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496e7c1bba
Adds a close function pointer template parameter to hal::Handle. This allows default destructors in many places. The status parameter has been removed from close functions; in most places it was not used. Where it was, an error is printed instead.
123 lines
4.9 KiB
C
123 lines
4.9 KiB
C
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <stdint.h>
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#include "hal/AnalogTrigger.h"
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#include "hal/Types.h"
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extern "C" {
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HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder(
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HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
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HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
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HAL_Bool reverseDirection, int32_t* index, int32_t* status);
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void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle);
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/**
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* Reset the Encoder distance to zero.
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* Resets the current count to zero on the encoder.
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*/
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void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
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int32_t* status);
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/**
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* Gets the fpga value from the encoder.
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* The fpga value is the actual count unscaled by the 1x, 2x, or 4x scale
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* factor.
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* @return Current fpga count from the encoder
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*/
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int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
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int32_t* status); // Raw value
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/**
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* Returns the period of the most recent pulse.
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* Returns the period of the most recent Encoder pulse in seconds.
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* This method compensates for the decoding type.
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*
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* @deprecated Use GetRate() in favor of this method. This returns unscaled
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* periods and GetRate() scales using value from SetDistancePerPulse().
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*
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* @return Period in seconds of the most recent pulse.
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*/
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double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
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int32_t* status);
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/**
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* Sets the maximum period for stopped detection.
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* Sets the value that represents the maximum period of the Encoder before it
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* will assume that the attached device is stopped. This timeout allows users
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* to determine if the wheels or other shaft has stopped rotating.
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* This method compensates for the decoding type.
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*
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* @deprecated Use SetMinRate() in favor of this method. This takes unscaled
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* periods and SetMinRate() scales using value from SetDistancePerPulse().
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*
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* @param maxPeriod The maximum time between rising and falling edges before the
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* FPGA will
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* report the device stopped. This is expressed in seconds.
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*/
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void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
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double maxPeriod, int32_t* status);
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/**
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* Determine if the encoder is stopped.
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* Using the MaxPeriod value, a boolean is returned that is true if the encoder
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* is considered stopped and false if it is still moving. A stopped encoder is
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* one where the most recent pulse width exceeds the MaxPeriod.
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* @return True if the encoder is considered stopped.
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*/
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HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle,
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int32_t* status);
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/**
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* The last direction the encoder value changed.
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* @return The last direction the encoder value changed.
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*/
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HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
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int32_t* status);
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/**
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* Set the direction sensing for this encoder.
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* This sets the direction sensing on the encoder so that it could count in the
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* correct software direction regardless of the mounting.
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* @param reverseDirection true if the encoder direction should be reversed
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*/
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void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
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HAL_Bool reverseDirection,
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int32_t* status);
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/**
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* Set the Samples to Average which specifies the number of samples of the timer
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* to average when calculating the period. Perform averaging to account for
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* mechanical imperfections or as oversampling to increase resolution.
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* @param samplesToAverage The number of samples to average from 1 to 127.
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*/
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void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle,
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int32_t samplesToAverage,
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int32_t* status);
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/**
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* Get the Samples to Average which specifies the number of samples of the timer
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* to average when calculating the period. Perform averaging to account for
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* mechanical imperfections or as oversampling to increase resolution.
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* @return SamplesToAverage The number of samples being averaged (from 1 to 127)
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*/
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int32_t HAL_GetFPGAEncoderSamplesToAverage(
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HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status);
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/**
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* Set an index source for an encoder, which is an input that resets the
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* encoder's count.
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*/
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void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpgaEncoderHandle,
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HAL_Handle digitalSourceHandle,
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HAL_AnalogTriggerType analogTriggerType,
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HAL_Bool activeHigh, HAL_Bool edgeSensitive,
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int32_t* status);
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} // extern "C"
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