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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.
119 lines
3.4 KiB
C++
119 lines
3.4 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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#include "HAL/Relay.h"
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#include "DigitalInternal.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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using namespace hal;
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// Create a mutex to protect changes to the relay values
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static priority_recursive_mutex digitalRelayMutex;
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constexpr uint32_t kRelayPins = 8;
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extern "C" {
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bool checkRelayChannel(void* digital_port_pointer) {
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DigitalPort* port = (DigitalPort*)digital_port_pointer;
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return port->pin < kRelayPins;
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}
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/**
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* Check a port to make sure that it is not nullptr and is a valid Relay port.
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*
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* Sets the status to contain the appropriate error.
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*
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* @return true if the port passed validation.
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*/
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static bool verifyRelayChannel(DigitalPort* port, int32_t* status) {
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if (port == nullptr) {
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*status = NULL_PARAMETER;
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return false;
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} else if (!checkRelayChannel(port)) {
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*status = PARAMETER_OUT_OF_RANGE;
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return false;
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} else {
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return true;
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}
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}
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/**
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* Set the state of a relay.
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* Set the state of a relay output to be forward. Relays have two outputs and
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* each is
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* independently set to 0v or 12v.
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*/
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void setRelayForward(void* digital_port_pointer, bool on, int32_t* status) {
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DigitalPort* port = (DigitalPort*)digital_port_pointer;
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if (!verifyRelayChannel(port, status)) {
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return;
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}
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{
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std::lock_guard<priority_recursive_mutex> sync(digitalRelayMutex);
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uint8_t forwardRelays = relaySystem->readValue_Forward(status);
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if (on)
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forwardRelays |= 1 << port->pin;
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else
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forwardRelays &= ~(1 << port->pin);
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relaySystem->writeValue_Forward(forwardRelays, status);
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}
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}
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/**
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* Set the state of a relay.
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* Set the state of a relay output to be reverse. Relays have two outputs and
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* each is
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* independently set to 0v or 12v.
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*/
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void setRelayReverse(void* digital_port_pointer, bool on, int32_t* status) {
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DigitalPort* port = (DigitalPort*)digital_port_pointer;
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if (!verifyRelayChannel(port, status)) {
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return;
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}
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{
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std::lock_guard<priority_recursive_mutex> sync(digitalRelayMutex);
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uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
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if (on)
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reverseRelays |= 1 << port->pin;
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else
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reverseRelays &= ~(1 << port->pin);
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relaySystem->writeValue_Reverse(reverseRelays, status);
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}
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}
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/**
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* Get the current state of the forward relay channel
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*/
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bool getRelayForward(void* digital_port_pointer, int32_t* status) {
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DigitalPort* port = (DigitalPort*)digital_port_pointer;
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if (!verifyRelayChannel(port, status)) {
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return false;
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}
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uint8_t forwardRelays = relaySystem->readValue_Forward(status);
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return (forwardRelays & (1 << port->pin)) != 0;
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}
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/**
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* Get the current state of the reverse relay channel
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*/
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bool getRelayReverse(void* digital_port_pointer, int32_t* status) {
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DigitalPort* port = (DigitalPort*)digital_port_pointer;
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if (!verifyRelayChannel(port, status)) {
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return false;
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}
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uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
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return (reverseRelays & (1 << port->pin)) != 0;
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}
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}
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