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/lib/athena/AnalogOutput.cpp b/hal/lib/athena/AnalogOutput.cpp
new file mode 100644
index 0000000..33642a9
--- /dev/null
+++ b/hal/lib/athena/AnalogOutput.cpp
@@ -0,0 +1,106 @@
+/*----------------------------------------------------------------------------*/
+/* 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/AnalogOutput.h"
+
+#include "AnalogInternal.h"
+#include "HAL/Errors.h"
+#include "HAL/handles/HandlesInternal.h"
+#include "HAL/handles/IndexedHandleResource.h"
+#include "PortsInternal.h"
+
+using namespace hal;
+
+namespace {
+struct AnalogOutput {
+ uint8_t channel;
+};
+}
+
+static IndexedHandleResource<HAL_AnalogOutputHandle, AnalogOutput,
+ kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>
+ analogOutputHandles;
+
+extern "C" {
+
+/**
+ * Initialize the analog output port using the given port object.
+ */
+HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
+ int32_t* status) {
+ initializeAnalog(status);
+
+ if (*status != 0) return HAL_kInvalidHandle;
+
+ int16_t channel = getPortHandleChannel(portHandle);
+ if (channel == InvalidHandleIndex) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ return HAL_kInvalidHandle;
+ }
+
+ HAL_AnalogOutputHandle handle = analogOutputHandles.Allocate(channel, status);
+
+ if (*status != 0)
+ return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+
+ auto port = analogOutputHandles.Get(handle);
+ if (port == nullptr) { // would only error on thread issue
+ *status = HAL_HANDLE_ERROR;
+ return HAL_kInvalidHandle;
+ }
+
+ port->channel = static_cast<uint8_t>(channel);
+ return handle;
+}
+
+void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle) {
+ // no status, so no need to check for a proper free.
+ analogOutputHandles.Free(analogOutputHandle);
+}
+
+/**
+ * Check that the analog output channel number is value.
+ * Verify that the analog channel number is one of the legal channel numbers.
+ * Channel numbers are 0-based.
+ *
+ * @return Analog channel is valid
+ */
+HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel) {
+ return channel < kNumAnalogOutputs && channel >= 0;
+}
+
+void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
+ double voltage, int32_t* status) {
+ auto port = analogOutputHandles.Get(analogOutputHandle);
+ if (port == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ uint16_t rawValue = static_cast<uint16_t>(voltage / 5.0 * 0x1000);
+
+ if (voltage < 0.0)
+ rawValue = 0;
+ else if (voltage > 5.0)
+ rawValue = 0x1000;
+
+ analogOutputSystem->writeMXP(port->channel, rawValue, status);
+}
+
+double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
+ int32_t* status) {
+ auto port = analogOutputHandles.Get(analogOutputHandle);
+ if (port == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0.0;
+ }
+
+ uint16_t rawValue = analogOutputSystem->readMXP(port->channel, status);
+
+ return rawValue * 5.0 / 0x1000;
+}
+}