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fc515f4572
HAL Port is using a special handle, where the module and pin are bit shifted straight into the handle. This is one of the few special cases we have, but for the way port is used it is much cleaner and uses much less memory. Plus it is generic and not specific to one type.
76 lines
2.3 KiB
C++
76 lines
2.3 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 "AnalogInternal.h"
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#include "ChipObject.h"
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#include "HAL/AnalogInput.h"
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#include "HAL/cpp/priority_mutex.h"
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namespace hal {
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priority_recursive_mutex analogRegisterWindowMutex;
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tAI* analogInputSystem = nullptr;
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tAO* analogOutputSystem = nullptr;
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static uint32_t analogNumChannelsToActivate = 0;
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bool analogSystemInitialized = false;
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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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std::lock_guard<priority_recursive_mutex> sync(analogRegisterWindowMutex);
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if (analogSystemInitialized) return;
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analogInputSystem = tAI::create(status);
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analogOutputSystem = tAO::create(status);
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setAnalogNumChannelsToActivate(kAnalogInputPins);
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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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uint32_t getAnalogNumActiveChannels(int32_t* status) {
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uint32_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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uint32_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 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(uint32_t channels) {
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analogNumChannelsToActivate = channels;
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}
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}
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