Added support for 8 trigger channels and 8 captured encoders.
Change-Id: Ie787f9e9a58855f5fbedef24d8987bf0103b6b12
diff --git a/aos/externals/forwpilib/dma.cc b/aos/externals/forwpilib/dma.cc
index 49714f2..e3b88d0 100644
--- a/aos/externals/forwpilib/dma.cc
+++ b/aos/externals/forwpilib/dma.cc
@@ -25,8 +25,13 @@
static const uint32_t kNumHeaders = 10;
-static constexpr ssize_t kChannelSize[18] = {2, 2, 4, 4, 2, 2, 4, 4, 3,
- 3, 2, 1, 4, 4, 4, 4, 4, 4};
+#ifdef WPILIB2015
+static constexpr ssize_t kChannelSize[18] = {2, 2, 4, 4, 2, 2, 4, 4, 3, 3,
+ 2, 1, 4, 4, 4, 4, 4, 4};
+#else
+static constexpr ssize_t kChannelSize[20] = {2, 2, 4, 4, 2, 2, 4, 4, 3, 3,
+ 2, 1, 4, 4, 4, 4, 4, 4, 4, 4};
+#endif
enum DMAOffsetConstants {
kEnable_AI0_Low = 0,
@@ -45,8 +50,15 @@
kEnable_Counters_High = 13,
kEnable_CounterTimers_Low = 14,
kEnable_CounterTimers_High = 15,
+#ifdef WPILIB2015
kEnable_Encoders = 16,
kEnable_EncoderTimers = 17,
+#else
+ kEnable_Encoders_Low = 16,
+ kEnable_Encoders_High = 17,
+ kEnable_EncoderTimers_Low = 18,
+ kEnable_EncoderTimers_High = 19,
+#endif
};
DMA::DMA() {
@@ -94,14 +106,33 @@
"DMA::Add() only works before DMA::Start()");
return;
}
- if (encoder->GetFPGAIndex() >= 4) {
+ const int index = encoder->GetFPGAIndex();
+
+#ifdef WPILIB2015
+ if (index < 4) {
+ // TODO(austin): Encoder uses a Counter for 1x or 2x; quad for 4x...
+ tdma_config_->writeConfig_Enable_Encoders(true, &status);
+ } else {
wpi_setErrorWithContext(
NiFpga_Status_InvalidParameter,
"FPGA encoder index is not in the 4 that get logged.");
+ return;
}
+#else
+ if (index < 4) {
+ // TODO(austin): Encoder uses a Counter for 1x or 2x; quad for 4x...
+ tdma_config_->writeConfig_Enable_Encoders_Low(true, &status);
+ } else if (index < 8) {
+ // TODO(austin): Encoder uses a Counter for 1x or 2x; quad for 4x...
+ tdma_config_->writeConfig_Enable_Encoders_High(true, &status);
+ } else {
+ wpi_setErrorWithContext(
+ NiFpga_Status_InvalidParameter,
+ "FPGA encoder index is not in the 4 that get logged.");
+ return;
+ }
+#endif
- // TODO(austin): Encoder uses a Counter for 1x or 2x; quad for 4x...
- tdma_config_->writeConfig_Enable_Encoders(true, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -174,16 +205,27 @@
new_trigger.FallingEdge = falling;
new_trigger.RisingEdge = rising;
- new_trigger.ExternalClockSource_AnalogTrigger =
- input->GetAnalogTriggerForRouting();
new_trigger.ExternalClockSource_AnalogTrigger = false;
- new_trigger.ExternalClockSource_Module = input->GetModuleForRouting();
- new_trigger.ExternalClockSource_Channel = input->GetChannelForRouting();
+ unsigned char module = 0;
+ unsigned char channel = input->GetChannelForRouting();
+ if (channel >= kNumHeaders) {
+ module = 1;
+ channel -= kNumHeaders;
+ } else {
+ module = 0;
+ }
+
+ new_trigger.ExternalClockSource_Module = module;
+ new_trigger.ExternalClockSource_Channel = channel;
// Configures the trigger to be external, not off the FPGA clock.
#ifndef WPILIB2015
- tdma_config_->writeExternalTriggers(channel_index, new_trigger, &status);
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ tdma_config_->writeExternalTriggers(channel_index / 4, channel_index % 4,
+ new_trigger, &status);
+ if (status != 0) {
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ return;
+ }
#else
uint32_t current_triggers;
tRioStatusCode register_status =
@@ -276,8 +318,15 @@
SET_SIZE(Enable_Counters_High);
SET_SIZE(Enable_CounterTimers_Low);
SET_SIZE(Enable_CounterTimers_High);
+#ifdef WPILIB2015
SET_SIZE(Enable_Encoders);
SET_SIZE(Enable_EncoderTimers);
+#else
+ SET_SIZE(Enable_Encoders_Low);
+ SET_SIZE(Enable_Encoders_High);
+ SET_SIZE(Enable_EncoderTimers_Low);
+ SET_SIZE(Enable_EncoderTimers_High);
+#endif
#undef SET_SIZE
capture_size_ = accum_size + 1;
}
@@ -322,14 +371,13 @@
bool DMASample::Get(DigitalSource *input) const {
if (offset(kEnable_DI) == -1) {
- wpi_setStaticErrorWithContext(dma_,
- NiFpga_Status_ResourceNotFound,
+ wpi_setStaticErrorWithContext(
+ dma_, NiFpga_Status_ResourceNotFound,
getHALErrorMessage(NiFpga_Status_ResourceNotFound));
return false;
}
if (input->GetChannelForRouting() < kNumHeaders) {
- return (read_buffer_[offset(kEnable_DI)] >>
- input->GetChannelForRouting()) &
+ return (read_buffer_[offset(kEnable_DI)] >> input->GetChannelForRouting()) &
0x1;
} else {
return (read_buffer_[offset(kEnable_DI)] >>
@@ -339,21 +387,41 @@
}
int32_t DMASample::GetRaw(Encoder *input) const {
- if (offset(kEnable_Encoders) == -1) {
- wpi_setStaticErrorWithContext(dma_,
- NiFpga_Status_ResourceNotFound,
+ int index = input->GetFPGAIndex();
+ uint32_t dmaWord = 0;
+#ifdef WPILIB2015
+ if (index >= 4 || offset(kEnable_Encoders) == -1) {
+ wpi_setStaticErrorWithContext(
+ dma_, NiFpga_Status_ResourceNotFound,
getHALErrorMessage(NiFpga_Status_ResourceNotFound));
return -1;
}
-
- if (input->GetFPGAIndex() >= 4) {
- wpi_setStaticErrorWithContext(dma_,
- NiFpga_Status_ResourceNotFound,
+ dmaWord = read_buffer_[offset(kEnable_Encoders) + index];
+#else
+ if (index < 4) {
+ if (offset(kEnable_Encoders_Low) == -1) {
+ wpi_setStaticErrorWithContext(
+ dma_, NiFpga_Status_ResourceNotFound,
+ getHALErrorMessage(NiFpga_Status_ResourceNotFound));
+ return -1;
+ }
+ dmaWord = read_buffer_[offset(kEnable_Encoders_Low) + index];
+ } else if (index < 8) {
+ if (offset(kEnable_Encoders_High) == -1) {
+ wpi_setStaticErrorWithContext(
+ dma_, NiFpga_Status_ResourceNotFound,
+ getHALErrorMessage(NiFpga_Status_ResourceNotFound));
+ return -1;
+ }
+ dmaWord = read_buffer_[offset(kEnable_Encoders_High) + (index - 4)];
+ } else {
+ wpi_setStaticErrorWithContext(
+ dma_, NiFpga_Status_ResourceNotFound,
getHALErrorMessage(NiFpga_Status_ResourceNotFound));
+ return 0;
}
+#endif
- uint32_t dmaWord =
- read_buffer_[offset(kEnable_Encoders) + input->GetFPGAIndex()];
int32_t result = 0;
// Extract the 31-bit signed tEncoder::tOutput Value using a struct with the
@@ -375,24 +443,34 @@
}
uint16_t DMASample::GetValue(AnalogInput *input) const {
- if (offset(kEnable_Encoders) == -1) {
- wpi_setStaticErrorWithContext(dma_,
- NiFpga_Status_ResourceNotFound,
+ uint32_t channel = input->GetChannel();
+ uint32_t dmaWord;
+ if (channel < 4) {
+ if (offset(kEnable_AI0_Low) == -1) {
+ wpi_setStaticErrorWithContext(
+ dma_, NiFpga_Status_ResourceNotFound,
+ getHALErrorMessage(NiFpga_Status_ResourceNotFound));
+ return 0xffff;
+ }
+ dmaWord = read_buffer_[offset(kEnable_AI0_Low) + channel / 2];
+ } else if (channel < 8) {
+ if (offset(kEnable_AI0_High) == -1) {
+ wpi_setStaticErrorWithContext(
+ dma_, NiFpga_Status_ResourceNotFound,
+ getHALErrorMessage(NiFpga_Status_ResourceNotFound));
+ return 0xffff;
+ }
+ dmaWord = read_buffer_[offset(kEnable_AI0_High) + (channel - 4) / 2];
+ } else {
+ wpi_setStaticErrorWithContext(
+ dma_, NiFpga_Status_ResourceNotFound,
getHALErrorMessage(NiFpga_Status_ResourceNotFound));
return 0xffff;
}
-
- uint32_t dmaWord;
- uint32_t channel = input->GetChannel();
- if (channel <= 3) {
- dmaWord = read_buffer_[offset(kEnable_AI0_Low) + channel / 2];
- } else {
- dmaWord = read_buffer_[offset(kEnable_AI0_High) + (channel - 4) / 2];
- }
if (channel % 2) {
return (dmaWord >> 16) & 0xffff;
} else {
- return (dmaWord) & 0xffff;
+ return dmaWord & 0xffff;
}
return static_cast<int16_t>(dmaWord);
}
diff --git a/aos/externals/forwpilib/dma.h b/aos/externals/forwpilib/dma.h
index 2f5b331..2c4d4e0 100644
--- a/aos/externals/forwpilib/dma.h
+++ b/aos/externals/forwpilib/dma.h
@@ -61,9 +61,11 @@
virtual ~DMA();
// Sets whether or not DMA is paused.
+ // If not specified, the default is false.
void SetPause(bool pause);
// Sets the number of triggers that need to occur before a sample is saved.
+ // If not specified, the default is 1.
void SetRate(uint32_t cycles);
// Adds the input signal to the state to snapshot on the trigger event.
@@ -110,14 +112,23 @@
// The offsets into the sample structure for each DMA type, or -1 if it isn't
// in the set of values.
+#ifdef WPILIB2015
ssize_t channel_offsets_[18];
+#else
+ ssize_t channel_offsets_[20];
+#endif
// The size of the data to read to get a sample.
size_t capture_size_ = 0;
tDMA::tConfig tconfig_;
tDMA *tdma_config_;
+#ifndef WPILIB2015
+ ::std::array<bool, 8> trigger_channels_ = {
+ {false, false, false, false, false, false, false, false}};
+#else
::std::array<bool, 4> trigger_channels_ = {{false, false, false, false}};
+#endif
};
#endif // _DMA_H_