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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / f1579336bbb728e9596db3b3f90c291886bd7fbf / . / azaleasource / WPILibCProgramming / trunk / WPILib / DriverStationEnhancedIO.h
blob: a991f84b65b1ee904a1999075e23e5ebee874db9 [file] [log] [blame]
jerrymf1579332013-02-07 01:56:28 +0000[diff] [blame^]1/*----------------------------------------------------------------------------*/
2/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
5/*----------------------------------------------------------------------------*/
6
7#ifndef __DRIVER_STATION_ENHANCED_IO_H__
8#define __DRIVER_STATION_ENHANCED_IO_H__
9
10#include "ErrorBase.h"
11#include "NetworkCommunication/FRCComm.h"
12#include <stack>
13#include <vector>
14#include <vxWorks.h>
15
16#define kAnalogInputResolution ((double)((1<<14)-1))
17#define kAnalogInputReference 3.3
18#define kAnalogOutputResolution ((double)((1<<8)-1))
19#define kAnalogOutputReference 4.0
20#define kAccelOffset 8300
21#define kAccelScale 3300.0
22#define kSupportedAPIVersion 1
23
24/**
25 * Interact with the more complete I/O available from the
26 * newest driver station. Get a reference to an object
27 * of this type by calling GetEnhancedIO() on the DriverStation object.
28 */
29class DriverStationEnhancedIO : public ErrorBase
30{
31 // Can only be constructed by the DriverStation class.
32 friend class DriverStation;
33
34#pragma pack(push,1)
35 // BEGIN: Definitions from the Cypress firmware
36 typedef struct
37 {
38 UINT16 digital;
39 UINT16 digital_oe;
40 UINT16 digital_pe;
41 UINT16 pwm_compare[4];
42 UINT16 pwm_period[2];
43 UINT8 dac[2];
44 UINT8 leds;
45 union
46 {
47 struct
48 {
49 // Bits are inverted from cypress fw because of big-endian!
50 UINT8 pwm_enable : 4;
51 UINT8 comparator_enable : 2;
52 UINT8 quad_index_enable : 2;
53 };
54 UINT8 enables;
55 };
56 UINT8 fixed_digital_out;
57 } output_t; //data to IO (23 bytes)
58
59 typedef struct
60 {
61 UINT8 api_version;
62 UINT8 fw_version;
63 INT16 analog[8];
64 UINT16 digital;
65 INT16 accel[3];
66 INT16 quad[2];
67 UINT8 buttons;
68 UINT8 capsense_slider;
69 UINT8 capsense_proximity;
70 } input_t; //data from IO (33 bytes)
71 // END: Definitions from the Cypress firmware
72
73 // Dynamic block definitions
74 typedef struct
75 {
76 UINT8 size; // Must be 25 (size remaining in the block not counting the size variable)
77 UINT8 id; // Must be 18
78 output_t data;
79 UINT8 flags;
80 } status_block_t;
81
82 typedef struct
83 {
84 UINT8 size; // Must be 34
85 UINT8 id; // Must be 17
86 input_t data;
87 } control_block_t;
88#pragma pack(pop)
89
90 enum tBlockID
91 {
92 kInputBlockID = kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input,
93 kOutputBlockID = kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output,
94 };
95 enum tStatusFlags {kStatusValid = 0x01, kStatusConfigChanged = 0x02, kForceEnhancedMode = 0x04};
96
97public:
98 enum tDigitalConfig {kUnknown, kInputFloating, kInputPullUp, kInputPullDown, kOutput, kPWM, kAnalogComparator};
99 enum tAccelChannel {kAccelX = 0, kAccelY = 1, kAccelZ = 2};
100 enum tPWMPeriodChannels {kPWMChannels1and2, kPWMChannels3and4};
101
102 double GetAcceleration(tAccelChannel channel);
103 double GetAnalogIn(UINT32 channel);
104 double GetAnalogInRatio(UINT32 channel);
105 double GetAnalogOut(UINT32 channel);
106 void SetAnalogOut(UINT32 channel, double value);
107 bool GetButton(UINT32 channel);
108 UINT8 GetButtons();
109 void SetLED(UINT32 channel, bool value);
110 void SetLEDs(UINT8 value);
111 bool GetDigital(UINT32 channel);
112 UINT16 GetDigitals();
113 void SetDigitalOutput(UINT32 channel, bool value);
114 tDigitalConfig GetDigitalConfig(UINT32 channel);
115 void SetDigitalConfig(UINT32 channel, tDigitalConfig config);
116 double GetPWMPeriod(tPWMPeriodChannels channels);
117 void SetPWMPeriod(tPWMPeriodChannels channels, double period);
118 bool GetFixedDigitalOutput(UINT32 channel);
119 void SetFixedDigitalOutput(UINT32 channel, bool value);
120 INT16 GetEncoder(UINT32 encoderNumber);
121 void ResetEncoder(UINT32 encoderNumber);
122 bool GetEncoderIndexEnable(UINT32 encoderNumber);
123 void SetEncoderIndexEnable(UINT32 encoderNumber, bool enable);
124 double GetTouchSlider();
125 double GetPWMOutput(UINT32 channel);
126 void SetPWMOutput(UINT32 channel, double value);
127 UINT8 GetFirmwareVersion();
128
129private:
130 DriverStationEnhancedIO();
131 virtual ~DriverStationEnhancedIO();
132 void UpdateData();
133 void MergeConfigIntoOutput(const status_block_t &dsOutputBlock, status_block_t &localCache);
134 bool IsConfigEqual(const status_block_t &dsOutputBlock, const status_block_t &localCache);
135
136 // Usage Guidelines...
137 DISALLOW_COPY_AND_ASSIGN(DriverStationEnhancedIO);
138
139 control_block_t m_inputData;
140 status_block_t m_outputData;
141 SEM_ID m_inputDataSemaphore;
142 SEM_ID m_outputDataSemaphore;
143 bool m_inputValid;
144 bool m_outputValid;
145 bool m_configChanged;
146 bool m_requestEnhancedEnable;
147 INT16 m_encoderOffsets[2];
148};
149
150#endif
151