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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.
122 lines
3.9 KiB
C++
122 lines
3.9 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 "DigitalInternal.h"
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#include <mutex>
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#include <thread>
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#include "ChipObject.h"
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#include "FRC_NetworkCommunication/LoadOut.h"
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#include "HAL/HAL.h"
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#include "HAL/cpp/Resource.h"
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#include "HAL/cpp/priority_mutex.h"
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static_assert(sizeof(uint32_t) <= sizeof(void*),
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"This file shoves uint32_ts into pointers.");
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namespace hal {
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// Create a mutex to protect changes to the DO PWM config
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priority_recursive_mutex digitalPwmMutex;
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tDIO* digitalSystem = nullptr;
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tRelay* relaySystem = nullptr;
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tPWM* pwmSystem = nullptr;
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hal::Resource* DIOChannels = nullptr;
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hal::Resource* DO_PWMGenerators = nullptr;
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hal::Resource* PWMChannels = nullptr;
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bool digitalSystemsInitialized = false;
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/**
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* Initialize the digital system.
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*/
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void initializeDigital(int32_t* status) {
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if (digitalSystemsInitialized) return;
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hal::Resource::CreateResourceObject(&DIOChannels,
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tDIO::kNumSystems * kDigitalPins);
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hal::Resource::CreateResourceObject(
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&DO_PWMGenerators,
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tDIO::kNumPWMDutyCycleAElements + tDIO::kNumPWMDutyCycleBElements);
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hal::Resource::CreateResourceObject(&PWMChannels,
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tPWM::kNumSystems * kPwmPins);
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digitalSystem = tDIO::create(status);
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// Relay Setup
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relaySystem = tRelay::create(status);
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// Turn off all relay outputs.
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relaySystem->writeValue_Forward(0, status);
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relaySystem->writeValue_Reverse(0, status);
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// PWM Setup
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pwmSystem = tPWM::create(status);
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// Make sure that the 9403 IONode has had a chance to initialize before
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// continuing.
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while (pwmSystem->readLoopTiming(status) == 0) std::this_thread::yield();
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if (pwmSystem->readLoopTiming(status) != kExpectedLoopTiming) {
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*status = LOOP_TIMING_ERROR; // NOTE: Doesn't display the error
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}
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// Calculate the length, in ms, of one DIO loop
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double loopTime = pwmSystem->readLoopTiming(status) /
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(kSystemClockTicksPerMicrosecond * 1e3);
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pwmSystem->writeConfig_Period((uint16_t)(kDefaultPwmPeriod / loopTime + .5),
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status);
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uint16_t minHigh = (uint16_t)(
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(kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime + .5);
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pwmSystem->writeConfig_MinHigh(minHigh, status);
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// Ensure that PWM output values are set to OFF
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for (uint32_t pwm_index = 0; pwm_index < kPwmPins; pwm_index++) {
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// Initialize port structure
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DigitalPort digital_port;
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digital_port.pin = pwm_index;
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setPWM(&digital_port, kPwmDisabled, status);
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setPWMPeriodScale(&digital_port, 3, status); // Set all to 4x by default.
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}
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digitalSystemsInitialized = true;
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}
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/**
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* Map DIO pin numbers from their physical number (10 to 26) to their position
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* in the bit field.
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*/
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uint32_t remapMXPChannel(uint32_t pin) { return pin - 10; }
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uint32_t remapMXPPWMChannel(uint32_t pin) {
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if (pin < 14) {
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return pin - 10; // first block of 4 pwms (MXP 0-3)
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} else {
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return pin - 6; // block of PWMs after SPI
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}
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}
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/**
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* remap the digital source pin and set the module.
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* If it's an analog trigger, determine the module from the high order routing
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* channel else do normal digital input remapping based on pin number (MXP)
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*/
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extern "C++" void remapDigitalSource(bool analogTrigger, uint32_t& pin,
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uint8_t& module) {
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if (analogTrigger) {
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module = pin >> 4;
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} else {
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if (pin >= kNumHeaders) {
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pin = remapMXPChannel(pin);
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module = 1;
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} else {
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module = 0;
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}
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}
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}
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}
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