Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/hal/include/HAL/handles/HandlesInternal.h b/hal/include/HAL/handles/HandlesInternal.h
new file mode 100644
index 0000000..27596dc
--- /dev/null
+++ b/hal/include/HAL/handles/HandlesInternal.h
@@ -0,0 +1,98 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include "HAL/Types.h"
+
+/* General Handle Data Layout
+ * Bits 0-15: Handle Index
+ * Bits 16-23: Unused
+ * Bits 24-30: Handle Type
+ * Bit 31: 1 if handle error, 0 if no error
+ *
+ * Other specialized handles will use different formats, however Bits 24-31 are
+ * always reserved for type and error handling.
+ */
+
+namespace hal {
+
+constexpr int16_t InvalidHandleIndex = -1;
+
+enum class HAL_HandleEnum {
+ Undefined = 0,
+ DIO = 1,
+ Port = 2,
+ Notifier = 3,
+ Interrupt = 4,
+ AnalogOutput = 5,
+ AnalogInput = 6,
+ AnalogTrigger = 7,
+ Relay = 8,
+ PWM = 9,
+ DigitalPWM = 10,
+ Counter = 11,
+ FPGAEncoder = 12,
+ Encoder = 13,
+ Compressor = 14,
+ Solenoid = 15,
+ AnalogGyro = 16,
+ Vendor = 17
+};
+
+static inline int16_t getHandleIndex(HAL_Handle handle) {
+ // mask and return last 16 bits
+ return static_cast<int16_t>(handle & 0xffff);
+}
+static inline HAL_HandleEnum getHandleType(HAL_Handle handle) {
+ // mask first 8 bits and cast to enum
+ return static_cast<HAL_HandleEnum>((handle >> 24) & 0xff);
+}
+static inline bool isHandleType(HAL_Handle handle, HAL_HandleEnum handleType) {
+ return handleType == getHandleType(handle);
+}
+static inline int16_t getHandleTypedIndex(HAL_Handle handle,
+ HAL_HandleEnum enumType) {
+ if (!isHandleType(handle, enumType)) return InvalidHandleIndex;
+ return getHandleIndex(handle);
+}
+
+/* specialized functions for Port handle
+ * Port Handle Data Layout
+ * Bits 0-7: Channel Number
+ * Bits 8-15: Module Number
+ * Bits 16-23: Unused
+ * Bits 24-30: Handle Type
+ * Bit 31: 1 if handle error, 0 if no error
+ */
+
+// using a 16 bit value so we can store 0-255 and still report error
+static inline int16_t getPortHandleChannel(HAL_PortHandle handle) {
+ if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex;
+ return static_cast<uint8_t>(handle & 0xff);
+}
+
+// using a 16 bit value so we can store 0-255 and still report error
+static inline int16_t getPortHandleModule(HAL_PortHandle handle) {
+ if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex;
+ return static_cast<uint8_t>((handle >> 8) & 0xff);
+}
+
+// using a 16 bit value so we can store 0-255 and still report error
+static inline int16_t getPortHandleSPIEnable(HAL_PortHandle handle) {
+ if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex;
+ return static_cast<uint8_t>((handle >> 16) & 0xff);
+}
+
+HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module);
+
+HAL_PortHandle createPortHandleForSPI(uint8_t channel);
+
+HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType);
+} // namespace hal