| Brian Silverman | 8fce748 | 2020-01-05 13:18:21 -0800 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) 2019 FIRST. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "hal/DutyCycle.h" |
| 9 | |
| 10 | #include <memory> |
| 11 | |
| 12 | #include "DigitalInternal.h" |
| 13 | #include "DutyCycleInternal.h" |
| 14 | #include "HALInitializer.h" |
| 15 | #include "PortsInternal.h" |
| 16 | #include "hal/ChipObject.h" |
| 17 | #include "hal/Errors.h" |
| 18 | #include "hal/handles/HandlesInternal.h" |
| 19 | #include "hal/handles/LimitedHandleResource.h" |
| 20 | |
| 21 | using namespace hal; |
| 22 | |
| 23 | namespace hal { |
| 24 | LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles, |
| 25 | HAL_HandleEnum::DutyCycle>* dutyCycleHandles; |
| 26 | namespace init { |
| 27 | void InitializeDutyCycle() { |
| 28 | static LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles, |
| 29 | HAL_HandleEnum::DutyCycle> |
| 30 | dcH; |
| 31 | dutyCycleHandles = &dcH; |
| 32 | } |
| 33 | } // namespace init |
| 34 | } // namespace hal |
| 35 | |
| 36 | static constexpr int32_t kScaleFactor = 4e7 - 1; |
| 37 | |
| 38 | extern "C" { |
| 39 | HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle, |
| 40 | HAL_AnalogTriggerType triggerType, |
| 41 | int32_t* status) { |
| 42 | hal::init::CheckInit(); |
| 43 | |
| 44 | bool routingAnalogTrigger = false; |
| 45 | uint8_t routingChannel = 0; |
| 46 | uint8_t routingModule = 0; |
| 47 | bool success = |
| 48 | remapDigitalSource(digitalSourceHandle, triggerType, routingChannel, |
| 49 | routingModule, routingAnalogTrigger); |
| 50 | |
| 51 | if (!success) { |
| 52 | *status = HAL_HANDLE_ERROR; |
| 53 | return HAL_kInvalidHandle; |
| 54 | } |
| 55 | |
| 56 | HAL_DutyCycleHandle handle = dutyCycleHandles->Allocate(); |
| 57 | if (handle == HAL_kInvalidHandle) { |
| 58 | *status = NO_AVAILABLE_RESOURCES; |
| 59 | return HAL_kInvalidHandle; |
| 60 | } |
| 61 | |
| 62 | auto dutyCycle = dutyCycleHandles->Get(handle); |
| 63 | uint32_t index = static_cast<uint32_t>(getHandleIndex(handle)); |
| 64 | dutyCycle->dutyCycle.reset(tDutyCycle::create(index, status)); |
| 65 | |
| 66 | dutyCycle->dutyCycle->writeSource_AnalogTrigger(routingAnalogTrigger, status); |
| 67 | dutyCycle->dutyCycle->writeSource_Channel(routingChannel, status); |
| 68 | dutyCycle->dutyCycle->writeSource_Module(routingModule, status); |
| 69 | dutyCycle->index = index; |
| 70 | |
| 71 | return handle; |
| 72 | } |
| 73 | void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle) { |
| 74 | // Just free it, the unique ptr will take care of everything else |
| 75 | dutyCycleHandles->Free(dutyCycleHandle); |
| 76 | } |
| 77 | |
| 78 | int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle, |
| 79 | int32_t* status) { |
| 80 | auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle); |
| 81 | if (!dutyCycle) { |
| 82 | *status = HAL_HANDLE_ERROR; |
| 83 | return 0; |
| 84 | } |
| 85 | |
| 86 | // TODO Handle Overflow |
| 87 | unsigned char overflow = 0; |
| 88 | return dutyCycle->dutyCycle->readFrequency(&overflow, status); |
| 89 | } |
| 90 | |
| 91 | double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle, |
| 92 | int32_t* status) { |
| 93 | return HAL_GetDutyCycleOutputRaw(dutyCycleHandle, status) / |
| 94 | static_cast<double>(kScaleFactor); |
| 95 | } |
| 96 | |
| 97 | int32_t HAL_GetDutyCycleOutputRaw(HAL_DutyCycleHandle dutyCycleHandle, |
| 98 | int32_t* status) { |
| 99 | auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle); |
| 100 | if (!dutyCycle) { |
| 101 | *status = HAL_HANDLE_ERROR; |
| 102 | return 0; |
| 103 | } |
| 104 | |
| 105 | // TODO Handle Overflow |
| 106 | unsigned char overflow = 0; |
| 107 | return dutyCycle->dutyCycle->readOutput(&overflow, status); |
| 108 | } |
| 109 | |
| 110 | int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle, |
| 111 | int32_t* status) { |
| 112 | return kScaleFactor; |
| 113 | } |
| 114 | |
| 115 | int32_t HAL_GetDutyCycleFPGAIndex(HAL_DutyCycleHandle dutyCycleHandle, |
| 116 | int32_t* status) { |
| 117 | auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle); |
| 118 | if (!dutyCycle) { |
| 119 | *status = HAL_HANDLE_ERROR; |
| 120 | return -1; |
| 121 | } |
| 122 | return dutyCycle->index; |
| 123 | } |
| 124 | } // extern "C" |