xCounter::xCounter(EncodingType encodingType, DigitalSource *upSource, DigitalSource *downSource, bool inverted) :
m_upSource(NULL),
m_downSource(NULL),
m_counter(NULL),
m_encodingType(encodingType)
{
if (encodingType != k1X && encodingType != k2X)
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "Counter only supports 1X and 2X quadrature decoding.");
return;
}
InitCounter(kExternalDirection);
SetUpSource(upSource);
SetDownSource(downSource);
tRioStatusCode localStatus = NiFpga_Status_Success;
if (encodingType == k1X)
{
SetUpSourceEdge(true, false);
m_counter->writeTimerConfig_AverageSize(1, &localStatus);
}
else
{
SetUpSourceEdge(true, true);
m_counter->writeTimerConfig_AverageSize(2, &localStatus);
}
wpi_setError(localStatus);
SetDownSourceEdge(inverted, true);
}
/**
* Set the source object that causes the counter to count up.
* Set the up counting DigitalSource.
*/
void xCounter::SetUpSource(DigitalSource *source)
{
if (StatusIsFatal()) return;
if (m_allocatedUpSource)
{
delete m_upSource;
m_upSource = NULL;
m_allocatedUpSource = false;
}
m_upSource = source;
if (m_upSource->StatusIsFatal())
{
CloneError(m_upSource);
}
else
{
tRioStatusCode localStatus = NiFpga_Status_Success;
m_counter->writeConfig_UpSource_Module(source->GetModuleForRouting(), &localStatus);
m_counter->writeConfig_UpSource_Channel(source->GetChannelForRouting(), &localStatus);
m_counter->writeConfig_UpSource_AnalogTrigger(source->GetAnalogTriggerForRouting(), &localStatus);
if(m_counter->readConfig_Mode(&localStatus) == kTwoPulse ||
m_counter->readConfig_Mode(&localStatus) == kExternalDirection)
{
SetUpSourceEdge(true, false);
}
m_counter->strobeReset(&localStatus);
wpi_setError(localStatus);
}
}
Counter::Counter(EncodingType encodingType, DigitalSource *upSource, DigitalSource *downSource, bool inverted)
{
wpi_assert(encodingType == k1X || encodingType == k2X);
InitCounter(kExternalDirection);
SetUpSource(upSource);
SetDownSource(downSource);
if (encodingType == k1X)
{
SetUpSourceEdge(true, false);
m_counter->writeTimerConfig_AverageSize(1, &status);
}
else
{
SetUpSourceEdge(true, true);
m_counter->writeTimerConfig_AverageSize(2, &status);
}
SetDownSourceEdge(inverted, true);
}
/**
* Set the source object that causes the counter to count up.
* Set the up counting DigitalSource.
*/
void Counter::SetUpSource(DigitalSource *source)
{
wpi_assert(m_upSource == NULL);
m_upSource = source;
m_counter->writeConfig_UpSource_Module(source->GetModuleForRouting(), &status);
m_counter->writeConfig_UpSource_Channel(source->GetChannelForRouting(), &status);
m_counter->writeConfig_UpSource_AnalogTrigger(source->GetAnalogTriggerForRouting(), &status);
if(m_counter->readConfig_Mode(&status) == kTwoPulse ||
m_counter->readConfig_Mode(&status) == kExternalDirection)
{
SetUpSourceEdge(true, false);
}
m_counter->strobeReset(&status);
wpi_assertCleanStatus(status);
}
/**
* Request one of the 8 interrupts synchronously on this digital input.
* Request interrupts in synchronous mode where the user program will have to
* explicitly
* wait for the interrupt to occur using WaitForInterrupt.
* The default is interrupt on rising edges only.
*/
void InterruptableSensorBase::RequestInterrupts() {
if (StatusIsFatal()) return;
uint32_t index = m_interrupts->Allocate("Sync Interrupt");
if (index == std::numeric_limits<uint32_t>::max()) {
CloneError(*m_interrupts);
return;
}
m_interruptIndex = index;
AllocateInterrupts(true);
int32_t status = 0;
requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
GetAnalogTriggerForRouting(), &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
SetUpSourceEdge(true, false);
}
/**
* Request interrupts synchronously on this digital input.
* Request interrupts in synchronus mode where the user program will have to explicitly
* wait for the interrupt to occur.
* The default is interrupt on rising edges only.
*/
void DigitalInput::RequestInterrupts()
{
if (StatusIsFatal()) return;
uint32_t index = interruptsResource->Allocate("Sync Interrupt");
if (index == ~0ul)
{
CloneError(interruptsResource);
return;
}
m_interruptIndex = index;
AllocateInterrupts(true);
tRioStatusCode localStatus = NiFpga_Status_Success;
m_interrupt->writeConfig_Source_AnalogTrigger(GetAnalogTriggerForRouting(), &localStatus);
m_interrupt->writeConfig_Source_Channel(GetChannelForRouting(), &localStatus);
m_interrupt->writeConfig_Source_Module(GetModuleForRouting(), &localStatus);
SetUpSourceEdge(true, false);
wpi_setError(localStatus);
}
/**
* Request one of the 8 interrupts asynchronously on this digital input.
* Request interrupts in asynchronous mode where the user's interrupt handler
* will be
* called when the interrupt fires. Users that want control over the thread
* priority
* should use the synchronous method with their own spawned thread.
* The default is interrupt on rising edges only.
*/
void InterruptableSensorBase::RequestInterrupts(
InterruptHandlerFunction handler, void *param) {
if (StatusIsFatal()) return;
uint32_t index = m_interrupts->Allocate("Async Interrupt");
if (index == std::numeric_limits<uint32_t>::max()) {
CloneError(*m_interrupts);
return;
}
m_interruptIndex = index;
// Creates a manager too
AllocateInterrupts(false);
int32_t status = 0;
requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
GetAnalogTriggerForRouting(), &status);
SetUpSourceEdge(true, false);
attachInterruptHandler(m_interrupt, handler, param, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Request interrupts asynchronously on this digital input.
* @param handler The address of the interrupt handler function of type tInterruptHandler that
* will be called whenever there is an interrupt on the digitial input port.
* Request interrupts in synchronus mode where the user program interrupt handler will be
* called when an interrupt occurs.
* The default is interrupt on rising edges only.
*/
void DigitalInput::RequestInterrupts(tInterruptHandler handler, void *param)
{
if (StatusIsFatal()) return;
uint32_t index = interruptsResource->Allocate("Async Interrupt");
if (index == ~0ul)
{
CloneError(interruptsResource);
return;
}
m_interruptIndex = index;
// Creates a manager too
AllocateInterrupts(false);
tRioStatusCode localStatus = NiFpga_Status_Success;
m_interrupt->writeConfig_WaitForAck(false, &localStatus);
m_interrupt->writeConfig_Source_AnalogTrigger(GetAnalogTriggerForRouting(), &localStatus);
m_interrupt->writeConfig_Source_Channel(GetChannelForRouting(), &localStatus);
m_interrupt->writeConfig_Source_Module(GetModuleForRouting(), &localStatus);
SetUpSourceEdge(true, false);
m_manager->registerHandler(handler, param, &localStatus);
wpi_setError(localStatus);
}