| 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 | #include "InterruptableSensorBase.h"
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| 8 | #include "Utility.h"
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| 9 |
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| 10 | InterruptableSensorBase::InterruptableSensorBase()
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| 11 | {
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| 12 | m_manager = NULL;
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| 13 | m_interrupt = NULL;
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| 14 | }
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| 15 |
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| 16 | InterruptableSensorBase::~InterruptableSensorBase()
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| 17 | {
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| 18 |
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| 19 | }
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| 20 |
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| 21 | void InterruptableSensorBase::AllocateInterrupts(bool watcher)
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| 22 | {
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| 23 | wpi_assert(m_interrupt == NULL);
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| 24 | wpi_assert(m_manager == NULL);
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| 25 | // Expects the calling leaf class to allocate an interrupt index.
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| 26 | tRioStatusCode localStatus = NiFpga_Status_Success;
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| 27 | m_interrupt = tInterrupt::create(m_interruptIndex, &localStatus);
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| 28 | m_interrupt->writeConfig_WaitForAck(false, &localStatus);
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| 29 | m_manager = new tInterruptManager(1 << m_interruptIndex, watcher, &localStatus);
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| 30 | wpi_setError(localStatus);
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| 31 | }
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| 32 |
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| 33 | /**
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| 34 | * Cancel interrupts on this device.
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| 35 | * This deallocates all the chipobject structures and disables any interrupts.
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| 36 | */
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| 37 | void InterruptableSensorBase::CancelInterrupts()
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| 38 | {
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| 39 | wpi_assert(m_manager != NULL);
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| 40 | wpi_assert(m_interrupt != NULL);
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| 41 | delete m_interrupt;
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| 42 | delete m_manager;
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| 43 | m_interrupt = NULL;
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| 44 | m_manager = NULL;
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| 45 | }
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| 46 |
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| 47 | /**
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| 48 | * In synchronous mode, wait for the defined interrupt to occur.
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| 49 | * @param timeout Timeout in seconds
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| 50 | */
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| 51 | void InterruptableSensorBase::WaitForInterrupt(float timeout)
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| 52 | {
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| 53 | wpi_assert(m_manager != NULL);
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| 54 | wpi_assert(m_interrupt != NULL);
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| 55 | tRioStatusCode localStatus = NiFpga_Status_Success;
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| 56 | m_manager->watch((INT32)(timeout * 1e3), &localStatus);
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| 57 | wpi_setError(localStatus);
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| 58 | }
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| 59 |
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| 60 | /**
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| 61 | * Enable interrupts to occur on this input.
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| 62 | * Interrupts are disabled when the RequestInterrupt call is made. This gives time to do the
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| 63 | * setup of the other options before starting to field interrupts.
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| 64 | */
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| 65 | void InterruptableSensorBase::EnableInterrupts()
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| 66 | {
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| 67 | wpi_assert(m_manager != NULL);
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| 68 | wpi_assert(m_interrupt != NULL);
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| 69 | tRioStatusCode localStatus = NiFpga_Status_Success;
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| 70 | m_manager->enable(&localStatus);
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| 71 | wpi_setError(localStatus);
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| 72 | }
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| 73 |
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| 74 | /**
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| 75 | * Disable Interrupts without without deallocating structures.
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| 76 | */
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| 77 | void InterruptableSensorBase::DisableInterrupts()
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| 78 | {
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| 79 | wpi_assert(m_manager != NULL);
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| 80 | wpi_assert(m_interrupt != NULL);
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| 81 | tRioStatusCode localStatus = NiFpga_Status_Success;
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| 82 | m_manager->disable(&localStatus);
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| 83 | wpi_setError(localStatus);
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| 84 | }
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| 85 |
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| 86 | /**
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| 87 | * Return the timestamp for the interrupt that occurred most recently.
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| 88 | * This is in the same time domain as GetClock().
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| 89 | * @return Timestamp in seconds since boot.
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| 90 | */
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| 91 | double InterruptableSensorBase::ReadInterruptTimestamp()
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| 92 | {
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| 93 | wpi_assert(m_interrupt != NULL);
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| 94 | tRioStatusCode localStatus = NiFpga_Status_Success;
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| 95 | UINT32 timestamp = m_interrupt->readTimeStamp(&localStatus);
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| 96 | wpi_setError(localStatus);
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| 97 | return timestamp * 1e-6;
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| 98 | }
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