Rename our allwpilib (which is now 2020) to not have 2019 in the name
Change-Id: I3c07f85ed32ab8b97db765a9b43f2a6ce7da964a
diff --git a/hal/src/main/native/athena/DutyCycle.cpp b/hal/src/main/native/athena/DutyCycle.cpp
new file mode 100644
index 0000000..1c1a678
--- /dev/null
+++ b/hal/src/main/native/athena/DutyCycle.cpp
@@ -0,0 +1,124 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "hal/DutyCycle.h"
+
+#include <memory>
+
+#include "DigitalInternal.h"
+#include "DutyCycleInternal.h"
+#include "HALInitializer.h"
+#include "PortsInternal.h"
+#include "hal/ChipObject.h"
+#include "hal/Errors.h"
+#include "hal/handles/HandlesInternal.h"
+#include "hal/handles/LimitedHandleResource.h"
+
+using namespace hal;
+
+namespace hal {
+LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
+ HAL_HandleEnum::DutyCycle>* dutyCycleHandles;
+namespace init {
+void InitializeDutyCycle() {
+ static LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
+ HAL_HandleEnum::DutyCycle>
+ dcH;
+ dutyCycleHandles = &dcH;
+}
+} // namespace init
+} // namespace hal
+
+static constexpr int32_t kScaleFactor = 4e7 - 1;
+
+extern "C" {
+HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
+ HAL_AnalogTriggerType triggerType,
+ int32_t* status) {
+ hal::init::CheckInit();
+
+ bool routingAnalogTrigger = false;
+ uint8_t routingChannel = 0;
+ uint8_t routingModule = 0;
+ bool success =
+ remapDigitalSource(digitalSourceHandle, triggerType, routingChannel,
+ routingModule, routingAnalogTrigger);
+
+ if (!success) {
+ *status = HAL_HANDLE_ERROR;
+ return HAL_kInvalidHandle;
+ }
+
+ HAL_DutyCycleHandle handle = dutyCycleHandles->Allocate();
+ if (handle == HAL_kInvalidHandle) {
+ *status = NO_AVAILABLE_RESOURCES;
+ return HAL_kInvalidHandle;
+ }
+
+ auto dutyCycle = dutyCycleHandles->Get(handle);
+ uint32_t index = static_cast<uint32_t>(getHandleIndex(handle));
+ dutyCycle->dutyCycle.reset(tDutyCycle::create(index, status));
+
+ dutyCycle->dutyCycle->writeSource_AnalogTrigger(routingAnalogTrigger, status);
+ dutyCycle->dutyCycle->writeSource_Channel(routingChannel, status);
+ dutyCycle->dutyCycle->writeSource_Module(routingModule, status);
+ dutyCycle->index = index;
+
+ return handle;
+}
+void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle) {
+ // Just free it, the unique ptr will take care of everything else
+ dutyCycleHandles->Free(dutyCycleHandle);
+}
+
+int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
+ int32_t* status) {
+ auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+ if (!dutyCycle) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ // TODO Handle Overflow
+ unsigned char overflow = 0;
+ return dutyCycle->dutyCycle->readFrequency(&overflow, status);
+}
+
+double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
+ int32_t* status) {
+ return HAL_GetDutyCycleOutputRaw(dutyCycleHandle, status) /
+ static_cast<double>(kScaleFactor);
+}
+
+int32_t HAL_GetDutyCycleOutputRaw(HAL_DutyCycleHandle dutyCycleHandle,
+ int32_t* status) {
+ auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+ if (!dutyCycle) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ // TODO Handle Overflow
+ unsigned char overflow = 0;
+ return dutyCycle->dutyCycle->readOutput(&overflow, status);
+}
+
+int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,
+ int32_t* status) {
+ return kScaleFactor;
+}
+
+int32_t HAL_GetDutyCycleFPGAIndex(HAL_DutyCycleHandle dutyCycleHandle,
+ int32_t* status) {
+ auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+ if (!dutyCycle) {
+ *status = HAL_HANDLE_ERROR;
+ return -1;
+ }
+ return dutyCycle->index;
+}
+} // extern "C"