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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.
80 lines
2.2 KiB
C++
80 lines
2.2 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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#include "HAL/Errors.h"
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#include "handles/HandlesInternal.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(HalPortHandle port_handle, int32_t* status) {
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initializeAnalog(status);
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if (*status != 0) return nullptr;
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int16_t pin = getPortHandlePin(port_handle);
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if (pin == HAL_HANDLE_INVALID_TYPE) {
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*status = PARAMETER_OUT_OF_RANGE;
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return nullptr;
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}
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// Initialize port structure
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AnalogPort* analog_port = new AnalogPort();
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analog_port->pin = (uint8_t)pin;
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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->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->pin, status);
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return rawValue * 5.0 / 0x1000;
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}
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}
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