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allwpilib/hal/include/HAL/Digital.hpp
Kevin O'Connor 605148456e * Add WriteBulk and ReadOnly to C++ I2C 
Change-Id: If6082f6b92b4be5e328278ba536d5a7681082c9f (+4 squashed commit)

Squashed commit:

[86b4ae7] * Port I2C to roboRIO in JNI and Java. Left read method as a transaction and added readOnly. Left write as a single byte and added writeBulk. Need to go back to C++ and update to match.

Change-Id: I290d84211a4b7bb942d785730c0e6929449cf69f

[7d37419] * Remove HiTechnic sensors from Java. May be added back later as examples

Change-Id: Ie93e23a70fd953c99c03d50d9529220f86d32e03

[e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++

Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915

[1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later

Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282 (+2 squashed commit)

Squashed commit:

[e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++

Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915

[1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later

Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282
2014-06-23 18:23:14 -04:00

158 lines
8.1 KiB
C++
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#pragma once
#ifdef __vxworks
#include <vxWorks.h>
#else
#include <stdint.h>
#endif
enum Mode
{
kTwoPulse = 0,
kSemiperiod = 1,
kPulseLength = 2,
kExternalDirection = 3
};
enum tSPIConstants
{
kReceiveFIFODepth = 512,
kTransmitFIFODepth = 512
};
enum tFrameMode
{
kChipSelect,
kPreLatchPulse,
kPostLatchPulse,
kPreAndPostLatchPulse
};
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);
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);
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);
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);
void i2CInitialize(uint8_t port, int32_t *status);
int i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
int i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize);
int i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count);
void i2CClose(uint8_t port);
//// 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);
}
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