| Brian Silverman | 8fce748 | 2020-01-05 13:18:21 -0800 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) 2016-2018 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 | #pragma once |
| 9 | |
| 10 | #include <stdint.h> |
| 11 | |
| 12 | #include "hal/AnalogTrigger.h" |
| 13 | #include "hal/Types.h" |
| 14 | |
| 15 | extern "C" { |
| 16 | |
| 17 | HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder( |
| 18 | HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA, |
| 19 | HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB, |
| 20 | HAL_Bool reverseDirection, int32_t* index, int32_t* status); |
| 21 | void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, |
| 22 | int32_t* status); |
| 23 | |
| 24 | /** |
| 25 | * Reset the Encoder distance to zero. |
| 26 | * Resets the current count to zero on the encoder. |
| 27 | */ |
| 28 | void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, |
| 29 | int32_t* status); |
| 30 | |
| 31 | /** |
| 32 | * Gets the fpga value from the encoder. |
| 33 | * The fpga value is the actual count unscaled by the 1x, 2x, or 4x scale |
| 34 | * factor. |
| 35 | * @return Current fpga count from the encoder |
| 36 | */ |
| 37 | int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, |
| 38 | int32_t* status); // Raw value |
| 39 | |
| 40 | /** |
| 41 | * Returns the period of the most recent pulse. |
| 42 | * Returns the period of the most recent Encoder pulse in seconds. |
| 43 | * This method compenstates for the decoding type. |
| 44 | * |
| 45 | * @deprecated Use GetRate() in favor of this method. This returns unscaled |
| 46 | * periods and GetRate() scales using value from SetDistancePerPulse(). |
| 47 | * |
| 48 | * @return Period in seconds of the most recent pulse. |
| 49 | */ |
| 50 | double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle, |
| 51 | int32_t* status); |
| 52 | |
| 53 | /** |
| 54 | * Sets the maximum period for stopped detection. |
| 55 | * Sets the value that represents the maximum period of the Encoder before it |
| 56 | * will assume that the attached device is stopped. This timeout allows users |
| 57 | * to determine if the wheels or other shaft has stopped rotating. |
| 58 | * This method compensates for the decoding type. |
| 59 | * |
| 60 | * @deprecated Use SetMinRate() in favor of this method. This takes unscaled |
| 61 | * periods and SetMinRate() scales using value from SetDistancePerPulse(). |
| 62 | * |
| 63 | * @param maxPeriod The maximum time between rising and falling edges before the |
| 64 | * FPGA will |
| 65 | * report the device stopped. This is expressed in seconds. |
| 66 | */ |
| 67 | void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle, |
| 68 | double maxPeriod, int32_t* status); |
| 69 | |
| 70 | /** |
| 71 | * Determine if the encoder is stopped. |
| 72 | * Using the MaxPeriod value, a boolean is returned that is true if the encoder |
| 73 | * is considered stopped and false if it is still moving. A stopped encoder is |
| 74 | * one where the most recent pulse width exceeds the MaxPeriod. |
| 75 | * @return True if the encoder is considered stopped. |
| 76 | */ |
| 77 | HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle, |
| 78 | int32_t* status); |
| 79 | |
| 80 | /** |
| 81 | * The last direction the encoder value changed. |
| 82 | * @return The last direction the encoder value changed. |
| 83 | */ |
| 84 | HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle, |
| 85 | int32_t* status); |
| 86 | |
| 87 | /** |
| 88 | * Set the direction sensing for this encoder. |
| 89 | * This sets the direction sensing on the encoder so that it could count in the |
| 90 | * correct software direction regardless of the mounting. |
| 91 | * @param reverseDirection true if the encoder direction should be reversed |
| 92 | */ |
| 93 | void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle, |
| 94 | HAL_Bool reverseDirection, |
| 95 | int32_t* status); |
| 96 | |
| 97 | /** |
| 98 | * Set the Samples to Average which specifies the number of samples of the timer |
| 99 | * to average when calculating the period. Perform averaging to account for |
| 100 | * mechanical imperfections or as oversampling to increase resolution. |
| 101 | * @param samplesToAverage The number of samples to average from 1 to 127. |
| 102 | */ |
| 103 | void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle, |
| 104 | int32_t samplesToAverage, |
| 105 | int32_t* status); |
| 106 | |
| 107 | /** |
| 108 | * Get the Samples to Average which specifies the number of samples of the timer |
| 109 | * to average when calculating the period. Perform averaging to account for |
| 110 | * mechanical imperfections or as oversampling to increase resolution. |
| 111 | * @return SamplesToAverage The number of samples being averaged (from 1 to 127) |
| 112 | */ |
| 113 | int32_t HAL_GetFPGAEncoderSamplesToAverage( |
| 114 | HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); |
| 115 | |
| 116 | /** |
| 117 | * Set an index source for an encoder, which is an input that resets the |
| 118 | * encoder's count. |
| 119 | */ |
| 120 | void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpgaEncoderHandle, |
| 121 | HAL_Handle digitalSourceHandle, |
| 122 | HAL_AnalogTriggerType analogTriggerType, |
| 123 | HAL_Bool activeHigh, HAL_Bool edgeSensitive, |
| 124 | int32_t* status); |
| 125 | |
| 126 | } // extern "C" |