mirror of
https://github.com/wpilibsuite/allwpilib
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134 lines
4.1 KiB
C++
134 lines
4.1 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 "AnalogInternal.h"
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#include <atomic>
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#include <support/mutex.h>
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#include "HAL/AnalogInput.h"
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#include "HAL/ChipObject.h"
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#include "PortsInternal.h"
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namespace hal {
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wpi::mutex analogRegisterWindowMutex;
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std::unique_ptr<tAI> analogInputSystem;
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std::unique_ptr<tAO> analogOutputSystem;
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IndexedHandleResource<HAL_AnalogInputHandle, ::hal::AnalogPort,
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kNumAnalogInputs, HAL_HandleEnum::AnalogInput>*
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analogInputHandles;
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static int32_t analogNumChannelsToActivate = 0;
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static std::atomic<bool> analogSystemInitialized{false};
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bool analogSampleRateSet = false;
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namespace init {
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void InitializeAnalogInternal() {
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static IndexedHandleResource<HAL_AnalogInputHandle, ::hal::AnalogPort,
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kNumAnalogInputs, HAL_HandleEnum::AnalogInput>
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alH;
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analogInputHandles = &alH;
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}
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} // namespace init
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/**
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* Initialize the analog System.
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*/
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void initializeAnalog(int32_t* status) {
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if (analogSystemInitialized) return;
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std::lock_guard<wpi::mutex> lock(analogRegisterWindowMutex);
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if (analogSystemInitialized) return;
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analogInputSystem.reset(tAI::create(status));
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analogOutputSystem.reset(tAO::create(status));
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setAnalogNumChannelsToActivate(kNumAnalogInputs);
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setAnalogSampleRate(kDefaultSampleRate, status);
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analogSystemInitialized = true;
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}
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/**
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* Return the number of channels on the module in use.
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*
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* @return Active channels.
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*/
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int32_t getAnalogNumActiveChannels(int32_t* status) {
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int32_t scanSize = analogInputSystem->readConfig_ScanSize(status);
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if (scanSize == 0) return 8;
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return scanSize;
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}
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/**
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* Get the number of active channels.
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*
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* This is an internal function to allow the atomic update of both the
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* number of active channels and the sample rate.
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*
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* When the number of channels changes, use the new value. Otherwise,
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* return the curent value.
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*
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* @return Value to write to the active channels field.
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*/
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int32_t getAnalogNumChannelsToActivate(int32_t* status) {
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if (analogNumChannelsToActivate == 0)
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return getAnalogNumActiveChannels(status);
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return analogNumChannelsToActivate;
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}
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/**
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* Set the sample rate.
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*
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* This is a global setting for the Athena and effects all channels.
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*
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* @param samplesPerSecond The number of samples per channel per second.
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*/
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void setAnalogSampleRate(double samplesPerSecond, int32_t* status) {
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// TODO: This will change when variable size scan lists are implemented.
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// TODO: Need double comparison with epsilon.
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// wpi_assert(!sampleRateSet || GetSampleRate() == samplesPerSecond);
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analogSampleRateSet = true;
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// Compute the convert rate
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uint32_t ticksPerSample =
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static_cast<uint32_t>(static_cast<double>(kTimebase) / samplesPerSecond);
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uint32_t ticksPerConversion =
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ticksPerSample / getAnalogNumChannelsToActivate(status);
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// ticksPerConversion must be at least 80
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if (ticksPerConversion < 80) {
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if ((*status) >= 0) *status = SAMPLE_RATE_TOO_HIGH;
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ticksPerConversion = 80;
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}
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// Atomically set the scan size and the convert rate so that the sample rate
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// is constant
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tAI::tConfig config;
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config.ScanSize = getAnalogNumChannelsToActivate(status);
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config.ConvertRate = ticksPerConversion;
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analogInputSystem->writeConfig(config, status);
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// Indicate that the scan size has been commited to hardware.
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setAnalogNumChannelsToActivate(0);
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}
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/**
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* Set the number of active channels.
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*
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* Store the number of active channels to set. Don't actually commit to
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* hardware
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* until SetSampleRate().
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*
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* @param channels Number of active channels.
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*/
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void setAnalogNumChannelsToActivate(int32_t channels) {
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analogNumChannelsToActivate = channels;
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}
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} // namespace hal
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