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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
122 lines
3.9 KiB
C++
122 lines
3.9 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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#include "AnalogInternal.h"
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#include <atomic>
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#include "HAL/AnalogInput.h"
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#include "HAL/ChipObject.h"
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#include "HAL/cpp/priority_mutex.h"
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#include "PortsInternal.h"
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namespace hal {
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priority_recursive_mutex analogRegisterWindowMutex;
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std::unique_ptr<tAI> analogInputSystem;
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std::unique_ptr<tAO> analogOutputSystem;
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IndexedHandleResource<HAL_AnalogInputHandle, hal::AnalogPort, kNumAnalogInputs,
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HAL_HandleEnum::AnalogInput>
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analogInputHandles;
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static int32_t analogNumChannelsToActivate = 0;
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static std::atomic<bool> analogSystemInitialized{false};
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bool analogSampleRateSet = false;
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/**
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* Initialize the analog System.
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*/
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void initializeAnalog(int32_t* status) {
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if (analogSystemInitialized) return;
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std::lock_guard<priority_recursive_mutex> sync(analogRegisterWindowMutex);
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if (analogSystemInitialized) return;
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analogInputSystem.reset(tAI::create(status));
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analogOutputSystem.reset(tAO::create(status));
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setAnalogNumChannelsToActivate(kNumAnalogInputs);
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setAnalogSampleRate(kDefaultSampleRate, status);
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analogSystemInitialized = true;
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}
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/**
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* Return the number of channels on the module in use.
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*
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* @return Active channels.
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*/
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int32_t getAnalogNumActiveChannels(int32_t* status) {
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int32_t scanSize = analogInputSystem->readConfig_ScanSize(status);
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if (scanSize == 0) return 8;
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return scanSize;
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}
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/**
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* Get the number of active channels.
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*
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* This is an internal function to allow the atomic update of both the
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* number of active channels and the sample rate.
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*
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* When the number of channels changes, use the new value. Otherwise,
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* return the curent value.
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*
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* @return Value to write to the active channels field.
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*/
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int32_t getAnalogNumChannelsToActivate(int32_t* status) {
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if (analogNumChannelsToActivate == 0)
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return getAnalogNumActiveChannels(status);
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return analogNumChannelsToActivate;
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}
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/**
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* Set the sample rate.
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*
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* This is a global setting for the Athena and effects all channels.
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*
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* @param samplesPerSecond The number of samples per channel per second.
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*/
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void setAnalogSampleRate(double samplesPerSecond, int32_t* status) {
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// TODO: This will change when variable size scan lists are implemented.
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// TODO: Need double comparison with epsilon.
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// wpi_assert(!sampleRateSet || GetSampleRate() == samplesPerSecond);
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analogSampleRateSet = true;
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// Compute the convert rate
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uint32_t ticksPerSample =
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static_cast<uint32_t>(static_cast<double>(kTimebase) / samplesPerSecond);
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uint32_t ticksPerConversion =
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ticksPerSample / getAnalogNumChannelsToActivate(status);
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// ticksPerConversion must be at least 80
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if (ticksPerConversion < 80) {
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if ((*status) >= 0) *status = SAMPLE_RATE_TOO_HIGH;
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ticksPerConversion = 80;
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}
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// Atomically set the scan size and the convert rate so that the sample rate
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// is constant
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tAI::tConfig config;
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config.ScanSize = getAnalogNumChannelsToActivate(status);
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config.ConvertRate = ticksPerConversion;
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analogInputSystem->writeConfig(config, status);
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// Indicate that the scan size has been commited to hardware.
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setAnalogNumChannelsToActivate(0);
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}
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/**
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* Set the number of active channels.
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*
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* Store the number of active channels to set. Don't actually commit to
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* hardware
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* until SetSampleRate().
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*
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* @param channels Number of active channels.
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*/
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void setAnalogNumChannelsToActivate(int32_t channels) {
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analogNumChannelsToActivate = channels;
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}
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} // namespace hal
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