140 lines
7.3 KiB
C++
140 lines
7.3 KiB
C++
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#pragma once
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#include <stdint.h>
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#include "HAL/cpp/priority_mutex.h"
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enum Mode
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{
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kTwoPulse = 0,
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kSemiperiod = 1,
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kPulseLength = 2,
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kExternalDirection = 3
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};
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priority_recursive_mutex& spiGetSemaphore(uint8_t port);
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extern "C"
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{
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void* initializeDigitalPort(void* port_pointer, int32_t *status);
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void freeDigitalPort(void* digital_port_pointer);
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bool checkPWMChannel(void* digital_port_pointer);
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bool checkRelayChannel(void* digital_port_pointer);
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void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status);
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bool allocatePWMChannel(void* digital_port_pointer, int32_t *status);
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void freePWMChannel(void* digital_port_pointer, int32_t *status);
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unsigned short getPWM(void* digital_port_pointer, int32_t *status);
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void latchPWMZero(void* digital_port_pointer, int32_t *status);
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void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t *status);
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void* allocatePWM(int32_t *status);
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void freePWM(void* pwmGenerator, int32_t *status);
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void setPWMRate(double rate, int32_t *status);
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void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status);
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void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t *status);
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void setRelayForward(void* digital_port_pointer, bool on, int32_t *status);
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void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status);
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bool getRelayForward(void* digital_port_pointer, int32_t *status);
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bool getRelayReverse(void* digital_port_pointer, int32_t *status);
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bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status);
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void freeDIO(void* digital_port_pointer, int32_t *status);
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void setDIO(void* digital_port_pointer, short value, int32_t *status);
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bool getDIO(void* digital_port_pointer, int32_t *status);
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bool getDIODirection(void* digital_port_pointer, int32_t *status);
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void pulse(void* digital_port_pointer, double pulseLength, int32_t *status);
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bool isPulsing(void* digital_port_pointer, int32_t *status);
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bool isAnyPulsing(int32_t *status);
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void setFilterSelect(void* digital_port_pointer, int filter_index,
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int32_t* status);
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int getFilterSelect(void* digital_port_pointer, int32_t* status);
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void setFilterPeriod(int filter_index, uint32_t value, int32_t* status);
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uint32_t getFilterPeriod(int filter_index, int32_t* status);
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void* initializeCounter(Mode mode, uint32_t *index, int32_t *status);
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void freeCounter(void* counter_pointer, int32_t *status);
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void setCounterAverageSize(void* counter_pointer, int32_t size, int32_t *status);
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void setCounterUpSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
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void setCounterUpSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
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int32_t *status);
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void clearCounterUpSource(void* counter_pointer, int32_t *status);
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void setCounterDownSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
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void setCounterDownSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
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int32_t *status);
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void clearCounterDownSource(void* counter_pointer, int32_t *status);
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void setCounterUpDownMode(void* counter_pointer, int32_t *status);
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void setCounterExternalDirectionMode(void* counter_pointer, int32_t *status);
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void setCounterSemiPeriodMode(void* counter_pointer, bool highSemiPeriod, int32_t *status);
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void setCounterPulseLengthMode(void* counter_pointer, double threshold, int32_t *status);
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int32_t getCounterSamplesToAverage(void* counter_pointer, int32_t *status);
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void setCounterSamplesToAverage(void* counter_pointer, int samplesToAverage, int32_t *status);
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void resetCounter(void* counter_pointer, int32_t *status);
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int32_t getCounter(void* counter_pointer, int32_t *status);
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double getCounterPeriod(void* counter_pointer, int32_t *status);
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void setCounterMaxPeriod(void* counter_pointer, double maxPeriod, int32_t *status);
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void setCounterUpdateWhenEmpty(void* counter_pointer, bool enabled, int32_t *status);
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bool getCounterStopped(void* counter_pointer, int32_t *status);
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bool getCounterDirection(void* counter_pointer, int32_t *status);
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void setCounterReverseDirection(void* counter_pointer, bool reverseDirection, int32_t *status);
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void* initializeEncoder(uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
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uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
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bool reverseDirection, int32_t *index, int32_t *status); // TODO: fix routing
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void freeEncoder(void* encoder_pointer, int32_t *status);
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void resetEncoder(void* encoder_pointer, int32_t *status);
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int32_t getEncoder(void* encoder_pointer, int32_t *status); // Raw value
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double getEncoderPeriod(void* encoder_pointer, int32_t *status);
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void setEncoderMaxPeriod(void* encoder_pointer, double maxPeriod, int32_t *status);
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bool getEncoderStopped(void* encoder_pointer, int32_t *status);
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bool getEncoderDirection(void* encoder_pointer, int32_t *status);
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void setEncoderReverseDirection(void* encoder_pointer, bool reverseDirection, int32_t *status);
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void setEncoderSamplesToAverage(void* encoder_pointer, uint32_t samplesToAverage,
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int32_t *status);
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uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t *status);
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void setEncoderIndexSource(void *encoder_pointer, uint32_t pin, bool analogTrigger, bool activeHigh,
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bool edgeSensitive, int32_t *status);
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uint16_t getLoopTiming(int32_t *status);
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void spiInitialize(uint8_t port, int32_t *status);
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int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived, uint8_t size);
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int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize);
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int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count);
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void spiClose(uint8_t port);
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void spiSetSpeed(uint8_t port, uint32_t speed);
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void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idle_high);
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void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status);
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void spiSetChipSelectActiveLow(uint8_t port, int32_t *status);
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int32_t spiGetHandle(uint8_t port);
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void spiSetHandle(uint8_t port, int32_t handle);
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void spiInitAccumulator(uint8_t port, uint32_t period, uint32_t cmd,
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uint8_t xfer_size, uint32_t valid_mask,
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uint32_t valid_value, uint8_t data_shift,
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uint8_t data_size, bool is_signed, bool big_endian,
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int32_t *status);
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void spiFreeAccumulator(uint8_t port, int32_t *status);
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void spiResetAccumulator(uint8_t port, int32_t *status);
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void spiSetAccumulatorCenter(uint8_t port, int32_t center, int32_t *status);
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void spiSetAccumulatorDeadband(uint8_t port, int32_t deadband, int32_t *status);
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int32_t spiGetAccumulatorLastValue(uint8_t port, int32_t *status);
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int64_t spiGetAccumulatorValue(uint8_t port, int32_t *status);
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uint32_t spiGetAccumulatorCount(uint8_t port, int32_t *status);
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double spiGetAccumulatorAverage(uint8_t port, int32_t *status);
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void spiGetAccumulatorOutput(uint8_t port, int64_t *value, uint32_t *count,
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int32_t *status);
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void i2CInitialize(uint8_t port, int32_t *status);
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int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
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int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize);
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int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count);
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void i2CClose(uint8_t port);
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//// Float JNA Hack
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// double
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void setPWMRateIntHack(int rate, int32_t *status);
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void setPWMDutyCycleIntHack(void* pwmGenerator, int32_t dutyCycle, int32_t *status);
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}
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