/**
* Construct an analog input.
*
* @param channel The channel number on the roboRIO to represent. 0-3 are
* on-board 4-7 are on the MXP port.
*/
AnalogInput::AnalogInput(uint32_t channel) {
std::stringstream buf;
buf << "Analog Input " << channel;
Resource::CreateResourceObject(inputs, kAnalogInputs);
if (!checkAnalogInputChannel(channel)) {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
return;
}
if (inputs->Allocate(channel, buf.str()) ==
std::numeric_limits<uint32_t>::max()) {
CloneError(*inputs);
return;
}
m_channel = channel;
void *port = getPort(channel);
int32_t status = 0;
m_port = initializeAnalogInputPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
LiveWindow::GetInstance()->AddSensor("AnalogInput", channel, this);
HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: checkAnalogInputChannel
* Signature: (I)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogInputChannel
(JNIEnv *, jclass, jint value)
{
//ANALOGJNI_LOG(logDEBUG) << "Channel = " << value;
jbyte returnValue = checkAnalogInputChannel( value );
//ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " << (jint)returnValue;
return returnValue;
}
/**
* Get a sample from the output of the oversample and average engine for the channel.
*
* The sample is 12-bit + the value configured in SetOversampleBits().
* The value configured in SetAverageBits() will cause this value to be averaged 2**bits number of samples.
* This is not a sliding window. The sample will not change until 2**(OversamplBits + AverageBits) samples
* have been acquired from the module on this channel.
* Use GetAverageVoltage() to get the analog value in calibrated units.
*
* @param analog_port_pointer Pointer to the analog port to use.
* @return A sample from the oversample and average engine for the channel.
*/
int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
int32_t value;
checkAnalogInputChannel(port->port.pin);
tAI::tReadSelect readSelect;
readSelect.Channel = port->port.pin;
readSelect.Averaged = true;
{
std::lock_guard<priority_recursive_mutex> sync(analogRegisterWindowMutex);
analogInputSystem->writeReadSelect(readSelect, status);
analogInputSystem->strobeLatchOutput(status);
value = (int32_t) analogInputSystem->readOutput(status);
}
return value;
}
