/**
* Create a new instance of an digital module.
* Create an instance of the digital module object. Initialize all the parameters
* to reasonable values on start.
* Setting a global value on an digital module can be done only once unless subsequent
* values are set the previously set value.
* Digital modules are a singleton, so the constructor is never called outside of this class.
*/
DigitalModule::DigitalModule(UINT32 slot)
: Module(slot)
, m_fpgaDIO (NULL)
{
Resource::CreateResourceObject(&DIOChannels, tDIO::kNumSystems * kDigitalChannels);
m_fpgaDIO = new tDIO(SlotToIndex(m_slot), &status);
// Make sure that the 9403 IONode has had a chance to initialize before continuing.
while(m_fpgaDIO->readLoopTiming(&status) == 0) taskDelay(1);
if (m_fpgaDIO->readLoopTiming(&status) != kExpectedLoopTiming)
{
wpi_fatal(LoopTimingError);
printf("DIO LoopTiming: %d, expecting: %d\n", m_fpgaDIO->readLoopTiming(&status), kExpectedLoopTiming);
}
m_fpgaDIO->writePWMConfig_Period(PWM::kDefaultPwmPeriod, &status);
m_fpgaDIO->writePWMConfig_MinHigh(PWM::kDefaultMinPwmHigh, &status);
// Ensure that PWM output values are set to OFF
for (UINT32 pwm_index = 1; pwm_index <= kPwmChannels; pwm_index++)
{
SetPWM(pwm_index, PWM::kPwmDisabled);
SetPWMPeriodScale(pwm_index, 3); // Set all to 4x by default.
}
// Turn off all relay outputs.
m_fpgaDIO->writeSlowValue_RelayFwd(0, &status);
m_fpgaDIO->writeSlowValue_RelayRev(0, &status);
// Create a semaphore to protect changes to the relay values
m_relaySemaphore = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
AddToSingletonList();
}
/**
* Create a new instance of an digital module.
* Create an instance of the digital module object. Initialize all the parameters
* to reasonable values on start.
* Setting a global value on an digital module can be done only once unless subsequent
* values are set the previously set value.
* Digital modules are a singleton, so the constructor is never called outside of this class.
*
* @param moduleNumber The digital module to create (1 or 2).
*/
DigitalModule::DigitalModule(uint8_t moduleNumber)
: Module(nLoadOut::kModuleType_Digital, moduleNumber)
, m_fpgaDIO (NULL)
{
Resource::CreateResourceObject(&DIOChannels, tDIO::kNumSystems * kDigitalChannels);
Resource::CreateResourceObject(&DO_PWMGenerators[m_moduleNumber - 1], tDIO::kNumDO_PWMDutyCycleElements);
tRioStatusCode localStatus = NiFpga_Status_Success;
m_fpgaDIO = tDIO::create(m_moduleNumber - 1, &localStatus);
wpi_setError(localStatus);
// Make sure that the 9403 IONode has had a chance to initialize before continuing.
while(m_fpgaDIO->readLoopTiming(&localStatus) == 0) sleep_ms(1);//taskDelay(1);
if (m_fpgaDIO->readLoopTiming(&localStatus) != kExpectedLoopTiming)
{
char err[128];
sprintf(err, "DIO LoopTiming: %d, expecting: %u\n", m_fpgaDIO->readLoopTiming(&localStatus), kExpectedLoopTiming);
wpi_setWPIErrorWithContext(LoopTimingError, err);
}
//Calculate the length, in ms, of one DIO loop
double loopTime = m_fpgaDIO->readLoopTiming(&localStatus)/(kSystemClockTicksPerMicrosecond*1e3);
m_fpgaDIO->writePWMConfig_Period((uint16_t) (PWM::kDefaultPwmPeriod/loopTime + .5), &localStatus);
m_fpgaDIO->writePWMConfig_MinHigh((uint16_t) ((PWM::kDefaultPwmCenter-PWM::kDefaultPwmStepsDown*loopTime)/loopTime + .5), &localStatus);
// Ensure that PWM output values are set to OFF
for (uint32_t pwm_index = 1; pwm_index <= kPwmChannels; pwm_index++)
{
SetPWM(pwm_index, PWM::kPwmDisabled);
SetPWMPeriodScale(pwm_index, 3); // Set all to 4x by default.
}
// Turn off all relay outputs.
m_fpgaDIO->writeSlowValue_RelayFwd(0, &localStatus);
m_fpgaDIO->writeSlowValue_RelayRev(0, &localStatus);
wpi_setError(localStatus);
// Create a semaphore to protect changes to the digital output values
// m_digitalSemaphore = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
// Create a semaphore to protect changes to the relay values
// m_relaySemaphore = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
// Create a semaphore to protect changes to the DO PWM config
// m_doPwmSemaphore = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
AddToSingletonList();
}
