DigitalModule.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef DIGITAL_MODULE_H_
#define DIGITAL_MODULE_H_

#include "Module.h"
#include "ChipObject.h"

class I2C;

const uint32_t kExpectedLoopTiming = 260;

class DigitalModule: public Module
{
        friend class I2C;
        friend class Module;

protected:
        explicit DigitalModule(uint8_t moduleNumber);
        virtual ~DigitalModule();

public:
        void SetPWM(uint32_t channel, uint8_t value);
        uint8_t GetPWM(uint32_t channel);
        void SetPWMPeriodScale(uint32_t channel, uint32_t squelchMask);
        void SetRelayForward(uint32_t channel, bool on);
        void SetRelayReverse(uint32_t channel, bool on);
        bool GetRelayForward(uint32_t channel);
        uint8_t GetRelayForward();
        bool GetRelayReverse(uint32_t channel);
        uint8_t GetRelayReverse();
        bool AllocateDIO(uint32_t channel, bool input);
        void FreeDIO(uint32_t channel);
        void SetDIO(uint32_t channel, short value);
        bool GetDIO(uint32_t channel);
        uint16_t GetDIO();
        bool GetDIODirection(uint32_t channel);
        uint16_t GetDIODirection();
        void Pulse(uint32_t channel, float pulseLength);
        bool IsPulsing(uint32_t channel);
        bool IsPulsing();
        uint32_t AllocateDO_PWM();
        void FreeDO_PWM(uint32_t pwmGenerator);
        void SetDO_PWMRate(float rate);
        void SetDO_PWMDutyCycle(uint32_t pwmGenerator, float dutyCycle);
        void SetDO_PWMOutputChannel(uint32_t pwmGenerator, uint32_t channel);
        uint16_t GetLoopTiming();

        I2C* GetI2C(uint32_t address);

        static DigitalModule* GetInstance(uint8_t moduleNumber);
        static uint8_t RemapDigitalChannel(uint32_t channel) { return 15 - channel; }; // TODO: Need channel validation
        static uint8_t UnmapDigitalChannel(uint32_t channel) { return 15 - channel; }; // TODO: Need channel validation

private:
        SEM_ID m_digitalSemaphore;
        SEM_ID m_relaySemaphore;
        SEM_ID m_doPwmSemaphore;
        tDIO *m_fpgaDIO;
};

#endif