/**
* Check a DIO line to see if it is currently generating a pulse.
*/
bool DigitalModule::IsPulsing(UINT32 channel)
{
UINT32 mask = 1 << RemapDigitalChannel(channel - 1);
UINT16 pulseRegister = m_fpgaDIO->readPulse(&status);
wpi_assertCleanStatus(status);
return pulseRegister & mask != 0;
}
/**
* Generate a single pulse.
* Write a pulse to the specified digital output channel. There can only be a single pulse going at any time.
*/
void DigitalModule::Pulse(UINT32 channel, float pulseLength)
{
UINT32 mask = 1 << RemapDigitalChannel(channel - 1);
m_fpgaDIO->writePulseLength((UINT8)(1e9 * pulseLength / (m_fpgaDIO->readLoopTiming(&status) * 25)), &status);
m_fpgaDIO->writePulse(mask, &status);
wpi_assertCleanStatus(status);
}
/**
* Check a DIO line to see if it is currently generating a pulse.
*
* @return A pulse is in progress
*/
bool DigitalModule::IsPulsing(uint32_t channel)
{
uint16_t mask = 1 << RemapDigitalChannel(channel - 1);
tRioStatusCode localStatus = NiFpga_Status_Success;
uint16_t pulseRegister = m_fpgaDIO->readPulse(&localStatus);
wpi_setError(localStatus);
return (pulseRegister & mask) != 0;
}
/**
* Generate a single pulse.
* Write a pulse to the specified digital output channel. There can only be a single pulse going at any time.
*
* @param channel The Digital Output channel that the pulse should be output on
* @param pulseLength The active length of the pulse (in seconds)
*/
void DigitalModule::Pulse(uint32_t channel, float pulseLength)
{
uint16_t mask = 1 << RemapDigitalChannel(channel - 1);
tRioStatusCode localStatus = NiFpga_Status_Success;
m_fpgaDIO->writePulseLength((uint8_t)(1.0e9 * pulseLength / (m_fpgaDIO->readLoopTiming(&localStatus) * 25)), &localStatus);
m_fpgaDIO->writePulse(mask, &localStatus);
wpi_setError(localStatus);
}
/**
* Configure which DO channel the PWM siganl is output on
*
* @param pwmGenerator The generator index reserved by AllocateDO_PWM()
* @param channel The Digital Output channel to output on
*/
void DigitalModule::SetDO_PWMOutputChannel(uint32_t pwmGenerator, uint32_t channel)
{
if (pwmGenerator == ~0ul) return;
tRioStatusCode localStatus = NiFpga_Status_Success;
switch(pwmGenerator)
{
case 0:
m_fpgaDIO->writeDO_PWMConfig_OutputSelect_0(RemapDigitalChannel(channel - 1), &localStatus);
break;
case 1:
m_fpgaDIO->writeDO_PWMConfig_OutputSelect_1(RemapDigitalChannel(channel - 1), &localStatus);
break;
case 2:
m_fpgaDIO->writeDO_PWMConfig_OutputSelect_2(RemapDigitalChannel(channel - 1), &localStatus);
break;
case 3:
m_fpgaDIO->writeDO_PWMConfig_OutputSelect_3(RemapDigitalChannel(channel - 1), &localStatus);
break;
}
wpi_setError(localStatus);
}
/**
* Write a digital I/O bit to the FPGA.
* Set a single value on a digital I/O channel.
*/
void DigitalModule::SetDIO(UINT32 channel, short value)
{
status = 0;
if (value != 0 && value != 1)
{
wpi_fatal(NonBinaryDigitalValue);
if (value != 0)
value = 1;
}
UINT16 currentDIO = m_fpgaDIO->readDO(&status);
if(value == 0)
{
currentDIO = currentDIO & ~(1 << RemapDigitalChannel(channel - 1));
}
else if (value == 1)
{
currentDIO = currentDIO | (1 << RemapDigitalChannel(channel - 1));
}
m_fpgaDIO->writeDO(currentDIO, &status);
wpi_assertCleanStatus(status);
}
/**
* Write a digital I/O bit to the FPGA.
* Set a single value on a digital I/O channel.
*
* @param channel The Digital I/O channel
* @param value The state to set the digital channel (if it is configured as an output)
*/
void DigitalModule::SetDIO(uint32_t channel, short value)
{
if (value != 0 && value != 1)
{
wpi_setWPIError(NonBinaryDigitalValue);
if (value != 0)
value = 1;
}
tRioStatusCode localStatus = NiFpga_Status_Success;
{
Synchronized sync(m_digitalSemaphore);
uint16_t currentDIO = m_fpgaDIO->readDO(&localStatus);
if(value == 0)
{
currentDIO = currentDIO & ~(1 << RemapDigitalChannel(channel - 1));
}
else if (value == 1)
{
currentDIO = currentDIO | (1 << RemapDigitalChannel(channel - 1));
}
m_fpgaDIO->writeDO(currentDIO, &localStatus);
}
wpi_setError(localStatus);
}
/**
* Allocate Digital I/O channels.
* Allocate channels so that they are not accidently reused. Also the direction is set at the
* time of the allocation.
*/
bool DigitalModule::AllocateDIO(UINT32 channel, bool input)
{
status = 0;
DIOChannels->Allocate(kDigitalChannels * SlotToIndex(m_slot) + channel - 1);
UINT32 outputEnable = m_fpgaDIO->readOutputEnable(&status);
UINT32 bitToSet = 1 << (RemapDigitalChannel(channel - 1));
UINT32 outputEnableValue;
if (input)
{
outputEnableValue = outputEnable & (~ bitToSet ); // clear the bit for read
}
else
{
outputEnableValue = outputEnable | bitToSet; // set the bit for write
}
m_fpgaDIO->writeOutputEnable(outputEnableValue, &status);
wpi_assertCleanStatus(status);
return true;
}
/**
* Allocate Digital I/O channels.
* Allocate channels so that they are not accidently reused. Also the direction is set at the
* time of the allocation.
*
* @param channel The Digital I/O channel
* @param input If true open as input; if false open as output
* @return Was successfully allocated
*/
bool DigitalModule::AllocateDIO(uint32_t channel, bool input)
{
char buf[64];
sprintf(buf, "DIO %u (Module %d)", channel, m_moduleNumber);
if (DIOChannels->Allocate(kDigitalChannels * (m_moduleNumber - 1) + channel - 1, buf) == ~0ul) return false;
tRioStatusCode localStatus = NiFpga_Status_Success;
{
Synchronized sync(m_digitalSemaphore);
uint32_t bitToSet = 1 << (RemapDigitalChannel(channel - 1));
uint32_t outputEnable = m_fpgaDIO->readOutputEnable(&localStatus);
uint32_t outputEnableValue;
if (input)
{
outputEnableValue = outputEnable & (~bitToSet); // clear the bit for read
}
else
{
outputEnableValue = outputEnable | bitToSet; // set the bit for write
}
m_fpgaDIO->writeOutputEnable(outputEnableValue, &localStatus);
}
wpi_setError(localStatus);
return true;
}
