| James Kuszmaul | b13e13f | 2023-11-22 20:44:04 -0800 | [diff] [blame^] | 1 | // Copyright (c) FIRST and other WPILib contributors. |
| 2 | // Open Source Software; you can modify and/or share it under the terms of |
| 3 | // the WPILib BSD license file in the root directory of this project. |
| 4 | |
| 5 | #include "hal/roborio/HMB.h" |
| 6 | |
| 7 | #include <memory> |
| 8 | |
| 9 | #include "FPGACalls.h" |
| 10 | #include "hal/ChipObject.h" |
| 11 | |
| 12 | using namespace hal; |
| 13 | |
| 14 | // 16 classes of data, each takes up 16 uint16_t's |
| 15 | static_assert(sizeof(HAL_HMBData) == 0x10 * 16 * sizeof(uint32_t)); |
| 16 | // Timestamp is the last class, and should be offset correctly |
| 17 | static_assert(offsetof(HAL_HMBData, Timestamp) == 0x10 * 15 * sizeof(uint32_t)); |
| 18 | |
| 19 | static volatile HAL_HMBData* hmbBuffer; |
| 20 | static size_t hmbBufferSize; |
| 21 | static constexpr const char hmbName[] = "HMB_0_RAM"; |
| 22 | static std::unique_ptr<tHMB> hmb; |
| 23 | |
| 24 | namespace { |
| 25 | struct HMBHolder { |
| 26 | ~HMBHolder() { |
| 27 | if (hmbBuffer) { |
| 28 | hal::HAL_NiFpga_CloseHmb(hmb->getSystemInterface()->getHandle(), hmbName); |
| 29 | } |
| 30 | } |
| 31 | }; |
| 32 | } // namespace |
| 33 | |
| 34 | extern "C" { |
| 35 | |
| 36 | void HAL_InitializeHMB(int32_t* status) { |
| 37 | static HMBHolder holder; |
| 38 | |
| 39 | hmb.reset(tHMB::create(status)); |
| 40 | if (*status != 0) { |
| 41 | return; |
| 42 | } |
| 43 | |
| 44 | *status = hal::HAL_NiFpga_OpenHmb( |
| 45 | hmb->getSystemInterface()->getHandle(), hmbName, &hmbBufferSize, |
| 46 | reinterpret_cast<void**>(const_cast<HAL_HMBData**>(&hmbBuffer))); |
| 47 | |
| 48 | if (*status != 0) { |
| 49 | return; |
| 50 | } |
| 51 | |
| 52 | auto cfg = hmb->readConfig(status); |
| 53 | cfg.Enables_AI0_Low = 1; |
| 54 | cfg.Enables_AI0_High = 1; |
| 55 | cfg.Enables_AIAveraged0_Low = 1; |
| 56 | cfg.Enables_AIAveraged0_High = 1; |
| 57 | cfg.Enables_Accumulator0 = 1; |
| 58 | cfg.Enables_Accumulator1 = 1; |
| 59 | cfg.Enables_DI = 1; |
| 60 | cfg.Enables_AnalogTriggers = 1; |
| 61 | cfg.Enables_Counters_Low = 1; |
| 62 | cfg.Enables_Counters_High = 1; |
| 63 | cfg.Enables_CounterTimers_Low = 1; |
| 64 | cfg.Enables_CounterTimers_High = 1; |
| 65 | cfg.Enables_Encoders_Low = 1; |
| 66 | cfg.Enables_Encoders_High = 1; |
| 67 | cfg.Enables_EncoderTimers_Low = 1; |
| 68 | cfg.Enables_EncoderTimers_High = 1; |
| 69 | cfg.Enables_DutyCycle_Low = 1; |
| 70 | cfg.Enables_DutyCycle_High = 1; |
| 71 | cfg.Enables_Interrupts = 1; |
| 72 | cfg.Enables_PWM = 1; |
| 73 | cfg.Enables_PWM_MXP = 1; |
| 74 | cfg.Enables_Relay_DO_AO = 1; |
| 75 | cfg.Enables_Timestamp = 1; |
| 76 | hmb->writeConfig(cfg, status); |
| 77 | } |
| 78 | |
| 79 | const volatile HAL_HMBData* HAL_GetHMBBuffer(void) { |
| 80 | return hmbBuffer; |
| 81 | } |
| 82 | } // extern "C" |