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48 lines
2.4 KiB
C
48 lines
2.4 KiB
C
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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/AnalogTrigger.h"
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#include "HAL/Handles.h"
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extern "C" {
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HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder(
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HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
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HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
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bool reverseDirection, int32_t* index, int32_t* status);
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void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle,
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int32_t* status);
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void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle,
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int32_t* status);
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int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle,
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int32_t* status); // Raw value
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double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle,
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int32_t* status);
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void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle,
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double maxPeriod, int32_t* status);
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bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpga_encoder_handle,
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int32_t* status);
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bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpga_encoder_handle,
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int32_t* status);
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void HAL_SetFPGAEncoderReverseDirection(
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HAL_FPGAEncoderHandle fpga_encoder_handle, bool reverseDirection,
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int32_t* status);
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void HAL_SetFPGAEncoderSamplesToAverage(
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HAL_FPGAEncoderHandle fpga_encoder_handle, uint32_t samplesToAverage,
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int32_t* status);
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uint32_t HAL_GetFPGAEncoderSamplesToAverage(
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HAL_FPGAEncoderHandle fpga_encoder_handle, int32_t* status);
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void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpga_encoder_handle,
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HAL_Handle digitalSourceHandle,
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HAL_AnalogTriggerType analogTriggerType,
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bool activeHigh, bool edgeSensitive,
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int32_t* status);
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}
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