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https://github.com/wpilibsuite/allwpilib
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2aed432b4b
This makes code easier to read and more consistent between C++ and Java. Also update clang-format settings to always add a line break (even if no braces are used).
77 lines
2.2 KiB
C++
77 lines
2.2 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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#include "DigitalInternal.h"
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#include "PortsInternal.h"
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#include "hal/AnalogTrigger.h"
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#include "hal/Errors.h"
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#include "hal/handles/DigitalHandleResource.h"
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#include "hal/handles/HandlesInternal.h"
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namespace hal {
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DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
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kNumDigitalChannels + kNumPWMHeaders>*
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digitalChannelHandles;
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namespace init {
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void InitializeDigitalInternal() {
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static DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
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kNumDigitalChannels + kNumPWMHeaders>
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dcH;
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digitalChannelHandles = &dcH;
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}
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} // namespace init
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bool remapDigitalSource(HAL_Handle digitalSourceHandle,
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HAL_AnalogTriggerType analogTriggerType,
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uint8_t& channel, uint8_t& module,
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bool& analogTrigger) {
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if (isHandleType(digitalSourceHandle, HAL_HandleEnum::AnalogTrigger)) {
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// If handle passed, index is not negative
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int32_t index = getHandleIndex(digitalSourceHandle);
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channel = (index << 2) + analogTriggerType;
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module = channel >> 4;
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analogTrigger = true;
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return true;
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} else if (isHandleType(digitalSourceHandle, HAL_HandleEnum::DIO)) {
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int32_t index = getHandleIndex(digitalSourceHandle);
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if (index >= kNumDigitalHeaders) {
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channel = remapMXPChannel(index);
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module = 1;
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} else {
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channel = index;
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module = 0;
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}
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analogTrigger = false;
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return true;
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} else {
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return false;
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}
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}
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int32_t remapMXPChannel(int32_t channel) {
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return channel - 10;
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}
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int32_t remapMXPPWMChannel(int32_t channel) {
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if (channel < 14) {
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return channel - 10; // first block of 4 pwms (MXP 0-3)
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} else {
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return channel - 6; // block of PWMs after SPI
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}
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}
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int32_t GetDigitalInputChannel(HAL_DigitalHandle handle, int32_t* status) {
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auto digital = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
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if (digital == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return -1;
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}
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return digital->channel;
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}
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} // namespace hal
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