NAME, activeProj.getName());
 		Collection<Executable> exes = ExecutablesManager.getExecutablesManager().getExecutablesForProject(activeProj);
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROGRAM_NAME, 
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROGRAM_NAME,
 				exes.size() > 0 ? exes.toArray(new Executable[0])[0].getPath().makeRelativeTo(activeProj.getLocation()).toString():
 			 "Debug/FRCUserProgram");
 		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_PATH, "/home/admin/FRCUserProgram");

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/wizards/newproject/CPPProjectType.java

@@ -8,13 +8,6 @@ import edu.wpi.first.wpilib.plugins.core.wizards.ProjectType;
 import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
 
 public class CPPProjectType implements ProjectType {
-	static ProjectType SIMPLE = new CPPProjectType() {
-		@Override public Map<String, String> getFiles(String packageName) {
-			Map<String, String> files = super.getFiles(packageName);
-			files.put("src/Robot.cpp", "simple/Robot.cpp");
-			return files;
-		}
-	};
 	static ProjectType ITERATIVE = new CPPProjectType() {
 		@Override public Map<String, String> getFiles(String packageName) {
 			Map<String, String> files = super.getFiles(packageName);
@@ -47,7 +40,6 @@ public class CPPProjectType implements ProjectType {
 	};
 	@SuppressWarnings("serial")
 	static Map<String, ProjectType> TYPES = new HashMap<String, ProjectType>() {{
-		put(ProjectType.SIMPLE, SIMPLE);
 		put(ProjectType.ITERATIVE, ITERATIVE);
 		put(ProjectType.COMMAND_BASED, COMMAND_BASED);
 	}};

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/build.xml

@@ -1,11 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 
 <project name="athena-project-build" default="deploy">
-  
-  <property file="${wpilib.ant.dir}/../so.properties"/>
-  <property name="opkg.name" value="wpilib" />
-  <property name="opkg.arch" value="armv7a-vfp" />
-  
+
   <!-- Load Tasks -->
   <taskdef resource="net/sf/antcontrib/antlib.xml">
     <classpath>
@@ -23,107 +19,34 @@
   <!-- Targets -->
 
   <target name="get-target-ip">
-    <math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
-    <math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
-    <property name="target" value="10.${ip.upper}.${ip.lower}.2" />
-     <echo>Target IP: ${target}</echo>
+    <property name="target" value="roboRIO-${team-number}.local" />
+    <echo>Target: ${target}</echo>
   </target>
-  
+
   <target name="deploy" depends="get-target-ip" description="Deploy the progam and start it running.">
     <sshexec host="${target}"
-	     username="${username}"
-	     password="${password}"
-	     trust="true"
-	     command="rm ${deploy.dir}/FRCUserProgram" />
+         username="${username}"
+         password="${password}"
+         trust="true"
+         failonerror="no"
+         command="rm ${deploy.dir}/FRCUserProgram" />
+
     <echo>[athena-deploy] Copying code over.</echo>
-    <scp file="${out.exe}" sftp="true" todir="${username}@${target}:${deploy.dir}"
-	 password="${password}" trust="true"/>
-    <sshexec host="${target}"
-	     username="${username}"
-	     password="${password}"
-	     trust="true"
-	     command="opkg info wpilib |grep Version | awk '{printf $2}'"
-	     outputproperty="installedWpilibSo"/>
-	<if>
-		<equals arg1="${installedWpilibSo}" arg2="${cpp-sos}" />
-		<then>
-		
-	<echo>Found version of WPILib: ${installedWpilibSo} (latest)</echo>
-		</then>
-		<else>
-	<echo>Found version of WPILib: ${installedWpilibSo}</echo>
-			<echo>Upgrading WPILib to ${cpp-sos}...</echo>
-			<delete>
-			    <fileset dir="${wpilib.ant.dir}">
-			    	<include name="data.tar*" />
-			    	<include name="control*" />
-			    	<include name="post*" />
-			    	<include name="md5sums" />
-			    	<include name="*.deb" />
-			    </fileset>
-			</delete>
-			<tar destfile="${wpilib.ant.dir}/data.tar">
-				<tarfileset dir="${wpilib.ant.dir}/../lib"  username="root" group="admin" uid="0" gid="0"
-							prefix="usr/local/frc/lib">
-					 	<include name="libWPILibAthena.so" />
-					 	<include name="libNetworkTables.so" />
-					 	<include name="libHALAthena.so" />
-				</tarfileset>
-			</tar>
-			<gzip destfile="${wpilib.ant.dir}/data.tar.gz" src="${wpilib.ant.dir}/data.tar"/>
-			<echo file="${wpilib.ant.dir}/debian-binary">2.0</echo>
-			<echo file="${wpilib.ant.dir}/control">Package: ${opkg.name}
-Version: ${cpp-sos}
-Section: devel
-Priority: optional
-Architecture: ${opkg.arch}
-Depends: libc6 (>= 2.11.1-r7), libgcc1 (>= 4.4.1)
-Maintainer: Brad Miller &gt;bamiller@wpi.edu&lt;
-Description: WPILib, NetworkTables and HAL for RoboRIO target
- .
- This package contains the shared objects for WPILib, NetworkTables, and HAL for the 2015 target on the RoboRIO
-</echo>
-			<echo file="${wpilib.ant.dir}/postinst">#!/bin/sh
-ldconfig
-</echo>
-			<echo file="${wpilib.ant.dir}/postrm">#!/bin/sh
-ldconfig
-</echo>
-			<checksum property="md5.wpilib" format="MD5SUM" file="${wpilib.ant.dir}/../lib/libWPILibAthena.so" />
-			<checksum property="md5.nwt" format="MD5SUM" file="${wpilib.ant.dir}/../lib/libNetworkTables.so" />
-			<checksum property="md5.hal" format="MD5SUM" file="${wpilib.ant.dir}/../lib/libHALAthena.so" />
-			<echo file="${wpilib.ant.dir}/md5sums">${md5.wpilib} usr/local/frc/lib/libWPILibAthena.so
-${md5.nwt} usr/local/frc/lib/libNetworkTables.so
-${md5.hal} usr/local/frc/lib/libHALAthena.so</echo>
-<tar destfile="${wpilib.ant.dir}/control.tar">
-				<tarfileset dir="${wpilib.ant.dir}" username="root" group="admin" uid="0" gid="0"
-							prefix="">
-					 	<include name="control" />
-					 	<include name="md5sums" />
-				</tarfileset>
-				<tarfileset dir="${wpilib.ant.dir}" filemode="755"  username="root" group="admin" uid="0" gid="0"
-							prefix="">
-					 	<include name="postinst" />
-					 	<include name="postrm" />
-				</tarfileset>
-			</tar>
-			<gzip destfile="${wpilib.ant.dir}/control.tar.gz" src="${wpilib.ant.dir}/control.tar"/>
-			<exec command="${wpilib.ant.dir}\..\..\..\toolchains\arm-none-linux-gnueabi-4.4.1\bin\arm-none-linux-gnueabi-ar -r ${opkg.name}_${cpp-sos}_${opkg.arch}.deb debian-binary control.tar.gz data.tar.gz" dir="${wpilib.ant.dir}"/>
-		    <scp file="${wpilib.ant.dir}/${opkg.name}_${cpp-sos}_${opkg.arch}.deb" todir="${username}@${target}:/tmp"
-				 password="${password}" trust="true"/>
-			<sshexec host="${target}"
-				 username="${username}"
-				 password="${password}"
-				 trust="true"
-				 command="opkg install /tmp/${opkg.name}_${cpp-sos}_${opkg.arch}.deb; sh -c 'rm -rf /tmp/wpilib*.deb'"/>
-		</else>
-	</if>
+    <scp file="${out.exe}" sftp="true" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
+    <scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:/home/lvuser/" password="${password}" trust="true"/>
+
     <echo>[athena-deploy] Starting program.</echo>
     <sshexec host="${target}"
-	     username="${username}"
-	     password="${password}"
-	     trust="true"
-	     command="chmod +x ${deploy.dir}/FRCUserProgram; ${deploy.dir}/FRCUserProgram"/>
+       username="${username}"
+       password="${password}"
+       trust="true"
+       command=". /etc/profile.d/natinst-path.sh; chmod a+x ${deploy.dir}/${out}; ${deploy.kill.command};"/>
+
+    <sshexec host="${target}"
+       username="${username}"
+       password="${password}"
+       trust="true"
+       command="tail -F -s 0 -n 0 ${deploy.log.file}"/>
   </target>
 
   <target name="debug-deploy" depends="get-target-ip" description="Deploy the jar and start the program running in debug mode.">
@@ -171,4 +94,4 @@ ${md5.hal} usr/local/frc/lib/libHALAthena.so</echo>
       </sequential>
     </parallel>
   </target>
-</project> 
+</project>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/robotCommand

@@ -0,0 +1 @@
+/home/admin/FRCUserProgram

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/plugin.xml

@@ -67,10 +67,16 @@
             wizardId="edu.wpi.first.wpilib.plugins.java.wizards.file_template.CommandWizard">
          <enablement>
       	   <with variable="selection"><iterate>
-               <test
-                    args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
-                    property="org.eclipse.jdt.launching.hasProjectNature">
-                </test>
+               <and>
+                    <test
+                        args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                    <test
+						args="org.eclipse.jdt.core.javanature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                </and>
            </iterate></with>
          </enablement>
       </commonWizard>
@@ -80,10 +86,16 @@
             wizardId="edu.wpi.first.wpilib.plugins.java.wizards.file_template.CommandGroupWizard">
          <enablement>
       	   <with variable="selection"><iterate>
-               <test
-                    args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
-                    property="org.eclipse.jdt.launching.hasProjectNature">
-                </test>
+               <and>
+                    <test
+                        args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                    <test
+						args="org.eclipse.jdt.core.javanature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                </and>
            </iterate></with>
          </enablement>
       </commonWizard>
@@ -93,10 +105,16 @@
             wizardId="edu.wpi.first.wpilib.plugins.java.wizards.file_template.SubsystemWizard">
          <enablement>
       	   <with variable="selection"><iterate>
-               <test
-                    args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
-                    property="org.eclipse.jdt.launching.hasProjectNature">
-                </test>
+               <and>
+                    <test
+                        args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                    <test
+						args="org.eclipse.jdt.core.javanature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                </and>
            </iterate></with>
          </enablement>
       </commonWizard>
@@ -106,10 +124,16 @@
             wizardId="edu.wpi.first.wpilib.plugins.java.wizards.file_template.PIDSubsystemWizard">
          <enablement>
       	   <with variable="selection"><iterate>
-               <test
-                    args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
-                    property="org.eclipse.jdt.launching.hasProjectNature">
-                </test>
+               <and>
+                    <test
+                        args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                    <test
+						args="org.eclipse.jdt.core.javanature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                </and>
            </iterate></with>
          </enablement>
       </commonWizard>
@@ -119,10 +143,16 @@
             wizardId="edu.wpi.first.wpilib.plugins.java.wizards.file_template.TriggerWizard">
          <enablement>
       	   <with variable="selection"><iterate>
-               <test
-                    args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
-                    property="org.eclipse.jdt.launching.hasProjectNature">
-                </test>
+               <and>
+                    <test
+                        args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                    <test
+						args="org.eclipse.jdt.core.javanature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                </and>
            </iterate></with>
          </enablement>
       </commonWizard>
@@ -146,10 +176,10 @@
          point="org.eclipse.debug.ui.launchShortcuts">
       <shortcut
             class="edu.wpi.first.wpilib.plugins.java.launching.DeployLaunchShortcut"
-            description="Deploy the WPILib project to the athena board."
+            description="Deploy the WPILib project to the roboRIO"
             icon="resources/icons/wpi.ico"
             id="edu.wpi.first.wpilib.plugins.java.launching.deploy"
-            label="WPILib Deploy"
+            label="WPILib Java Deploy"
             modes="run,debug">
             <contextualLaunch>
             <enablement>
@@ -171,11 +201,11 @@
             </enablement>
          </contextualLaunch>
          <description
-               description="Deploy the WPILib project to the athena board."
+               description="Deploy the WPILib project to the roboRIO board."
                mode="run">
          </description>
          <description
-               description="Deploy the WPILib project to the athena board and debug it."
+               description="Deploy the WPILib project to the roboRIO board and debug it."
                mode="debug">
          </description>
       </shortcut>
@@ -184,7 +214,7 @@
             description="Test your WPILib program with the Gazebo simulator."
             icon="resources/icons/Gazebo.png"
             id="edu.wpi.first.wpilib.plugins.java.launching.simulate"
-            label="WPILib Simulation"
+            label="WPILib Java Simulation"
             modes="run,debug">
             <contextualLaunch>
             <enablement>

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/pom.xml

@@ -92,7 +92,7 @@
                 </artifactItem>
                 <artifactItem>
 				  <groupId>edu.wpi.first.wpilibj</groupId>
-				  <artifactId>wpilibJava</artifactId>
+				  <artifactId>wpilibJavaDevices</artifactId>
 				  <version>0.1.0-SNAPSHOT</version>
 				  <classifier>sources</classifier>
 				  <outputDirectory>${java-zip}/lib</outputDirectory>
@@ -102,7 +102,7 @@
 				<!-- Javadoc -->
                 <artifactItem>
 				  <groupId>edu.wpi.first.wpilibj</groupId>
-				  <artifactId>wpilibJava</artifactId>
+				  <artifactId>wpilibJavaDevices</artifactId>
 				  <version>0.1.0-SNAPSHOT</version>
 				  <type>javadoc</type>
 				  <outputDirectory>${java-zip}/javadoc-jar</outputDirectory>
@@ -132,6 +132,12 @@
                   <artifactId>JavaGazebo</artifactId>
                   <version>0.1.0-SNAPSHOT</version>
                 </artifactItem>
+                <artifactItem>
+				  <groupId>edu.wpi.first.wpilibj</groupId>
+				  <artifactId>wpilibJava</artifactId>
+				  <version>0.1.0-SNAPSHOT</version>
+				  <type>jar</type>
+                </artifactItem>
                 <artifactItem>
 				  <groupId>edu.wpi.first.wpilibj</groupId>
 				  <artifactId>wpilibJavaSim</artifactId>
@@ -348,11 +354,16 @@
 			  <artifactId>wpilibJava</artifactId>
 			  <version>0.1.0-SNAPSHOT</version>
 	</dependency>
+	<dependency>
+			  <groupId>edu.wpi.first.wpilibj</groupId>
+			  <artifactId>wpilibJavaDevices</artifactId>
+			  <version>0.1.0-SNAPSHOT</version>
+	</dependency>
 
 	<!-- Javadoc -->
 	<dependency>
 			  <groupId>edu.wpi.first.wpilibj</groupId>
-			  <artifactId>wpilibJava</artifactId>
+			  <artifactId>wpilibJavaDevices</artifactId>
 			  <version>0.1.0-SNAPSHOT</version>
 			  <type>javadoc</type>
 	</dependency>

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/command-based/Trigger.java

@@ -1,6 +1,6 @@
 package $package;
 
-import edu.wpi.first.wpilibj.command.Trigger;
+import edu.wpi.first.wpilibj.buttons.Trigger;
 
 /**
  *

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/GearsBot/src/org/usfirst/frc/team190/robot/subsystems/DriveTrain.java

@@ -51,9 +51,6 @@ public class DriveTrain extends Subsystem {
 			left_encoder.setDistancePerPulse((4.0/12.0*Math.PI) / 360.0);
 			right_encoder.setDistancePerPulse((4.0/12.0*Math.PI) / 360.0);
 		}
-		
-		left_encoder.start();
-		right_encoder.start();
 
 		rangefinder = new AnalogInput(6);
 		gyro = new Gyro(1);

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/Robot.java

@@ -33,7 +33,7 @@ public class Robot extends IterativeRobot {
 	public static Collector collector;
 	public static Shooter shooter;
 	public static Pneumatics pneumatics;
-	public static Pivot pivot;;
+	public static Pivot pivot;
 
 	public SendableChooser autoChooser;
 	public SendableChooser autonomousDirectionChooser;

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/DriveTrain.java

@@ -63,8 +63,6 @@ public class DriveTrain extends Subsystem {
 			leftEncoder.setDistancePerPulse((4.0/*in*/*Math.PI)/(360.0*12.0/*in/ft*/));
 		}
 
-		rightEncoder.start();
-		leftEncoder.start();		
 		LiveWindow.addSensor("DriveTrain", "Right Encoder", rightEncoder);
 		LiveWindow.addSensor("DriveTrain", "Left Encoder", leftEncoder);
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/sample/Robot.java

@@ -0,0 +1,59 @@
+
+package $package;
+
+
+import edu.wpi.first.wpilibj.SampleRobot;
+
+/**
+ * This is a demo program showing the use of the RobotDrive class.
+ * The SampleRobot class is the base of a robot application that will automatically call your
+ * Autonomous and OperatorControl methods at the right time as controlled by the switches on
+ * the driver station or the field controls.
+ *
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the SampleRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
+ *
+ * WARNING: While it may look like a good choice to use for your code if you're inexperienced,
+ * don't. Unless you know what you are doing, complex code will be much more difficult under
+ * this system. Use IterativeRobot or Command-Based instead if you're new.
+ */
+public class Robot extends SampleRobot {
+    RobotDrive myRobot;
+    Joystick stick;
+
+    public Robot() {
+        myRobot = new RobotDrive(1, 2);
+        myRobot.setExpiration(0.1);
+        stick = new Joystick(1);
+    }
+
+    /**
+     * Drive left & right motors for 2 seconds then stop
+     */
+    public void autonomous() {
+        myRobot.setSafetyEnabled(false);
+        myRobot.drive(-0.5, 0.0);	// drive forwards half speed
+        Timer.delay(2.0);		//    for 2 seconds
+        myRobot.drive(0.0, 0.0);	// stop robot
+    }
+
+    /**
+     * Runs the motors with arcade steering.
+     */
+    public void operatorControl() {
+        myRobot.setSafetyEnabled(true);
+        while (isOperatorControl()) {
+            myRobot.arcadeDrive(stick); // drive with arcade style (use right stick)
+            Timer.delay(0.005);		// wait for a motor update time
+        }
+    }
+
+    /**
+     * Runs during test mode
+     */
+    public void test() {
+    }
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/simple/Robot.java

@@ -1,35 +0,0 @@
-
-package $package;
-
-
-import edu.wpi.first.wpilibj.SimpleRobot;
-
-/**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the SimpleRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the manifest file in the resource
- * directory.
- */
-public class Robot extends SimpleRobot {
-    /**
-     * This function is called once each time the robot enters autonomous mode.
-     */
-    public void autonomous() {
-        
-    }
-
-    /**
-     * This function is called once each time the robot enters operator control.
-     */
-    public void operatorControl() {
-
-    }
-    
-    /**
-     * This function is called once each time the robot enters test mode.
-     */
-    public void test() {
-    
-    }
-}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/WPILibJavaPlugin.java

@@ -100,11 +100,15 @@ public class WPILibJavaPlugin extends AbstractUIPlugin implements IStartup {
 	    IProject[] projects = root.getProjects();
 	    // Loop over all projects
 	    for (IProject project : projects) {
-	      try {
-	    	  updateVariables(project);
-	      } catch (CoreException e) {
-            WPILibJavaPlugin.logError("Error updating projects.", e);
-	      }
+			  try {
+				  if(project.hasNature("edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature")){
+					WPILibJavaPlugin.logInfo("Updating project");
+					updateVariables(project);
+				  } else {
+				  }
+			  } catch (CoreException e) {
+				WPILibJavaPlugin.logError("Error updating projects.", e);
+			  }
 	    }
 	}
 	

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/build.xml

@@ -19,10 +19,8 @@
   <!-- Targets -->
 
   <target name="get-target-ip">
-    <math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
-    <math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
-    <property name="target" value="10.${ip.upper}.${ip.lower}.2" />
-     <echo>Target IP: ${target}</echo>
+    <property name="target" value="roboRIO-${team-number}.local" />
+     <echo>Target: ${target}</echo>
   </target>
 
   <target name="compile" description="Compile the source code.">
@@ -78,13 +76,13 @@
        username="${username}"
        password="${password}"
        trust="true"
-       command=". /etc/profile.d/natinst-path.sh; chmod a+x run*program; ${deploy.kill.command};"/>
+       command=". /etc/profile.d/natinst-path.sh; ${deploy.kill.command};"/>
 
     <sshexec host="${target}"
        username="${username}"
        password="${password}"
        trust="true"
-       command="tail -f -s 0 -n 1 ${deploy.log.file}"/>
+       command="tail -F -s 0 -n 0 ${deploy.log.file}"/>
   </target>
 
   <target name="debug-deploy" depends="get-target-ip,jar" description="Deploy the jar and start the program running.">

hal/CMakeLists.txt

@@ -2,13 +2,12 @@ cmake_minimum_required(VERSION 2.8)
 project(HAL)
 
 file(GLOB_RECURSE SRC_FILES lib/Athena/*.cpp)
-include_directories(lib/Athena include)
+include_directories(lib/Athena lib/Athena/FRC_FPGA_ChipObject include)
 add_library(HALAthena STATIC ${SRC_FILES})
 target_link_libraries(HALAthena ${NI_LIBS})
 INSTALL(TARGETS HALAthena ARCHIVE DESTINATION lib COMPONENT lib)
 INSTALL(FILES ${NI_LIBS} DESTINATION lib COMPONENT ni_lib)
 INSTALL(DIRECTORY include DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT headers)
 # lib/ c m gcc_s ld-linux
-# usr/lib stdc++
+# usr/lib 
 # FRC_NetworkCommunication FRC_FPGA_ChipObject RoboRIO_FRC_ChipObject
-

hal/include/HAL/Accelerometer.hpp

@@ -0,0 +1,15 @@
+#pragma once
+
+enum AccelerometerRange {
+	kRange_2G = 0,
+	kRange_4G = 1,
+	kRange_8G = 2,
+};
+
+extern "C" {
+	void setAccelerometerActive(bool);
+	void setAccelerometerRange(AccelerometerRange);
+	double getAccelerometerX();
+	double getAccelerometerY();
+	double getAccelerometerZ();
+}

hal/include/HAL/Analog.hpp

@@ -26,11 +26,9 @@ extern "C"
 	void* initializeAnalogInputPort(void* port_pointer, int32_t *status);
 	bool checkAnalogModule(uint8_t module);
 	bool checkAnalogInputChannel(uint32_t pin);
-	
+
 	void setAnalogSampleRate(double samplesPerSecond, int32_t *status);
 	float getAnalogSampleRate(int32_t *status);
-	void setAnalogSampleRateWithModule(uint8_t module, double samplesPerSecond, int32_t *status);
-	float getAnalogSampleRateWithModule(uint8_t module, int32_t *status);
 	void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits, int32_t *status);
 	uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t *status);
 	void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits, int32_t *status);
@@ -71,14 +69,11 @@ extern "C"
 	//// Float JNA Hack
 	// Float
 	int getAnalogSampleRateIntHack(int32_t *status);
-	int getAnalogSampleRateWithModuleIntHack(uint8_t module, int32_t *status);
 	int getAnalogVoltageIntHack(void* analog_port_pointer, int32_t *status);
 	int getAnalogAverageVoltageIntHack(void* analog_port_pointer, int32_t *status);
 
 	// Doubles
 	void setAnalogSampleRateIntHack(int samplesPerSecond, int32_t *status);
-	void setAnalogSampleRateWithModuleIntHack(uint8_t module, int samplesPerSecond,
-			int32_t *status);
 	int32_t getAnalogVoltsToValueIntHack(void* analog_port_pointer, int voltage, int32_t *status);
 	void setAnalogTriggerLimitsVoltageIntHack(void* analog_trigger_pointer, int lower, int upper,
 			int32_t *status);

hal/include/HAL/CAN.hpp

@@ -1,15 +1,26 @@
 #pragma once
 
-#ifdef __vxworks
-#include <vxWorks.h>
-#else
 #include <stdint.h>
-#endif
+#include "NetworkCommunication/CANSessionMux.h"
 
-extern "C"
-{
-	void JaguarCANSendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize,
-			int32_t *status);
-	void JaguarCANReceiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *dataSize,
-			uint32_t timeoutMs, int32_t *status);
-}
+void canTxSend(uint32_t arbID, uint8_t length, int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
+
+void canTxPackInt8 (uint32_t arbID, uint8_t offset, uint8_t  value);
+void canTxPackInt16(uint32_t arbID, uint8_t offset, uint16_t value);
+void canTxPackInt32(uint32_t arbID, uint8_t offset, uint32_t value);
+void canTxPackFXP16(uint32_t arbID, uint8_t offset, double   value);
+void canTxPackFXP32(uint32_t arbID, uint8_t offset, double   value);
+
+uint8_t  canTxUnpackInt8 (uint32_t arbID, uint8_t offset);
+uint32_t canTxUnpackInt32(uint32_t arbID, uint8_t offset);
+uint16_t canTxUnpackInt16(uint32_t arbID, uint8_t offset);
+double   canTxUnpackFXP16(uint32_t arbID, uint8_t offset);
+double   canTxUnpackFXP32(uint32_t arbID, uint8_t offset);
+
+bool canRxReceive(uint32_t arbID);
+
+uint8_t  canRxUnpackInt8 (uint32_t arbID, uint8_t offset);
+uint16_t canRxUnpackInt16(uint32_t arbID, uint8_t offset);
+uint32_t canRxUnpackInt32(uint32_t arbID, uint8_t offset);
+double   canRxUnpackFXP16(uint32_t arbID, uint8_t offset);
+double   canRxUnpackFXP32(uint32_t arbID, uint8_t offset);

hal/include/HAL/Digital.hpp

@@ -4,6 +4,7 @@
 #else
 #include <stdint.h>
 #endif
+#include "HAL/cpp/Synchronized.hpp"
 
 enum Mode
 {
@@ -12,40 +13,23 @@ enum Mode
 	kPulseLength = 2,
 	kExternalDirection = 3
 };
-enum tSPIConstants
-{
-	kReceiveFIFODepth = 512,
-	kTransmitFIFODepth = 512
-};
-enum tFrameMode
-{
-	kChipSelect,
-	kPreLatchPulse,
-	kPostLatchPulse,
-	kPreAndPostLatchPulse
-};
+
 extern "C"
 {
 	void* initializeDigitalPort(void* port_pointer, int32_t *status);
-	bool checkDigitalModule(uint8_t module);
 	bool checkPWMChannel(void* digital_port_pointer);
 	bool checkRelayChannel(void* digital_port_pointer);
 
 	void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status);
+	bool allocatePWMChannel(void* digital_port_pointer, int32_t *status);
+	void freePWMChannel(void* digital_port_pointer, int32_t *status);
 	unsigned short getPWM(void* digital_port_pointer, int32_t *status);
 	void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t *status);
 	void* allocatePWM(int32_t *status);
-	void* allocatePWMWithModule(uint8_t module, int32_t *status);
 	void freePWM(void* pwmGenerator, int32_t *status);
-	void freePWMWithModule(uint8_t module, void* pwmGenerator, int32_t *status);
 	void setPWMRate(double rate, int32_t *status);
-	void setPWMRateWithModule(uint8_t module, double rate, int32_t *status);
 	void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status);
-	void setPWMDutyCycleWithModule(uint8_t module, void* pwmGenerator, double dutyCycle,
-			int32_t *status);
 	void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t *status);
-	void setPWMOutputChannelWithModule(uint8_t module, void* pwmGenerator, uint32_t pin,
-			int32_t *status);
 
 	void setRelayForward(void* digital_port_pointer, bool on, int32_t *status);
 	void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status);
@@ -60,18 +44,15 @@ extern "C"
 	void pulse(void* digital_port_pointer, double pulseLength, int32_t *status);
 	bool isPulsing(void* digital_port_pointer, int32_t *status);
 	bool isAnyPulsing(int32_t *status);
-	bool isAnyPulsingWithModule(uint8_t module, int32_t *status);
 
 	void* initializeCounter(Mode mode, uint32_t *index, int32_t *status);
 	void freeCounter(void* counter_pointer, int32_t *status);
 	void setCounterAverageSize(void* counter_pointer, int32_t size, int32_t *status);
-	void setCounterUpSourceWithModule(void* counter_pointer, uint8_t module, uint32_t pin,
-			bool analogTrigger, int32_t *status); // TODO: Without Module
+	void setCounterUpSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
 	void setCounterUpSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
 			int32_t *status);
 	void clearCounterUpSource(void* counter_pointer, int32_t *status);
-	void setCounterDownSourceWithModule(void* counter_pointer, uint8_t module, uint32_t pin,
-			bool analogTrigger, int32_t *status); // TODO: Without Module
+	void setCounterDownSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
 	void setCounterDownSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
 			int32_t *status);
 	void clearCounterDownSource(void* counter_pointer, int32_t *status);
@@ -110,48 +91,30 @@ extern "C"
 	uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t *status);
 
 	uint16_t getLoopTiming(int32_t *status);
-	uint16_t getLoopTimingWithModule(uint8_t module, int32_t *status);
 
-	void* initializeSPI(uint8_t sclk_routing_module, uint32_t sclk_routing_pin,
-			uint8_t mosi_routing_module, uint32_t mosi_routing_pin, uint8_t miso_routing_module,
-			uint32_t miso_routing_pin, int32_t *status);
-	void cleanSPI(void* spi_pointer, int32_t *status);
-	void setSPIBitsPerWord(void* spi_pointer, uint32_t bits, int32_t *status);
-	uint32_t getSPIBitsPerWord(void* spi_pointer, int32_t *status);
-	void setSPIClockRate(void* spi_pointer, double hz, int32_t *status);
-	void setSPIMSBFirst(void* spi_pointer, int32_t *status);
-	void setSPILSBFirst(void* spi_pointer, int32_t *status);
-	void setSPISampleDataOnFalling(void* spi_pointer, int32_t *status);
-	void setSPISampleDataOnRising(void* spi_pointer, int32_t *status);
-	void setSPISlaveSelect(void* spi_pointer, uint8_t ss_routing_module, uint32_t ss_routing_pin,
-			int32_t *status);
-	void setSPILatchMode(void* spi_pointer, tFrameMode mode, int32_t *status);
-	tFrameMode getSPILatchMode(void* spi_pointer, int32_t *status);
-	void setSPIFramePolarity(void* spi_pointer, bool activeLow, int32_t *status);
-	bool getSPIFramePolarity(void* spi_pointer, int32_t *status);
-	void setSPIClockActiveLow(void* spi_pointer, int32_t *status);
-	void setSPIClockActiveHigh(void* spi_pointer, int32_t *status);
-	void applySPIConfig(void* spi_pointer, int32_t *status);
-	uint16_t getSPIOutputFIFOAvailable(void* spi_pointer, int32_t *status);
-	uint16_t getSPINumReceived(void* spi_pointer, int32_t *status);
-	bool isSPIDone(void* spi_pointer, int32_t *status);
-	bool hadSPIReceiveOverflow(void* spi_pointer, int32_t *status);
-	void writeSPI(void* spi_pointer, uint32_t data, int32_t *status);
-	uint32_t readSPI(void* spi_pointer, bool initiate, int32_t *status);
-	void resetSPI(void* spi_pointer, int32_t *status);
-	void clearSPIReceivedData(void* spi_pointer, int32_t *status);
+	void spiInitialize(uint8_t port, int32_t *status);
+	int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived, uint8_t size);
+	int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize);
+	int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count);
+	void spiClose(uint8_t port);
+	void spiSetSpeed(uint8_t port, uint32_t speed);
+	void spiSetBitsPerWord(uint8_t port, uint8_t bpw);
+	void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idle_high);
+	void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status);
+	void spiSetChipSelectActiveLow(uint8_t port, int32_t *status);
+	int32_t spiGetHandle(uint8_t port);
+	void spiSetHandle(uint8_t port, int32_t handle);
+	MUTEX_ID spiGetSemaphore(uint8_t port);
+	void spiSetSemaphore(uint8_t port, MUTEX_ID semaphore);
 
 	void i2CInitialize(uint8_t port, int32_t *status);
-	int i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
-	int i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize);
-	int i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count);
+	int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
+	int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize);
+	int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count);
 	void i2CClose(uint8_t port);
 
 	//// Float JNA Hack
 	// double
 	void setPWMRateIntHack(int rate, int32_t *status);
-	void setPWMRateWithModuleIntHack(uint8_t module, int32_t rate, int32_t *status);
 	void setPWMDutyCycleIntHack(void* pwmGenerator, int32_t dutyCycle, int32_t *status);
-	void setPWMDutyCycleWithModuleIntHack(uint8_t module, void* pwmGenerator, int32_t dutyCycle,
-			int32_t *status);
 }

hal/include/HAL/Errors.hpp

@@ -3,7 +3,7 @@
 #define SAMPLE_RATE_TOO_HIGH 1
 #define SAMPLE_RATE_TOO_HIGH_MESSAGE "Analog module sample rate is too high"
 #define VOLTAGE_OUT_OF_RANGE 2
-#define VOLTAGE_OUT_OF_RANGE_MESSAGE "Voltage to convert to raw value is out of range [-10; 10]"
+#define VOLTAGE_OUT_OF_RANGE_MESSAGE "Voltage to convert to raw value is out of range [0; 5]"
 #define LOOP_TIMING_ERROR 4
 #define LOOP_TIMING_ERROR_MESSAGE "Digital module loop timing is not the expected value"
 #define SPI_WRITE_NO_MOSI 12

hal/include/HAL/HAL.hpp

@@ -12,7 +12,9 @@
 #endif
 #include <cmath>
 
+#include "Accelerometer.hpp"
 #include "Analog.hpp"
+#include "CAN.hpp"
 #include "Compressor.hpp"
 #include "Digital.hpp"
 #include "Solenoid.hpp"
@@ -20,6 +22,7 @@
 #include "Interrupts.hpp"
 #include "Errors.hpp"
 #include "PDP.hpp"
+#include "Power.hpp"
 
 #include "Utilities.hpp"
 #include "Semaphore.hpp"
@@ -28,7 +31,6 @@
 #define HAL_IO_CONFIG_DATA_SIZE 32
 #define HAL_SYS_STATUS_DATA_SIZE 44
 #define HAL_USER_STATUS_DATA_SIZE (984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)
-#define HAL_USER_DS_LCD_DATA_SIZE 128
 
 #define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
 #define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
@@ -140,119 +142,32 @@ namespace HALUsageReporting
 	};
 }
 
-struct HALCommonControlData
-{
-	uint16_t packetIndex;
-	union
-	{
-		uint8_t control;
-#ifndef __vxworks
-		struct
-		{
-			uint8_t checkVersions :1;
-			uint8_t test :1;
-			uint8_t resync :1;
-			uint8_t fmsAttached :1;
-			uint8_t autonomous :1;
-			uint8_t enabled :1;
-			uint8_t notEStop :1;
-			uint8_t reset :1;
-		};
-#else
-		struct
-		{
-			uint8_t reset : 1;
-			uint8_t notEStop : 1;
-			uint8_t enabled : 1;
-			uint8_t autonomous : 1;
-			uint8_t fmsAttached:1;
-			uint8_t resync : 1;
-			uint8_t test :1;
-			uint8_t checkVersions :1;
-		};
-#endif
-	};
-	uint8_t dsDigitalIn;
-	uint16_t teamID;
-
-	char dsID_Alliance;
-	char dsID_Position;
-
-	union
-	{
-		int8_t stick0Axes[6];
-		struct
-		{ // TODO: ???
-			int8_t stick0Axis1;
-			int8_t stick0Axis2;
-			int8_t stick0Axis3;
-			int8_t stick0Axis4;
-			int8_t stick0Axis5;
-			int8_t stick0Axis6;
-		};
-	};
-	uint16_t stick0Buttons;		// Left-most 4 bits are unused
-
-	union
-	{
-		int8_t stick1Axes[6];
-		struct
-		{ // TODO: ???
-			int8_t stick1Axis1;
-			int8_t stick1Axis2;
-			int8_t stick1Axis3;
-			int8_t stick1Axis4;
-			int8_t stick1Axis5;
-			int8_t stick1Axis6;
-		};
-	};
-	uint16_t stick1Buttons;		// Left-most 4 bits are unused
-
-	union
-	{
-		int8_t stick2Axes[6];
-		struct
-		{ // TODO: ???
-			int8_t stick2Axis1;
-			int8_t stick2Axis2;
-			int8_t stick2Axis3;
-			int8_t stick2Axis4;
-			int8_t stick2Axis5;
-			int8_t stick2Axis6;
-		};
-	};
-	uint16_t stick2Buttons;		// Left-most 4 bits are unused
-
-	union
-	{
-		int8_t stick3Axes[6];
-		struct
-		{ // TODO: ???
-			int8_t stick3Axis1;
-			int8_t stick3Axis2;
-			int8_t stick3Axis3;
-			int8_t stick3Axis4;
-			int8_t stick3Axis5;
-			int8_t stick3Axis6;
-		};
-	};
-	uint16_t stick3Buttons;		// Left-most 4 bits are unused
-
-	//Analog inputs are 10 bit right-justified
-	uint16_t analog1;
-	uint16_t analog2;
-	uint16_t analog3;
-	uint16_t analog4;
-
-	uint64_t cRIOChecksum;
-	uint32_t FPGAChecksum0;
-	uint32_t FPGAChecksum1;
-	uint32_t FPGAChecksum2;
-	uint32_t FPGAChecksum3;
-
-	char versionData[8];
+struct HALControlWord {
+	uint32_t enabled : 1;
+	uint32_t autonomous : 1;
+	uint32_t test :1;
+	uint32_t eStop : 1;
+	uint32_t fmsAttached:1;
+	uint32_t dsAttached:1;
+	uint32_t control_reserved : 26;
 };
 
+enum HALAllianceStationID {
+	kHALAllianceStationID_red1,
+	kHALAllianceStationID_red2,
+	kHALAllianceStationID_red3,
+	kHALAllianceStationID_blue1,
+	kHALAllianceStationID_blue2,
+	kHALAllianceStationID_blue3,
+};
+
+struct HALJoystickAxes {
+	uint16_t count;
+	int16_t axes[6];
+};
+
+typedef uint32_t HALJoystickButtons;
+
 inline float intToFloat(int value)
 {
 	return (float)value;
@@ -278,18 +193,16 @@ extern "C"
 	uint32_t getFPGARevision(int32_t *status);
 	uint32_t getFPGATime(int32_t *status);
 
-	void setFPGALED(uint32_t state, int32_t *status);
-	int32_t getFPGALED(int32_t *status);
+	bool getFPGAButton(int32_t *status);
 
 	int HALSetErrorData(const char *errors, int errorsLength, int wait_ms);
-	int HALSetUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength, int wait_ms);
-	int HALOverrideIOConfig(const char *ioConfig, int wait_ms);
-	int HALGetDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength, int wait_ms);
-	int HALGetCommonControlData(HALCommonControlData *data, int wait_ms);
+
+	int HALGetControlWord(HALControlWord *data);
+	int HALGetAllianceStation(enum HALAllianceStationID *allianceStation);
+	int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes, uint8_t maxAxes);
+	int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count);
+
 	void HALSetNewDataSem(pthread_mutex_t *);
-	int HALSetStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
-			const char *userDataHigh, int userDataHighLength, const char *userDataLow,
-			int userDataLowLength, int wait_ms);
 
 	int HALInitialize(int mode = 0);
 	void HALNetworkCommunicationObserveUserProgramStarting();
@@ -311,4 +224,3 @@ extern "C"
 	void EDVR_CreateReference();
 	void Occur();
 }
-

hal/include/HAL/Power.hpp

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <stdint.h>
+
+extern "C"
+{
+	float getVinVoltage(int32_t *status);
+	float getVinCurrent(int32_t *status);
+	float getUserVoltage6V(int32_t *status);
+	float getUserCurrent6V(int32_t *status);
+	float getUserVoltage5V(int32_t *status);
+	float getUserCurrent5V(int32_t *status);
+	float getUserVoltage3V3(int32_t *status);
+	float getUserCurrent3V3(int32_t *status);
+}

hal/include/HAL/cpp/StackTrace.hpp

@@ -1,13 +0,0 @@
-#pragma once
-
-#ifdef __vxworks
-#include <vxWorks.h>
-#else
-#include <stdint.h>
-#endif
-
-extern "C"
-{
-	void printCurrentStackTrace();
-	bool getErrnoToName(int32_t errNo, char* name);
-}

hal/lib/Athena/Accelerometer.cpp

@@ -0,0 +1,234 @@
+#include "HAL/Accelerometer.hpp"
+
+#include "ChipObject.h"
+#include <stdint.h>
+#include <stdio.h>
+#include <assert.h>
+
+// The 7-bit I2C address with a 0 "send" bit
+static const uint8_t kSendAddress = (0x1c << 1) | 0;
+
+// The 7-bit I2C address with a 1 "receive" bit
+static const uint8_t kReceiveAddress = (0x1c << 1) | 1;
+
+static const uint8_t kControlTxRx = 1;
+static const uint8_t kControlStart = 2;
+static const uint8_t kControlStop = 4;
+
+static tAccel *accel = 0;
+static AccelerometerRange accelerometerRange;
+
+// Register addresses
+enum Register {
+	kReg_Status = 0x00,
+	kReg_OutXMSB = 0x01,
+	kReg_OutXLSB = 0x02,
+	kReg_OutYMSB = 0x03,
+	kReg_OutYLSB = 0x04,
+	kReg_OutZMSB = 0x05,
+	kReg_OutZLSB = 0x06,
+	kReg_Sysmod = 0x0B,
+	kReg_IntSource = 0x0C,
+	kReg_WhoAmI = 0x0D,
+	kReg_XYZDataCfg = 0x0E,
+	kReg_HPFilterCutoff = 0x0F,
+	kReg_PLStatus = 0x10,
+	kReg_PLCfg = 0x11,
+	kReg_PLCount = 0x12,
+	kReg_PLBfZcomp = 0x13,
+	kReg_PLThsReg = 0x14,
+	kReg_FFMtCfg = 0x15,
+	kReg_FFMtSrc = 0x16,
+	kReg_FFMtThs = 0x17,
+	kReg_FFMtCount = 0x18,
+	kReg_TransientCfg = 0x1D,
+	kReg_TransientSrc = 0x1E,
+	kReg_TransientThs = 0x1F,
+	kReg_TransientCount = 0x20,
+	kReg_PulseCfg = 0x21,
+	kReg_PulseSrc = 0x22,
+	kReg_PulseThsx = 0x23,
+	kReg_PulseThsy = 0x24,
+	kReg_PulseThsz = 0x25,
+	kReg_PulseTmlt = 0x26,
+	kReg_PulseLtcy = 0x27,
+	kReg_PulseWind = 0x28,
+	kReg_ASlpCount = 0x29,
+	kReg_CtrlReg1 = 0x2A,
+	kReg_CtrlReg2 = 0x2B,
+	kReg_CtrlReg3 = 0x2C,
+	kReg_CtrlReg4 = 0x2D,
+	kReg_CtrlReg5 = 0x2E,
+	kReg_OffX = 0x2F,
+	kReg_OffY = 0x30,
+	kReg_OffZ = 0x31
+};
+
+extern "C" uint32_t getFPGATime(int32_t *status);
+
+static void writeRegister(Register reg, uint8_t data);
+static uint8_t readRegister(Register reg);
+
+/**
+ * Initialize the accelerometer.
+ */
+static void initializeAccelerometer() {
+	int32_t status;
+
+	if(!accel) {
+		accel = tAccel::create(&status);
+
+		// Enable I2C
+		accel->writeCNFG(1, &status);
+
+		// Set the counter to 100 kbps
+		accel->writeCNTR(213, &status);
+
+		// The device identification number should be 0x2a
+		assert(readRegister(kReg_WhoAmI) == 0x2a);
+	}
+}
+
+static void writeRegister(Register reg, uint8_t data) {
+	int32_t status = 0;
+	uint32_t initialTime;
+
+	accel->writeADDR(kSendAddress, &status);
+
+	// Send a start transmit/receive message with the register address
+	accel->writeCNTL(kControlStart | kControlTxRx, &status);
+	accel->writeDATO(reg, &status);
+	accel->strobeGO(&status);
+
+	// Execute and wait until it's done (up to a millisecond)
+	initialTime = getFPGATime(&status);
+	while(accel->readSTAT(&status) & 1) {
+		if(getFPGATime(&status) > initialTime + 1000) break;
+	}
+
+	// Send a stop transmit/receive message with the data
+	accel->writeCNTL(kControlStop | kControlTxRx, &status);
+	accel->writeDATO(data, &status);
+	accel->strobeGO(&status);
+
+	// Execute and wait until it's done (up to a millisecond)
+	initialTime = getFPGATime(&status);
+	while(accel->readSTAT(&status) & 1) {
+		if(getFPGATime(&status) > initialTime + 1000) break;
+	}
+
+	fflush(stdout);
+}
+
+static uint8_t readRegister(Register reg) {
+	int32_t status = 0;
+	uint32_t initialTime;
+
+	// Send a start transmit/receive message with the register address
+	accel->writeADDR(kSendAddress, &status);
+	accel->writeCNTL(kControlStart | kControlTxRx, &status);
+	accel->writeDATO(reg, &status);
+	accel->strobeGO(&status);
+
+	// Execute and wait until it's done (up to a millisecond)
+	initialTime = getFPGATime(&status);
+	while(accel->readSTAT(&status) & 1) {
+		if(getFPGATime(&status) > initialTime + 1000) break;
+	}
+
+	// Receive a message with the data and stop
+	accel->writeADDR(kReceiveAddress, &status);
+	accel->writeCNTL(kControlStart | kControlStop | kControlTxRx, &status);
+	accel->strobeGO(&status);
+
+	// Execute and wait until it's done (up to a millisecond)
+	initialTime = getFPGATime(&status);
+	while(accel->readSTAT(&status) & 1) {
+		if(getFPGATime(&status) > initialTime + 1000) break;
+	}
+
+	fflush(stdout);
+
+	return accel->readDATI(&status);
+}
+
+/**
+ * Convert a 12-bit raw acceleration value into a scaled double in units of
+ * 1 g-force, taking into account the accelerometer range.
+ */
+static double unpackAxis(int16_t raw) {
+	// The raw value is actually 12 bits, not 16, so we need to propogate the
+	// 2's complement sign bit to the unused 4 bits for this to work with
+	// negative numbers.
+	raw <<= 4;
+	raw >>= 4;
+
+	switch(accelerometerRange) {
+	case kRange_2G: return raw / 1024.0;
+	case kRange_4G: return raw / 512.0;
+	case kRange_8G: return raw / 256.0;
+	default: return 0.0;
+	}
+}
+
+/**
+ * Set the accelerometer to active or standby mode.  It must be in standby
+ * mode to change any configuration.
+ */
+void setAccelerometerActive(bool active) {
+	initializeAccelerometer();
+
+	uint8_t ctrlReg1 = readRegister(kReg_CtrlReg1);
+	ctrlReg1 &= ~1; // Clear the existing active bit
+	writeRegister(kReg_CtrlReg1, ctrlReg1 | (active? 1 : 0));
+}
+
+/**
+ * Set the range of values that can be measured (either 2, 4, or 8 g-forces).
+ * The accelerometer should be in standby mode when this is called.
+ */
+void setAccelerometerRange(AccelerometerRange range) {
+	initializeAccelerometer();
+
+	accelerometerRange = range;
+
+	uint8_t xyzDataCfg = readRegister(kReg_XYZDataCfg);
+	xyzDataCfg &= ~3; // Clear the existing two range bits
+	writeRegister(kReg_XYZDataCfg, xyzDataCfg | range);
+}
+
+/**
+ * Get the x-axis acceleration
+ *
+ * This is a floating point value in units of 1 g-force
+ */
+double getAccelerometerX() {
+	initializeAccelerometer();
+
+	int raw = (readRegister(kReg_OutXMSB) << 4) | (readRegister(kReg_OutXLSB) >> 4);
+	return unpackAxis(raw);
+}
+
+/**
+ * Get the y-axis acceleration
+ *
+ * This is a floating point value in units of 1 g-force
+ */
+double getAccelerometerY() {
+	initializeAccelerometer();
+
+	int raw = (readRegister(kReg_OutYMSB) << 4) | (readRegister(kReg_OutYLSB) >> 4);
+	return unpackAxis(raw);
+}
+
+/**
+ * Get the z-axis acceleration
+ *
+ * This is a floating point value in units of 1 g-force
+ */
+double getAccelerometerZ() {
+	initializeAccelerometer();
+
+	int raw = (readRegister(kReg_OutZMSB) << 4) | (readRegister(kReg_OutZLSB) >> 4);
+	return unpackAxis(raw);
+}

hal/lib/Athena/Analog.cpp

@@ -102,7 +102,7 @@ bool checkAnalogModule(uint8_t module) {
  * @return Analog channel is valid
  */
 bool checkAnalogInputChannel(uint32_t pin) {
-  if (pin >= 0 && pin < kAnalogInputPins)
+  if (pin < kAnalogInputPins)
     return true;
   return false;
 }
@@ -115,7 +115,7 @@ bool checkAnalogInputChannel(uint32_t pin) {
  * @return Analog channel is valid
  */
 bool checkAnalogOutputChannel(uint32_t pin) {
-  if (pin >= 0 && pin < kAnalogOutputPins)
+  if (pin < kAnalogOutputPins)
     return true;
   return false;
 }
@@ -185,40 +185,6 @@ float getAnalogSampleRate(int32_t *status) {
   return (float)kTimebase / (float)ticksPerSample;
 }
 
-/**
- * Set the sample rate on the module.
- *
- * This is a global setting for the module and effects all channels.
- *
- * @param module The module to use
- * @param samplesPerSecond The number of samples per channel per second.
- */
-void setAnalogSampleRateWithModule(uint8_t module, double samplesPerSecond, int32_t *status) {
-  if (checkAnalogModule(module)) {
-	setAnalogSampleRate(samplesPerSecond, status);
-  } else {
-	// XXX: Set error status
-  }
-}
-
-/**
- * Get the current sample rate on the module.
- *
- * This assumes one entry in the scan list.
- * This is a global setting for the module and effects all channels.
- *
- * @param module The module to use
- * @return Sample rate.
- */
-float getAnalogSampleRateWithModule(uint8_t module, int32_t *status) {
-  if (checkAnalogModule(module)) {
-	return getAnalogSampleRate(status);
-  } else {
-	return -1; // XXX: Set error status
-  }
-}
-
-
 /**
  * Set the number of averaging bits.
  *
@@ -283,7 +249,7 @@ uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t *status) {
 /**
  * Get a sample straight from the channel on this module.
  *
- * The sample is a 12-bit value representing the -10V to 10V range of the A/D converter in the 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.
@@ -322,7 +288,7 @@ 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;
-  int16_t value;
+  int32_t value;
   checkAnalogInputChannel(port->port.pin);
 
   tAI::tReadSelect readSelect;
@@ -333,7 +299,7 @@ int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status) {
     Synchronized sync(analogRegisterWindowSemaphore);
     analogInputSystem->writeReadSelect(readSelect, status);
     analogInputSystem->strobeLatchOutput(status);
-    value = (int16_t) analogInputSystem->readOutput(status);
+    value = (int32_t) analogInputSystem->readOutput(status);
   }
 
   return value;
@@ -387,12 +353,12 @@ float getAnalogAverageVoltage(void* analog_port_pointer, int32_t *status) {
  * @return The raw value for the channel.
  */
 int32_t getAnalogVoltsToValue(void* analog_port_pointer, double voltage, int32_t *status) {
-  if (voltage > 10.0) {
-    voltage = 10.0;
+  if (voltage > 5.0) {
+    voltage = 5.0;
     *status = VOLTAGE_OUT_OF_RANGE;
   }
-  if (voltage < -10.0) {
-    voltage = -10.0;
+  if (voltage < 0.0) {
+    voltage = 0.0;
     *status = VOLTAGE_OUT_OF_RANGE;
   }
   uint32_t LSBWeight = getAnalogLSBWeight(analog_port_pointer, status);
@@ -736,10 +702,6 @@ int getAnalogSampleRateIntHack(int32_t *status) {
   return floatToInt(getAnalogSampleRate(status));
 }
 
-int getAnalogSampleRateWithModuleIntHack(uint8_t module, int32_t *status) {
-  return floatToInt(getAnalogSampleRateWithModuleIntHack(module, status));
-}
-
 int getAnalogVoltageIntHack(void* analog_port_pointer, int32_t *status) {
   return floatToInt(getAnalogVoltage(analog_port_pointer, status));
 }
@@ -754,10 +716,6 @@ void setAnalogSampleRateIntHack(int samplesPerSecond, int32_t *status) {
   setAnalogSampleRate(intToFloat(samplesPerSecond), status);
 }
 
-void setAnalogSampleRateWithModuleIntHack(uint8_t module, int samplesPerSecond, int32_t *status) {
-  setAnalogSampleRateWithModule(module, intToFloat(samplesPerSecond), status);
-}
-
 int32_t getAnalogVoltsToValueIntHack(void* analog_port_pointer, int voltage, int32_t *status) {
   return getAnalogVoltsToValue(analog_port_pointer, intToFloat(voltage), status);
 }

hal/lib/Athena/CAN.cpp

@@ -0,0 +1,232 @@
+#include "HAL/CAN.hpp"
+#include <map>
+
+struct CANMessage
+{
+	uint8_t data[8];
+};
+
+static std::map<uint32_t, CANMessage> outgoingMessages;
+static std::map<uint32_t, CANMessage> incomingMessages;
+
+static const uint32_t kFullMessageIDMask = 0x1fffffff;
+
+/**
+ * Gets the data from the outgoing hashmap and calls
+ * CANSessionMux...sendMessage.
+ */
+void canTxSend(uint32_t arbID, uint8_t length, int32_t period)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	int32_t status;
+
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(
+		arbID, message.data, length, period, &status);
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time an single byte field changes in a message.data,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackInt8(uint32_t arbID, uint8_t offset, uint8_t value)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	message.data[offset] = value;
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time a short integer field changes in a message.data,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackInt16(uint32_t arbID, uint8_t offset, uint16_t value)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	*(uint16_t *)(message.data + offset) = value;
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time a long integer field changes in a message.data,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackInt32(uint32_t arbID, uint8_t offset, uint32_t value)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	*(uint32_t *)(message.data + offset) = value;
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time an 8.8 fixed point field changes in a message,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackFXP16(uint32_t arbID, uint8_t offset, double value)
+{
+	int16_t raw = value * 255.0;
+
+	canTxPackInt16(arbID, offset, raw);
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time a 16.16 fixed point field changes in a message,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackFXP32(uint32_t arbID, uint8_t offset, double value)
+{
+	int32_t raw = value * 65535.0;
+
+	canTxPackInt32(arbID, offset, raw);
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+uint8_t canTxUnpackInt8(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	return message.data[offset];
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+uint16_t canTxUnpackInt16(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	return *reinterpret_cast<uint16_t *>(message.data + offset);
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+uint32_t canTxUnpackInt32(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	return *reinterpret_cast<uint32_t *>(message.data + offset);
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+double canTxUnpackFXP16(uint32_t arbID, uint8_t offset)
+{
+	int16_t raw = canTxUnpackInt16(arbID, offset);
+
+	return raw / 255.0;
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+double canTxUnpackFXP32(uint32_t arbID, uint8_t offset)
+{
+	int32_t raw = canTxUnpackInt32(arbID, offset);
+
+	return raw / 65535.0;
+}
+
+/**
+ * Get data from CANSessionMux (if it's available) and put it in the incoming
+ * hashmap.
+ *
+ * @return true if there's new data.  Otherwise, the last received value should
+ * still be in the hashmap.
+ */
+bool canRxReceive(uint32_t arbID)
+{
+	CANMessage &message = incomingMessages[arbID];
+
+	uint8_t length;
+	uint32_t timestamp;
+	int32_t status;
+
+	FRC_NetworkCommunication_CANSessionMux_receiveMessage(
+		&arbID, kFullMessageIDMask, message.data, &length, &timestamp, &status);
+
+	return status != ERR_CANSessionMux_MessageNotFound;
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+uint8_t canRxUnpackInt8(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = incomingMessages[arbID];
+
+	return message.data[offset];
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+uint16_t canRxUnpackInt16(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = incomingMessages[arbID];
+
+	return *reinterpret_cast<uint16_t *>(message.data + offset);
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+uint32_t canRxUnpackInt32(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = incomingMessages[arbID];
+
+	return *reinterpret_cast<uint32_t *>(message.data + offset);
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+double canRxUnpackFXP16(uint32_t arbID, uint8_t offset)
+{
+	int16_t raw = canRxUnpackInt16(arbID, offset);
+
+	return raw / 255.0;
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+double canRxUnpackFXP32(uint32_t arbID, uint8_t offset)
+{
+	int32_t raw = canRxUnpackInt32(arbID, offset);
+
+	return raw / 65535.0;
+}

hal/lib/Athena/ChipObject.h

@@ -4,33 +4,35 @@
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
 #pragma once
+#pragma GCC diagnostic ignored "-Wignored-qualifiers"
 
 #include <stdint.h>
-#include "ChipObject/RoboRIO_FRC_ChipObject_Aliases.h"
-#include "ChipObject/tDMAManager.h"
-#include "ChipObject/tInterruptManager.h"
-#include "ChipObject/tSystem.h"
-#include "ChipObject/tSystemInterface.h"
 
-#include "ChipObject/nInterfaceGlobals.h"
-#include "ChipObject/tAccel.h"
-#include "ChipObject/tAccumulator.h"
-#include "ChipObject/tAI.h"
-#include "ChipObject/tAlarm.h"
-#include "ChipObject/tAnalogTrigger.h"
-#include "ChipObject/tAO.h"
-#include "ChipObject/tBIST.h"
-#include "ChipObject/tCounter.h"
-#include "ChipObject/tDIO.h"
-#include "ChipObject/tDMA.h"
-#include "ChipObject/tEncoder.h"
-#include "ChipObject/tGlobal.h"
-#include "ChipObject/tInterrupt.h"
-#include "ChipObject/tPower.h"
-#include "ChipObject/tPWM.h"
-#include "ChipObject/tRelay.h"
-#include "ChipObject/tSPI.h"
-#include "ChipObject/tSysWatchdog.h"
+#include "FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h"
+#include "FRC_FPGA_ChipObject/tDMAManager.h"
+#include "FRC_FPGA_ChipObject/tInterruptManager.h"
+#include "FRC_FPGA_ChipObject/tSystem.h"
+#include "FRC_FPGA_ChipObject/tSystemInterface.h"
+
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h"
 
 // FIXME: these should not be here!
 using namespace nFPGA;

hal/lib/Athena/ChipObject/nInterfaceGlobals.h

@@ -1,15 +0,0 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2015_1_0_5_nInterfaceGlobals_h__
-#define __nFRC_2015_1_0_5_nInterfaceGlobals_h__
-
-namespace nFPGA
-{
-namespace nFRC_2015_1_0_5
-{
-   extern unsigned int g_currentTargetClass;
-}
-}
-
-#endif // __nFRC_2015_1_0_5_nInterfaceGlobals_h__

hal/lib/Athena/ChipObject/tPower.h

@@ -1,107 +0,0 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2015_1_0_5_Power_h__
-#define __nFRC_2015_1_0_5_Power_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2015_1_0_5
-{
-
-class tPower
-{
-public:
-   tPower(){}
-   virtual ~tPower(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tPower* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned User3V3 : 8;
-         unsigned User5V : 8;
-         unsigned User6V : 8;
-#else
-         unsigned User6V : 8;
-         unsigned User5V : 8;
-         unsigned User3V3 : 8;
-#endif
-      };
-      struct{
-         unsigned value : 24;
-      };
-   } tStatus;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned User3V3 : 1;
-         unsigned User5V : 1;
-         unsigned User6V : 1;
-#else
-         unsigned User6V : 1;
-         unsigned User5V : 1;
-         unsigned User3V3 : 1;
-#endif
-      };
-      struct{
-         unsigned value : 3;
-      };
-   } tDisable;
-
-
-
-   typedef enum
-   {
-   } tStatus_IfaceConstants;
-
-   virtual tStatus readStatus(tRioStatusCode *status) = 0;
-   virtual unsigned char readStatus_User3V3(tRioStatusCode *status) = 0;
-   virtual unsigned char readStatus_User5V(tRioStatusCode *status) = 0;
-   virtual unsigned char readStatus_User6V(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tDisable_IfaceConstants;
-
-   virtual void writeDisable(tDisable value, tRioStatusCode *status) = 0;
-   virtual void writeDisable_User3V3(bool value, tRioStatusCode *status) = 0;
-   virtual void writeDisable_User5V(bool value, tRioStatusCode *status) = 0;
-   virtual void writeDisable_User6V(bool value, tRioStatusCode *status) = 0;
-   virtual tDisable readDisable(tRioStatusCode *status) = 0;
-   virtual bool readDisable_User3V3(tRioStatusCode *status) = 0;
-   virtual bool readDisable_User5V(tRioStatusCode *status) = 0;
-   virtual bool readDisable_User6V(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tIndicateOutOfRange_IfaceConstants;
-
-   virtual void writeIndicateOutOfRange(bool value, tRioStatusCode *status) = 0;
-   virtual bool readIndicateOutOfRange(tRioStatusCode *status) = 0;
-
-
-
-
-private:
-   tPower(const tPower&);
-   void operator=(const tPower&);
-};
-
-}
-}
-
-#endif // __nFRC_2015_1_0_5_Power_h__

hal/lib/Athena/Compressor.cpp

@@ -2,21 +2,20 @@
 #include "ctre/PCM.h"
 #include <iostream>
 
-static const int NUM_PCMS = 2;
-extern PCM *modules[NUM_PCMS];
-extern void initializePCM();
+static const int NUM_MODULE_NUMBERS = 63;
+extern PCM *modules[NUM_MODULE_NUMBERS];
+extern void initializePCM(int module);
 
 void *initializeCompressor(uint8_t module) {
-	initializePCM();
+	initializePCM(module);
 	
-	return modules[module - 1];
+	return modules[module];
 }
 
 bool checkCompressorModule(uint8_t module) {
-	return module > 0 and module <= NUM_PCMS;
+	return module < NUM_MODULE_NUMBERS;
 }
 
-
 bool getCompressor(void *pcm_pointer, int32_t *status) {
 	PCM *module = (PCM *)pcm_pointer;
 	bool value;

hal/lib/Athena/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h

@@ -4,6 +4,6 @@
 #ifndef __RoboRIO_FRC_ChipObject_Aliases_h__
 #define __RoboRIO_FRC_ChipObject_Aliases_h__
 
-#define nRoboRIO_FPGANamespace nFRC_2015_1_0_5
+#define nRoboRIO_FPGANamespace nFRC_2015_1_0_7
 
 #endif // __RoboRIO_FRC_ChipObject_Aliases_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/tAI.h

@@ -0,0 +1,73 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_C0EF_1_1_0_AI_h__
+#define __nFRC_C0EF_1_1_0_AI_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_C0EF_1_1_0
+{
+
+class tAI
+{
+public:
+   tAI(){}
+   virtual ~tAI(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAI* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 2,
+   } tIfaceConstants;
+
+
+
+   typedef enum
+   {
+   } tCalOK_IfaceConstants;
+
+   virtual bool readCalOK(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDoneTime_IfaceConstants;
+
+   virtual unsigned int readDoneTime(tRioStatusCode *status) = 0;
+
+
+
+
+   typedef enum
+   {
+      kNumOffsetRegisters = 8,
+   } tOffset_IfaceConstants;
+
+   virtual signed int readOffset(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumLSBWeightRegisters = 8,
+   } tLSBWeight_IfaceConstants;
+
+   virtual unsigned int readLSBWeight(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+
+private:
+   tAI(const tAI&);
+   void operator=(const tAI&);
+};
+
+}
+}
+
+#endif // __nFRC_C0EF_1_1_0_AI_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/tGlobal.h

@@ -0,0 +1,69 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_C0EF_1_1_0_Global_h__
+#define __nFRC_C0EF_1_1_0_Global_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_C0EF_1_1_0
+{
+
+class tGlobal
+{
+public:
+   tGlobal(){}
+   virtual ~tGlobal(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tGlobal* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tVersion_IfaceConstants;
+
+   virtual unsigned short readVersion(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLocalTime_IfaceConstants;
+
+   virtual unsigned int readLocalTime(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tRevision_IfaceConstants;
+
+   virtual unsigned int readRevision(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReserved_IfaceConstants;
+
+   virtual unsigned char readReserved(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tGlobal(const tGlobal&);
+   void operator=(const tGlobal&);
+};
+
+}
+}
+
+#endif // __nFRC_C0EF_1_1_0_Global_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/tLoadOut.h

@@ -0,0 +1,79 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_C0EF_1_1_0_LoadOut_h__
+#define __nFRC_C0EF_1_1_0_LoadOut_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_C0EF_1_1_0
+{
+
+class tLoadOut
+{
+public:
+   tLoadOut(){}
+   virtual ~tLoadOut(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tLoadOut* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tReady_IfaceConstants;
+
+   virtual bool readReady(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDoneTime_IfaceConstants;
+
+   virtual unsigned int readDoneTime(tRioStatusCode *status) = 0;
+
+
+
+
+   typedef enum
+   {
+      kNumVendorIDRegisters = 8,
+   } tVendorID_IfaceConstants;
+
+   virtual unsigned short readVendorID(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumSerialNumberRegisters = 8,
+   } tSerialNumber_IfaceConstants;
+
+   virtual unsigned int readSerialNumber(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumModuleIDRegisters = 8,
+   } tModuleID_IfaceConstants;
+
+   virtual unsigned short readModuleID(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+private:
+   tLoadOut(const tLoadOut&);
+   void operator=(const tLoadOut&);
+};
+
+}
+}
+
+#endif // __nFRC_C0EF_1_1_0_LoadOut_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h

@@ -0,0 +1,15 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2015_1_0_7_nInterfaceGlobals_h__
+#define __nFRC_2015_1_0_7_nInterfaceGlobals_h__
+
+namespace nFPGA
+{
+namespace nFRC_2015_1_0_7
+{
+   extern unsigned int g_currentTargetClass;
+}
+}
+
+#endif // __nFRC_2015_1_0_7_nInterfaceGlobals_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_AI_h__
-#define __nFRC_2015_1_0_5_AI_h__
+#ifndef __nFRC_2015_1_0_7_AI_h__
+#define __nFRC_2015_1_0_7_AI_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tAI
@@ -140,4 +140,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_AI_h__
+#endif // __nFRC_2015_1_0_7_AI_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_AO_h__
-#define __nFRC_2015_1_0_5_AO_h__
+#ifndef __nFRC_2015_1_0_7_AO_h__
+#define __nFRC_2015_1_0_7_AO_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tAO
@@ -47,4 +47,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_AO_h__
+#endif // __nFRC_2015_1_0_7_AO_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Accel_h__
-#define __nFRC_2015_1_0_5_Accel_h__
+#ifndef __nFRC_2015_1_0_7_Accel_h__
+#define __nFRC_2015_1_0_7_Accel_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tAccel
@@ -99,4 +99,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Accel_h__
+#endif // __nFRC_2015_1_0_7_Accel_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Accumulator_h__
-#define __nFRC_2015_1_0_5_Accumulator_h__
+#ifndef __nFRC_2015_1_0_7_Accumulator_h__
+#define __nFRC_2015_1_0_7_Accumulator_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tAccumulator
@@ -84,4 +84,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Accumulator_h__
+#endif // __nFRC_2015_1_0_7_Accumulator_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Alarm_h__
-#define __nFRC_2015_1_0_5_Alarm_h__
+#ifndef __nFRC_2015_1_0_7_Alarm_h__
+#define __nFRC_2015_1_0_7_Alarm_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tAlarm
@@ -54,4 +54,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Alarm_h__
+#endif // __nFRC_2015_1_0_7_Alarm_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_AnalogTrigger_h__
-#define __nFRC_2015_1_0_5_AnalogTrigger_h__
+#ifndef __nFRC_2015_1_0_7_AnalogTrigger_h__
+#define __nFRC_2015_1_0_7_AnalogTrigger_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tAnalogTrigger
@@ -126,4 +126,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_AnalogTrigger_h__
+#endif // __nFRC_2015_1_0_7_AnalogTrigger_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_BIST_h__
-#define __nFRC_2015_1_0_5_BIST_h__
+#ifndef __nFRC_2015_1_0_7_BIST_h__
+#define __nFRC_2015_1_0_7_BIST_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tBIST
@@ -87,4 +87,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_BIST_h__
+#endif // __nFRC_2015_1_0_7_BIST_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Counter_h__
-#define __nFRC_2015_1_0_5_Counter_h__
+#ifndef __nFRC_2015_1_0_7_Counter_h__
+#define __nFRC_2015_1_0_7_Counter_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tCounter
@@ -216,4 +216,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Counter_h__
+#endif // __nFRC_2015_1_0_7_Counter_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_DIO_h__
-#define __nFRC_2015_1_0_5_DIO_h__
+#ifndef __nFRC_2015_1_0_7_DIO_h__
+#define __nFRC_2015_1_0_7_DIO_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tDIO
@@ -137,15 +137,6 @@ public:
    virtual unsigned char readFilterSelectHdr(unsigned char bitfield_index, tRioStatusCode *status) = 0;
 
 
-   typedef enum
-   {
-      kNumFilterPeriodMXPElements = 3,
-   } tFilterPeriodMXP_IfaceConstants;
-
-   virtual void writeFilterPeriodMXP(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readFilterPeriodMXP(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
    typedef enum
    {
    } tOutputEnable_IfaceConstants;
@@ -218,15 +209,6 @@ public:
    virtual unsigned char readPulseLength(tRioStatusCode *status) = 0;
 
 
-   typedef enum
-   {
-      kNumFilterPeriodHdrElements = 3,
-   } tFilterPeriodHdr_IfaceConstants;
-
-   virtual void writeFilterPeriodHdr(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
-   virtual unsigned char readFilterPeriodHdr(unsigned char bitfield_index, tRioStatusCode *status) = 0;
-
-
    typedef enum
    {
    } tPWMPeriodPower_IfaceConstants;
@@ -237,6 +219,24 @@ public:
 
 
 
+   typedef enum
+   {
+      kNumFilterPeriodMXPRegisters = 3,
+   } tFilterPeriodMXP_IfaceConstants;
+
+   virtual void writeFilterPeriodMXP(unsigned char reg_index, unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readFilterPeriodMXP(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumFilterPeriodHdrRegisters = 3,
+   } tFilterPeriodHdr_IfaceConstants;
+
+   virtual void writeFilterPeriodHdr(unsigned char reg_index, unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readFilterPeriodHdr(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
 private:
    tDIO(const tDIO&);
    void operator=(const tDIO&);
@@ -245,4 +245,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_DIO_h__
+#endif // __nFRC_2015_1_0_7_DIO_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_DMA_h__
-#define __nFRC_2015_1_0_5_DMA_h__
+#ifndef __nFRC_2015_1_0_7_DMA_h__
+#define __nFRC_2015_1_0_7_DMA_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tDMA
@@ -185,4 +185,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_DMA_h__
+#endif // __nFRC_2015_1_0_7_DMA_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Encoder_h__
-#define __nFRC_2015_1_0_5_Encoder_h__
+#ifndef __nFRC_2015_1_0_7_Encoder_h__
+#define __nFRC_2015_1_0_7_Encoder_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tEncoder
@@ -196,4 +196,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Encoder_h__
+#endif // __nFRC_2015_1_0_7_Encoder_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Global_h__
-#define __nFRC_2015_1_0_5_Global_h__
+#ifndef __nFRC_2015_1_0_7_Global_h__
+#define __nFRC_2015_1_0_7_Global_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tGlobal
@@ -101,4 +101,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Global_h__
+#endif // __nFRC_2015_1_0_7_Global_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Interrupt_h__
-#define __nFRC_2015_1_0_5_Interrupt_h__
+#ifndef __nFRC_2015_1_0_7_Interrupt_h__
+#define __nFRC_2015_1_0_7_Interrupt_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tInterrupt
@@ -90,4 +90,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Interrupt_h__
+#endif // __nFRC_2015_1_0_7_Interrupt_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_PWM_h__
-#define __nFRC_2015_1_0_5_PWM_h__
+#ifndef __nFRC_2015_1_0_7_PWM_h__
+#define __nFRC_2015_1_0_7_PWM_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tPWM
@@ -108,4 +108,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_PWM_h__
+#endif // __nFRC_2015_1_0_7_PWM_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h

@@ -0,0 +1,217 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2015_1_0_7_Power_h__
+#define __nFRC_2015_1_0_7_Power_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2015_1_0_7
+{
+
+class tPower
+{
+public:
+   tPower(){}
+   virtual ~tPower(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tPower* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned User3V3 : 8;
+         unsigned User5V : 8;
+         unsigned User6V : 8;
+#else
+         unsigned User6V : 8;
+         unsigned User5V : 8;
+         unsigned User3V3 : 8;
+#endif
+      };
+      struct{
+         unsigned value : 24;
+      };
+   } tStatus;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned OverCurrentFaultCount3V3 : 10;
+         unsigned OverCurrentFaultCount5V : 10;
+         unsigned OverCurrentFaultCount6V : 10;
+#else
+         unsigned OverCurrentFaultCount6V : 10;
+         unsigned OverCurrentFaultCount5V : 10;
+         unsigned OverCurrentFaultCount3V3 : 10;
+#endif
+      };
+      struct{
+         unsigned value : 30;
+      };
+   } tOverCurrentFaultCounts;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned User3V3 : 1;
+         unsigned User5V : 1;
+         unsigned User6V : 1;
+#else
+         unsigned User6V : 1;
+         unsigned User5V : 1;
+         unsigned User3V3 : 1;
+#endif
+      };
+      struct{
+         unsigned value : 3;
+      };
+   } tDisable;
+
+
+
+   typedef enum
+   {
+   } tUserVoltage3V3_IfaceConstants;
+
+   virtual unsigned short readUserVoltage3V3(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tStatus_IfaceConstants;
+
+   virtual tStatus readStatus(tRioStatusCode *status) = 0;
+   virtual unsigned char readStatus_User3V3(tRioStatusCode *status) = 0;
+   virtual unsigned char readStatus_User5V(tRioStatusCode *status) = 0;
+   virtual unsigned char readStatus_User6V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserVoltage6V_IfaceConstants;
+
+   virtual unsigned short readUserVoltage6V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tOnChipTemperature_IfaceConstants;
+
+   virtual unsigned short readOnChipTemperature(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserVoltage5V_IfaceConstants;
+
+   virtual unsigned short readUserVoltage5V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tResetFaultCounts_IfaceConstants;
+
+   virtual void strobeResetFaultCounts(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tOverCurrentFaultCounts_IfaceConstants;
+
+   virtual tOverCurrentFaultCounts readOverCurrentFaultCounts(tRioStatusCode *status) = 0;
+   virtual unsigned short readOverCurrentFaultCounts_OverCurrentFaultCount3V3(tRioStatusCode *status) = 0;
+   virtual unsigned short readOverCurrentFaultCounts_OverCurrentFaultCount5V(tRioStatusCode *status) = 0;
+   virtual unsigned short readOverCurrentFaultCounts_OverCurrentFaultCount6V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tIntegratedIO_IfaceConstants;
+
+   virtual unsigned short readIntegratedIO(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tMXP_DIOVoltage_IfaceConstants;
+
+   virtual unsigned short readMXP_DIOVoltage(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserCurrent3V3_IfaceConstants;
+
+   virtual unsigned short readUserCurrent3V3(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tVinVoltage_IfaceConstants;
+
+   virtual unsigned short readVinVoltage(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserCurrent6V_IfaceConstants;
+
+   virtual unsigned short readUserCurrent6V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUserCurrent5V_IfaceConstants;
+
+   virtual unsigned short readUserCurrent5V(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tAOVoltage_IfaceConstants;
+
+   virtual unsigned short readAOVoltage(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tVinCurrent_IfaceConstants;
+
+   virtual unsigned short readVinCurrent(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDisable_IfaceConstants;
+
+   virtual void writeDisable(tDisable value, tRioStatusCode *status) = 0;
+   virtual void writeDisable_User3V3(bool value, tRioStatusCode *status) = 0;
+   virtual void writeDisable_User5V(bool value, tRioStatusCode *status) = 0;
+   virtual void writeDisable_User6V(bool value, tRioStatusCode *status) = 0;
+   virtual tDisable readDisable(tRioStatusCode *status) = 0;
+   virtual bool readDisable_User3V3(tRioStatusCode *status) = 0;
+   virtual bool readDisable_User5V(tRioStatusCode *status) = 0;
+   virtual bool readDisable_User6V(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tPower(const tPower&);
+   void operator=(const tPower&);
+};
+
+}
+}
+
+#endif // __nFRC_2015_1_0_7_Power_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_Relay_h__
-#define __nFRC_2015_1_0_5_Relay_h__
+#ifndef __nFRC_2015_1_0_7_Relay_h__
+#define __nFRC_2015_1_0_7_Relay_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tRelay
@@ -65,4 +65,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_Relay_h__
+#endif // __nFRC_2015_1_0_7_Relay_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_SPI_h__
-#define __nFRC_2015_1_0_5_SPI_h__
+#ifndef __nFRC_2015_1_0_7_SPI_h__
+#define __nFRC_2015_1_0_7_SPI_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tSPI
@@ -65,4 +65,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_SPI_h__
+#endif // __nFRC_2015_1_0_7_SPI_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_5_SysWatchdog_h__
-#define __nFRC_2015_1_0_5_SysWatchdog_h__
+#ifndef __nFRC_2015_1_0_7_SysWatchdog_h__
+#define __nFRC_2015_1_0_7_SysWatchdog_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_5
+namespace nFRC_2015_1_0_7
 {
 
 class tSysWatchdog
@@ -98,4 +98,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_5_SysWatchdog_h__
+#endif // __nFRC_2015_1_0_7_SysWatchdog_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAI.h

@@ -0,0 +1,149 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_AI_h__
+#define __nFRC_2012_1_6_4_AI_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tAI
+{
+public:
+   tAI(){}
+   virtual ~tAI(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAI* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 2,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Channel : 3;
+         unsigned Module : 1;
+         unsigned Averaged : 1;
+#else
+         unsigned Averaged : 1;
+         unsigned Module : 1;
+         unsigned Channel : 3;
+#endif
+      };
+      struct{
+         unsigned value : 5;
+      };
+   } tReadSelect;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned ScanSize : 3;
+         unsigned ConvertRate : 26;
+#else
+         unsigned ConvertRate : 26;
+         unsigned ScanSize : 3;
+#endif
+      };
+      struct{
+         unsigned value : 29;
+      };
+   } tConfig;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ScanSize(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ConvertRate(unsigned int value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_ScanSize(tRioStatusCode *status) = 0;
+   virtual unsigned int readConfig_ConvertRate(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLoopTiming_IfaceConstants;
+
+   virtual unsigned int readLoopTiming(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumOversampleBitsElements = 8,
+   } tOversampleBits_IfaceConstants;
+
+   virtual void writeOversampleBits(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readOversampleBits(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumAverageBitsElements = 8,
+   } tAverageBits_IfaceConstants;
+
+   virtual void writeAverageBits(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readAverageBits(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumScanListElements = 8,
+   } tScanList_IfaceConstants;
+
+   virtual void writeScanList(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readScanList(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+
+   typedef enum
+   {
+   } tOutput_IfaceConstants;
+
+   virtual signed int readOutput(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLatchOutput_IfaceConstants;
+
+   virtual void strobeLatchOutput(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReadSelect_IfaceConstants;
+
+   virtual void writeReadSelect(tReadSelect value, tRioStatusCode *status) = 0;
+   virtual void writeReadSelect_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeReadSelect_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeReadSelect_Averaged(bool value, tRioStatusCode *status) = 0;
+   virtual tReadSelect readReadSelect(tRioStatusCode *status) = 0;
+   virtual unsigned char readReadSelect_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readReadSelect_Module(tRioStatusCode *status) = 0;
+   virtual bool readReadSelect_Averaged(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tAI(const tAI&);
+   void operator=(const tAI&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_AI_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAccumulator.h

@@ -0,0 +1,87 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_Accumulator_h__
+#define __nFRC_2012_1_6_4_Accumulator_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tAccumulator
+{
+public:
+   tAccumulator(){}
+   virtual ~tAccumulator(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAccumulator* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 2,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+         signed long long Value;
+         unsigned Count : 32;
+      };
+      struct{
+         unsigned value : 32;
+         unsigned value2 : 32;
+         unsigned value3 : 32;
+      };
+   } tOutput;
+
+
+   typedef enum
+   {
+   } tOutput_IfaceConstants;
+
+   virtual tOutput readOutput(tRioStatusCode *status) = 0;
+   virtual signed long long readOutput_Value(tRioStatusCode *status) = 0;
+   virtual unsigned int readOutput_Count(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tCenter_IfaceConstants;
+
+   virtual void writeCenter(signed int value, tRioStatusCode *status) = 0;
+   virtual signed int readCenter(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDeadband_IfaceConstants;
+
+   virtual void writeDeadband(signed int value, tRioStatusCode *status) = 0;
+   virtual signed int readDeadband(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReset_IfaceConstants;
+
+   virtual void strobeReset(tRioStatusCode *status) = 0;
+
+
+
+
+
+private:
+   tAccumulator(const tAccumulator&);
+   void operator=(const tAccumulator&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_Accumulator_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAlarm.h

@@ -0,0 +1,57 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_Alarm_h__
+#define __nFRC_2012_1_6_4_Alarm_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tAlarm
+{
+public:
+   tAlarm(){}
+   virtual ~tAlarm(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAlarm* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tEnable_IfaceConstants;
+
+   virtual void writeEnable(bool value, tRioStatusCode *status) = 0;
+   virtual bool readEnable(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTriggerTime_IfaceConstants;
+
+   virtual void writeTriggerTime(unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readTriggerTime(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tAlarm(const tAlarm&);
+   void operator=(const tAlarm&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_Alarm_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tAnalogTrigger.h

@@ -0,0 +1,133 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_AnalogTrigger_h__
+#define __nFRC_2012_1_6_4_AnalogTrigger_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tAnalogTrigger
+{
+public:
+   tAnalogTrigger(){}
+   virtual ~tAnalogTrigger(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tAnalogTrigger* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 8,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned InHysteresis : 1;
+         unsigned OverLimit : 1;
+         unsigned Rising : 1;
+         unsigned Falling : 1;
+#else
+         unsigned Falling : 1;
+         unsigned Rising : 1;
+         unsigned OverLimit : 1;
+         unsigned InHysteresis : 1;
+#endif
+      };
+      struct{
+         unsigned value : 4;
+      };
+   } tOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Channel : 3;
+         unsigned Module : 1;
+         unsigned Averaged : 1;
+         unsigned Filter : 1;
+         unsigned FloatingRollover : 1;
+         signed RolloverLimit : 8;
+#else
+         signed RolloverLimit : 8;
+         unsigned FloatingRollover : 1;
+         unsigned Filter : 1;
+         unsigned Averaged : 1;
+         unsigned Module : 1;
+         unsigned Channel : 3;
+#endif
+      };
+      struct{
+         unsigned value : 15;
+      };
+   } tSourceSelect;
+
+
+   typedef enum
+   {
+   } tSourceSelect_IfaceConstants;
+
+   virtual void writeSourceSelect(tSourceSelect value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_Averaged(bool value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_Filter(bool value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_FloatingRollover(bool value, tRioStatusCode *status) = 0;
+   virtual void writeSourceSelect_RolloverLimit(signed short value, tRioStatusCode *status) = 0;
+   virtual tSourceSelect readSourceSelect(tRioStatusCode *status) = 0;
+   virtual unsigned char readSourceSelect_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readSourceSelect_Module(tRioStatusCode *status) = 0;
+   virtual bool readSourceSelect_Averaged(tRioStatusCode *status) = 0;
+   virtual bool readSourceSelect_Filter(tRioStatusCode *status) = 0;
+   virtual bool readSourceSelect_FloatingRollover(tRioStatusCode *status) = 0;
+   virtual signed short readSourceSelect_RolloverLimit(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tUpperLimit_IfaceConstants;
+
+   virtual void writeUpperLimit(signed int value, tRioStatusCode *status) = 0;
+   virtual signed int readUpperLimit(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLowerLimit_IfaceConstants;
+
+   virtual void writeLowerLimit(signed int value, tRioStatusCode *status) = 0;
+   virtual signed int readLowerLimit(tRioStatusCode *status) = 0;
+
+
+
+   typedef enum
+   {
+      kNumOutputElements = 8,
+   } tOutput_IfaceConstants;
+
+   virtual tOutput readOutput(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readOutput_InHysteresis(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readOutput_OverLimit(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readOutput_Rising(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readOutput_Falling(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tAnalogTrigger(const tAnalogTrigger&);
+   void operator=(const tAnalogTrigger&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_AnalogTrigger_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tCounter.h

@@ -0,0 +1,219 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_Counter_h__
+#define __nFRC_2012_1_6_4_Counter_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tCounter
+{
+public:
+   tCounter(){}
+   virtual ~tCounter(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tCounter* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 8,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Direction : 1;
+         signed Value : 31;
+#else
+         signed Value : 31;
+         unsigned Direction : 1;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned UpSource_Channel : 4;
+         unsigned UpSource_Module : 1;
+         unsigned UpSource_AnalogTrigger : 1;
+         unsigned DownSource_Channel : 4;
+         unsigned DownSource_Module : 1;
+         unsigned DownSource_AnalogTrigger : 1;
+         unsigned IndexSource_Channel : 4;
+         unsigned IndexSource_Module : 1;
+         unsigned IndexSource_AnalogTrigger : 1;
+         unsigned IndexActiveHigh : 1;
+         unsigned UpRisingEdge : 1;
+         unsigned UpFallingEdge : 1;
+         unsigned DownRisingEdge : 1;
+         unsigned DownFallingEdge : 1;
+         unsigned Mode : 2;
+         unsigned PulseLengthThreshold : 6;
+         unsigned Enable : 1;
+#else
+         unsigned Enable : 1;
+         unsigned PulseLengthThreshold : 6;
+         unsigned Mode : 2;
+         unsigned DownFallingEdge : 1;
+         unsigned DownRisingEdge : 1;
+         unsigned UpFallingEdge : 1;
+         unsigned UpRisingEdge : 1;
+         unsigned IndexActiveHigh : 1;
+         unsigned IndexSource_AnalogTrigger : 1;
+         unsigned IndexSource_Module : 1;
+         unsigned IndexSource_Channel : 4;
+         unsigned DownSource_AnalogTrigger : 1;
+         unsigned DownSource_Module : 1;
+         unsigned DownSource_Channel : 4;
+         unsigned UpSource_AnalogTrigger : 1;
+         unsigned UpSource_Module : 1;
+         unsigned UpSource_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Period : 23;
+         signed Count : 8;
+         unsigned Stalled : 1;
+#else
+         unsigned Stalled : 1;
+         signed Count : 8;
+         unsigned Period : 23;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tTimerOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned StallPeriod : 24;
+         unsigned AverageSize : 7;
+         unsigned UpdateWhenEmpty : 1;
+#else
+         unsigned UpdateWhenEmpty : 1;
+         unsigned AverageSize : 7;
+         unsigned StallPeriod : 24;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tTimerConfig;
+
+
+   typedef enum
+   {
+   } tOutput_IfaceConstants;
+
+   virtual tOutput readOutput(tRioStatusCode *status) = 0;
+   virtual bool readOutput_Direction(tRioStatusCode *status) = 0;
+   virtual signed int readOutput_Value(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpRisingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_UpFallingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownRisingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DownFallingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Mode(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_PulseLengthThreshold(unsigned short value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_UpSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_UpSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_UpSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_DownSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_DownSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_DownSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_IndexSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
+   virtual bool readConfig_UpRisingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_UpFallingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_DownRisingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_DownFallingEdge(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_Mode(tRioStatusCode *status) = 0;
+   virtual unsigned short readConfig_PulseLengthThreshold(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimerOutput_IfaceConstants;
+
+   virtual tTimerOutput readTimerOutput(tRioStatusCode *status) = 0;
+   virtual unsigned int readTimerOutput_Period(tRioStatusCode *status) = 0;
+   virtual signed char readTimerOutput_Count(tRioStatusCode *status) = 0;
+   virtual bool readTimerOutput_Stalled(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReset_IfaceConstants;
+
+   virtual void strobeReset(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimerConfig_IfaceConstants;
+
+   virtual void writeTimerConfig(tTimerConfig value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_StallPeriod(unsigned int value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_AverageSize(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_UpdateWhenEmpty(bool value, tRioStatusCode *status) = 0;
+   virtual tTimerConfig readTimerConfig(tRioStatusCode *status) = 0;
+   virtual unsigned int readTimerConfig_StallPeriod(tRioStatusCode *status) = 0;
+   virtual unsigned char readTimerConfig_AverageSize(tRioStatusCode *status) = 0;
+   virtual bool readTimerConfig_UpdateWhenEmpty(tRioStatusCode *status) = 0;
+
+
+
+
+
+private:
+   tCounter(const tCounter&);
+   void operator=(const tCounter&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_Counter_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tDIO.h

@@ -0,0 +1,330 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_DIO_h__
+#define __nFRC_2012_1_6_4_DIO_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tDIO
+{
+public:
+   tDIO(){}
+   virtual ~tDIO(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tDIO* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 2,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Period : 16;
+         unsigned MinHigh : 16;
+#else
+         unsigned MinHigh : 16;
+         unsigned Period : 16;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tPWMConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned RelayFwd : 8;
+         unsigned RelayRev : 8;
+         unsigned I2CHeader : 4;
+#else
+         unsigned I2CHeader : 4;
+         unsigned RelayRev : 8;
+         unsigned RelayFwd : 8;
+#endif
+      };
+      struct{
+         unsigned value : 20;
+      };
+   } tSlowValue;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Transaction : 1;
+         unsigned Done : 1;
+         unsigned Aborted : 1;
+         unsigned DataReceivedHigh : 24;
+#else
+         unsigned DataReceivedHigh : 24;
+         unsigned Aborted : 1;
+         unsigned Done : 1;
+         unsigned Transaction : 1;
+#endif
+      };
+      struct{
+         unsigned value : 27;
+      };
+   } tI2CStatus;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Address : 8;
+         unsigned BytesToRead : 3;
+         unsigned BytesToWrite : 3;
+         unsigned DataToSendHigh : 16;
+         unsigned BitwiseHandshake : 1;
+#else
+         unsigned BitwiseHandshake : 1;
+         unsigned DataToSendHigh : 16;
+         unsigned BytesToWrite : 3;
+         unsigned BytesToRead : 3;
+         unsigned Address : 8;
+#endif
+      };
+      struct{
+         unsigned value : 31;
+      };
+   } tI2CConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned PeriodPower : 4;
+         unsigned OutputSelect_0 : 4;
+         unsigned OutputSelect_1 : 4;
+         unsigned OutputSelect_2 : 4;
+         unsigned OutputSelect_3 : 4;
+#else
+         unsigned OutputSelect_3 : 4;
+         unsigned OutputSelect_2 : 4;
+         unsigned OutputSelect_1 : 4;
+         unsigned OutputSelect_0 : 4;
+         unsigned PeriodPower : 4;
+#endif
+      };
+      struct{
+         unsigned value : 20;
+      };
+   } tDO_PWMConfig;
+
+
+   typedef enum
+   {
+      kNumFilterSelectElements = 16,
+   } tFilterSelect_IfaceConstants;
+
+   virtual void writeFilterSelect(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readFilterSelect(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tI2CDataToSend_IfaceConstants;
+
+   virtual void writeI2CDataToSend(unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readI2CDataToSend(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDO_IfaceConstants;
+
+   virtual void writeDO(unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readDO(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumFilterPeriodElements = 3,
+   } tFilterPeriod_IfaceConstants;
+
+   virtual void writeFilterPeriod(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readFilterPeriod(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tOutputEnable_IfaceConstants;
+
+   virtual void writeOutputEnable(unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readOutputEnable(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tPulse_IfaceConstants;
+
+   virtual void writePulse(unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readPulse(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tSlowValue_IfaceConstants;
+
+   virtual void writeSlowValue(tSlowValue value, tRioStatusCode *status) = 0;
+   virtual void writeSlowValue_RelayFwd(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeSlowValue_RelayRev(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeSlowValue_I2CHeader(unsigned char value, tRioStatusCode *status) = 0;
+   virtual tSlowValue readSlowValue(tRioStatusCode *status) = 0;
+   virtual unsigned char readSlowValue_RelayFwd(tRioStatusCode *status) = 0;
+   virtual unsigned char readSlowValue_RelayRev(tRioStatusCode *status) = 0;
+   virtual unsigned char readSlowValue_I2CHeader(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tI2CStatus_IfaceConstants;
+
+   virtual tI2CStatus readI2CStatus(tRioStatusCode *status) = 0;
+   virtual unsigned char readI2CStatus_Transaction(tRioStatusCode *status) = 0;
+   virtual bool readI2CStatus_Done(tRioStatusCode *status) = 0;
+   virtual bool readI2CStatus_Aborted(tRioStatusCode *status) = 0;
+   virtual unsigned int readI2CStatus_DataReceivedHigh(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tI2CDataReceived_IfaceConstants;
+
+   virtual unsigned int readI2CDataReceived(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDI_IfaceConstants;
+
+   virtual unsigned short readDI(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tPulseLength_IfaceConstants;
+
+   virtual void writePulseLength(unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readPulseLength(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumPWMPeriodScaleElements = 10,
+   } tPWMPeriodScale_IfaceConstants;
+
+   virtual void writePWMPeriodScale(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readPWMPeriodScale(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumDO_PWMDutyCycleElements = 4,
+   } tDO_PWMDutyCycle_IfaceConstants;
+
+   virtual void writeDO_PWMDutyCycle(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_PWMDutyCycle(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tBFL_IfaceConstants;
+
+   virtual void writeBFL(bool value, tRioStatusCode *status) = 0;
+   virtual bool readBFL(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tI2CConfig_IfaceConstants;
+
+   virtual void writeI2CConfig(tI2CConfig value, tRioStatusCode *status) = 0;
+   virtual void writeI2CConfig_Address(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeI2CConfig_BytesToRead(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeI2CConfig_BytesToWrite(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeI2CConfig_DataToSendHigh(unsigned short value, tRioStatusCode *status) = 0;
+   virtual void writeI2CConfig_BitwiseHandshake(bool value, tRioStatusCode *status) = 0;
+   virtual tI2CConfig readI2CConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readI2CConfig_Address(tRioStatusCode *status) = 0;
+   virtual unsigned char readI2CConfig_BytesToRead(tRioStatusCode *status) = 0;
+   virtual unsigned char readI2CConfig_BytesToWrite(tRioStatusCode *status) = 0;
+   virtual unsigned short readI2CConfig_DataToSendHigh(tRioStatusCode *status) = 0;
+   virtual bool readI2CConfig_BitwiseHandshake(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDO_PWMConfig_IfaceConstants;
+
+   virtual void writeDO_PWMConfig(tDO_PWMConfig value, tRioStatusCode *status) = 0;
+   virtual void writeDO_PWMConfig_PeriodPower(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeDO_PWMConfig_OutputSelect_0(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeDO_PWMConfig_OutputSelect_1(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeDO_PWMConfig_OutputSelect_2(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeDO_PWMConfig_OutputSelect_3(unsigned char value, tRioStatusCode *status) = 0;
+   virtual tDO_PWMConfig readDO_PWMConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_PWMConfig_PeriodPower(tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_PWMConfig_OutputSelect_0(tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_PWMConfig_OutputSelect_1(tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_PWMConfig_OutputSelect_2(tRioStatusCode *status) = 0;
+   virtual unsigned char readDO_PWMConfig_OutputSelect_3(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tI2CStart_IfaceConstants;
+
+   virtual void strobeI2CStart(tRioStatusCode *status) = 0;
+
+
+
+   typedef enum
+   {
+   } tLoopTiming_IfaceConstants;
+
+   virtual unsigned short readLoopTiming(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tPWMConfig_IfaceConstants;
+
+   virtual void writePWMConfig(tPWMConfig value, tRioStatusCode *status) = 0;
+   virtual void writePWMConfig_Period(unsigned short value, tRioStatusCode *status) = 0;
+   virtual void writePWMConfig_MinHigh(unsigned short value, tRioStatusCode *status) = 0;
+   virtual tPWMConfig readPWMConfig(tRioStatusCode *status) = 0;
+   virtual unsigned short readPWMConfig_Period(tRioStatusCode *status) = 0;
+   virtual unsigned short readPWMConfig_MinHigh(tRioStatusCode *status) = 0;
+
+
+
+   typedef enum
+   {
+      kNumPWMValueRegisters = 10,
+   } tPWMValue_IfaceConstants;
+
+   virtual void writePWMValue(unsigned char reg_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual unsigned char readPWMValue(unsigned char reg_index, tRioStatusCode *status) = 0;
+
+
+
+private:
+   tDIO(const tDIO&);
+   void operator=(const tDIO&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_DIO_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tDMA.h

@@ -0,0 +1,188 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_DMA_h__
+#define __nFRC_2012_1_6_4_DMA_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tDMA
+{
+public:
+   tDMA(){}
+   virtual ~tDMA(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tDMA* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Pause : 1;
+         unsigned Enable_AI0_Low : 1;
+         unsigned Enable_AI0_High : 1;
+         unsigned Enable_AIAveraged0_Low : 1;
+         unsigned Enable_AIAveraged0_High : 1;
+         unsigned Enable_AI1_Low : 1;
+         unsigned Enable_AI1_High : 1;
+         unsigned Enable_AIAveraged1_Low : 1;
+         unsigned Enable_AIAveraged1_High : 1;
+         unsigned Enable_Accumulator0 : 1;
+         unsigned Enable_Accumulator1 : 1;
+         unsigned Enable_DI : 1;
+         unsigned Enable_AnalogTriggers : 1;
+         unsigned Enable_Counters_Low : 1;
+         unsigned Enable_Counters_High : 1;
+         unsigned Enable_CounterTimers_Low : 1;
+         unsigned Enable_CounterTimers_High : 1;
+         unsigned Enable_Encoders : 1;
+         unsigned Enable_EncoderTimers : 1;
+         unsigned ExternalClock : 1;
+#else
+         unsigned ExternalClock : 1;
+         unsigned Enable_EncoderTimers : 1;
+         unsigned Enable_Encoders : 1;
+         unsigned Enable_CounterTimers_High : 1;
+         unsigned Enable_CounterTimers_Low : 1;
+         unsigned Enable_Counters_High : 1;
+         unsigned Enable_Counters_Low : 1;
+         unsigned Enable_AnalogTriggers : 1;
+         unsigned Enable_DI : 1;
+         unsigned Enable_Accumulator1 : 1;
+         unsigned Enable_Accumulator0 : 1;
+         unsigned Enable_AIAveraged1_High : 1;
+         unsigned Enable_AIAveraged1_Low : 1;
+         unsigned Enable_AI1_High : 1;
+         unsigned Enable_AI1_Low : 1;
+         unsigned Enable_AIAveraged0_High : 1;
+         unsigned Enable_AIAveraged0_Low : 1;
+         unsigned Enable_AI0_High : 1;
+         unsigned Enable_AI0_Low : 1;
+         unsigned Pause : 1;
+#endif
+      };
+      struct{
+         unsigned value : 20;
+      };
+   } tConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned ExternalClockSource_Channel : 4;
+         unsigned ExternalClockSource_Module : 1;
+         unsigned ExternalClockSource_AnalogTrigger : 1;
+         unsigned RisingEdge : 1;
+         unsigned FallingEdge : 1;
+#else
+         unsigned FallingEdge : 1;
+         unsigned RisingEdge : 1;
+         unsigned ExternalClockSource_AnalogTrigger : 1;
+         unsigned ExternalClockSource_Module : 1;
+         unsigned ExternalClockSource_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 8;
+      };
+   } tExternalTriggers;
+
+
+
+   typedef enum
+   {
+   } tRate_IfaceConstants;
+
+   virtual void writeRate(unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readRate(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Pause(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AI0_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AI0_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AIAveraged0_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AIAveraged0_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AI1_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AI1_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AIAveraged1_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AIAveraged1_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Accumulator0(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Accumulator1(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_DI(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_AnalogTriggers(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Counters_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Counters_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_CounterTimers_Low(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_CounterTimers_High(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_Encoders(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable_EncoderTimers(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ExternalClock(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Pause(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AI0_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AI0_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AIAveraged0_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AIAveraged0_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AI1_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AI1_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AIAveraged1_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AIAveraged1_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Accumulator0(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Accumulator1(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_DI(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_AnalogTriggers(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Counters_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Counters_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_CounterTimers_Low(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_CounterTimers_High(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_Encoders(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable_EncoderTimers(tRioStatusCode *status) = 0;
+   virtual bool readConfig_ExternalClock(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+      kNumExternalTriggersElements = 4,
+   } tExternalTriggers_IfaceConstants;
+
+   virtual void writeExternalTriggers(unsigned char bitfield_index, tExternalTriggers value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_ExternalClockSource_Channel(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_ExternalClockSource_Module(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_ExternalClockSource_AnalogTrigger(unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_RisingEdge(unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
+   virtual void writeExternalTriggers_FallingEdge(unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
+   virtual tExternalTriggers readExternalTriggers(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual unsigned char readExternalTriggers_ExternalClockSource_Channel(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual unsigned char readExternalTriggers_ExternalClockSource_Module(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readExternalTriggers_ExternalClockSource_AnalogTrigger(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readExternalTriggers_RisingEdge(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+   virtual bool readExternalTriggers_FallingEdge(unsigned char bitfield_index, tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tDMA(const tDMA&);
+   void operator=(const tDMA&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_DMA_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tEncoder.h

@@ -0,0 +1,199 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_Encoder_h__
+#define __nFRC_2012_1_6_4_Encoder_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tEncoder
+{
+public:
+   tEncoder(){}
+   virtual ~tEncoder(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tEncoder* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 4,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Direction : 1;
+         signed Value : 31;
+#else
+         signed Value : 31;
+         unsigned Direction : 1;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned ASource_Channel : 4;
+         unsigned ASource_Module : 1;
+         unsigned ASource_AnalogTrigger : 1;
+         unsigned BSource_Channel : 4;
+         unsigned BSource_Module : 1;
+         unsigned BSource_AnalogTrigger : 1;
+         unsigned IndexSource_Channel : 4;
+         unsigned IndexSource_Module : 1;
+         unsigned IndexSource_AnalogTrigger : 1;
+         unsigned IndexActiveHigh : 1;
+         unsigned Reverse : 1;
+         unsigned Enable : 1;
+#else
+         unsigned Enable : 1;
+         unsigned Reverse : 1;
+         unsigned IndexActiveHigh : 1;
+         unsigned IndexSource_AnalogTrigger : 1;
+         unsigned IndexSource_Module : 1;
+         unsigned IndexSource_Channel : 4;
+         unsigned BSource_AnalogTrigger : 1;
+         unsigned BSource_Module : 1;
+         unsigned BSource_Channel : 4;
+         unsigned ASource_AnalogTrigger : 1;
+         unsigned ASource_Module : 1;
+         unsigned ASource_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 21;
+      };
+   } tConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Period : 23;
+         signed Count : 8;
+         unsigned Stalled : 1;
+#else
+         unsigned Stalled : 1;
+         signed Count : 8;
+         unsigned Period : 23;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tTimerOutput;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned StallPeriod : 24;
+         unsigned AverageSize : 7;
+         unsigned UpdateWhenEmpty : 1;
+#else
+         unsigned UpdateWhenEmpty : 1;
+         unsigned AverageSize : 7;
+         unsigned StallPeriod : 24;
+#endif
+      };
+      struct{
+         unsigned value : 32;
+      };
+   } tTimerConfig;
+
+
+   typedef enum
+   {
+   } tOutput_IfaceConstants;
+
+   virtual tOutput readOutput(tRioStatusCode *status) = 0;
+   virtual bool readOutput_Direction(tRioStatusCode *status) = 0;
+   virtual signed int readOutput_Value(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ASource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ASource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ASource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_BSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_BSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_BSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Reverse(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Enable(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_ASource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_ASource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_ASource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_BSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_BSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_BSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_IndexSource_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Reverse(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Enable(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimerOutput_IfaceConstants;
+
+   virtual tTimerOutput readTimerOutput(tRioStatusCode *status) = 0;
+   virtual unsigned int readTimerOutput_Period(tRioStatusCode *status) = 0;
+   virtual signed char readTimerOutput_Count(tRioStatusCode *status) = 0;
+   virtual bool readTimerOutput_Stalled(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReset_IfaceConstants;
+
+   virtual void strobeReset(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimerConfig_IfaceConstants;
+
+   virtual void writeTimerConfig(tTimerConfig value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_StallPeriod(unsigned int value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_AverageSize(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeTimerConfig_UpdateWhenEmpty(bool value, tRioStatusCode *status) = 0;
+   virtual tTimerConfig readTimerConfig(tRioStatusCode *status) = 0;
+   virtual unsigned int readTimerConfig_StallPeriod(tRioStatusCode *status) = 0;
+   virtual unsigned char readTimerConfig_AverageSize(tRioStatusCode *status) = 0;
+   virtual bool readTimerConfig_UpdateWhenEmpty(tRioStatusCode *status) = 0;
+
+
+
+
+
+private:
+   tEncoder(const tEncoder&);
+   void operator=(const tEncoder&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_Encoder_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tGlobal.h

@@ -0,0 +1,70 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_Global_h__
+#define __nFRC_2012_1_6_4_Global_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tGlobal
+{
+public:
+   tGlobal(){}
+   virtual ~tGlobal(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tGlobal* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tVersion_IfaceConstants;
+
+   virtual unsigned short readVersion(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLocalTime_IfaceConstants;
+
+   virtual unsigned int readLocalTime(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tFPGA_LED_IfaceConstants;
+
+   virtual void writeFPGA_LED(bool value, tRioStatusCode *status) = 0;
+   virtual bool readFPGA_LED(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tRevision_IfaceConstants;
+
+   virtual unsigned int readRevision(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tGlobal(const tGlobal&);
+   void operator=(const tGlobal&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_Global_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tInterrupt.h

@@ -0,0 +1,93 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_Interrupt_h__
+#define __nFRC_2012_1_6_4_Interrupt_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tInterrupt
+{
+public:
+   tInterrupt(){}
+   virtual ~tInterrupt(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tInterrupt* create(unsigned char sys_index, tRioStatusCode *status);
+   virtual unsigned char getSystemIndex() = 0;
+
+
+   typedef enum
+   {
+      kNumSystems = 8,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned Source_Channel : 4;
+         unsigned Source_Module : 1;
+         unsigned Source_AnalogTrigger : 1;
+         unsigned RisingEdge : 1;
+         unsigned FallingEdge : 1;
+         unsigned WaitForAck : 1;
+#else
+         unsigned WaitForAck : 1;
+         unsigned FallingEdge : 1;
+         unsigned RisingEdge : 1;
+         unsigned Source_AnalogTrigger : 1;
+         unsigned Source_Module : 1;
+         unsigned Source_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 9;
+      };
+   } tConfig;
+
+
+   typedef enum
+   {
+   } tTimeStamp_IfaceConstants;
+
+   virtual unsigned int readTimeStamp(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Source_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Source_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_Source_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_RisingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_FallingEdge(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_WaitForAck(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_Source_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_Source_Module(tRioStatusCode *status) = 0;
+   virtual bool readConfig_Source_AnalogTrigger(tRioStatusCode *status) = 0;
+   virtual bool readConfig_RisingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_FallingEdge(tRioStatusCode *status) = 0;
+   virtual bool readConfig_WaitForAck(tRioStatusCode *status) = 0;
+
+
+
+
+
+private:
+   tInterrupt(const tInterrupt&);
+   void operator=(const tInterrupt&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_Interrupt_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tSPI.h

@@ -0,0 +1,228 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_SPI_h__
+#define __nFRC_2012_1_6_4_SPI_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tSPI
+{
+public:
+   tSPI(){}
+   virtual ~tSPI(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tSPI* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned ReceivedDataOverflow : 1;
+         unsigned Idle : 1;
+#else
+         unsigned Idle : 1;
+         unsigned ReceivedDataOverflow : 1;
+#endif
+      };
+      struct{
+         unsigned value : 2;
+      };
+   } tStatus;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned BusBitWidth : 8;
+         unsigned ClockHalfPeriodDelay : 8;
+         unsigned MSBfirst : 1;
+         unsigned DataOnFalling : 1;
+         unsigned LatchFirst : 1;
+         unsigned LatchLast : 1;
+         unsigned FramePolarity : 1;
+         unsigned WriteOnly : 1;
+         unsigned ClockPolarity : 1;
+#else
+         unsigned ClockPolarity : 1;
+         unsigned WriteOnly : 1;
+         unsigned FramePolarity : 1;
+         unsigned LatchLast : 1;
+         unsigned LatchFirst : 1;
+         unsigned DataOnFalling : 1;
+         unsigned MSBfirst : 1;
+         unsigned ClockHalfPeriodDelay : 8;
+         unsigned BusBitWidth : 8;
+#endif
+      };
+      struct{
+         unsigned value : 23;
+      };
+   } tConfig;
+   typedef
+   union{
+      struct{
+#ifdef __vxworks
+         unsigned SCLK_Channel : 4;
+         unsigned SCLK_Module : 1;
+         unsigned MOSI_Channel : 4;
+         unsigned MOSI_Module : 1;
+         unsigned MISO_Channel : 4;
+         unsigned MISO_Module : 1;
+         unsigned SS_Channel : 4;
+         unsigned SS_Module : 1;
+#else
+         unsigned SS_Module : 1;
+         unsigned SS_Channel : 4;
+         unsigned MISO_Module : 1;
+         unsigned MISO_Channel : 4;
+         unsigned MOSI_Module : 1;
+         unsigned MOSI_Channel : 4;
+         unsigned SCLK_Module : 1;
+         unsigned SCLK_Channel : 4;
+#endif
+      };
+      struct{
+         unsigned value : 20;
+      };
+   } tChannels;
+
+
+
+   typedef enum
+   {
+   } tStatus_IfaceConstants;
+
+   virtual tStatus readStatus(tRioStatusCode *status) = 0;
+   virtual bool readStatus_ReceivedDataOverflow(tRioStatusCode *status) = 0;
+   virtual bool readStatus_Idle(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReceivedData_IfaceConstants;
+
+   virtual unsigned int readReceivedData(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tDataToLoad_IfaceConstants;
+
+   virtual void writeDataToLoad(unsigned int value, tRioStatusCode *status) = 0;
+   virtual unsigned int readDataToLoad(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tConfig_IfaceConstants;
+
+   virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_BusBitWidth(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ClockHalfPeriodDelay(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_MSBfirst(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_DataOnFalling(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_LatchFirst(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_LatchLast(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_FramePolarity(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_WriteOnly(bool value, tRioStatusCode *status) = 0;
+   virtual void writeConfig_ClockPolarity(bool value, tRioStatusCode *status) = 0;
+   virtual tConfig readConfig(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_BusBitWidth(tRioStatusCode *status) = 0;
+   virtual unsigned char readConfig_ClockHalfPeriodDelay(tRioStatusCode *status) = 0;
+   virtual bool readConfig_MSBfirst(tRioStatusCode *status) = 0;
+   virtual bool readConfig_DataOnFalling(tRioStatusCode *status) = 0;
+   virtual bool readConfig_LatchFirst(tRioStatusCode *status) = 0;
+   virtual bool readConfig_LatchLast(tRioStatusCode *status) = 0;
+   virtual bool readConfig_FramePolarity(tRioStatusCode *status) = 0;
+   virtual bool readConfig_WriteOnly(tRioStatusCode *status) = 0;
+   virtual bool readConfig_ClockPolarity(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tClearReceivedData_IfaceConstants;
+
+   virtual void strobeClearReceivedData(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReceivedElements_IfaceConstants;
+
+   virtual unsigned short readReceivedElements(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tLoad_IfaceConstants;
+
+   virtual void strobeLoad(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReset_IfaceConstants;
+
+   virtual void strobeReset(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tChannels_IfaceConstants;
+
+   virtual void writeChannels(tChannels value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_SCLK_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_SCLK_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_MOSI_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_MOSI_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_MISO_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_MISO_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_SS_Channel(unsigned char value, tRioStatusCode *status) = 0;
+   virtual void writeChannels_SS_Module(unsigned char value, tRioStatusCode *status) = 0;
+   virtual tChannels readChannels(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_SCLK_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_SCLK_Module(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_MOSI_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_MOSI_Module(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_MISO_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_MISO_Module(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_SS_Channel(tRioStatusCode *status) = 0;
+   virtual unsigned char readChannels_SS_Module(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tAvailableToLoad_IfaceConstants;
+
+   virtual unsigned short readAvailableToLoad(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tReadReceivedData_IfaceConstants;
+
+   virtual void strobeReadReceivedData(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tSPI(const tSPI&);
+   void operator=(const tSPI&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_SPI_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRuntimeFPGANamespace/tSysWatchdog.h

@@ -0,0 +1,71 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_2012_1_6_4_SysWatchdog_h__
+#define __nFRC_2012_1_6_4_SysWatchdog_h__
+
+#include "tSystemInterface.h"
+
+namespace nFPGA
+{
+namespace nFRC_2012_1_6_4
+{
+
+class tSysWatchdog
+{
+public:
+   tSysWatchdog(){}
+   virtual ~tSysWatchdog(){}
+
+   virtual tSystemInterface* getSystemInterface() = 0;
+   static tSysWatchdog* create(tRioStatusCode *status);
+
+   typedef enum
+   {
+      kNumSystems = 1,
+   } tIfaceConstants;
+
+
+
+
+   typedef enum
+   {
+   } tCommand_IfaceConstants;
+
+   virtual void writeCommand(unsigned short value, tRioStatusCode *status) = 0;
+   virtual unsigned short readCommand(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tChallenge_IfaceConstants;
+
+   virtual unsigned char readChallenge(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tActive_IfaceConstants;
+
+   virtual void writeActive(bool value, tRioStatusCode *status) = 0;
+   virtual bool readActive(tRioStatusCode *status) = 0;
+
+
+   typedef enum
+   {
+   } tTimer_IfaceConstants;
+
+   virtual unsigned int readTimer(tRioStatusCode *status) = 0;
+
+
+
+
+private:
+   tSysWatchdog(const tSysWatchdog&);
+   void operator=(const tSysWatchdog&);
+};
+
+}
+}
+
+#endif // __nFRC_2012_1_6_4_SysWatchdog_h__

hal/lib/Athena/FRC_FPGA_ChipObject/tSystemInterface.h

@@ -12,9 +12,9 @@ public:
    tSystemInterface(){}
    virtual ~tSystemInterface(){}
 
-   virtual uint16_t getExpectedFPGAVersion()=0;
-   virtual uint32_t getExpectedFPGARevision()=0;
-   virtual uint32_t * getExpectedFPGASignature()=0;
+   virtual const uint16_t getExpectedFPGAVersion()=0;
+   virtual const uint32_t getExpectedFPGARevision()=0;
+   virtual const uint32_t * const getExpectedFPGASignature()=0;
    virtual void getHardwareFpgaSignature(uint32_t *guid_ptr, tRioStatusCode *status)=0;
    virtual uint32_t getLVHandle(tRioStatusCode *status)=0;
    virtual uint32_t getHandle()=0;
@@ -23,4 +23,3 @@ public:
 }
 
 #endif // __tSystemInterface_h__
-

hal/lib/Athena/HAL.cpp

@@ -6,7 +6,6 @@
 #include "NetworkCommunication/FRCComm.h"
 #include "NetworkCommunication/UsageReporting.h"
 #include "NetworkCommunication/LoadOut.h"
-#include "ChipObject/nInterfaceGlobals.h"
 #include <fstream>
 #include <iostream>
 #include <unistd.h>
@@ -16,6 +15,8 @@ const uint32_t dio_kNumSystems = tDIO::kNumSystems;
 const uint32_t interrupt_kNumSystems = tInterrupt::kNumSystems;
 const uint32_t kSystemClockTicksPerMicrosecond = 40;
 
+static tGlobal *global;
+
 void* getPort(uint8_t pin)
 {
 	Port* port = new Port();
@@ -74,10 +75,7 @@ const char* getHALErrorMessage(int32_t code)
  */
 uint16_t getFPGAVersion(int32_t *status)
 {
-	tGlobal *global = tGlobal::create(status);
-	uint16_t version = global->readVersion(status);
-	delete global;
-	return version;
+	return global->readVersion(status);
 }
 
 /**
@@ -90,48 +88,26 @@ uint16_t getFPGAVersion(int32_t *status)
  */
 uint32_t getFPGARevision(int32_t *status)
 {
-	tGlobal *global = tGlobal::create(status);
-	uint32_t revision = global->readRevision(status);
-	delete global;
-	return revision;
+	return global->readRevision(status);
 }
 
 /**
  * Read the microsecond-resolution timer on the FPGA.
- * 
+ *
  * @return The current time in microseconds according to the FPGA (since FPGA reset).
  */
 uint32_t getFPGATime(int32_t *status)
 {
-	tGlobal *global = tGlobal::create(status);
-	uint32_t time = global->readLocalTime(status);
-	delete global;
-	return time;
+	return global->readLocalTime(status);
 }
 
 /**
- * Set the state of the FPGA status LED on the cRIO.
+ * Get the state of the "USER" button on the RoboRIO
+ * @return true if the button is currently pressed down
  */
-void setFPGALED(uint32_t state, int32_t *status)
+bool getFPGAButton(int32_t *status)
 {
-	// XXX: Not supported?
-	// tGlobal *global = tGlobal::create(status);
-	// global->writeFPGA_LED(state, status);
-	// delete global;
-}
-
-/**
- * Get the current state of the FPGA status LED on the cRIO.
- * @return The curent state of the FPGA LED.
- */
-int32_t getFPGALED(int32_t *status)
-{
-	// XXX: Not supported?
-	// tGlobal *global = tGlobal::create(status);
-	// bool ledValue = global->readFPGA_LED(status);
-	// delete global;
-	// return ledValue;
-	return 0; // XXX: Dummy value
+	return global->readUserButton(status);
 }
 
 int HALSetErrorData(const char *errors, int errorsLength, int wait_ms)
@@ -139,26 +115,24 @@ int HALSetErrorData(const char *errors, int errorsLength, int wait_ms)
 	return setErrorData(errors, errorsLength, wait_ms);
 }
 
-int HALSetUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength,
-		int wait_ms)
+int HALGetControlWord(HALControlWord *data)
 {
-	return setUserDsLcdData(userDsLcdData, userDsLcdDataLength, wait_ms);
+	return FRC_NetworkCommunication_getControlWord((ControlWord_t*) data);
 }
 
-int HALOverrideIOConfig(const char *ioConfig, int wait_ms)
+int HALGetAllianceStation(enum HALAllianceStationID *allianceStation)
 {
-	return overrideIOConfig(ioConfig, wait_ms);
+	return FRC_NetworkCommunication_getAllianceStation((AllianceStationID_t*) allianceStation);
 }
 
-int HALGetDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength,
-		int wait_ms)
+int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes, uint8_t maxAxes)
 {
-	return getDynamicControlData(type, dynamicData, maxLength, wait_ms);
+	return FRC_NetworkCommunication_getJoystickAxes(joystickNum, (JoystickAxes_t*) axes, maxAxes);
 }
 
-int HALGetCommonControlData(HALCommonControlData *data, int wait_ms)
+int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count)
 {
-	return getRecentCommonControlData((FRCCommonControlData*) data, wait_ms);
+	return FRC_NetworkCommunication_getJoystickButtons(joystickNum, buttons, count);
 }
 
 void HALSetNewDataSem(pthread_mutex_t * param)
@@ -166,14 +140,6 @@ void HALSetNewDataSem(pthread_mutex_t * param)
 	setNewDataSem(param);
 }
 
-int HALSetStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
-		const char *userDataHigh, int userDataHighLength,
-		const char *userDataLow, int userDataLowLength, int wait_ms)
-{
-	return setStatusData(battery, dsDigitalOut, updateNumber, userDataHigh,
-			userDataHighLength, userDataLow, userDataLowLength, wait_ms);
-}
-
 /**
  * Call this to start up HAL. This is required for robot programs.
  */
@@ -183,9 +149,13 @@ int HALInitialize(int mode)
 	nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
 			nLoadOut::kTargetClass_RoboRIO;
 
+	int32_t status;
+	global = tGlobal::create(&status);
+
 	// Kill any previous robot programs
 	std::fstream fs;
-	fs.open("/var/lock/frc.pid", std::fstream::in | std::fstream::out); // By making this both in/out, it won't give us an error if it doesnt exist
+	// By making this both in/out, it won't give us an error if it doesnt exist
+	fs.open("/var/lock/frc.pid", std::fstream::in | std::fstream::out);
 	if (fs.bad())
 		return 0;
 
@@ -259,8 +229,12 @@ void HALNetworkCommunicationObserveUserProgramTest(void)
 uint32_t HALReport(uint8_t resource, uint8_t instanceNumber, uint8_t context,
 		const char *feature)
 {
-	//return FRC_NetworkCommunication_nUsageReporting_report( resource, instanceNumber, context, feature);
-	return 0;
+	if(feature == NULL)
+	{
+		feature = "";
+	}
+
+	return FRC_NetworkCommunication_nUsageReporting_report(resource, instanceNumber, context, feature);
 }
 
 // TODO: HACKS
@@ -286,12 +260,3 @@ void imaqGetLastError()
 void niTimestamp64()
 {
 }
-
-#include "NetworkCommunication/LoadOut.h"
-namespace nLoadOut
-{
-bool getModulePresence(tModuleType moduleType, uint8_t moduleNumber)
-{
-	return true;
-}
-}

hal/lib/Athena/NetworkCommunication/CANInterfacePlugin.h

@@ -50,6 +50,23 @@ public:
 	 * @return This should return 0 if a message was populated, non-0 if no message was not populated.
 	 */
 	virtual int32_t receiveMessage(uint32_t &messageID, uint8_t *data, uint8_t &dataSize) = 0;
+
+	/**
+	 * This entry-point of the CANInterfacePlugin returns status of the CAN bus.
+	 * 
+	 * This function may be called from multiple contexts and must therefore be reentrant.
+	 * 
+	 * This function will return detailed hardware status if available for diagnostics of the CAN interface.
+	 * 
+	 * @param busOffCount The number of times that sendMessage failed with a busOff error indicating that messages
+	 *  are not successfully transmitted on the bus.
+	 * @param txFullCount The number of times that sendMessage failed with a txFifoFull error indicating that messages
+	 *  are not successfully received by any CAN device.
+	 * @param receiveErrorCount The count of receive errors as reported by the CAN driver.
+	 * @param transmitErrorCount The count of transmit errors as reported by the CAN driver.
+	 * @return This should return 0 if all status was retrieved successfully or an error code if not.
+	 */
+	virtual int32_t getStatus(uint32_t &busOffCount, uint32_t &txFullCount, uint32_t &receiveErrorCount, uint32_t &transmitErrorCount) {return 0;}
 };
 
 /**

hal/lib/Athena/NetworkCommunication/CANSessionMux.h

@@ -41,6 +41,7 @@ namespace nCANSessionMux
 	void openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
 	void closeStreamSession(uint32_t sessionHandle);
 	void readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
+	void getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
 }
 
 #ifdef __cplusplus
@@ -53,6 +54,7 @@ extern "C"
 	void FRC_NetworkCommunication_CANSessionMux_openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
 	void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(uint32_t sessionHandle);
 	void FRC_NetworkCommunication_CANSessionMux_readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
+	void FRC_NetworkCommunication_CANSessionMux_getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
 
 #ifdef __cplusplus
 }

hal/lib/Athena/NetworkCommunication/FRCComm.h

@@ -32,133 +32,52 @@
 #endif
 #endif
 
-// Commandeer some bytes at the end for advanced I/O feedback.
-#define IO_CONFIG_DATA_SIZE 32
-#define SYS_STATUS_DATA_SIZE 44
-#define USER_STATUS_DATA_SIZE (984 - IO_CONFIG_DATA_SIZE - SYS_STATUS_DATA_SIZE)
-#define USER_DS_LCD_DATA_SIZE 128
-
-struct FRCCommonControlData{
-	uint16_t packetIndex;
-	union {
-		uint8_t control;
-#ifndef __vxworks
-		struct {
-			uint8_t checkVersions :1;
-			uint8_t test :1;
-			uint8_t resync : 1;
-			uint8_t fmsAttached:1;
-			uint8_t autonomous : 1;
-			uint8_t enabled : 1;
-			uint8_t notEStop : 1;
-			uint8_t reset : 1;
-		};
-#else
-		struct {
-			uint8_t reset : 1;
-			uint8_t notEStop : 1;
-			uint8_t enabled : 1;
-			uint8_t autonomous : 1;
-			uint8_t fmsAttached:1;
-			uint8_t resync : 1;
-			uint8_t test :1;
-			uint8_t checkVersions :1;
-		};
-#endif
-	};
-	uint8_t dsDigitalIn;
-	uint16_t teamID;
-
-	char dsID_Alliance;
-	char dsID_Position;
-
-	union {
-		int8_t stick0Axes[6];
-		struct {
-			int8_t stick0Axis1;
-			int8_t stick0Axis2;
-			int8_t stick0Axis3;
-			int8_t stick0Axis4;
-			int8_t stick0Axis5;
-			int8_t stick0Axis6;
-		};
-	};
-	uint16_t stick0Buttons;		// Left-most 4 bits are unused
-
-	union {
-		int8_t stick1Axes[6];
-		struct {
-			int8_t stick1Axis1;
-			int8_t stick1Axis2;
-			int8_t stick1Axis3;
-			int8_t stick1Axis4;
-			int8_t stick1Axis5;
-			int8_t stick1Axis6;
-		};
-	};
-	uint16_t stick1Buttons;		// Left-most 4 bits are unused
-
-	union {
-		int8_t stick2Axes[6];
-		struct {
-			int8_t stick2Axis1;
-			int8_t stick2Axis2;
-			int8_t stick2Axis3;
-			int8_t stick2Axis4;
-			int8_t stick2Axis5;
-			int8_t stick2Axis6;
-		};
-	};
-	uint16_t stick2Buttons;		// Left-most 4 bits are unused
-
-	union {
-		int8_t stick3Axes[6];
-		struct {
-			int8_t stick3Axis1;
-			int8_t stick3Axis2;
-			int8_t stick3Axis3;
-			int8_t stick3Axis4;
-			int8_t stick3Axis5;
-			int8_t stick3Axis6;
-		};
-	};
-	uint16_t stick3Buttons;		// Left-most 4 bits are unused
-
-	//Analog inputs are 10 bit right-justified
-	uint16_t analog1;
-	uint16_t analog2;
-	uint16_t analog3;
-	uint16_t analog4;
-
-	uint64_t cRIOChecksum;
-	uint32_t FPGAChecksum0;
-	uint32_t FPGAChecksum1;
-	uint32_t FPGAChecksum2;
-	uint32_t FPGAChecksum3;
-
-	char versionData[8];
+enum AllianceStationID_t {
+	kAllianceStationID_red1,
+	kAllianceStationID_red2,
+	kAllianceStationID_red3,
+	kAllianceStationID_blue1,
+	kAllianceStationID_blue2,
+	kAllianceStationID_blue3,
 };
 
-#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
-#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Header 19
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
-#define kFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
+struct ControlWord_t {
+#ifndef __vxworks
+	uint32_t enabled : 1;
+	uint32_t autonomous : 1;
+	uint32_t test :1;
+	uint32_t eStop : 1;
+	uint32_t fmsAttached:1;
+	uint32_t dsAttached:1;
+	uint32_t control_reserved : 26;
+#else
+	uint32_t control_reserved : 26;
+	uint32_t dsAttached:1;
+	uint32_t fmsAttached:1;
+	uint32_t eStop : 1;
+	uint32_t test :1;
+	uint32_t autonomous : 1;
+	uint32_t enabled : 1;
+#endif
+};
+
+struct JoystickAxes_t {
+	uint16_t count;
+	int16_t axes[1];
+};
+
+struct JoystickPOV_t {
+	uint16_t count;
+	uint16_t povs[1];
+};
 
 #ifdef __cplusplus
 extern "C" {
 #endif
+	int EXPORT_FUNC FRC_NetworkCommunication_Reserve(void *instance);
 #ifndef SIMULATION
 	void EXPORT_FUNC getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
 #endif
-	int EXPORT_FUNC getCommonControlData(struct FRCCommonControlData *data, int wait_ms);
-	int EXPORT_FUNC getRecentCommonControlData(struct FRCCommonControlData *commonData, int wait_ms);
-	int EXPORT_FUNC getRecentStatusData(uint8_t *batteryInt, uint8_t *batteryDec, uint8_t *dsDigitalOut, int wait_ms);
-	int EXPORT_FUNC getDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength, int wait_ms);
 	int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
 			const char *userDataHigh, int userDataHighLength,
 			const char *userDataLow, int userDataLowLength, int wait_ms);
@@ -166,30 +85,28 @@ extern "C" {
 			const char *userDataHigh, int userDataHighLength,
 			const char *userDataLow, int userDataLowLength, int wait_ms);
 	int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
-	int EXPORT_FUNC setUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength, int wait_ms);
-	int EXPORT_FUNC overrideIOConfig(const char *ioConfig, int wait_ms);
 	
 #ifdef SIMULATION
 	void EXPORT_FUNC setNewDataSem(HANDLE);
 #else
 # if defined (__vxworks)
 	void EXPORT_FUNC setNewDataSem(SEM_ID);
-	void EXPORT_FUNC setResyncSem(SEM_ID);
 # else
 	void EXPORT_FUNC setNewDataSem(pthread_mutex_t *);
-	void EXPORT_FUNC setResyncSem(pthread_mutex_t *);
 # endif
-	void EXPORT_FUNC signalResyncActionDone(void);
 #endif
 
 	// this uint32_t is really a LVRefNum
-	void EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
-#ifndef SIMULATION
-	void EXPORT_FUNC setResyncOccurRef(uint32_t refnum);
-#endif
+	int EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
+
+	int EXPORT_FUNC FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
+	int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(enum AllianceStationID_t *allianceStation);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum, struct JoystickAxes_t *axes, uint8_t maxAxes);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum, uint32_t *buttons, uint8_t *count);
+	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
 
 	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
+	int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
 	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
 	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
 	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);

hal/lib/Athena/NetworkCommunication/LoadOut.h

@@ -16,6 +16,7 @@
 #define kMaxModuleNumber 2
 namespace nLoadOut
 {
+#if defined(__vxworks) || defined(SIMULATION)
     typedef enum {
         kModuleType_Unknown = 0x00,
         kModuleType_Analog = 0x01,
@@ -23,15 +24,18 @@ namespace nLoadOut
         kModuleType_Solenoid = 0x03,
     } tModuleType;
     bool EXPORT_FUNC getModulePresence(tModuleType moduleType, uint8_t moduleNumber);
+#endif
     typedef enum {
         kTargetClass_Unknown = 0x00,
         kTargetClass_FRC1 = 0x10,
         kTargetClass_FRC2 = 0x20,
         kTargetClass_FRC3 = 0x30,
         kTargetClass_RoboRIO = 0x40,
+#if defined(__vxworks) || defined(SIMULATION)
         kTargetClass_FRC2_Analog = kTargetClass_FRC2 | kModuleType_Analog,
         kTargetClass_FRC2_Digital = kTargetClass_FRC2 | kModuleType_Digital,
         kTargetClass_FRC2_Solenoid = kTargetClass_FRC2 | kModuleType_Solenoid,
+#endif
         kTargetClass_FamilyMask = 0xF0,
         kTargetClass_ModuleMask = 0x0F,
     } tTargetClass;
@@ -42,7 +46,9 @@ namespace nLoadOut
 extern "C" {
 #endif
 
+#if defined(__vxworks) || defined(SIMULATION)
     uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getModulePresence(uint32_t moduleType, uint8_t moduleNumber);
+#endif
     uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getTargetClass();
 
 #ifdef __cplusplus

hal/lib/Athena/Power.cpp

@@ -0,0 +1,74 @@
+#include "HAL/Power.hpp"
+#include "ChipObject.h"
+
+static tPower *power = NULL;
+
+static void initializePower(int32_t *status) {
+	if(power == NULL) {
+		power = tPower::create(status);
+	}
+}
+
+/**
+ * Get the roboRIO input voltage
+ */
+float getVinVoltage(int32_t *status) {
+	initializePower(status);
+	return power->readVinVoltage(status) / 4.096f * 0.025733f - 0.029f;
+}
+
+/**
+ * Get the roboRIO input current
+ */
+float getVinCurrent(int32_t *status) {
+	initializePower(status);
+	return power->readVinCurrent(status) / 4.096f * 0.017042 - 0.071f;
+}
+
+/**
+ * Get the 6V rail voltage
+ */
+float getUserVoltage6V(int32_t *status) {
+	initializePower(status);
+	return power->readUserVoltage6V(status) / 4.096f * 0.007019f - 0.014f;
+}
+
+/**
+ * Get the 6V rail current
+ */
+float getUserCurrent6V(int32_t *status) {
+	initializePower(status);
+	return power->readUserCurrent6V(status) / 4.096f * 0.005566f - 0.009f;
+}
+
+/**
+ * Get the 5V rail voltage
+ */
+float getUserVoltage5V(int32_t *status) {
+	initializePower(status);
+	return power->readUserVoltage5V(status) / 4.096f * 0.004962f - 0.013f;
+}
+
+/**
+ * Get the 5V rail current
+ */
+float getUserCurrent5V(int32_t *status) {
+	initializePower(status);
+	return power->readUserCurrent5V(status) / 4.096f * 0.001996f - 0.002f;
+}
+
+/**
+ * Get the 3.3V rail voltage
+ */
+float getUserVoltage3V3(int32_t *status) {
+	initializePower(status);
+	return power->readUserVoltage3V3(status) / 4.096f * 0.004902f - 0.01f;
+}
+
+/**
+ * Get the 3.3V rail current
+ */
+float getUserCurrent3V3(int32_t *status) {
+	initializePower(status);
+	return power->readUserCurrent3V3(status) / 4.096f * 0.002486f - 0.003f;
+}

hal/lib/Athena/Solenoid.cpp

@@ -8,39 +8,34 @@
 #include "NetworkCommunication/LoadOut.h"
 #include "ctre/PCM.h"
 
-bool pcmModulesInitialized = false;
+static const int NUM_MODULE_NUMBERS = 63;
 
-static const int NUM_PCMS = 2;
-PCM *modules[NUM_PCMS];
+PCM *modules[NUM_MODULE_NUMBERS] = { NULL };
 
 struct solenoid_port_t {
 	PCM *module;
 	uint32_t pin;
 };
 
-void initializePCM() {
-	if(!pcmModulesInitialized) {
-		modules[0] = new PCM(50);
-		modules[1] = new PCM(51);
-
-		pcmModulesInitialized = true;
+void initializePCM(int module) {
+	if(!modules[module]) {
+		modules[module] = new PCM(module);
 	}
 }
 
 void* initializeSolenoidPort(void *port_pointer, int32_t *status) {
-	initializePCM();
-
 	Port* port = (Port*) port_pointer;
-
+	initializePCM(port->module);
+	
 	solenoid_port_t *solenoid_port = new solenoid_port_t;
-	solenoid_port->module = modules[port->module - 1];
+	solenoid_port->module = modules[port->module];
 	solenoid_port->pin = port->pin;
 
 	return solenoid_port;
 }
 
 bool checkSolenoidModule(uint8_t module) {
-	return module > 0 and module <= NUM_PCMS;
+	return module < NUM_MODULE_NUMBERS;
 }
 
 bool getSolenoid(void* solenoid_port_pointer, int32_t *status) {

hal/lib/Athena/cpp/StackTrace.cpp

@@ -1,13 +0,0 @@
-
-#include "HAL/cpp/StackTrace.hpp"
-
-#include <stdio.h>
-
-
-void printCurrentStackTrace() {
-  // TODO: Implement
-}
-
-bool getErrnoToName(int32_t errNo, char* name) {
-	return false; // TODO: Implement
-}

hal/lib/Athena/ctre/CtreCanNode.cpp

@@ -0,0 +1,98 @@
+#include "CtreCanNode.h"
+#include "NetworkCommunication/CANSessionMux.h"
+#include <string.h> // memset
+#include <unistd.h> // usleep
+
+static const UINT32 kFullMessageIDMask = 0x1fffffff;
+
+CtreCanNode::CtreCanNode(UINT8 deviceNumber)
+{
+	_deviceNumber = deviceNumber;
+}
+CtreCanNode::~CtreCanNode()
+{
+}
+void CtreCanNode::RegisterRx(uint32_t arbId)
+{
+	/* no need to do anything, we just use new API to poll last received message */
+}
+void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs)
+{
+	int32_t status = 0;
+
+	txJob_t job;
+	job.arbId = arbId;
+	job.periodMs = periodMs;
+	_txJobs[arbId] = job;
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(	job.arbId,
+														job.toSend,
+														8,
+														job.periodMs,
+														&status);
+}
+timespec diff(const timespec & start, const timespec & end)
+{
+	timespec temp;
+	if ((end.tv_nsec-start.tv_nsec)<0) {
+		temp.tv_sec = end.tv_sec-start.tv_sec-1;
+		temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
+	} else {
+		temp.tv_sec = end.tv_sec-start.tv_sec;
+		temp.tv_nsec = end.tv_nsec-start.tv_nsec;
+	}
+	return temp;
+}
+CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
+{
+	CTR_Code retval = CTR_OKAY;
+	int32_t status = 0;
+	uint8_t len = 0;
+	uint32_t timeStamp;
+	/* cap timeout at 999ms */
+	if(timeoutMs > 999)
+		timeoutMs = 999;
+	FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
+	if(status == 0){
+		/* fresh update */
+		rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
+		clock_gettime(2,&r.time); 			/* fill in time */
+		memcpy(r.bytes,  dataBytes,  8);	/* fill in databytes */
+	}else{
+		/* did not get the message */
+		rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
+		if(i == _rxRxEvents.end()){
+			/* we've never gotten this mesage */
+			retval = CTR_RxTimeout;
+			/* fill caller's buffer with zeros */
+			memset(dataBytes,0,8);
+		}else{
+			/* we've gotten this message before but not recently */
+			memcpy(dataBytes,i->second.bytes,8);
+			/* get the time now */
+			struct timespec temp;
+			clock_gettime(2,&temp); /* get now */
+			/* how long has it been? */
+			temp = diff(i->second.time,temp); /* temp = now - last */
+			if(temp.tv_sec > 0){
+				retval = CTR_RxTimeout;
+			}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
+				retval = CTR_RxTimeout;
+			}else {
+				/* our last update was recent enough */
+			}
+		}
+	}
+
+	return retval;
+}
+void CtreCanNode::FlushTx(uint32_t arbId)
+{
+	int32_t status = 0;
+	txJobs_t::iterator iter = _txJobs.find(arbId);
+	if(iter != _txJobs.end())
+		FRC_NetworkCommunication_CANSessionMux_sendMessage(	iter->second.arbId,
+															iter->second.toSend,
+															8,
+															iter->second.periodMs,
+															&status);
+}

hal/lib/Athena/ctre/CtreCanNode.h

@@ -0,0 +1,116 @@
+#ifndef CtreCanNode_H_
+#define CtreCanNode_H_
+#include "ctre.h"				//BIT Defines + Typedefs
+#include "NetworkCommunication/CANSessionMux.h" 	//CAN Comm
+#include <pthread.h>
+#include <map>
+#include <string.h> // memcpy
+#include <sys/time.h>
+class CtreCanNode
+{
+public:
+	CtreCanNode(UINT8 deviceNumber);
+    ~CtreCanNode();
+
+	UINT8 GetDeviceNumber()
+	{
+		return _deviceNumber;
+	}
+protected:
+
+
+	template <typename T> class txTask{
+		public:
+			uint32_t arbId;
+			T * toSend;
+			T * operator -> ()
+			{
+				return toSend;
+			}
+			T & operator*()
+			{
+				return *toSend;
+			}
+			bool IsEmpty()
+			{
+				if(toSend == 0)
+					return true;
+				return false;
+			}
+	};
+	template <typename T> class recMsg{
+		public:
+			uint32_t arbId;
+			uint8_t bytes[8];
+			CTR_Code err;
+			T * operator -> ()
+			{
+				return (T *)bytes;
+			}
+			T & operator*()
+			{
+				return *(T *)bytes;
+			}
+	};
+	UINT8 _deviceNumber;
+	void RegisterRx(uint32_t arbId);
+	void RegisterTx(uint32_t arbId, uint32_t periodMs);
+
+	CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
+	void FlushTx(uint32_t arbId);
+
+	template<typename T> txTask<T> GetTx(uint32_t arbId)
+	{
+		txTask<T> retval = {0};
+		txJobs_t::iterator i = _txJobs.find(arbId);
+		if(i != _txJobs.end()){
+			retval.arbId = i->second.arbId;
+			retval.toSend = (T*)i->second.toSend;
+		}
+		return retval;
+	}
+	template<class T> void FlushTx(T & par)
+	{
+		FlushTx(par.arbId);
+	}
+
+	template<class T> recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs)
+	{
+		recMsg<T> retval;
+		retval.err = GetRx(arbId,retval.bytes, timeoutMs);
+		return retval;
+	}
+
+private:
+
+	class txJob_t {
+		public:
+			uint32_t arbId;
+			uint8_t toSend[8];
+			uint32_t periodMs;
+	};
+
+	class rxEvent_t{
+		public:
+			uint8_t bytes[8];
+			struct timespec time;
+			rxEvent_t()
+			{
+				bytes[0] = 0;
+				bytes[1] = 0;
+				bytes[2] = 0;
+				bytes[3] = 0;
+				bytes[4] = 0;
+				bytes[5] = 0;
+				bytes[6] = 0;
+				bytes[7] = 0;
+			}
+	};
+
+	typedef std::map<uint32_t,txJob_t> txJobs_t;
+	txJobs_t _txJobs;
+
+	typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
+	rxRxEvents_t _rxRxEvents;
+};
+#endif

hal/lib/Athena/ctre/PCM.cpp

@@ -4,13 +4,89 @@
 #include "NetworkCommunication/CANSessionMux.h"
 #include <string.h> // memset
 #include <unistd.h> // usleep
-
-static const UINT32 kFullMessageIDMask = 0x1fffffff;
-
 /* This can be a constant, as long as nobody needs to updatie solenoids within
     1/50 of a second. */
 static const INT32 kCANPeriod = 20;
 
+#define STATUS_1  			0x9041400
+#define STATUS_SOL_FAULTS  	0x9041440
+#define STATUS_DEBUG  		0x9041480
+
+#define EXPECTED_RESPONSE_TIMEOUT_MS	(50)
+#define GET_PCM_STATUS()			CtreCanNode::recMsg<PcmStatus_t> 		rx = GetRx<PcmStatus_t>			(STATUS_1,EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_PCM_SOL_FAULTS()		CtreCanNode::recMsg<PcmStatusFault_t> 	rx = GetRx<PcmStatusFault_t>	(STATUS_SOL_FAULTS,EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_PCM_DEBUG()				CtreCanNode::recMsg<PcmDebug_t> 		rx = GetRx<PcmDebug_t>			(STATUS_DEBUG,EXPECTED_RESPONSE_TIMEOUT_MS)
+
+#define CONTROL_1 			0x09041C00
+
+/* encoder/decoders */
+typedef struct _PcmStatus_t{
+	/* Byte 0 */
+	unsigned SolenoidBits:8;
+	/* Byte 1 */
+	unsigned compressorOn:1;
+	unsigned stickyFaultFuseTripped:1;
+	unsigned stickyFaultCompCurrentTooHigh:1;
+	unsigned faultCompCurrentTooHigh:1;
+	unsigned faultFuseTripped:1;
+	unsigned faultHardwareFailure:1;
+	unsigned isCloseloopEnabled:1;
+	unsigned pressureSwitchEn:1;
+	/* Byte 2*/
+	unsigned battVoltage:8;
+	/* Byte 3 */
+	unsigned solenoidVoltageTop8:8;
+	/* Byte 4 */
+	unsigned compressorCurrentTop6:6;
+	unsigned solenoidVoltageBtm2:2;
+	/* Byte 5 */
+	unsigned reserved:2;
+	unsigned moduleEnabled:1;
+	unsigned closedLoopOutput:1;
+	unsigned compressorCurrentBtm4:4;
+	/* Byte 6 */
+	unsigned tokenSeedTop8:8;
+	/* Byte 7 */
+	unsigned tokenSeedBtm8:8;
+}PcmStatus_t;
+
+typedef struct _PcmControl_t{
+	/* Byte 0 */
+	unsigned tokenTop8:8;
+	/* Byte 1 */
+	unsigned tokenBtm8:8;
+	/* Byte 2 */
+	unsigned solenoidBits:8;
+	/* Byte 3*/
+	unsigned reserved:4;
+	unsigned closeLoopOutput:1;
+	unsigned compressorOn:1;
+	unsigned closedLoopEnable:1;
+	unsigned clearStickyFaults:1;
+}PcmControl_t;
+
+typedef struct _PcmStatusFault_t{
+	/* Byte 0 */
+	unsigned SolenoidBlacklist:8;
+	/* Byte 1 */
+	unsigned reserved1:8;
+	unsigned reserved2:8;
+	unsigned reserved3:8;
+	unsigned reserved4:8;
+	unsigned reserved5:8;
+	unsigned reserved6:8;
+	unsigned reserved7:8;
+}PcmStatusFault_t;
+
+typedef struct _PcmDebug_t{
+	unsigned tokFailsTop8:8;
+	unsigned tokFailsBtm8:8;
+	unsigned lastFailedTokTop8:8;
+	unsigned lastFailedTokBtm8:8;
+	unsigned tokSuccessTop8:8;
+	unsigned tokSuccessBtm8:8;
+}PcmDebug_t;
+
 
 /* PCM Constructor - Clears all vars, establishes default settings, starts PCM background process
  *
@@ -18,60 +94,39 @@ static const INT32 kCANPeriod = 20;
  *
  * @Param 	-	deviceNumber	- 	Device ID of PCM to be controlled
  */
-PCM::PCM(UINT8 deviceNumber)
+PCM::PCM(UINT8 deviceNumber): CtreCanNode(deviceNumber)
 {
-    memset(&_PcmDebug, 		0, sizeof(_PcmDebug));
-    memset(&_PcmControl, 	0, sizeof(_PcmControl));
-    memset(&_PcmStatus, 	0, sizeof(_PcmStatus));
-    memset(&_PcmStatusFault,0, sizeof(_PcmStatusFault));
-    /* setup arbids */
-	SetDeviceNumber(deviceNumber);
-	/* clear error info */
-	_timeSinceLastRx = 0;
-	_timeSinceLastTx = 0;
-	_numFailedRxs = 0;
-	_numFailedTxs = 0;
-	/* start thread */
-	_threadIsRunning = 1;
-	_threadErr = pthread_create( &_thread, NULL, ThreadFunc, (void*) this);
+	RegisterRx(STATUS_1 | deviceNumber );
+	RegisterRx(STATUS_SOL_FAULTS | deviceNumber );
+	RegisterRx(STATUS_DEBUG | deviceNumber );
+	RegisterTx(CONTROL_1 | deviceNumber, kCANPeriod);
+	/* enable close loop */
+	CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
+	toFill->closedLoopEnable = 1;
 }
 /* PCM D'tor
  */
-PCM::~PCM() {
-	/* wait for thread to finish */
-	_threadIsRunning = 0;
-	pthread_join( _thread, NULL);
-	_thread = 0;
-}
-/* Set PCM Device Number and according CAN frame IDs
- *
- * @Return	-	void
- *
- * @Param	-	deviceNumber	-	Device number of PCM to control
- */
-void PCM::SetDeviceNumber(UINT8 deviceNumber) {
-	PCM_settings.deviceNumber = deviceNumber;
-	PCM_settings.controlFrameID		= 0x9041C00 + (deviceNumber) + (UINT32) (0	* BIT6);
-	PCM_settings.statusFrameID 		= 0x9041400 + (deviceNumber) + (UINT32) (0	* BIT6);
-	PCM_settings.statusFaultFrameID = 0x9041400 + (deviceNumber) + (UINT32) (1	* BIT6);
-	PCM_settings.debugFrameID 		= 0x9041400 + (deviceNumber) + (UINT32) (2 	* BIT6);
+PCM::~PCM()
+{
+
 }
 
 /* Set PCM solenoid state
  *
  * @Return	-	CTR_Code	-	Error code (if any) for setting solenoid
  *
- * @Param 	-	idx			- 	ID of solenoid (1-8)
+ * @Param 	-	idx			- 	ID of solenoid (0-7)
  * @Param 	-	en			- 	Enable / Disable identified solenoid
  */
-CTR_Code PCM::SetSolenoid(unsigned char idx, bool en) {
-	idx--; /* make it zero based */
+CTR_Code PCM::SetSolenoid(unsigned char idx, bool en)
+{
+	CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
+	if(toFill.IsEmpty())return CTR_UnexpectedArbId;
 	if (en)
-		_PcmControl.solenoidBits |= (1ul << (7-idx));
+		toFill->solenoidBits |= (1ul << (idx));
 	else
-		_PcmControl.solenoidBits &= ~(1ul << (7-idx));
-	if (GetTimeSinceLastTx() >= 50)
-		return CTR_TxTimeout;
+		toFill->solenoidBits &= ~(1ul << (idx));
+	FlushTx(toFill);
 	return CTR_OKAY;
 }
 
@@ -81,10 +136,12 @@ CTR_Code PCM::SetSolenoid(unsigned char idx, bool en) {
  *
  * @Param 	-	clr		- 	Clear / do not clear faults
  */
-CTR_Code PCM::ClearStickyFaults(bool clr) {
-	_PcmControl.clearStickyFaults = clr;
-	if (GetTimeSinceLastTx() >= 50)
-		return CTR_TxTimeout;
+CTR_Code PCM::ClearStickyFaults(bool clr)
+{
+	CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
+	if(toFill.IsEmpty())return CTR_UnexpectedArbId;
+	toFill->clearStickyFaults = clr;
+	FlushTx(toFill);
 	return CTR_OKAY;
 }
 
@@ -94,10 +151,12 @@ CTR_Code PCM::ClearStickyFaults(bool clr) {
  *
  * @Param 	-	en		- 	Enable / Disable Closed Loop Control
  */
-CTR_Code PCM::SetClosedLoopControl(bool en) {
-	_PcmControl.closedLoopEnable = en;
-	if (GetTimeSinceLastTx() >= 50)
-		return CTR_TxTimeout;
+CTR_Code PCM::SetClosedLoopControl(bool en)
+{
+	CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
+	if(toFill.IsEmpty())return CTR_UnexpectedArbId;
+	toFill->closedLoopEnable = en;
+	FlushTx(toFill);
 	return CTR_OKAY;
 }
 
@@ -105,121 +164,119 @@ CTR_Code PCM::SetClosedLoopControl(bool en) {
  *
  * @Return	-	True/False	-	True if solenoid enabled, false otherwise
  *
- * @Param 	-	idx		- 	ID of solenoid (1-8) to return status of
+ * @Param 	-	idx		- 	ID of solenoid (0-7) to return status of
  */
-CTR_Code PCM::GetSolenoid(UINT8 idx, bool &status) {
-	idx--;
-	status = (_PcmStatus.SolenoidBits & (1ul<<(7-idx))) ? 1 : 0;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+CTR_Code PCM::GetSolenoid(UINT8 idx, bool &status)
+{
+	GET_PCM_STATUS();
+	status = (rx->SolenoidBits & (1ul<<(idx)) ) ? 1 : 0;
+	return rx.err;
 }
 
 /* Get pressure switch state
  *
  * @Return	-	True/False	-	True if pressure adequate, false if low
  */
-CTR_Code PCM::GetPressure(bool &status) {
-	status = _PcmStatus.pressureSwitchEn;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+CTR_Code PCM::GetPressure(bool &status)
+{
+	GET_PCM_STATUS();
+	status = (rx->pressureSwitchEn ) ? 1 : 0;
+	return rx.err;
 }
 
 /* Get compressor state
  *
  * @Return	-	True/False	-	True if enabled, false if otherwise
  */
-CTR_Code PCM::GetCompressor(bool &status) {
-	status = _PcmStatus.compressorOn;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+CTR_Code PCM::GetCompressor(bool &status)
+{
+	GET_PCM_STATUS();
+	status = (rx->compressorOn);
+	return rx.err;
 }
 
 /* Get closed loop control state
  *
  * @Return	-	True/False	-	True if closed loop enabled, false if otherwise
  */
-CTR_Code PCM::GetClosedLoopControl(bool &status) {
-	status = _PcmStatus.isCloseloopEnabled;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+CTR_Code PCM::GetClosedLoopControl(bool &status)
+{
+	GET_PCM_STATUS();
+	status = (rx->isCloseloopEnabled);
+	return rx.err;
 }
 
 /* Get compressor current draw
  *
  * @Return	-	Amperes	-	Compressor current
  */
-CTR_Code PCM::GetCompressorCurrent(float &status) {
-	uint16_t bt = _PcmStatus.compressorCurrentTop6;
-	bt <<= 4;
-	bt |=  _PcmStatus.compressorCurrentBtm4;
-	status = 0.0201612903225806 * bt;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+CTR_Code PCM::GetCompressorCurrent(float &status)
+{
+	GET_PCM_STATUS();
+	uint32_t temp =(rx->compressorCurrentTop6);
+	temp <<= 4;
+	temp |=  rx->compressorCurrentBtm4;
+	status = 20.1612903225806 * temp;
+	return rx.err;
 }
 
 /* Get voltage across solenoid rail
  *
  * @Return	-	Volts	-	Voltage across solenoid rail
  */
-CTR_Code PCM::GetSolenoidVoltage(float &status) {
-	uint32_t raw = _PcmStatus.solenoidVoltageTop8;
+CTR_Code PCM::GetSolenoidVoltage(float &status)
+{
+	GET_PCM_STATUS();
+	uint32_t raw =(rx->solenoidVoltageTop8);
 	raw <<= 2;
-	raw |=  _PcmStatus.solenoidVoltageBtm2;
+	raw |=  rx->solenoidVoltageBtm2;
 	status = (double) raw * 24.7800586510264 / 1000;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+	return rx.err;
 }
 
 /* Get hardware fault value
  *
  * @Return	-	True/False	-	True if hardware failure detected, false if otherwise
  */
-CTR_Code PCM::GetHardwareFault(bool &status) {
-	status = _PcmStatus.faultHardwareFailure;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+CTR_Code PCM::GetHardwareFault(bool &status)
+{
+	GET_PCM_STATUS();
+	status = rx->faultHardwareFailure;
+	return rx.err;
 }
 
 /* Get compressor fault value
  *
  * @Return	-	True/False	-	True if shorted compressor detected, false if otherwise
  */
-CTR_Code PCM::GetCompressorFault(bool &status) {
-	status = _PcmStatus.faultCompCurrentTooHigh;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+CTR_Code PCM::GetCompressorFault(bool &status)
+{
+	GET_PCM_STATUS();
+	status = rx->faultCompCurrentTooHigh;
+	return rx.err;
 }
 
 /* Get solenoid fault value
  *
  * @Return	-	True/False	-	True if shorted solenoid detected, false if otherwise
  */
-CTR_Code PCM::GetSolenoidFault(bool &status) {
-	status = _PcmStatus.faultFuseTripped;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+CTR_Code PCM::GetSolenoidFault(bool &status)
+{
+	GET_PCM_STATUS();
+	status = rx->faultFuseTripped;
+	return rx.err;
 }
-//			Past Faults
 
 /* Get compressor sticky fault value
  *
  * @Return	-	True/False	-	True if solenoid had previously been shorted
  * 								(and sticky fault was not cleared), false if otherwise
  */
-CTR_Code PCM::GetCompressorStickyFault(bool &status) {
-	status = _PcmStatus.stickyFaultCompCurrentTooHigh;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+CTR_Code PCM::GetCompressorStickyFault(bool &status)
+{
+	GET_PCM_STATUS();
+	status = rx->stickyFaultCompCurrentTooHigh;
+	return rx.err;
 }
 
 /* Get solenoid sticky fault value
@@ -227,21 +284,31 @@ CTR_Code PCM::GetCompressorStickyFault(bool &status) {
  * @Return	-	True/False	-	True if compressor had previously been shorted
  * 								(and sticky fault was not cleared), false if otherwise
  */
-CTR_Code PCM::GetSolenoidStickyFault(bool &status) { /* fix this */
-	status = _PcmStatus.stickyFaultFuseTripped;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+CTR_Code PCM::GetSolenoidStickyFault(bool &status)
+{
+	GET_PCM_STATUS();
+	status = rx->stickyFaultFuseTripped;
+	return rx.err;
 }
 /* Get battery voltage
  *
  * @Return	-	Volts	-	Voltage across PCM power ports
  */
-CTR_Code PCM::GetBatteryVoltage(float &status) {
-	status = (float)_PcmStatus.battVoltage * ((59.0420332355816) / 1000.0);;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+CTR_Code PCM::GetBatteryVoltage(float &status)
+{
+	GET_PCM_STATUS();
+	status = (float)rx->battVoltage * ((59.0420332355816) / 1000.0);;
+	return rx.err;
+}
+/* Return status of module enable/disable
+ *
+ * @Return	-	bool		-	Returns TRUE if PCM is enabled, FALSE if disabled
+ */
+CTR_Code PCM::isModuleEnabled(bool &status)
+{
+	GET_PCM_STATUS();
+	status = rx->moduleEnabled;
+	return rx.err;
 }
 /* Get number of total failed PCM Control Frame
  *
@@ -251,13 +318,13 @@ CTR_Code PCM::GetBatteryVoltage(float &status) {
  * 				See function SeekDebugFrames
  * 				See function EnableSeekDebugFrames
  */
-CTR_Code PCM::GetNumberOfFailedControlFrames(UINT16 &status) {
-	status = _PcmDebug.tokFailsTop8;
+CTR_Code PCM::GetNumberOfFailedControlFrames(UINT16 &status)
+{
+	GET_PCM_DEBUG();
+	status = rx->tokFailsTop8;
 	status <<= 8;
-	status |= _PcmDebug.tokFailsBtm8;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+	status |= rx->tokFailsBtm8;
+	return rx.err;
 }
 /* Get raw Solenoid Blacklist
  *
@@ -268,125 +335,28 @@ CTR_Code PCM::GetNumberOfFailedControlFrames(UINT16 &status) {
  * 				See function SeekStatusFaultFrames
  * 				See function EnableSeekStatusFaultFrames
  */
-CTR_Code PCM::GetSolenoidBlackList(UINT8 &status) {
-	status = _PcmStatusFault.SolenoidBlacklist;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
+CTR_Code PCM::GetSolenoidBlackList(UINT8 &status)
+{
+	GET_PCM_SOL_FAULTS();
+	status = rx->SolenoidBlacklist;
+	return rx.err;
 }
 /* Get solenoid Blacklist status
  * - Blacklisted solenoids cannot be enabled until PCM is power cycled
  *
  * @Return	-	True/False	-	True if Solenoid is blacklisted, false if otherwise
  *
- * @Param	-	idx			-	ID of solenoid
+ * @Param	-	idx			-	ID of solenoid [0,7]
  *
  * @WARNING	-	Return only valid if [SeekStatusFaultFrames] is enabled
  * 				See function SeekStatusFaultFrames
  * 				See function EnableSeekStatusFaultFrames
  */
-CTR_Code PCM::IsSolenoidBlacklisted(UINT8 idx, bool &status) {
-	idx--;
-	if(_PcmStatusFault.SolenoidBlacklist & (1ul<<(7-idx)))
-		status = 1;
-	else
-		status = 0;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
-}
-/* Return status of module enable/disable
- *
- * @Return	-	bool		-	Returns TRUE if PCM is enabled, FALSE if disabled
- */
-CTR_Code PCM::isModuleEnabled(bool &status) {
-	status = _PcmStatus.moduleEnabled;
-	if (GetTimeSinceLastRx() >= 50)
-		return CTR_RxTimeout;
-	return CTR_OKAY;
-}
-void PCM::GetErrorInfo(	uint32_t * timeSinceLastRx,
-						uint32_t * timeSinceLastTx,
-						uint32_t * numFailedRxs,
-						uint32_t * numFailedTxs)
+CTR_Code PCM::IsSolenoidBlacklisted(UINT8 idx, bool &status)
 {
-	if(timeSinceLastRx) 	*timeSinceLastRx = _timeSinceLastRx;
-	if(timeSinceLastTx) 	*timeSinceLastTx = _timeSinceLastTx;
-	if(numFailedRxs) 		*numFailedRxs = _numFailedRxs;
-	if(numFailedTxs) 		*numFailedTxs = _numFailedTxs;
-}
-//------------------ CAN interface and thread --------------------------------------------//
-/* Search for PCM Status Frame on CAN bus */
-void PCM::ReadStatusFrame(void) {
-	PcmStatus_t frame = {0};
-	UINT8 size = 0;
-	INT32 status = 0;
-    UINT32 timeStamp = 0;
-    FRC_NetworkCommunication_CANSessionMux_receiveMessage(&PCM_settings.statusFrameID, kFullMessageIDMask, (uint8_t *)&frame, &size, &timeStamp, &status);
-	if (status == 0) {
-		_timeSinceLastRx = 0;
-		_PcmStatus = frame;
-	} else {
-		++_numFailedRxs;
-	}
-}
-/* Search for PCM Status Fault Frame on CAN bus */
-void PCM::ReadStatusFaultFrame(void) {
-	PcmStatusFault_t frame= {0};
-	UINT8 size = 0;
-	INT32 status = 0;
-    UINT32 timeStamp = 0;
-    FRC_NetworkCommunication_CANSessionMux_receiveMessage(&PCM_settings.statusFaultFrameID, kFullMessageIDMask, (uint8_t *)&frame, &size, &timeStamp, &status);
-	if (status == 0) {
-		_timeSinceLastRx = 0;
-		_PcmStatusFault = frame;
-	} else {
-		++_numFailedRxs;
-	}
-}
-/* Search for PCM Debug Frame on CAN bus */
-void PCM::ReadDebugFrame(void) {
-	PcmDebug_t frame= {0};
-	UINT8 size = 0;
-	INT32 status = 0;
-    UINT32 timeStamp = 0;
-	FRC_NetworkCommunication_CANSessionMux_receiveMessage(&PCM_settings.debugFrameID, kFullMessageIDMask, (uint8_t *)&frame, &size, &timeStamp, &status);
-	if (status == 0) {
-		_timeSinceLastRx = 0;
-		_PcmDebug = frame;
-	} else {
-		++_numFailedRxs;
-	}
-}
-void * PCM::ThreadFunc()
-{
-	while(_threadIsRunning){
-		int32_t status = 0;
-        FRC_NetworkCommunication_CANSessionMux_sendMessage(PCM_settings.controlFrameID, (const uint8_t *)&_PcmControl, sizeof(_PcmControl), kCANPeriod, &status);
-		if(status == 0){
-			/* success */
-			_timeSinceLastTx = 0;
-		}else {
-			/* something is wrong */
-			++_numFailedTxs;
-		}
-		/* reads */
-		ReadStatusFrame();
-		ReadStatusFaultFrame();
-		ReadDebugFrame();
-		/* yield for 25ms */
-		usleep(25e3);
-		/* incrememnt times since comm without overflow */
-		if(_timeSinceLastTx < 60000)
-			_timeSinceLastTx += 25;
-		if(_timeSinceLastRx < 60000)
-			_timeSinceLastRx += 25;
-	}
-	return 0;
-}
-void * PCM::ThreadFunc( void *ptr )
-{
-	return ((PCM*)ptr)->ThreadFunc();
+	GET_PCM_SOL_FAULTS();
+	status = (rx->SolenoidBlacklist & (1ul<<(idx)) )? 1 : 0;
+	return rx.err;
 }
 //------------------ C interface --------------------------------------------//
 extern "C" {
@@ -430,7 +400,6 @@ extern "C" {
 		CTR_Code retval = ((PCM*) handle)->GetCompressorCurrent(*status);
 		return retval;
 	}
-
 	CTR_Code c_GetSolenoidVoltage(void * handle, float*status) {
 		return ((PCM*) handle)->GetSolenoidVoltage(*status);
 	}
@@ -469,7 +438,6 @@ extern "C" {
 		return retval;
 	}
 	void c_SetDeviceNumber_PCM(void * handle, UINT8 deviceNumber) {
-		return ((PCM*) handle)->SetDeviceNumber(deviceNumber);
 	}
 	CTR_Code c_GetNumberOfFailedControlFrames(void * handle, UINT16*status) {
 		return ((PCM*) handle)->GetNumberOfFailedControlFrames(*status);

hal/lib/Athena/ctre/PCM.h

@@ -1,84 +1,19 @@
 #ifndef PCM_H_
 #define PCM_H_
-#include "ctre.h"				//BIT Defines +  Typedefs
+#include "ctre.h"				//BIT Defines + Typedefs
 #include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
+#include "CtreCanNode.h"
 #include <pthread.h>
-/* encoder/decoders */
-typedef struct _PcmStatus_t{
-	/* Byte 0 */
-	unsigned SolenoidBits:8;
-	/* Byte 1 */
-	unsigned compressorOn:1;
-	unsigned stickyFaultFuseTripped:1;
-	unsigned stickyFaultCompCurrentTooHigh:1;
-	unsigned faultCompCurrentTooHigh:1;
-	unsigned faultFuseTripped:1;
-	unsigned faultHardwareFailure:1;
-	unsigned isCloseloopEnabled:1;
-	unsigned pressureSwitchEn:1;
-	/* Byte 2*/
-	unsigned battVoltage:8;
-	/* Byte 3 */
-	unsigned solenoidVoltageTop8:8;
-	/* Byte 4 */
-	unsigned compressorCurrentTop6:6;
-	unsigned solenoidVoltageBtm2:2;
-	/* Byte 5 */
-	unsigned reserved:2;
-	unsigned moduleEnabled:1;
-	unsigned closedLoopOutput:1;
-	unsigned compressorCurrentBtm4:4;
-	/* Byte 6 */
-	unsigned tokenSeedTop8:8;
-	/* Byte 7 */
-	unsigned tokenSeedBtm8:8;
-}PcmStatus_t;
-
-typedef struct _PcmControl_t{
-	/* Byte 0 */
-	unsigned tokenTop8:8;
-	/* Byte 1 */
-	unsigned tokenBtm8:8;
-	/* Byte 2 */
-	unsigned solenoidBits:8;
-	/* Byte 3*/
-	unsigned reserved:5;
-	unsigned CompressorOn_deprecated:1; //!< This is ignored by PCM firm now.
-	unsigned closedLoopEnable:1;
-	unsigned clearStickyFaults:1;
-}PcmControl_t;
-
-typedef struct _PcmStatusFault_t{
-	/* Byte 0 */
-	unsigned SolenoidBlacklist:8;
-	/* Byte 1 */
-	unsigned reserved1:8;
-	unsigned reserved2:8;
-	unsigned reserved3:8;
-	unsigned reserved4:8;
-	unsigned reserved5:8;
-	unsigned reserved6:8;
-	unsigned reserved7:8;
-}PcmStatusFault_t;
-
-typedef struct _PcmDebug_t{
-	unsigned tokFailsTop8:8;
-	unsigned tokFailsBtm8:8;
-	unsigned lastFailedTokTop8:8;
-	unsigned lastFailedTokBtm8:8;
-	unsigned tokSuccessTop8:8;
-	unsigned tokSuccessBtm8:8;
-}PcmDebug_t;
-
-class PCM
+class PCM : public CtreCanNode
 {
 public:
-    PCM(UINT8 deviceNumber=50);
+    PCM(UINT8 deviceNumber=0);
     ~PCM();
-
+    
     /* Set PCM solenoid state
+     *
      * @Return	-	CTR_Code	-	Error code (if any) for setting solenoid
-     * @Param 	-	idx			- 	ID of solenoid (1-8)
+     * @Param 	-	idx			- 	ID of solenoid (0-7)
      * @Param 	-	en			- 	Enable / Disable identified solenoid
      */
     CTR_Code 	SetSolenoid(unsigned char idx, bool en);
@@ -94,14 +29,12 @@ public:
      * @Param 	-	clr		- 	Clear / do not clear faults
      */
     CTR_Code 	ClearStickyFaults(bool clr);
-
+    
     /* Get solenoid state
      *
      * @Return	-	CTR_Code	-	Error code (if any)
-     * @Param 	-	idx		- 	ID of solenoid (1-8) to return status of
-     * @Param	-	status	-	True if solenoid output is set to be enabled, false otherwise.
-     *                          If the phsyical output led still isn't on, then check webdash for
-     *                          any faults/is PCM enabled.
+     * @Param 	-	idx		- 	ID of solenoid (0-7) to return if solenoid is on.
+     * @Param	-	status	-	OK if solenoid enabled, false otherwise
      */
     CTR_Code 	GetSolenoid(UINT8 idx, bool &status);
 
@@ -172,7 +105,7 @@ public:
      * @Param	-	status		-	Voltage across PCM power ports in Volts (V)
      */
     CTR_Code 	GetBatteryVoltage(float &status);
-
+    
     /* Set PCM Device Number and according CAN frame IDs
      * @Return	-	void
      * @Param	-	deviceNumber	-	Device number of PCM to control
@@ -186,7 +119,7 @@ public:
      * 				See function EnableSeekDebugFrames
      */
 	CTR_Code GetNumberOfFailedControlFrames(UINT16 &status);
-
+    
     /* Get raw Solenoid Blacklist
      * @Return	-	CTR_Code	-	Error code (if any)
      * @Param	-	status		-	Raw binary breakdown of Solenoid Blacklist
@@ -200,7 +133,7 @@ public:
     /* Get solenoid Blacklist status
      * - Blacklisted solenoids cannot be enabled until PCM is power cycled
      * @Return	-	CTR_Code	-	Error code (if any)
-     * @Param	-	idx			-	ID of solenoid
+     * @Param	-	idx			-	ID of solenoid [0,7]
      * @Param	-	status		-	True if Solenoid is blacklisted, false if otherwise
      * @WARNING	-	Return only valid if [SeekStatusFaultFrames] is enabled
      * 				See function SeekStatusFaultFrames
@@ -213,70 +146,6 @@ public:
      * @Param	-	status		-	Returns TRUE if PCM is enabled, FALSE if disabled
      */
     CTR_Code	isModuleEnabled(bool &status);
-
-    /* Get time since last sent frame
-	 * @Return	-	int		-	Returns time in milliseconds (ms) since last sent PCM frame
-	 */
-	int GetTimeSinceLastTx(void) { return _timeSinceLastTx;}
-
-	/* Get time since last received frame
-	 * @Return	-	int		-	Returns time in milliseconds (ms) since last received PCM frame
-	 */
-	int GetTimeSinceLastRx(void) { return _timeSinceLastRx;}
-private:
-
-	    /* Seek PCM Status Frames on CAN bus
-	     * @Return	-	void
-	     * @Param	-	en	-	Enable / Disable seeking of PCM Status Frame
-	     * @Notes	-	Status Frames identify
-	     */
-	    void 	EnableSeekStatusFrames(bool en);
-
-	    /* Seek PCM Status Fault Frames on CAN bus
-	     * @Return	-	void
-	     * @Param	-	en	-	Enable / Disable seeking of PCM Status Fault Frame
-	     * @Notes	-	Status Fault Frames identify Blacklisted Solenoids
-	     */
-	    void 	EnableSeekStatusFaultFrames(bool en);
-
-	    /* Seek PCM Debug Frames on CAN bus
-	     * @Return	-	void
-	     * @Param	-	en	-	Enable / Disable seeking of PCM Debug Frame
-	     * @Notes	-	Debug Frames identify the number of failed tokens (for exclusive, secure control of PCM by RoboRIO)
-	     */
-	    void 	EnableSeekDebugFrames(bool en);
-	/* frames to receive */
-	PcmDebug_t 			_PcmDebug;
-	PcmStatus_t 		_PcmStatus;
-	PcmStatusFault_t 	_PcmStatusFault;
-	/* frames to send */
-	PcmControl_t 		_PcmControl;
-	/* tracking health and error info */
-	uint32_t _timeSinceLastRx;
-	uint32_t _timeSinceLastTx;
-	uint32_t _numFailedRxs;
-	uint32_t _numFailedTxs;
-	/* threading */
-	pthread_t _thread;
-	int _threadErr;
-	int _threadIsRunning;
-	/** arbids */
-    struct PCM_SETTINGS{
-    	UINT8 deviceNumber;
-    	UINT32 controlFrameID;
-    	UINT32 statusFrameID;
-    	UINT32 statusFaultFrameID;
-    	UINT32 debugFrameID;
-    }PCM_settings;
-    void ReadStatusFrame(void);
-    void ReadStatusFaultFrame(void);
-    void ReadDebugFrame(void);
-    void GetErrorInfo(	uint32_t * timeSinceLastRx,
-						uint32_t * timeSinceLastTx,
-						uint32_t * numFailedRxs,
-						uint32_t * numFailedTxs);
-    static void * ThreadFunc(void *);
-    void * ThreadFunc();
 };
 //------------------ C interface --------------------------------------------//
 extern "C" {