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allwpilib/hal/include/HAL/Digital.h
Brad Miller 69d9ad70ab CMake Changes 
This is the changes made by Patrick Plenefisch converting the native
code to use CMake and the CMake Maven Plugin, as opposed to the
native Maven plugin. This is to allow for compatibility with newer
versions of the GCC toolchain. All the cpp sources were moved from
maven style directories to cpp style directories for CMake.

Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
2014-04-01 11:18:29 -04:00

142 lines
8.4 KiB
C
Raw Blame History

#ifdef __vxworks
#include <vxWorks.h>
#else
#include <stdint.h>
#endif
#ifndef HAL_DIGITAL_H
#define HAL_DIGITAL_H
extern "C" {
void* initializeDigitalPort(void* port_pointer, int32_t *status);
bool checkDigitalModule(uint8_t module);
bool checkPWMChannel(void* digital_port_pointer);
bool checkRelayChannel(void* digital_port_pointer);
uint8_t remapDigitalChannel(uint32_t pin, int32_t *status);
uint8_t unmapDigitalChannel(uint32_t pin, int32_t *status);
void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status);
unsigned short getPWM(void* digital_port_pointer, int32_t *status);
void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t *status);
void* allocatePWM(int32_t *status);
void* allocatePWMWithModule(uint8_t module, int32_t *status);
void freePWM(void* pwmGenerator, int32_t *status);
void freePWMWithModule(uint8_t module, void* pwmGenerator, int32_t *status);
void setPWMRate(double rate, int32_t *status);
void setPWMRateWithModule(uint8_t module, double rate, int32_t *status);
void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status);
void setPWMDutyCycleWithModule(uint8_t module, void* pwmGenerator, double dutyCycle, int32_t *status);
void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t *status);
void setPWMOutputChannelWithModule(uint8_t module, void* pwmGenerator, uint32_t pin, int32_t *status);
void setRelayForward(void* digital_port_pointer, bool on, int32_t *status);
void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status);
bool getRelayForward(void* digital_port_pointer, int32_t *status);
bool getRelayReverse(void* digital_port_pointer, int32_t *status);
bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status);
void freeDIO(void* digital_port_pointer, int32_t *status);
void setDIO(void* digital_port_pointer, short value, int32_t *status);
bool getDIO(void* digital_port_pointer, int32_t *status);
bool getDIODirection(void* digital_port_pointer, int32_t *status);
void pulse(void* digital_port_pointer, double pulseLength, int32_t *status);
bool isPulsing(void* digital_port_pointer, int32_t *status);
bool isAnyPulsing(int32_t *status);
bool isAnyPulsingWithModule(uint8_t module, int32_t *status);
typedef enum {kTwoPulse=0, kSemiperiod=1, kPulseLength=2, kExternalDirection=3} Mode;
void* initializeCounter(Mode mode, uint32_t *index, int32_t *status);
void freeCounter(void* counter_pointer, int32_t *status);
void setCounterAverageSize(void* counter_pointer, int32_t size, int32_t *status);
void setCounterUpSourceWithModule(void* counter_pointer, uint8_t module, uint32_t pin,
bool analogTrigger, int32_t *status); // TODO: Without Module
void setCounterUpSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge, int32_t *status);
void clearCounterUpSource(void* counter_pointer, int32_t *status);
void setCounterDownSourceWithModule(void* counter_pointer, uint8_t module, uint32_t pin,
bool analogTrigger, int32_t *status); // TODO: Without Module
void setCounterDownSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge, int32_t *status);
void clearCounterDownSource(void* counter_pointer, int32_t *status);
void setCounterUpDownMode(void* counter_pointer, int32_t *status);
void setCounterExternalDirectionMode(void* counter_pointer, int32_t *status);
void setCounterSemiPeriodMode(void* counter_pointer, bool highSemiPeriod, int32_t *status);
void setCounterPulseLengthMode(void* counter_pointer, double threshold, int32_t *status);
int32_t getCounterSamplesToAverage(void* counter_pointer, int32_t *status);
void setCounterSamplesToAverage(void* counter_pointer, int samplesToAverage, int32_t *status);
void startCounter(void* counter_pointer, int32_t *status);
void stopCounter(void* counter_pointer, int32_t *status);
void resetCounter(void* counter_pointer, int32_t *status);
int32_t getCounter(void* counter_pointer, int32_t *status);
double getCounterPeriod(void* counter_pointer, int32_t *status);
void setCounterMaxPeriod(void* counter_pointer, double maxPeriod, int32_t *status);
void setCounterUpdateWhenEmpty(void* counter_pointer, bool enabled, int32_t *status);
bool getCounterStopped(void* counter_pointer, int32_t *status);
bool getCounterDirection(void* counter_pointer, int32_t *status);
void setCounterReverseDirection(void* counter_pointer, bool reverseDirection, int32_t *status);
void* initializeEncoder(uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
bool reverseDirection, int32_t *index, int32_t *status); // TODO: fix routing
void freeEncoder(void* encoder_pointer, int32_t *status);
void startEncoder(void* encoder_pointer, int32_t *status);
void stopEncoder(void* encoder_pointer, int32_t *status);
void resetEncoder(void* encoder_pointer, int32_t *status);
int32_t getEncoder(void* encoder_pointer, int32_t *status); // Raw value
double getEncoderPeriod(void* encoder_pointer, int32_t *status);
void setEncoderMaxPeriod(void* encoder_pointer, double maxPeriod, int32_t *status);
bool getEncoderStopped(void* encoder_pointer, int32_t *status);
bool getEncoderDirection(void* encoder_pointer, int32_t *status);
void setEncoderReverseDirection(void* encoder_pointer, bool reverseDirection, int32_t *status);
void setEncoderSamplesToAverage(void* encoder_pointer, uint32_t samplesToAverage, int32_t *status);
uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t *status);
uint16_t getLoopTiming(int32_t *status);
uint16_t getLoopTimingWithModule(uint8_t module, int32_t *status);
enum tSPIConstants {kReceiveFIFODepth=512, kTransmitFIFODepth=512};
enum tFrameMode {kChipSelect, kPreLatchPulse, kPostLatchPulse, kPreAndPostLatchPulse};
void* initializeSPI(uint8_t sclk_routing_module, uint32_t sclk_routing_pin,
uint8_t mosi_routing_module, uint32_t mosi_routing_pin,
uint8_t miso_routing_module, uint32_t miso_routing_pin, int32_t *status);
void cleanSPI(void* spi_pointer, int32_t *status);
void setSPIBitsPerWord(void* spi_pointer, uint32_t bits, int32_t *status);
uint32_t getSPIBitsPerWord(void* spi_pointer, int32_t *status);
void setSPIClockRate(void* spi_pointer, double hz, int32_t *status);
void setSPIMSBFirst(void* spi_pointer, int32_t *status);
void setSPILSBFirst(void* spi_pointer, int32_t *status);
void setSPISampleDataOnFalling(void* spi_pointer, int32_t *status);
void setSPISampleDataOnRising(void* spi_pointer, int32_t *status);
void setSPISlaveSelect(void* spi_pointer, uint8_t ss_routing_module, uint32_t ss_routing_pin,
int32_t *status);
void setSPILatchMode(void* spi_pointer, tFrameMode mode, int32_t *status);
tFrameMode getSPILatchMode(void* spi_pointer, int32_t *status);
void setSPIFramePolarity(void* spi_pointer, bool activeLow, int32_t *status);
bool getSPIFramePolarity(void* spi_pointer, int32_t *status);
void setSPIClockActiveLow(void* spi_pointer, int32_t *status);
void setSPIClockActiveHigh(void* spi_pointer, int32_t *status);
void applySPIConfig(void* spi_pointer, int32_t *status);
uint16_t getSPIOutputFIFOAvailable(void* spi_pointer, int32_t *status);
uint16_t getSPINumReceived(void* spi_pointer, int32_t *status);
bool isSPIDone(void* spi_pointer, int32_t *status);
bool hadSPIReceiveOverflow(void* spi_pointer, int32_t *status);
void writeSPI(void* spi_pointer, uint32_t data, int32_t *status);
uint32_t readSPI(void* spi_pointer, bool initiate, int32_t *status);
void resetSPI(void* spi_pointer, int32_t *status);
void clearSPIReceivedData(void* spi_pointer, int32_t *status);
bool doI2CTransaction(uint8_t address, bool compatibilityMode, uint8_t *dataToSend,
uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize,
int32_t *status);
bool doI2CTransactionWithModule(uint8_t module, uint8_t address, bool compatibilityMode,
uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived,
uint8_t receiveSize, int32_t *status);
//// Float JNA Hack
// double
void setPWMRateIntHack(int rate, int32_t *status);
void setPWMRateWithModuleIntHack(uint8_t module, int32_t rate, int32_t *status);
void setPWMDutyCycleIntHack(void* pwmGenerator, int32_t dutyCycle, int32_t *status);
void setPWMDutyCycleWithModuleIntHack(uint8_t module, void* pwmGenerator, int32_t dutyCycle, int32_t *status);
}
#endif
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