/**
* Set the Counter to return reversed sensing on the direction.
* This allows counters to change the direction they are counting in the case of 1X and 2X
* quadrature encoding only. Any other counter mode isn't supported.
* @param reverseDirection true if the value counted should be negated.
*/
void Counter::SetReverseDirection(bool reverseDirection)
{
if (m_counter->readConfig_Mode(&status) == kExternalDirection)
{
if (reverseDirection)
SetDownSourceEdge(true, true);
else
SetDownSourceEdge(false, true);
}
}
/**
* Set the Counter to return reversed sensing on the direction.
* This allows counters to change the direction they are counting in the case of 1X and 2X
* quadrature encoding only. Any other counter mode isn't supported.
* @param reverseDirection true if the value counted should be negated.
*/
void xCounter::SetReverseDirection(bool reverseDirection)
{
if (StatusIsFatal()) return;
tRioStatusCode localStatus = NiFpga_Status_Success;
if (m_counter->readConfig_Mode(&localStatus) == kExternalDirection)
{
if (reverseDirection)
SetDownSourceEdge(true, true);
else
SetDownSourceEdge(false, true);
}
wpi_setError(localStatus);
}
/**
* Set the source object that causes the counter to count down.
* Set the down counting DigitalSource.
*/
void xCounter::SetDownSource(DigitalSource *source)
{
if (StatusIsFatal()) return;
if (m_allocatedDownSource)
{
delete m_downSource;
m_downSource = NULL;
m_allocatedDownSource = false;
}
m_downSource = source;
if (m_downSource->StatusIsFatal())
{
CloneError(m_downSource);
}
else
{
tRioStatusCode localStatus = NiFpga_Status_Success;
unsigned char mode = m_counter->readConfig_Mode(&localStatus);
if (mode != kTwoPulse && mode != kExternalDirection)
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "Counter only supports DownSource in TwoPulse and ExternalDirection modes.");
return;
}
m_counter->writeConfig_DownSource_Module(source->GetModuleForRouting(), &localStatus);
m_counter->writeConfig_DownSource_Channel(source->GetChannelForRouting(), &localStatus);
m_counter->writeConfig_DownSource_AnalogTrigger(source->GetAnalogTriggerForRouting(), &localStatus);
SetDownSourceEdge(true, false);
m_counter->strobeReset(&localStatus);
wpi_setError(localStatus);
}
}
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 down.
* Set the down counting DigitalSource.
*/
void Counter::SetDownSource(DigitalSource *source)
{
wpi_assert(m_downSource == NULL);
unsigned char mode = m_counter->readConfig_Mode(&status);
wpi_assert(mode == kTwoPulse || mode == kExternalDirection);
m_downSource = source;
m_counter->writeConfig_DownSource_Module(source->GetModuleForRouting(), &status);
m_counter->writeConfig_DownSource_Channel(source->GetChannelForRouting(), &status);
m_counter->writeConfig_DownSource_AnalogTrigger(source->GetAnalogTriggerForRouting(), &status);
SetDownSourceEdge(true, false);
m_counter->strobeReset(&status);
wpi_assertCleanStatus(status);
}
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);
}
