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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 26e4e5289bfe3b1691be9c14bedfb70bdcd6dc56 / . / hal / include / HAL / Digital.hpp
blob: 64851f18f86efafbf7f6d4ec21db5ab25917adc8 [file] [log] [blame]
Brian Silverman26e4e522015-12-17 01:56:40 -0500[diff] [blame^]1#pragma once
2#include <stdint.h>
3
4#include "HAL/cpp/priority_mutex.h"
5
6enum Mode
7{
8 kTwoPulse = 0,
9 kSemiperiod = 1,
10 kPulseLength = 2,
11 kExternalDirection = 3
12};
13
14priority_recursive_mutex& spiGetSemaphore(uint8_t port);
15
16extern "C"
17{
18 void* initializeDigitalPort(void* port_pointer, int32_t *status);
19 void freeDigitalPort(void* digital_port_pointer);
20 bool checkPWMChannel(void* digital_port_pointer);
21 bool checkRelayChannel(void* digital_port_pointer);
22
23 void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status);
24 bool allocatePWMChannel(void* digital_port_pointer, int32_t *status);
25 void freePWMChannel(void* digital_port_pointer, int32_t *status);
26 unsigned short getPWM(void* digital_port_pointer, int32_t *status);
27 void latchPWMZero(void* digital_port_pointer, int32_t *status);
28 void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t *status);
29 void* allocatePWM(int32_t *status);
30 void freePWM(void* pwmGenerator, int32_t *status);
31 void setPWMRate(double rate, int32_t *status);
32 void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status);
33 void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t *status);
34
35 void setRelayForward(void* digital_port_pointer, bool on, int32_t *status);
36 void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status);
37 bool getRelayForward(void* digital_port_pointer, int32_t *status);
38 bool getRelayReverse(void* digital_port_pointer, int32_t *status);
39
40 bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status);
41 void freeDIO(void* digital_port_pointer, int32_t *status);
42 void setDIO(void* digital_port_pointer, short value, int32_t *status);
43 bool getDIO(void* digital_port_pointer, int32_t *status);
44 bool getDIODirection(void* digital_port_pointer, int32_t *status);
45 void pulse(void* digital_port_pointer, double pulseLength, int32_t *status);
46 bool isPulsing(void* digital_port_pointer, int32_t *status);
47 bool isAnyPulsing(int32_t *status);
48
49 void setFilterSelect(void* digital_port_pointer, int filter_index,
50 int32_t* status);
51 int getFilterSelect(void* digital_port_pointer, int32_t* status);
52
53 void setFilterPeriod(int filter_index, uint32_t value, int32_t* status);
54 uint32_t getFilterPeriod(int filter_index, int32_t* status);
55
56 void* initializeCounter(Mode mode, uint32_t *index, int32_t *status);
57 void freeCounter(void* counter_pointer, int32_t *status);
58 void setCounterAverageSize(void* counter_pointer, int32_t size, int32_t *status);
59 void setCounterUpSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
60 void setCounterUpSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
61 int32_t *status);
62 void clearCounterUpSource(void* counter_pointer, int32_t *status);
63 void setCounterDownSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
64 void setCounterDownSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
65 int32_t *status);
66 void clearCounterDownSource(void* counter_pointer, int32_t *status);
67 void setCounterUpDownMode(void* counter_pointer, int32_t *status);
68 void setCounterExternalDirectionMode(void* counter_pointer, int32_t *status);
69 void setCounterSemiPeriodMode(void* counter_pointer, bool highSemiPeriod, int32_t *status);
70 void setCounterPulseLengthMode(void* counter_pointer, double threshold, int32_t *status);
71 int32_t getCounterSamplesToAverage(void* counter_pointer, int32_t *status);
72 void setCounterSamplesToAverage(void* counter_pointer, int samplesToAverage, int32_t *status);
73 void resetCounter(void* counter_pointer, int32_t *status);
74 int32_t getCounter(void* counter_pointer, int32_t *status);
75 double getCounterPeriod(void* counter_pointer, int32_t *status);
76 void setCounterMaxPeriod(void* counter_pointer, double maxPeriod, int32_t *status);
77 void setCounterUpdateWhenEmpty(void* counter_pointer, bool enabled, int32_t *status);
78 bool getCounterStopped(void* counter_pointer, int32_t *status);
79 bool getCounterDirection(void* counter_pointer, int32_t *status);
80 void setCounterReverseDirection(void* counter_pointer, bool reverseDirection, int32_t *status);
81
82 void* initializeEncoder(uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
83 uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
84 bool reverseDirection, int32_t *index, int32_t *status); // TODO: fix routing
85 void freeEncoder(void* encoder_pointer, int32_t *status);
86 void resetEncoder(void* encoder_pointer, int32_t *status);
87 int32_t getEncoder(void* encoder_pointer, int32_t *status); // Raw value
88 double getEncoderPeriod(void* encoder_pointer, int32_t *status);
89 void setEncoderMaxPeriod(void* encoder_pointer, double maxPeriod, int32_t *status);
90 bool getEncoderStopped(void* encoder_pointer, int32_t *status);
91 bool getEncoderDirection(void* encoder_pointer, int32_t *status);
92 void setEncoderReverseDirection(void* encoder_pointer, bool reverseDirection, int32_t *status);
93 void setEncoderSamplesToAverage(void* encoder_pointer, uint32_t samplesToAverage,
94 int32_t *status);
95 uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t *status);
96 void setEncoderIndexSource(void *encoder_pointer, uint32_t pin, bool analogTrigger, bool activeHigh,
97 bool edgeSensitive, int32_t *status);
98
99 uint16_t getLoopTiming(int32_t *status);
100
101 void spiInitialize(uint8_t port, int32_t *status);
102 int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived, uint8_t size);
103 int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize);
104 int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count);
105 void spiClose(uint8_t port);
106 void spiSetSpeed(uint8_t port, uint32_t speed);
107 void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idle_high);
108 void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status);
109 void spiSetChipSelectActiveLow(uint8_t port, int32_t *status);
110 int32_t spiGetHandle(uint8_t port);
111 void spiSetHandle(uint8_t port, int32_t handle);
112
113 void spiInitAccumulator(uint8_t port, uint32_t period, uint32_t cmd,
114 uint8_t xfer_size, uint32_t valid_mask,
115 uint32_t valid_value, uint8_t data_shift,
116 uint8_t data_size, bool is_signed, bool big_endian,
117 int32_t *status);
118 void spiFreeAccumulator(uint8_t port, int32_t *status);
119 void spiResetAccumulator(uint8_t port, int32_t *status);
120 void spiSetAccumulatorCenter(uint8_t port, int32_t center, int32_t *status);
121 void spiSetAccumulatorDeadband(uint8_t port, int32_t deadband, int32_t *status);
122 int32_t spiGetAccumulatorLastValue(uint8_t port, int32_t *status);
123 int64_t spiGetAccumulatorValue(uint8_t port, int32_t *status);
124 uint32_t spiGetAccumulatorCount(uint8_t port, int32_t *status);
125 double spiGetAccumulatorAverage(uint8_t port, int32_t *status);
126 void spiGetAccumulatorOutput(uint8_t port, int64_t *value, uint32_t *count,
127 int32_t *status);
128
129 void i2CInitialize(uint8_t port, int32_t *status);
130 int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
131 int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize);
132 int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count);
133 void i2CClose(uint8_t port);
134
135 //// Float JNA Hack
136 // double
137 void setPWMRateIntHack(int rate, int32_t *status);
138 void setPWMDutyCycleIntHack(void* pwmGenerator, int32_t dutyCycle, int32_t *status);
139}