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https://github.com/wpilibsuite/allwpilib
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71 lines
2.0 KiB
C++
71 lines
2.0 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/AnalogOutput.h"
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#include "AnalogInternal.h"
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using namespace hal;
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extern "C" {
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/**
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* Initialize the analog output port using the given port object.
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*/
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void* initializeAnalogOutputPort(void* port_pointer, int32_t* status) {
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initializeAnalog(status);
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Port* port = (Port*)port_pointer;
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// Initialize port structure
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AnalogPort* analog_port = new AnalogPort();
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analog_port->port = *port;
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analog_port->accumulator = nullptr;
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return analog_port;
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}
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void freeAnalogOutputPort(void* analog_port_pointer) {
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AnalogPort* port = (AnalogPort*)analog_port_pointer;
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if (!port) return;
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delete port->accumulator;
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delete port;
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}
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/**
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* Check that the analog output channel number is value.
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* Verify that the analog channel number is one of the legal channel numbers.
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* Channel numbers are 0-based.
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*
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* @return Analog channel is valid
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*/
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bool checkAnalogOutputChannel(uint32_t pin) {
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if (pin < kAnalogOutputPins) return true;
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return false;
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}
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void setAnalogOutput(void* analog_port_pointer, double voltage,
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int32_t* status) {
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AnalogPort* port = (AnalogPort*)analog_port_pointer;
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uint16_t rawValue = (uint16_t)(voltage / 5.0 * 0x1000);
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if (voltage < 0.0)
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rawValue = 0;
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else if (voltage > 5.0)
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rawValue = 0x1000;
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analogOutputSystem->writeMXP(port->port.pin, rawValue, status);
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}
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double getAnalogOutput(void* analog_port_pointer, int32_t* status) {
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AnalogPort* port = (AnalogPort*)analog_port_pointer;
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uint16_t rawValue = analogOutputSystem->readMXP(port->port.pin, status);
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return rawValue * 5.0 / 0x1000;
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}
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}
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