109 lines
4.1 KiB
C
109 lines
4.1 KiB
C
|
/*----------------------------------------------------------------------------*/
|
||
|
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
||
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||
|
|
/* the project. */
|
||
|
|
/*----------------------------------------------------------------------------*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "HAL/HAL.hpp"
|
||
|
|
#include "AnalogTriggerOutput.h"
|
||
|
|
#include "CounterBase.h"
|
||
|
|
#include "SensorBase.h"
|
||
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
||
|
|
|
||
|
|
#include <memory>
|
||
|
|
|
||
|
|
class DigitalGlitchFilter;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Class for counting the number of ticks on a digital input channel.
|
||
|
|
* This is a general purpose class for counting repetitive events. It can return
|
||
|
|
* the number
|
||
|
|
* of counts, the period of the most recent cycle, and detect when the signal
|
||
|
|
* being counted
|
||
|
|
* has stopped by supplying a maximum cycle time.
|
||
|
|
*
|
||
|
|
* All counters will immediately start counting - Reset() them if you need them
|
||
|
|
* to be zeroed before use.
|
||
|
|
*/
|
||
|
|
class Counter : public SensorBase,
|
||
|
|
public CounterBase,
|
||
|
|
public LiveWindowSendable {
|
||
|
|
public:
|
||
|
|
explicit Counter(Mode mode = kTwoPulse);
|
||
|
|
explicit Counter(int32_t channel);
|
||
|
|
explicit Counter(DigitalSource *source);
|
||
|
|
explicit Counter(std::shared_ptr<DigitalSource> source);
|
||
|
|
DEPRECATED("Use pass-by-reference instead.")
|
||
|
|
explicit Counter(AnalogTrigger *trigger);
|
||
|
|
explicit Counter(const AnalogTrigger &trigger);
|
||
|
|
Counter(EncodingType encodingType, DigitalSource *upSource,
|
||
|
|
DigitalSource *downSource, bool inverted);
|
||
|
|
Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
|
||
|
|
std::shared_ptr<DigitalSource> downSource, bool inverted);
|
||
|
|
virtual ~Counter();
|
||
|
|
|
||
|
|
void SetUpSource(int32_t channel);
|
||
|
|
void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
|
||
|
|
void SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
|
||
|
|
AnalogTriggerType triggerType);
|
||
|
|
void SetUpSource(DigitalSource *source);
|
||
|
|
void SetUpSource(std::shared_ptr<DigitalSource> source);
|
||
|
|
void SetUpSource(DigitalSource &source);
|
||
|
|
void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
|
||
|
|
void ClearUpSource();
|
||
|
|
|
||
|
|
void SetDownSource(int32_t channel);
|
||
|
|
void SetDownSource(AnalogTrigger *analogTrigger,
|
||
|
|
AnalogTriggerType triggerType);
|
||
|
|
void SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
|
||
|
|
AnalogTriggerType triggerType);
|
||
|
|
void SetDownSource(DigitalSource *source);
|
||
|
|
void SetDownSource(std::shared_ptr<DigitalSource> source);
|
||
|
|
void SetDownSource(DigitalSource &source);
|
||
|
|
void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
|
||
|
|
void ClearDownSource();
|
||
|
|
|
||
|
|
void SetUpDownCounterMode();
|
||
|
|
void SetExternalDirectionMode();
|
||
|
|
void SetSemiPeriodMode(bool highSemiPeriod);
|
||
|
|
void SetPulseLengthMode(float threshold);
|
||
|
|
|
||
|
|
void SetReverseDirection(bool reverseDirection);
|
||
|
|
|
||
|
|
// CounterBase interface
|
||
|
|
int32_t Get() const override;
|
||
|
|
void Reset() override;
|
||
|
|
double GetPeriod() const override;
|
||
|
|
void SetMaxPeriod(double maxPeriod) override;
|
||
|
|
void SetUpdateWhenEmpty(bool enabled);
|
||
|
|
bool GetStopped() const override;
|
||
|
|
bool GetDirection() const override;
|
||
|
|
|
||
|
|
void SetSamplesToAverage(int samplesToAverage);
|
||
|
|
int GetSamplesToAverage() const;
|
||
|
|
uint32_t GetFPGAIndex() const { return m_index; }
|
||
|
|
|
||
|
|
void UpdateTable() override;
|
||
|
|
void StartLiveWindowMode() override;
|
||
|
|
void StopLiveWindowMode() override;
|
||
|
|
virtual std::string GetSmartDashboardType() const override;
|
||
|
|
void InitTable(std::shared_ptr<ITable> subTable) override;
|
||
|
|
std::shared_ptr<ITable> GetTable() const override;
|
||
|
|
|
||
|
|
protected:
|
||
|
|
// Makes the counter count up.
|
||
|
|
std::shared_ptr<DigitalSource> m_upSource;
|
||
|
|
// Makes the counter count down.
|
||
|
|
std::shared_ptr<DigitalSource> m_downSource;
|
||
|
|
// The FPGA counter object
|
||
|
|
void *m_counter = nullptr; ///< The FPGA counter object.
|
||
|
|
private:
|
||
|
|
uint32_t m_index = 0; ///< The index of this counter.
|
||
|
|
|
||
|
|
std::shared_ptr<ITable> m_table;
|
||
|
|
friend class DigitalGlitchFilter;
|
||
|
|
};
|