mirror of
https://github.com/wpilibsuite/allwpilib
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da6b8c7ae1
Split to match the new headers. Uses a namespace 'hal' for internal functions and globals. SPIAccumulator merged back into SPI header, as it was not a good split. Analog accumulator will move back to analog input when the analog split is done.
119 lines
3.5 KiB
C++
119 lines
3.5 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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#include "HAL/Relay.h"
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#include "DigitalInternal.h"
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static_assert(sizeof(uint32_t) <= sizeof(void*),
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"This file shoves uint32_ts into pointers.");
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using namespace hal;
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// Create a mutex to protect changes to the relay values
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static priority_recursive_mutex digitalRelayMutex;
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constexpr uint32_t kRelayPins = 8;
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extern "C" {
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bool checkRelayChannel(void* digital_port_pointer) {
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DigitalPort* port = (DigitalPort*)digital_port_pointer;
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return port->port.pin < kRelayPins;
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}
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/**
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* Check a port to make sure that it is not nullptr and is a valid Relay port.
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*
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* Sets the status to contain the appropriate error.
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*
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* @return true if the port passed validation.
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*/
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static bool verifyRelayChannel(DigitalPort* port, int32_t* status) {
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if (port == nullptr) {
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*status = NULL_PARAMETER;
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return false;
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} else if (!checkRelayChannel(port)) {
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*status = PARAMETER_OUT_OF_RANGE;
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return false;
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} else {
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return true;
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}
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}
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/**
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* Set the state of a relay.
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* Set the state of a relay output to be forward. Relays have two outputs and
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* each is
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* independently set to 0v or 12v.
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*/
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void setRelayForward(void* digital_port_pointer, bool on, int32_t* status) {
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DigitalPort* port = (DigitalPort*)digital_port_pointer;
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if (!verifyRelayChannel(port, status)) {
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return;
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}
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{
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std::lock_guard<priority_recursive_mutex> sync(digitalRelayMutex);
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uint8_t forwardRelays = relaySystem->readValue_Forward(status);
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if (on)
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forwardRelays |= 1 << port->port.pin;
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else
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forwardRelays &= ~(1 << port->port.pin);
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relaySystem->writeValue_Forward(forwardRelays, status);
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}
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}
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/**
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* Set the state of a relay.
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* Set the state of a relay output to be reverse. Relays have two outputs and
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* each is
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* independently set to 0v or 12v.
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*/
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void setRelayReverse(void* digital_port_pointer, bool on, int32_t* status) {
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DigitalPort* port = (DigitalPort*)digital_port_pointer;
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if (!verifyRelayChannel(port, status)) {
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return;
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}
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{
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std::lock_guard<priority_recursive_mutex> sync(digitalRelayMutex);
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uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
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if (on)
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reverseRelays |= 1 << port->port.pin;
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else
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reverseRelays &= ~(1 << port->port.pin);
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relaySystem->writeValue_Reverse(reverseRelays, status);
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}
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}
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/**
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* Get the current state of the forward relay channel
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*/
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bool getRelayForward(void* digital_port_pointer, int32_t* status) {
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DigitalPort* port = (DigitalPort*)digital_port_pointer;
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if (!verifyRelayChannel(port, status)) {
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return false;
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}
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uint8_t forwardRelays = relaySystem->readValue_Forward(status);
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return (forwardRelays & (1 << port->port.pin)) != 0;
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}
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/**
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* Get the current state of the reverse relay channel
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*/
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bool getRelayReverse(void* digital_port_pointer, int32_t* status) {
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DigitalPort* port = (DigitalPort*)digital_port_pointer;
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if (!verifyRelayChannel(port, status)) {
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return false;
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}
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uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
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return (reverseRelays & (1 << port->port.pin)) != 0;
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}
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}
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