allwpilib/hal/AthenaXX/src/main/native/Analog.cpp

#include "HAL/Analog.h"

#include "Port.h"
#include "HAL/Errors.h"
#include "HAL/Semaphore.h"
#include "ChipObject.h"
#include "HAL/cpp/Synchronized.h"
#include "HAL/cpp/Resource.h"
#include "NetworkCommunication/AICalibration.h"
#include "NetworkCommunication/LoadOut.h"

#include <stdio.h> // TODO: remove printf for debugging

static const long kTimebase = 40000000; ///< 40 MHz clock
static const long kDefaultOversampleBits = 0;
static const long kDefaultAverageBits = 7;
static const float kDefaultSampleRate = 50000.0;
static const uint32_t kAnalogPins = 8;

static const uint8_t kAccumulatorModuleNumber = 1;
static const uint32_t kAccumulatorNumChannels = 2;
static const uint32_t kAccumulatorChannels[] = {1, 2};

struct analog_port_t {
  Port port;
  tAI *module;
  tAccumulator *accumulator;
};
typedef struct analog_port_t AnalogPort;

bool analogSampleRateSet[2] = {false, false};
MUTEX_ID analogRegisterWindowSemaphore = NULL;
tAI* analogModules[2] = {NULL, NULL};
uint32_t analogNumChannelsToActivate[2] = {0, 0};

// Utility methods defined below.
uint32_t getAnalogNumActiveChannels(uint8_t module, int32_t *status);
uint32_t getAnalogNumChannelsToActivate(uint8_t module, int32_t *status);
void setAnalogNumChannelsToActivate(uint8_t module, uint32_t channels);

bool analogModulesInitialized = false;

/**
 * Initialize the analog modules.
 */
void initializeAnalog(int32_t *status) {
  if (analogModulesInitialized) return;
  // Needs to be global since the protected resource spans both module singletons.
  analogRegisterWindowSemaphore = initializeMutex(SEMAPHORE_Q_PRIORITY | SEMAPHORE_DELETE_SAFE | SEMAPHORE_INVERSION_SAFE);
  for (unsigned int i = 0; i < (sizeof(analogModules)/sizeof(analogModules[0])); i++) {
    analogModules[i] = tAI::create(i, status);
    setAnalogNumChannelsToActivate(i + 1, kAnalogPins);
    setAnalogSampleRateWithModule(i + 1, kDefaultSampleRate, status);
  }
  analogModulesInitialized = true;
}
  
/**
 * Initialize the analog port using the given port object.
 */
void* initializeAnalogPort(void* port_pointer, int32_t *status) {
  initializeAnalog(status);
  Port* port = (Port*) port_pointer;

  // Initialize port structure
  AnalogPort* analog_port = new AnalogPort();
  analog_port->port = *port;
  analog_port->module = analogModules[analog_port->port.module-1];
  if (isAccumulatorChannel(analog_port, status)) {
    analog_port->accumulator = tAccumulator::create(port->pin - 1, status);
  } else analog_port->accumulator = NULL;

  // Set default configuration
  analog_port->module->writeScanList(port->pin - 1, port->pin - 1, status);
  setAnalogAverageBits(analog_port, kDefaultAverageBits, status);
  setAnalogOversampleBits(analog_port, kDefaultOversampleBits, status);
  return analog_port;
}


/**
 * Check that the analog module number is valid.
 * 
 * @return Analog module is valid and present
 */
bool checkAnalogModule(uint8_t module) {
  if (nLoadOut::getModulePresence(nLoadOut::kModuleType_Analog, module - 1))
    return true;
  return false;
}

/**
 * Check that the analog channel number is value.
 * Verify that the analog channel number is one of the legal channel numbers. Channel numbers
 * are 1-based.
 * 
 * @return Analog channel is valid
 */
bool checkAnalogChannel(uint32_t pin) {
  if (pin > 0 && pin <= kAnalogPins)
    return true;
  return false;
}

/**
 * Set the sample rate on module 0.
 *
 * This is a global setting for the module and effects all channels.
 *
 * @param samplesPerSecond The number of samples per channel per second.
 */
void setAnalogSampleRate(double samplesPerSecond, int32_t *status) {
  setAnalogSampleRateWithModule(1, samplesPerSecond, status);
}

/**
 * Get the current sample rate on module 0.
 *
 * This assumes one entry in the scan list.
 * This is a global setting for the module and effects all channels.
 *
 * @return Sample rate.
 */
float getAnalogSampleRate(int32_t *status) {
  return getAnalogSampleRateWithModule(1, status);
}

/**
 * Set the sample rate on the module.
 *
 * This is a global setting for the module and effects all channels.
 *
 * @param module The module to use
 * @param samplesPerSecond The number of samples per channel per second.
 */
void setAnalogSampleRateWithModule(uint8_t module, double samplesPerSecond, int32_t *status) {
  // TODO: This will change when variable size scan lists are implemented.
  // TODO: Need float comparison with epsilon.
  //wpi_assert(!sampleRateSet || GetSampleRate() == samplesPerSecond);
  analogSampleRateSet[module-1] = true;

  // Compute the convert rate
  uint32_t ticksPerSample = (uint32_t)((float)kTimebase / samplesPerSecond);
  uint32_t ticksPerConversion = ticksPerSample / getAnalogNumChannelsToActivate(module, status);
  // ticksPerConversion must be at least 80
  if (ticksPerConversion < 80) {
    if ((*status) >= 0) *status = SAMPLE_RATE_TOO_HIGH;
    ticksPerConversion = 80;
  }

  // Atomically set the scan size and the convert rate so that the sample rate is constant
  tAI::tConfig config;
  config.ScanSize = getAnalogNumChannelsToActivate(module, status);
  config.ConvertRate = ticksPerConversion;
  analogModules[module-1]->writeConfig(config, status);

  // Indicate that the scan size has been commited to hardware.
  setAnalogNumChannelsToActivate(module, 0);
}

/**
 * Get the current sample rate on the module.
 *
 * This assumes one entry in the scan list.
 * This is a global setting for the module and effects all channels.
 *
 * @param module The module to use
 * @return Sample rate.
 */
float getAnalogSampleRateWithModule(uint8_t module, int32_t *status) {
  uint32_t ticksPerConversion = analogModules[module-1]->readLoopTiming(status);
  uint32_t ticksPerSample = ticksPerConversion * getAnalogNumActiveChannels(module, status);
  return (float)kTimebase / (float)ticksPerSample;
}


/**
 * Set the number of averaging bits.
 *
 * This sets the number of averaging bits. The actual number of averaged samples is 2**bits.
 * Use averaging to improve the stability of your measurement at the expense of sampling rate.
 * The averaging is done automatically in the FPGA.
 *
 * @param analog_port_pointer Pointer to the analog port to configure.
 * @param bits Number of bits to average.
 */
void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  port->module->writeAverageBits(port->port.pin - 1, bits, status);
}

/**
 * Get the number of averaging bits.
 *
 * This gets the number of averaging bits from the FPGA. The actual number of averaged samples is 2**bits.
 * The averaging is done automatically in the FPGA.
 *
 * @param analog_port_pointer Pointer to the analog port to use.
 * @return Bits to average.
 */
uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  uint32_t result = port->module->readAverageBits(port->port.pin - 1, status);
  return result;
}

/**
 * Set the number of oversample bits.
 *
 * This sets the number of oversample bits. The actual number of oversampled values is 2**bits.
 * Use oversampling to improve the resolution of your measurements at the expense of sampling rate.
 * The oversampling is done automatically in the FPGA.
 *
 * @param analog_port_pointer Pointer to the analog port to use.
 * @param bits Number of bits to oversample.
 */
void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  port->module->writeOversampleBits(port->port.pin - 1, bits, status);
}


/**
 * Get the number of oversample bits.
 *
 * This gets the number of oversample bits from the FPGA. The actual number of oversampled values is
 * 2**bits. The oversampling is done automatically in the FPGA.
 *
 * @param analog_port_pointer Pointer to the analog port to use.
 * @return Bits to oversample.
 */
uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  uint32_t result = port->module->readOversampleBits(port->port.pin - 1, status);
  return result;
}

/**
 * Get a sample straight from the channel on this module.
 *
 * The sample is a 12-bit value representing the -10V to 10V range of the A/D converter in the module.
 * The units are in A/D converter codes.  Use GetVoltage() to get the analog value in calibrated units.
 *
 * @param analog_port_pointer Pointer to the analog port to use.
 * @return A sample straight from the channel on this module.
 */
int16_t getAnalogValue(void* analog_port_pointer, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  int16_t value;
  checkAnalogChannel(port->port.pin);

  tAI::tReadSelect readSelect;
  readSelect.Channel = port->port.pin - 1;
  readSelect.Module = port->port.module - 1;
  readSelect.Averaged = false;

  {
    Synchronized sync(analogRegisterWindowSemaphore);
    port->module->writeReadSelect(readSelect, status);
    port->module->strobeLatchOutput(status);
    value = (int16_t) port->module->readOutput(status);
  }

  return value;
}

/**
 * Get a sample from the output of the oversample and average engine for the channel.
 *
 * The sample is 12-bit + the value configured in SetOversampleBits().
 * The value configured in SetAverageBits() will cause this value to be averaged 2**bits number of samples.
 * This is not a sliding window.  The sample will not change until 2**(OversamplBits + AverageBits) samples
 * have been acquired from the module on this channel.
 * Use GetAverageVoltage() to get the analog value in calibrated units.
 *
 * @param analog_port_pointer Pointer to the analog port to use.
 * @return A sample from the oversample and average engine for the channel.
 */
int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  int16_t value;
  checkAnalogChannel(port->port.pin);

  tAI::tReadSelect readSelect;
  readSelect.Channel = port->port.pin - 1;
  readSelect.Module = port->port.module - 1;
  readSelect.Averaged = true;

  {
    Synchronized sync(analogRegisterWindowSemaphore);
    port->module->writeReadSelect(readSelect, status);
    port->module->strobeLatchOutput(status);
    value = (int16_t) port->module->readOutput(status);
  }

  return value;
}

/**
 * Get a scaled sample straight from the channel on this module.
 *
 * The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight() and GetOffset().
 *
 * @param analog_port_pointer Pointer to the analog port to use.
 * @return A scaled sample straight from the channel on this module.
 */
float getAnalogVoltage(void* analog_port_pointer, int32_t *status) {
  int16_t value = getAnalogValue(analog_port_pointer, status);
  uint32_t LSBWeight = getAnalogLSBWeight(analog_port_pointer, status);
  int32_t offset = getAnalogOffset(analog_port_pointer, status);
  float voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9;
  return voltage;
}

/**
 * Get a scaled sample from the output of the oversample and average engine for the channel.
 *
 * The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight() and GetOffset().
 * Using oversampling will cause this value to be higher resolution, but it will update more slowly.
 * Using averaging will cause this value to be more stable, but it will update more slowly.
 *
 * @param analog_port_pointer Pointer to the analog port to use.
 * @return A scaled sample from the output of the oversample and average engine for the channel.
 */
float getAnalogAverageVoltage(void* analog_port_pointer, int32_t *status) {
  int32_t value = getAnalogAverageValue(analog_port_pointer, status);
  uint32_t LSBWeight = getAnalogLSBWeight(analog_port_pointer, status);
  int32_t offset = getAnalogOffset(analog_port_pointer, status);
  uint32_t oversampleBits = getAnalogOversampleBits(analog_port_pointer, status);
  float voltage = ((LSBWeight * 1.0e-9 * value) / (float)(1 << oversampleBits)) - offset * 1.0e-9;
  return voltage;
}

/**
 * Convert a voltage to a raw value for a specified channel.
 *
 * This process depends on the calibration of each channel, so the channel
 * must be specified.
 *
 * @todo This assumes raw values.  Oversampling not supported as is.
 *
 * @param analog_port_pointer Pointer to the analog port to use.
 * @param voltage The voltage to convert.
 * @return The raw value for the channel.
 */
int32_t getAnalogVoltsToValue(void* analog_port_pointer, double voltage, int32_t *status) {
  if (voltage > 10.0) {
    voltage = 10.0;
    *status = VOLTAGE_OUT_OF_RANGE;
  }
  if (voltage < -10.0) {
    voltage = -10.0;
    *status = VOLTAGE_OUT_OF_RANGE;
  }
  uint32_t LSBWeight = getAnalogLSBWeight(analog_port_pointer, status);
  int32_t offset = getAnalogOffset(analog_port_pointer, status);
  int32_t value = (int32_t) ((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9));
  return value;
}

/**
 * Get the factory scaling least significant bit weight constant.
 * The least significant bit weight constant for the channel that was calibrated in
 * manufacturing and stored in an eeprom in the module.
 *
 * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
 *
 * @param analog_port_pointer Pointer to the analog port to use.
 * @return Least significant bit weight.
 */
uint32_t getAnalogLSBWeight(void* analog_port_pointer, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  uint32_t lsbWeight = FRC_NetworkCommunication_nAICalibration_getLSBWeight(port->module->getSystemIndex(),
									    port->port.pin - 1, status);
  return lsbWeight;
}

/**
 * Get the factory scaling offset constant.
 * The offset constant for the channel that was calibrated in manufacturing and stored
 * in an eeprom in the module.
 *
 * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
 *
 * @param analog_port_pointer Pointer to the analog port to use.
 * @return Offset constant.
 */
int32_t getAnalogOffset(void* analog_port_pointer, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  int32_t offset = FRC_NetworkCommunication_nAICalibration_getOffset(port->module->getSystemIndex(),
								     port->port.pin - 1, status);
  return offset;
}


/**
 * Return the number of channels on the module in use.
 * 
 * @return Active channels.
 */
uint32_t getAnalogNumActiveChannels(uint8_t module, int32_t *status) {
  uint32_t scanSize = analogModules[module-1]->readConfig_ScanSize(status);
  if (scanSize == 0)
    return 8;
  return scanSize;
}

/**
 * Get the number of active channels.
 * 
 * This is an internal function to allow the atomic update of both the 
 * number of active channels and the sample rate.
 * 
 * When the number of channels changes, use the new value.  Otherwise,
 * return the curent value.
 * 
 * @return Value to write to the active channels field.
 */
uint32_t getAnalogNumChannelsToActivate(uint8_t module, int32_t *status) {
  if(analogNumChannelsToActivate[module-1] == 0) return getAnalogNumActiveChannels(module, status);
  return analogNumChannelsToActivate[module-1];
}

/**
 * Set the number of active channels.
 * 
 * Store the number of active channels to set.  Don't actually commit to hardware
 * until SetSampleRate().
 * 
 * @param channels Number of active channels.
 */
void setAnalogNumChannelsToActivate(uint8_t module, uint32_t channels) {
  analogNumChannelsToActivate[module-1] = channels;
}

//// Accumulator Stuff

/**
 * Is the channel attached to an accumulator.
 * 
 * @return The analog channel is attached to an accumulator.
 */
bool isAccumulatorChannel(void* analog_port_pointer, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  if(port->port.module != kAccumulatorModuleNumber) return false;
  for (uint32_t i=0; i < kAccumulatorNumChannels; i++) {
    if (port->port.pin == kAccumulatorChannels[i]) return true;
  }
  return false;
}

/**
 * Initialize the accumulator.
 */
void initAccumulator(void* analog_port_pointer, int32_t *status) {
  setAccumulatorCenter(analog_port_pointer, 0, status);
  resetAccumulator(analog_port_pointer, status);
}

/**
 * Resets the accumulator to the initial value.
 */
void resetAccumulator(void* analog_port_pointer, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  if (port->accumulator == NULL) {
    *status = NULL_PARAMETER;
    return;
  }
  port->accumulator->strobeReset(status);
}

/**
 * Set the center value of the accumulator.
 * 
 * The center value is subtracted from each A/D value before it is added to the accumulator. This
 * is used for the center value of devices like gyros and accelerometers to make integration work
 * and to take the device offset into account when integrating.
 * 
 * This center value is based on the output of the oversampled and averaged source from channel 1.
 * Because of this, any non-zero oversample bits will affect the size of the value for this field.
 */
void setAccumulatorCenter(void* analog_port_pointer, int32_t center, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  if (port->accumulator == NULL) {
    *status = NULL_PARAMETER;
    return;
  }
  port->accumulator->writeCenter(center, status);
}

/**
 * Set the accumulator's deadband.
 */
void setAccumulatorDeadband(void* analog_port_pointer, int32_t deadband, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  if (port->accumulator == NULL) {
    *status = NULL_PARAMETER;
    return;
  }
  port->accumulator->writeDeadband(deadband, status);
}

/**
 * Read the accumulated value.
 * 
 * Read the value that has been accumulating on channel 1.
 * The accumulator is attached after the oversample and average engine.
 * 
 * @return The 64-bit value accumulated since the last Reset().
 */
int64_t getAccumulatorValue(void* analog_port_pointer, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  if (port->accumulator == NULL) {
    *status = NULL_PARAMETER;
    return 0;
  }
  int64_t value = port->accumulator->readOutput_Value(status);
  return value;
}

/**
 * Read the number of accumulated values.
 * 
 * Read the count of the accumulated values since the accumulator was last Reset().
 * 
 * @return The number of times samples from the channel were accumulated.
 */
uint32_t getAccumulatorCount(void* analog_port_pointer, int32_t *status) {
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  if (port->accumulator == NULL) {
    *status = NULL_PARAMETER;
    return 0;
  }
  return port->accumulator->readOutput_Count(status);
}

/**
 * Read the accumulated value and the number of accumulated values atomically.
 * 
 * This function reads the value and count from the FPGA atomically.
 * This can be used for averaging.
 * 
 * @param value Pointer to the 64-bit accumulated output.
 * @param count Pointer to the number of accumulation cycles.
 */
void getAccumulatorOutput(void* analog_port_pointer, int64_t *value, uint32_t *count, int32_t *status) {
//  printf("[HAL] getAccumulatorOutput()\n");
  AnalogPort* port = (AnalogPort*) analog_port_pointer;
  if (port->accumulator == NULL) {
    *status = NULL_PARAMETER;
    return;
  }
  if (value == NULL || count == NULL) {
    *status = NULL_PARAMETER;
    return;
  }

//  printf("[HAL]\t Getting output...\n");
  tAccumulator::tOutput output = port->accumulator->readOutput(status);
  
//  printf("[HAL]\t Status: %d, Value: %lld, Count: %d.\n", *status, output.Value, output.Count);
//  printf("[HAL]\t value: %d, value2: %d, value3: %d.\n", output.value, output.value2, output.value3);
//  printf("[HAL]\t Value: %lld, Count: %d.\n", port->accumulator->readOutput_Value(status), port->accumulator->readOutput_Count(status));
  *value = output.Value;
  *count = output.Count;
}


struct trigger_t {
  tAnalogTrigger* trigger;
  AnalogPort* port;
  uint32_t index;
};
typedef struct trigger_t AnalogTrigger;

static Resource *triggers = NULL;

void* initializeAnalogTrigger(void* port_pointer, uint32_t *index, int32_t *status) {
  Port* port = (Port*) port_pointer;
  Resource::CreateResourceObject(&triggers, tAnalogTrigger::kNumSystems);

  AnalogTrigger* trigger = new AnalogTrigger();
  trigger->port = (AnalogPort*) initializeAnalogPort(port, status);
  trigger->index = triggers->Allocate("Analog Trigger");
  *index = trigger->index;
  // TODO: if (index == ~0ul) { CloneError(triggers); return; }

  trigger->trigger = tAnalogTrigger::create(trigger->index, status);
  trigger->trigger->writeSourceSelect_Channel(port->pin - 1, status);
  trigger->trigger->writeSourceSelect_Module(port->module - 1, status);

  return trigger;
}

void cleanAnalogTrigger(void* analog_trigger_pointer, int32_t *status) {
  AnalogTrigger* trigger = (AnalogTrigger*) analog_trigger_pointer;
  triggers->Free(trigger->index);
  delete trigger->trigger;
  delete trigger;
}

void setAnalogTriggerLimitsRaw(void* analog_trigger_pointer, int32_t lower, int32_t upper, int32_t *status) {
  AnalogTrigger* trigger = (AnalogTrigger*) analog_trigger_pointer;
  if (lower > upper) {
	*status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
  }
  trigger->trigger->writeLowerLimit(lower, status);
  trigger->trigger->writeUpperLimit(upper, status);
}

/**
 * Set the upper and lower limits of the analog trigger.
 * The limits are given as floating point voltage values.
 */
void setAnalogTriggerLimitsVoltage(void* analog_trigger_pointer, double lower, double upper, int32_t *status) {
  AnalogTrigger* trigger = (AnalogTrigger*) analog_trigger_pointer;
  if (lower > upper) {
	*status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
  }
  // TODO: This depends on the averaged setting.  Only raw values will work as is.
  trigger->trigger->writeLowerLimit(getAnalogVoltsToValue(trigger->port, lower, status), status);
  trigger->trigger->writeUpperLimit(getAnalogVoltsToValue(trigger->port, upper, status), status);
}

/**
 * Configure the analog trigger to use the averaged vs. raw values.
 * If the value is true, then the averaged value is selected for the analog trigger, otherwise
 * the immediate value is used.
 */
void setAnalogTriggerAveraged(void* analog_trigger_pointer, bool useAveragedValue, int32_t *status) {
  AnalogTrigger* trigger = (AnalogTrigger*) analog_trigger_pointer;
  if (trigger->trigger->readSourceSelect_Filter(status) != 0) {
	*status = INCOMPATIBLE_STATE;
	// TODO: wpi_setWPIErrorWithContext(IncompatibleMode, "Hardware does not support average and filtering at the same time.");
  }
  trigger->trigger->writeSourceSelect_Averaged(useAveragedValue, status);
}

/**
 * Configure the analog trigger to use a filtered value.
 * The analog trigger will operate with a 3 point average rejection filter. This is designed to
 * help with 360 degree pot applications for the period where the pot crosses through zero.
 */
void setAnalogTriggerFiltered(void* analog_trigger_pointer, bool useFilteredValue, int32_t *status) {
  AnalogTrigger* trigger = (AnalogTrigger*) analog_trigger_pointer;
  if (trigger->trigger->readSourceSelect_Averaged(status) != 0) {
	*status = INCOMPATIBLE_STATE;
	// TODO: wpi_setWPIErrorWithContext(IncompatibleMode, "Hardware does not support average and filtering at the same time.");
  }
  trigger->trigger->writeSourceSelect_Filter(useFilteredValue, status);
}

/**
 * Return the InWindow output of the analog trigger.
 * True if the analog input is between the upper and lower limits.
 * @return The InWindow output of the analog trigger.
 */
bool getAnalogTriggerInWindow(void* analog_trigger_pointer, int32_t *status) {
  AnalogTrigger* trigger = (AnalogTrigger*) analog_trigger_pointer;
  return trigger->trigger->readOutput_InHysteresis(trigger->index, status) != 0;
}

/**
 * Return the TriggerState output of the analog trigger.
 * True if above upper limit.
 * False if below lower limit.
 * If in Hysteresis, maintain previous state.
 * @return The TriggerState output of the analog trigger.
 */
bool getAnalogTriggerTriggerState(void* analog_trigger_pointer, int32_t *status) {
  AnalogTrigger* trigger = (AnalogTrigger*) analog_trigger_pointer;
  return trigger->trigger->readOutput_OverLimit(trigger->index, status) != 0;
}

/**
 * Get the state of the analog trigger output.
 * @return The state of the analog trigger output.
 */
bool getAnalogTriggerOutput(void* analog_trigger_pointer, AnalogTriggerType type, int32_t *status) {
  AnalogTrigger* trigger = (AnalogTrigger*) analog_trigger_pointer;
  bool result = false;
  switch(type) {
  case kInWindow:
	result = trigger->trigger->readOutput_InHysteresis(trigger->index, status);
	break; // XXX: Backport
  case kState:
	result = trigger->trigger->readOutput_OverLimit(trigger->index, status);
	break; // XXX: Backport
  case kRisingPulse:
  case kFallingPulse:
	*status = ANALOG_TRIGGER_PULSE_OUTPUT_ERROR;
	return false;
  }
  return result;
}