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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.
72 lines
2.4 KiB
C++
72 lines
2.4 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 "HAL/Handles.h"
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/* General Handle Data Layout
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* Bits 0-15: Handle Index
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* Bits 16-23: Unused
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* Bits 24-30: Handle Type
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* Bit 31: 1 if handle error, 0 if no error
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*
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* Other specialized handles will use different formats, however Bits 24-31 are
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* always reserved for type and error handling.
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*/
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namespace hal {
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enum class HalHandleEnum { Undefined = 0, DIO = 1, Port = 2, Notifier = 3 };
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static inline int16_t getHandleIndex(HalHandle handle) {
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// mask and return last 16 bits
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return (int16_t)(handle & 0xffff);
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}
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static inline HalHandleEnum getHandleType(HalHandle handle) {
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// mask first 8 bits and cast to enum
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return (HalHandleEnum)((handle >> 24) & 0xff);
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}
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static inline bool isHandleType(HalHandle handle, HalHandleEnum handleType) {
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return handleType == getHandleType(handle);
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}
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static inline int16_t getHandleTypedIndex(HalHandle handle,
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HalHandleEnum enumType) {
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if (!isHandleType(handle, enumType)) return HAL_HANDLE_INVALID_TYPE;
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return getHandleIndex(handle);
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}
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/* specialized functions for Port handle
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* Port Handle Data Layout
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* Bits 0-7: Pin Number
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* Bits 8-15: Module Number
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* Bits 16-23: Unused
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* Bits 24-30: Handle Type
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* Bit 31: 1 if handle error, 0 if no error
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*/
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// using a 16 bit value so we can store 0-255 and still report error
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static inline int16_t getPortHandlePin(HalPortHandle handle) {
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if (!isHandleType(handle, HalHandleEnum::Port))
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return HAL_HANDLE_INVALID_TYPE;
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return (uint8_t)(handle & 0xff);
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}
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// using a 16 bit value so we can store 0-255 and still report error
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static inline int16_t getPortHandleModule(HalPortHandle handle) {
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if (!isHandleType(handle, HalHandleEnum::Port))
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return HAL_HANDLE_INVALID_TYPE;
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return (uint8_t)((handle >> 8) & 0xff);
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}
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HalPortHandle createPortHandle(uint8_t pin, uint8_t module);
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HalHandle createHandle(int16_t index, HalHandleEnum handleType);
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}
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