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https://github.com/wpilibsuite/allwpilib
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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.
41 lines
1.4 KiB
C++
41 lines
1.4 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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#pragma once
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#include <stdint.h>
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#include "ChipObject.h"
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#include "HAL/cpp/priority_mutex.h"
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namespace hal {
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constexpr long kTimebase = 40000000; ///< 40 MHz clock
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constexpr long kDefaultOversampleBits = 0;
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constexpr long kDefaultAverageBits = 7;
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constexpr float kDefaultSampleRate = 50000.0;
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constexpr uint32_t kAnalogInputPins = 8;
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constexpr uint32_t kAnalogOutputPins = 2;
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constexpr uint32_t kAccumulatorNumChannels = 2;
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static const uint32_t kAccumulatorChannels[] = {0, 1};
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extern tAI* analogInputSystem;
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extern tAO* analogOutputSystem;
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extern priority_recursive_mutex analogRegisterWindowMutex;
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struct AnalogPort {
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uint8_t pin;
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tAccumulator* accumulator;
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};
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uint32_t getAnalogNumActiveChannels(int32_t* status);
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uint32_t getAnalogNumChannelsToActivate(int32_t* status);
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void setAnalogNumChannelsToActivate(uint32_t channels);
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void initializeAnalog(int32_t* status);
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extern bool analogSystemInitialized;
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}
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