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https://github.com/wpilibsuite/allwpilib
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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
111 lines
3.0 KiB
C++
111 lines
3.0 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 "hal/AnalogOutput.h"
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#include "AnalogInternal.h"
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#include "HALInitializer.h"
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#include "PortsInternal.h"
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#include "hal/Errors.h"
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#include "hal/handles/HandlesInternal.h"
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#include "hal/handles/IndexedHandleResource.h"
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using namespace hal;
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namespace {
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struct AnalogOutput {
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uint8_t channel;
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};
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} // namespace
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static IndexedHandleResource<HAL_AnalogOutputHandle, AnalogOutput,
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kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>*
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analogOutputHandles;
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namespace hal {
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namespace init {
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void InitializeAnalogOutput() {
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static IndexedHandleResource<HAL_AnalogOutputHandle, AnalogOutput,
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kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>
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aoH;
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analogOutputHandles = &aoH;
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}
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} // namespace init
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} // namespace hal
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extern "C" {
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HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
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int32_t* status) {
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hal::init::CheckInit();
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initializeAnalog(status);
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if (*status != 0) return HAL_kInvalidHandle;
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int16_t channel = getPortHandleChannel(portHandle);
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if (channel == InvalidHandleIndex) {
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*status = PARAMETER_OUT_OF_RANGE;
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return HAL_kInvalidHandle;
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}
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HAL_AnalogOutputHandle handle =
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analogOutputHandles->Allocate(channel, status);
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if (*status != 0)
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return HAL_kInvalidHandle; // failed to allocate. Pass error back.
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auto port = analogOutputHandles->Get(handle);
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if (port == nullptr) { // would only error on thread issue
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*status = HAL_HANDLE_ERROR;
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return HAL_kInvalidHandle;
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}
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port->channel = static_cast<uint8_t>(channel);
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return handle;
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}
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void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle) {
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// no status, so no need to check for a proper free.
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analogOutputHandles->Free(analogOutputHandle);
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}
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void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
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double voltage, int32_t* status) {
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auto port = analogOutputHandles->Get(analogOutputHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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uint16_t rawValue = static_cast<uint16_t>(voltage / 5.0 * 0x1000);
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if (voltage < 0.0)
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rawValue = 0;
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else if (voltage > 5.0)
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rawValue = 0x1000;
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analogOutputSystem->writeMXP(port->channel, rawValue, status);
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}
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double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
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int32_t* status) {
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auto port = analogOutputHandles->Get(analogOutputHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0.0;
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}
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uint16_t rawValue = analogOutputSystem->readMXP(port->channel, status);
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return rawValue * 5.0 / 0x1000;
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}
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HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel) {
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return channel < kNumAnalogOutputs && channel >= 0;
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}
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} // extern "C"
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