mirror of
https://github.com/wpilibsuite/allwpilib
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221 lines
7.7 KiB
C
221 lines
7.7 KiB
C
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 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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#pragma once
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#include <stdint.h>
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#include "HAL/Types.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* Initialize the analog input port using the given port object.
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*
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* @param portHandle Handle to the port to initialize.
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*/
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HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle,
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int32_t* status);
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/**
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* @param analogPortHandle Handle to the analog port.
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*/
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void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle);
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/**
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* Check that the analog module number is valid.
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*
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* @param module The analog module number.
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* @return Analog module is valid and present
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*/
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HAL_Bool HAL_CheckAnalogModule(int32_t module);
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/**
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* Check that the analog output channel number is value.
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* Verify that the analog channel number is one of the legal channel numbers.
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* Channel numbers are 0-based.
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*
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* @param channel The analog output channel number.
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* @return Analog channel is valid
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*/
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HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel);
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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 HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status);
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/**
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* Get the current sample rate.
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*
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* This assumes one entry in the scan list.
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* This is a global setting for the Athena and effects all channels.
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*
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* @return Sample rate.
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*/
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double HAL_GetAnalogSampleRate(int32_t* status);
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/**
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* Set the number of averaging bits.
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*
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* This sets the number of averaging bits. The actual number of averaged samples
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* is 2**bits. Use averaging to improve the stability of your measurement at the
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* expense of sampling rate. The averaging is done automatically in the FPGA.
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*
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* @param analogPortHandle Handle to the analog port to configure.
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* @param bits Number of bits to average.
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*/
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void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
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int32_t bits, int32_t* status);
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/**
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* Get the number of averaging bits.
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*
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* This gets the number of averaging bits from the FPGA. The actual number of
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* averaged samples is 2**bits. The averaging is done automatically in the FPGA.
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*
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* @param analogPortHandle Handle to the analog port to use.
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* @return Bits to average.
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*/
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int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status);
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/**
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* Set the number of oversample bits.
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*
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* This sets the number of oversample bits. The actual number of oversampled
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* values is 2**bits. Use oversampling to improve the resolution of your
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* measurements at the expense of sampling rate. The oversampling is done
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* automatically in the FPGA.
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*
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* @param analogPortHandle Handle to the analog port to use.
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* @param bits Number of bits to oversample.
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*/
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void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
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int32_t bits, int32_t* status);
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/**
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* Get the number of oversample bits.
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*
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* This gets the number of oversample bits from the FPGA. The actual number of
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* oversampled values is 2**bits. The oversampling is done automatically in the
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* FPGA.
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*
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* @param analogPortHandle Handle to the analog port to use.
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* @return Bits to oversample.
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*/
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int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status);
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/**
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* Get a sample straight from the channel on this module.
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*
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* The sample is a 12-bit value representing the 0V to 5V range of the A/D
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* converter in the module. The units are in A/D converter codes. Use
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* GetVoltage() to get the analog value in calibrated units.
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*
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* @param analogPortHandle Handle to the analog port to use.
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* @return A sample straight from the channel on this module.
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*/
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int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status);
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/**
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* Get a sample from the output of the oversample and average engine for the
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* channel.
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*
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* The sample is 12-bit + the value configured in SetOversampleBits().
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* The value configured in SetAverageBits() will cause this value to be averaged
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* 2**bits number of samples. This is not a sliding window. The sample will not
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* change until 2**(OversamplBits + AverageBits) samples have been acquired from
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* the module on this channel. Use GetAverageVoltage() to get the analog value
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* in calibrated units.
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*
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* @param analogPortHandle Handle to the analog port to use.
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* @return A sample from the oversample and average engine for the channel.
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*/
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int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status);
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/**
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* Convert a voltage to a raw value for a specified channel.
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*
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* This process depends on the calibration of each channel, so the channel must
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* be specified.
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*
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* @todo This assumes raw values. Oversampling not supported as is.
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*
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* @param analogPortHandle Handle to the analog port to use.
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* @param voltage The voltage to convert.
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* @return The raw value for the channel.
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*/
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int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
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double voltage, int32_t* status);
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/**
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* Get a scaled sample straight from the channel on this module.
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*
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* The value is scaled to units of Volts using the calibrated scaling data from
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* GetLSBWeight() and GetOffset().
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*
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* @param analogPortHandle Handle to the analog port to use.
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* @return A scaled sample straight from the channel on this module.
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*/
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double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status);
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/**
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* Get a scaled sample from the output of the oversample and average engine for
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* the channel.
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*
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* The value is scaled to units of Volts using the calibrated scaling data from
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* GetLSBWeight() and GetOffset(). Using oversampling will cause this value to
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* be higher resolution, but it will update more slowly. Using averaging will
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* cause this value to be more stable, but it will update more slowly.
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*
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* @param analogPortHandle Handle to the analog port to use.
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* @return A scaled sample from the output of the oversample and average engine
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* for the channel.
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*/
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double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status);
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/**
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* Get the factory scaling least significant bit weight constant.
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* The least significant bit weight constant for the channel that was calibrated
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* in manufacturing and stored in an eeprom in the module.
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*
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* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
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*
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* @param analogPortHandle Handle to the analog port to use.
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* @return Least significant bit weight.
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*/
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int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status);
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/**
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* Get the factory scaling offset constant.
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* The offset constant for the channel that was calibrated in manufacturing and
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* stored in an eeprom in the module.
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*
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* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
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*
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* @param analogPortHandle Handle to the analog port to use.
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* @return Offset constant.
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*/
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int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status);
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#ifdef __cplusplus
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} // extern "C"
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#endif
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