mirror of
https://github.com/wpilibsuite/allwpilib
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88 lines
2.8 KiB
C++
88 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2017 FIRST. 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 "DigitalInternal.h"
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#include "ConstantsInternal.h"
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#include "HAL/AnalogTrigger.h"
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#include "HAL/HAL.h"
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#include "HAL/Ports.h"
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#include "PortsInternal.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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/**
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* Map DIO channel numbers from their physical number (10 to 26) to their
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* position in the bit field.
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*/
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int32_t remapMXPChannel(int32_t channel) { return channel - 10; }
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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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/**
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* remap the digital source channel and set the module.
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* If it's an analog trigger, determine the module from the high order routing
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* channel else do normal digital input remapping based on channel number
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* (MXP)
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*/
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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 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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