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47 lines
2.5 KiB
C
47 lines
2.5 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/AnalogTrigger.h"
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#include "HAL/Handles.h"
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extern "C" {
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HalFPGAEncoderHandle initializeFPGAEncoder(HalHandle digitalSourceHandleA,
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AnalogTriggerType analogTriggerTypeA,
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HalHandle digitalSourceHandleB,
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AnalogTriggerType analogTriggerTypeB,
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bool reverseDirection,
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int32_t* index, int32_t* status);
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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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HalHandle digitalSourceHandle,
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AnalogTriggerType analogTriggerType,
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bool activeHigh, bool edgeSensitive,
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int32_t* status);
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}
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