| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef DIGITAL_MODULE_H_
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| 8 | #define DIGITAL_MODULE_H_
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| 9 |
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| 10 | #include "Module.h"
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| 11 | #include "ChipObject.h"
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| 12 |
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| 13 | class I2C;
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| 14 |
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| 15 | const UINT32 kExpectedLoopTiming = 260;
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| 16 |
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| 17 | class DigitalModule: public Module
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| 18 | {
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| 19 | friend class I2C;
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| 20 | friend class Module;
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| 21 |
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| 22 | protected:
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| 23 | explicit DigitalModule(UINT8 moduleNumber);
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| 24 | virtual ~DigitalModule();
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| 25 |
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| 26 | public:
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| 27 | void SetPWM(UINT32 channel, UINT8 value);
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| 28 | UINT8 GetPWM(UINT32 channel);
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| 29 | void SetPWMPeriodScale(UINT32 channel, UINT32 squelchMask);
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| 30 | void SetRelayForward(UINT32 channel, bool on);
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| 31 | void SetRelayReverse(UINT32 channel, bool on);
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| 32 | bool GetRelayForward(UINT32 channel);
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| 33 | UINT8 GetRelayForward();
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| 34 | bool GetRelayReverse(UINT32 channel);
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| 35 | UINT8 GetRelayReverse();
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| 36 | bool AllocateDIO(UINT32 channel, bool input);
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| 37 | void FreeDIO(UINT32 channel);
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| 38 | void SetDIO(UINT32 channel, short value);
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| 39 | bool GetDIO(UINT32 channel);
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| 40 | UINT16 GetDIO();
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| 41 | bool GetDIODirection(UINT32 channel);
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| 42 | UINT16 GetDIODirection();
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| 43 | void Pulse(UINT32 channel, float pulseLength);
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| 44 | bool IsPulsing(UINT32 channel);
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| 45 | bool IsPulsing();
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| 46 | UINT32 AllocateDO_PWM();
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| 47 | void FreeDO_PWM(UINT32 pwmGenerator);
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| 48 | void SetDO_PWMRate(float rate);
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| 49 | void SetDO_PWMDutyCycle(UINT32 pwmGenerator, float dutyCycle);
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| 50 | void SetDO_PWMOutputChannel(UINT32 pwmGenerator, UINT32 channel);
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| 51 |
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| 52 | I2C* GetI2C(UINT32 address);
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| 53 |
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| 54 | static DigitalModule* GetInstance(UINT8 moduleNumber);
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| 55 | static UINT8 RemapDigitalChannel(UINT32 channel) { return 15 - channel; }; // TODO: Need channel validation
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| 56 | static UINT8 UnmapDigitalChannel(UINT32 channel) { return 15 - channel; }; // TODO: Need channel validation
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| 57 |
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| 58 | private:
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| 59 | SEM_ID m_digitalSemaphore;
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| 60 | SEM_ID m_relaySemaphore;
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| 61 | SEM_ID m_doPwmSemaphore;
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| 62 | tDIO *m_fpgaDIO;
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| 63 | };
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| 64 |
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| 65 | #endif
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| 66 |
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