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https://github.com/wpilibsuite/allwpilib
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44 lines
2.3 KiB
C
44 lines
2.3 KiB
C
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include "HAL/Handles.h"
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extern "C" {
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HalFPGAEncoderHandle initializeFPGAEncoder(
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uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
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uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
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bool reverseDirection, int32_t* index,
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int32_t* status); // TODO: fix routing
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void freeFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status);
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void resetFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle,
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int32_t* status);
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int32_t getFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle,
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int32_t* status); // Raw value
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double getFPGAEncoderPeriod(HalFPGAEncoderHandle fpga_encoder_handle,
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int32_t* status);
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void setFPGAEncoderMaxPeriod(HalFPGAEncoderHandle fpga_encoder_handle,
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double maxPeriod, int32_t* status);
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bool getFPGAEncoderStopped(HalFPGAEncoderHandle fpga_encoder_handle,
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int32_t* status);
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bool getFPGAEncoderDirection(HalFPGAEncoderHandle fpga_encoder_handle,
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int32_t* status);
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void setFPGAEncoderReverseDirection(HalFPGAEncoderHandle fpga_encoder_handle,
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bool reverseDirection, int32_t* status);
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void setFPGAEncoderSamplesToAverage(HalFPGAEncoderHandle fpga_encoder_handle,
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uint32_t samplesToAverage, int32_t* status);
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uint32_t getFPGAEncoderSamplesToAverage(
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HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status);
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void setFPGAEncoderIndexSource(HalFPGAEncoderHandle fpga_encoder_handle,
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uint32_t pin, bool analogTrigger,
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bool activeHigh, bool edgeSensitive,
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int32_t* status);
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}
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