allwpilib/hal/lib/athena/AnalogAccumulator.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include "HAL/AnalogAccumulator.h"

#include "AnalogInternal.h"
#include "HAL/HAL.h"

using namespace hal;

extern "C" {
/**
 * Is the channel attached to an accumulator.
 *
 * @param analogPortHandle Handle to the analog port.
 * @return The analog channel is attached to an accumulator.
 */
HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle,
                                  int32_t* status) {
  auto port = analogInputHandles.Get(analogPortHandle);
  if (port == nullptr) {
    *status = HAL_HANDLE_ERROR;
    return false;
  }
  for (uint32_t i = 0; i < kNumAccumulators; i++) {
    if (port->channel == kAccumulatorChannels[i]) return true;
  }
  return false;
}

/**
 * Initialize the accumulator.
 *
 * @param analogPortHandle Handle to the analog port.
 */
void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle,
                         int32_t* status) {
  if (!HAL_IsAccumulatorChannel(analogPortHandle, status)) {
    *status = HAL_INVALID_ACCUMULATOR_CHANNEL;
    return;
  }
  HAL_SetAccumulatorCenter(analogPortHandle, 0, status);
  HAL_ResetAccumulator(analogPortHandle, status);
}

/**
 * Resets the accumulator to the initial value.
 *
 * @param analogPortHandle Handle to the analog port.
 */
void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle,
                          int32_t* status) {
  auto port = analogInputHandles.Get(analogPortHandle);
  if (port == nullptr) {
    *status = HAL_HANDLE_ERROR;
    return;
  }
  if (port->accumulator == nullptr) {
    *status = NULL_PARAMETER;
    return;
  }
  port->accumulator->strobeReset(status);
}

/**
 * Set the center value of the accumulator.
 *
 * The center value is subtracted from each A/D value before it is added to the
 * accumulator. This is used for the center value of devices like gyros and
 * accelerometers to make integration work and to take the device offset into
 * account when integrating.
 *
 * This center value is based on the output of the oversampled and averaged
 * source from channel 1. Because of this, any non-zero oversample bits will
 * affect the size of the value for this field.
 *
 * @param analogPortHandle Handle to the analog port.
 * @param center The center value of the accumulator.
 */
void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle,
                              int32_t center, int32_t* status) {
  auto port = analogInputHandles.Get(analogPortHandle);
  if (port == nullptr) {
    *status = HAL_HANDLE_ERROR;
    return;
  }
  if (port->accumulator == nullptr) {
    *status = NULL_PARAMETER;
    return;
  }
  port->accumulator->writeCenter(center, status);
}

/**
 * Set the accumulator's deadband.
 *
 * @param analogPortHandle Handle to the analog port.
 * @param deadband The deadband of the accumulator.
 */
void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle,
                                int32_t deadband, int32_t* status) {
  auto port = analogInputHandles.Get(analogPortHandle);
  if (port == nullptr) {
    *status = HAL_HANDLE_ERROR;
    return;
  }
  if (port->accumulator == nullptr) {
    *status = NULL_PARAMETER;
    return;
  }
  port->accumulator->writeDeadband(deadband, status);
}

/**
 * Read the accumulated value.
 *
 * Read the value that has been accumulating on channel 1.
 * The accumulator is attached after the oversample and average engine.
 *
 * @param analogPortHandle Handle to the analog port.
 * @return The 64-bit value accumulated since the last Reset().
 */
int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle,
                                int32_t* status) {
  auto port = analogInputHandles.Get(analogPortHandle);
  if (port == nullptr) {
    *status = HAL_HANDLE_ERROR;
    return 0;
  }
  if (port->accumulator == nullptr) {
    *status = NULL_PARAMETER;
    return 0;
  }
  int64_t value = port->accumulator->readOutput_Value(status);
  return value;
}

/**
 * Read the number of accumulated values.
 *
 * Read the count of the accumulated values since the accumulator was last
 * Reset().
 *
 * @param analogPortHandle Handle to the analog port.
 * @return The number of times samples from the channel were accumulated.
 */
int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle,
                                int32_t* status) {
  auto port = analogInputHandles.Get(analogPortHandle);
  if (port == nullptr) {
    *status = HAL_HANDLE_ERROR;
    return 0;
  }
  if (port->accumulator == nullptr) {
    *status = NULL_PARAMETER;
    return 0;
  }
  return port->accumulator->readOutput_Count(status);
}

/**
 * Read the accumulated value and the number of accumulated values atomically.
 *
 * This function reads the value and count from the FPGA atomically.
 * This can be used for averaging.
 *
 * @param analogPortHandle Handle to the analog port.
 * @param value Pointer to the 64-bit accumulated output.
 * @param count Pointer to the number of accumulation cycles.
 */
void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analogPortHandle,
                              int64_t* value, int64_t* count, int32_t* status) {
  auto port = analogInputHandles.Get(analogPortHandle);
  if (port == nullptr) {
    *status = HAL_HANDLE_ERROR;
    return;
  }
  if (port->accumulator == nullptr) {
    *status = NULL_PARAMETER;
    return;
  }
  if (value == nullptr || count == nullptr) {
    *status = NULL_PARAMETER;
    return;
  }

  tAccumulator::tOutput output = port->accumulator->readOutput(status);

  *value = output.Value;
  *count = output.Count;
}
}