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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
140 lines
4.0 KiB
C++
140 lines
4.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 FIRST. 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/AnalogAccumulator.h"
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#include "AnalogInternal.h"
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#include "hal/HAL.h"
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using namespace hal;
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namespace hal {
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namespace init {
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void InitializeAnalogAccumulator() {}
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} // namespace init
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} // namespace hal
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extern "C" {
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HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status) {
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auto port = analogInputHandles->Get(analogPortHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return false;
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}
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for (int32_t i = 0; i < kNumAccumulators; i++) {
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if (port->channel == kAccumulatorChannels[i]) return true;
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}
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return false;
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}
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void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status) {
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if (!HAL_IsAccumulatorChannel(analogPortHandle, status)) {
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*status = HAL_INVALID_ACCUMULATOR_CHANNEL;
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return;
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}
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HAL_SetAccumulatorCenter(analogPortHandle, 0, status);
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HAL_ResetAccumulator(analogPortHandle, status);
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}
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void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status) {
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auto port = analogInputHandles->Get(analogPortHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (port->accumulator == nullptr) {
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*status = NULL_PARAMETER;
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return;
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}
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port->accumulator->strobeReset(status);
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}
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void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle,
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int32_t center, int32_t* status) {
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auto port = analogInputHandles->Get(analogPortHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (port->accumulator == nullptr) {
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*status = NULL_PARAMETER;
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return;
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}
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port->accumulator->writeCenter(center, status);
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}
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void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle,
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int32_t deadband, int32_t* status) {
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auto port = analogInputHandles->Get(analogPortHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (port->accumulator == nullptr) {
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*status = NULL_PARAMETER;
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return;
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}
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port->accumulator->writeDeadband(deadband, status);
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}
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int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status) {
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auto port = analogInputHandles->Get(analogPortHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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}
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if (port->accumulator == nullptr) {
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*status = NULL_PARAMETER;
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return 0;
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}
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int64_t value = port->accumulator->readOutput_Value(status);
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return value;
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}
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int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle,
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int32_t* status) {
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auto port = analogInputHandles->Get(analogPortHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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}
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if (port->accumulator == nullptr) {
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*status = NULL_PARAMETER;
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return 0;
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}
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return port->accumulator->readOutput_Count(status);
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}
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void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analogPortHandle,
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int64_t* value, int64_t* count, int32_t* status) {
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auto port = analogInputHandles->Get(analogPortHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (port->accumulator == nullptr) {
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*status = NULL_PARAMETER;
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return;
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}
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if (value == nullptr || count == nullptr) {
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*status = NULL_PARAMETER;
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return;
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}
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tAccumulator::tOutput output = port->accumulator->readOutput(status);
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*value = output.Value;
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*count = output.Count;
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}
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} // extern "C"
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