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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
68 lines
2.1 KiB
C++
68 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef DIGITAL_MODULE_H_
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#define DIGITAL_MODULE_H_
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#include "HAL/HAL.h"
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#include "Module.h"
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class I2C;
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const uint32_t kExpectedLoopTiming = 260;
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class DigitalModule: public Module
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{
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friend class I2C;
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friend class Module;
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protected:
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explicit DigitalModule(uint8_t moduleNumber);
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virtual ~DigitalModule();
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public:
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void SetPWM(uint32_t channel, unsigned short value);
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unsigned short GetPWM(uint32_t channel);
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void SetPWMPeriodScale(uint32_t channel, uint32_t squelchMask);
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void SetRelayForward(uint32_t channel, bool on);
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void SetRelayReverse(uint32_t channel, bool on);
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bool GetRelayForward(uint32_t channel);
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uint8_t GetRelayForward();
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bool GetRelayReverse(uint32_t channel);
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uint8_t GetRelayReverse();
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bool AllocateDIO(uint32_t channel, bool input);
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void FreeDIO(uint32_t channel);
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void SetDIO(uint32_t channel, short value);
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bool GetDIO(uint32_t channel);
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uint16_t GetDIO();
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bool GetDIODirection(uint32_t channel);
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uint16_t GetDIODirection();
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void Pulse(uint32_t channel, float pulseLength);
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bool IsPulsing(uint32_t channel);
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bool IsPulsing();
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uint32_t AllocateDO_PWM();
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void FreeDO_PWM(uint32_t pwmGenerator);
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void SetDO_PWMRate(float rate);
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void SetDO_PWMDutyCycle(uint32_t pwmGenerator, float dutyCycle);
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void SetDO_PWMOutputChannel(uint32_t pwmGenerator, uint32_t channel);
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uint16_t GetLoopTiming();
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I2C* GetI2C(uint32_t address);
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static DigitalModule* GetInstance(uint8_t moduleNumber);
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static uint8_t RemapDigitalChannel(uint32_t channel) { return 15 - channel; }; // TODO: Need channel validation
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static uint8_t UnmapDigitalChannel(uint32_t channel) { return 15 - channel; }; // TODO: Need channel validation
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private:
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uint8_t m_module;
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void* m_digital_ports[kDigitalChannels];
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void* m_relay_ports[kRelayChannels];
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void* m_pwm_ports[kPwmChannels];
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};
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#endif
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