Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/hal/include/HAL/Digital.hpp b/hal/include/HAL/Digital.hpp
new file mode 100644
index 0000000..64851f1
--- /dev/null
+++ b/hal/include/HAL/Digital.hpp
@@ -0,0 +1,139 @@
+#pragma once
+#include <stdint.h>
+
+#include "HAL/cpp/priority_mutex.h"
+
+enum Mode
+{
+ kTwoPulse = 0,
+ kSemiperiod = 1,
+ kPulseLength = 2,
+ kExternalDirection = 3
+};
+
+priority_recursive_mutex& spiGetSemaphore(uint8_t port);
+
+extern "C"
+{
+ void* initializeDigitalPort(void* port_pointer, int32_t *status);
+ void freeDigitalPort(void* digital_port_pointer);
+ bool checkPWMChannel(void* digital_port_pointer);
+ bool checkRelayChannel(void* digital_port_pointer);
+
+ void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status);
+ bool allocatePWMChannel(void* digital_port_pointer, int32_t *status);
+ void freePWMChannel(void* digital_port_pointer, int32_t *status);
+ unsigned short getPWM(void* digital_port_pointer, int32_t *status);
+ void latchPWMZero(void* digital_port_pointer, int32_t *status);
+ void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t *status);
+ void* allocatePWM(int32_t *status);
+ void freePWM(void* pwmGenerator, int32_t *status);
+ void setPWMRate(double rate, int32_t *status);
+ void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status);
+ void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t *status);
+
+ void setRelayForward(void* digital_port_pointer, bool on, int32_t *status);
+ void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status);
+ bool getRelayForward(void* digital_port_pointer, int32_t *status);
+ bool getRelayReverse(void* digital_port_pointer, int32_t *status);
+
+ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status);
+ void freeDIO(void* digital_port_pointer, int32_t *status);
+ void setDIO(void* digital_port_pointer, short value, int32_t *status);
+ bool getDIO(void* digital_port_pointer, int32_t *status);
+ bool getDIODirection(void* digital_port_pointer, int32_t *status);
+ void pulse(void* digital_port_pointer, double pulseLength, int32_t *status);
+ bool isPulsing(void* digital_port_pointer, int32_t *status);
+ bool isAnyPulsing(int32_t *status);
+
+ void setFilterSelect(void* digital_port_pointer, int filter_index,
+ int32_t* status);
+ int getFilterSelect(void* digital_port_pointer, int32_t* status);
+
+ void setFilterPeriod(int filter_index, uint32_t value, int32_t* status);
+ uint32_t getFilterPeriod(int filter_index, int32_t* status);
+
+ void* initializeCounter(Mode mode, uint32_t *index, int32_t *status);
+ void freeCounter(void* counter_pointer, int32_t *status);
+ void setCounterAverageSize(void* counter_pointer, int32_t size, int32_t *status);
+ void setCounterUpSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
+ void setCounterUpSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
+ int32_t *status);
+ void clearCounterUpSource(void* counter_pointer, int32_t *status);
+ void setCounterDownSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
+ void setCounterDownSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
+ int32_t *status);
+ void clearCounterDownSource(void* counter_pointer, int32_t *status);
+ void setCounterUpDownMode(void* counter_pointer, int32_t *status);
+ void setCounterExternalDirectionMode(void* counter_pointer, int32_t *status);
+ void setCounterSemiPeriodMode(void* counter_pointer, bool highSemiPeriod, int32_t *status);
+ void setCounterPulseLengthMode(void* counter_pointer, double threshold, int32_t *status);
+ int32_t getCounterSamplesToAverage(void* counter_pointer, int32_t *status);
+ void setCounterSamplesToAverage(void* counter_pointer, int samplesToAverage, int32_t *status);
+ void resetCounter(void* counter_pointer, int32_t *status);
+ int32_t getCounter(void* counter_pointer, int32_t *status);
+ double getCounterPeriod(void* counter_pointer, int32_t *status);
+ void setCounterMaxPeriod(void* counter_pointer, double maxPeriod, int32_t *status);
+ void setCounterUpdateWhenEmpty(void* counter_pointer, bool enabled, int32_t *status);
+ bool getCounterStopped(void* counter_pointer, int32_t *status);
+ bool getCounterDirection(void* counter_pointer, int32_t *status);
+ void setCounterReverseDirection(void* counter_pointer, bool reverseDirection, int32_t *status);
+
+ void* initializeEncoder(uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
+ uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
+ bool reverseDirection, int32_t *index, int32_t *status); // TODO: fix routing
+ void freeEncoder(void* encoder_pointer, int32_t *status);
+ void resetEncoder(void* encoder_pointer, int32_t *status);
+ int32_t getEncoder(void* encoder_pointer, int32_t *status); // Raw value
+ double getEncoderPeriod(void* encoder_pointer, int32_t *status);
+ void setEncoderMaxPeriod(void* encoder_pointer, double maxPeriod, int32_t *status);
+ bool getEncoderStopped(void* encoder_pointer, int32_t *status);
+ bool getEncoderDirection(void* encoder_pointer, int32_t *status);
+ void setEncoderReverseDirection(void* encoder_pointer, bool reverseDirection, int32_t *status);
+ void setEncoderSamplesToAverage(void* encoder_pointer, uint32_t samplesToAverage,
+ int32_t *status);
+ uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t *status);
+ void setEncoderIndexSource(void *encoder_pointer, uint32_t pin, bool analogTrigger, bool activeHigh,
+ bool edgeSensitive, int32_t *status);
+
+ uint16_t getLoopTiming(int32_t *status);
+
+ void spiInitialize(uint8_t port, int32_t *status);
+ int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived, uint8_t size);
+ int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize);
+ int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count);
+ void spiClose(uint8_t port);
+ void spiSetSpeed(uint8_t port, uint32_t speed);
+ void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idle_high);
+ void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status);
+ void spiSetChipSelectActiveLow(uint8_t port, int32_t *status);
+ int32_t spiGetHandle(uint8_t port);
+ void spiSetHandle(uint8_t port, int32_t handle);
+
+ void spiInitAccumulator(uint8_t port, uint32_t period, uint32_t cmd,
+ uint8_t xfer_size, uint32_t valid_mask,
+ uint32_t valid_value, uint8_t data_shift,
+ uint8_t data_size, bool is_signed, bool big_endian,
+ int32_t *status);
+ void spiFreeAccumulator(uint8_t port, int32_t *status);
+ void spiResetAccumulator(uint8_t port, int32_t *status);
+ void spiSetAccumulatorCenter(uint8_t port, int32_t center, int32_t *status);
+ void spiSetAccumulatorDeadband(uint8_t port, int32_t deadband, int32_t *status);
+ int32_t spiGetAccumulatorLastValue(uint8_t port, int32_t *status);
+ int64_t spiGetAccumulatorValue(uint8_t port, int32_t *status);
+ uint32_t spiGetAccumulatorCount(uint8_t port, int32_t *status);
+ double spiGetAccumulatorAverage(uint8_t port, int32_t *status);
+ void spiGetAccumulatorOutput(uint8_t port, int64_t *value, uint32_t *count,
+ int32_t *status);
+
+ void i2CInitialize(uint8_t port, int32_t *status);
+ int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
+ int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize);
+ int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count);
+ void i2CClose(uint8_t port);
+
+ //// Float JNA Hack
+ // double
+ void setPWMRateIntHack(int rate, int32_t *status);
+ void setPWMDutyCycleIntHack(void* pwmGenerator, int32_t dutyCycle, int32_t *status);
+}