This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/DigitalModule.h b/azaleasource/WPILibCProgramming/trunk/WPILib/DigitalModule.h
new file mode 100644
index 0000000..beb1231
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/DigitalModule.h
@@ -0,0 +1,66 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef DIGITAL_MODULE_H_
+#define DIGITAL_MODULE_H_
+
+#include "Module.h"
+#include "ChipObject.h"
+
+class I2C;
+
+const UINT32 kExpectedLoopTiming = 260;
+
+class DigitalModule: public Module
+{
+ friend class I2C;
+ friend class Module;
+
+protected:
+ explicit DigitalModule(UINT8 moduleNumber);
+ virtual ~DigitalModule();
+
+public:
+ void SetPWM(UINT32 channel, UINT8 value);
+ UINT8 GetPWM(UINT32 channel);
+ void SetPWMPeriodScale(UINT32 channel, UINT32 squelchMask);
+ void SetRelayForward(UINT32 channel, bool on);
+ void SetRelayReverse(UINT32 channel, bool on);
+ bool GetRelayForward(UINT32 channel);
+ UINT8 GetRelayForward();
+ bool GetRelayReverse(UINT32 channel);
+ UINT8 GetRelayReverse();
+ bool AllocateDIO(UINT32 channel, bool input);
+ void FreeDIO(UINT32 channel);
+ void SetDIO(UINT32 channel, short value);
+ bool GetDIO(UINT32 channel);
+ UINT16 GetDIO();
+ bool GetDIODirection(UINT32 channel);
+ UINT16 GetDIODirection();
+ void Pulse(UINT32 channel, float pulseLength);
+ bool IsPulsing(UINT32 channel);
+ bool IsPulsing();
+ UINT32 AllocateDO_PWM();
+ void FreeDO_PWM(UINT32 pwmGenerator);
+ void SetDO_PWMRate(float rate);
+ void SetDO_PWMDutyCycle(UINT32 pwmGenerator, float dutyCycle);
+ void SetDO_PWMOutputChannel(UINT32 pwmGenerator, UINT32 channel);
+
+ I2C* GetI2C(UINT32 address);
+
+ static DigitalModule* GetInstance(UINT8 moduleNumber);
+ static UINT8 RemapDigitalChannel(UINT32 channel) { return 15 - channel; }; // TODO: Need channel validation
+ static UINT8 UnmapDigitalChannel(UINT32 channel) { return 15 - channel; }; // TODO: Need channel validation
+
+private:
+ SEM_ID m_digitalSemaphore;
+ SEM_ID m_relaySemaphore;
+ SEM_ID m_doPwmSemaphore;
+ tDIO *m_fpgaDIO;
+};
+
+#endif
+