mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
158 lines
8.1 KiB
C++
158 lines
8.1 KiB
C++
#pragma once
|
|
#ifdef __vxworks
|
|
#include <vxWorks.h>
|
|
#else
|
|
#include <stdint.h>
|
|
#endif
|
|
|
|
enum Mode
|
|
{
|
|
kTwoPulse = 0,
|
|
kSemiperiod = 1,
|
|
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);
|
|
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);
|
|
bool getRelayForward(void* digital_port_pointer, int32_t *status);
|
|
bool getRelayReverse(void* digital_port_pointer, int32_t *status);
|
|
|
|
bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status);
|
|
void freeDIO(void* digital_port_pointer, int32_t *status);
|
|
void setDIO(void* digital_port_pointer, short value, int32_t *status);
|
|
bool getDIO(void* digital_port_pointer, int32_t *status);
|
|
bool getDIODirection(void* digital_port_pointer, int32_t *status);
|
|
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 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 setCounterDownSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
|
|
int32_t *status);
|
|
void clearCounterDownSource(void* counter_pointer, int32_t *status);
|
|
void setCounterUpDownMode(void* counter_pointer, int32_t *status);
|
|
void setCounterExternalDirectionMode(void* counter_pointer, int32_t *status);
|
|
void setCounterSemiPeriodMode(void* counter_pointer, bool highSemiPeriod, int32_t *status);
|
|
void setCounterPulseLengthMode(void* counter_pointer, double threshold, int32_t *status);
|
|
int32_t getCounterSamplesToAverage(void* counter_pointer, int32_t *status);
|
|
void setCounterSamplesToAverage(void* counter_pointer, int samplesToAverage, int32_t *status);
|
|
void startCounter(void* counter_pointer, int32_t *status);
|
|
void stopCounter(void* counter_pointer, int32_t *status);
|
|
void resetCounter(void* counter_pointer, int32_t *status);
|
|
int32_t getCounter(void* counter_pointer, int32_t *status);
|
|
double getCounterPeriod(void* counter_pointer, int32_t *status);
|
|
void setCounterMaxPeriod(void* counter_pointer, double maxPeriod, int32_t *status);
|
|
void setCounterUpdateWhenEmpty(void* counter_pointer, bool enabled, int32_t *status);
|
|
bool getCounterStopped(void* counter_pointer, int32_t *status);
|
|
bool getCounterDirection(void* counter_pointer, int32_t *status);
|
|
void setCounterReverseDirection(void* counter_pointer, bool reverseDirection, int32_t *status);
|
|
|
|
void* initializeEncoder(uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
|
|
uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
|
|
bool reverseDirection, int32_t *index, int32_t *status); // TODO: fix routing
|
|
void freeEncoder(void* encoder_pointer, int32_t *status);
|
|
void startEncoder(void* encoder_pointer, int32_t *status);
|
|
void stopEncoder(void* encoder_pointer, int32_t *status);
|
|
void resetEncoder(void* encoder_pointer, int32_t *status);
|
|
int32_t getEncoder(void* encoder_pointer, int32_t *status); // Raw value
|
|
double getEncoderPeriod(void* encoder_pointer, int32_t *status);
|
|
void setEncoderMaxPeriod(void* encoder_pointer, double maxPeriod, int32_t *status);
|
|
bool getEncoderStopped(void* encoder_pointer, int32_t *status);
|
|
bool getEncoderDirection(void* encoder_pointer, int32_t *status);
|
|
void setEncoderReverseDirection(void* encoder_pointer, bool reverseDirection, int32_t *status);
|
|
void setEncoderSamplesToAverage(void* encoder_pointer, uint32_t samplesToAverage,
|
|
int32_t *status);
|
|
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);
|
|
|
|
bool doI2CTransaction(uint8_t address, bool compatibilityMode, uint8_t *dataToSend,
|
|
uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize, int32_t *status);
|
|
bool doI2CTransactionWithModule(uint8_t module, uint8_t address, bool compatibilityMode,
|
|
uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize,
|
|
int32_t *status);
|
|
|
|
//// 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);
|
|
}
|