DriverStationEnhancedIO.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 __DRIVER_STATION_ENHANCED_IO_H__
#define __DRIVER_STATION_ENHANCED_IO_H__

#include "ErrorBase.h"
#include "NetworkCommunication/FRCComm.h"
#include <stack>
#include <vector>
#include <vxWorks.h>

#define kAnalogInputResolution ((double)((1<<14)-1))
#define kAnalogInputReference 3.3
#define kAnalogOutputResolution ((double)((1<<8)-1))
#define kAnalogOutputReference 4.0
#define kAccelOffset 8300
#define kAccelScale 3300.0
#define kSupportedAPIVersion 1

class DriverStationEnhancedIO : public ErrorBase
{
        // Can only be constructed by the DriverStation class.
        friend class DriverStation;

#pragma pack(push,1)
        // BEGIN: Definitions from the Cypress firmware
        typedef struct
        {
                uint16_t digital;
                uint16_t digital_oe;
                uint16_t digital_pe;
                uint16_t pwm_compare[4];
                uint16_t pwm_period[2];
                uint8_t dac[2];
                uint8_t leds;
                union
                {
                        struct
                        {
                                // Bits are inverted from cypress fw because of big-endian!
                                uint8_t pwm_enable : 4;
                                uint8_t comparator_enable : 2;
                                uint8_t quad_index_enable : 2;
                        };
                        uint8_t enables;
                };
                uint8_t fixed_digital_out;
        } output_t;  //data to IO (23 bytes)

        typedef struct
        {
                uint8_t api_version;
                uint8_t fw_version;
                int16_t analog[8];
                uint16_t digital;
                int16_t accel[3];
                int16_t quad[2];
                uint8_t buttons;
                uint8_t capsense_slider;
                uint8_t capsense_proximity;
        } input_t;      //data from IO (33 bytes)
        // END: Definitions from the Cypress firmware

        // Dynamic block definitions
        typedef struct
        {
                uint8_t size; // Must be 25 (size remaining in the block not counting the size variable)
                uint8_t id; // Must be 18
                output_t data;
                uint8_t flags;
        } status_block_t;

        typedef struct
        {
                uint8_t size; // Must be 34
                uint8_t id; // Must be 17
                input_t data;
        } control_block_t;
#pragma pack(pop)

        enum tBlockID
        {
                kInputBlockID = kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input,
                kOutputBlockID = kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output,
        };
        enum tStatusFlags {kStatusValid = 0x01, kStatusConfigChanged = 0x02, kForceEnhancedMode = 0x04};

public:
        enum tDigitalConfig {kUnknown, kInputFloating, kInputPullUp, kInputPullDown, kOutput, kPWM, kAnalogComparator};
        enum tAccelChannel {kAccelX = 0, kAccelY = 1, kAccelZ = 2};
        enum tPWMPeriodChannels {kPWMChannels1and2, kPWMChannels3and4};

        double GetAcceleration(tAccelChannel channel);
        double GetAnalogIn(uint32_t channel);
        double GetAnalogInRatio(uint32_t channel);
        double GetAnalogOut(uint32_t channel);
        void SetAnalogOut(uint32_t channel, double value);
        bool GetButton(uint32_t channel);
        uint8_t GetButtons();
        void SetLED(uint32_t channel, bool value);
        void SetLEDs(uint8_t value);
        bool GetDigital(uint32_t channel);
        uint16_t GetDigitals();
        void SetDigitalOutput(uint32_t channel, bool value);
        tDigitalConfig GetDigitalConfig(uint32_t channel);
        void SetDigitalConfig(uint32_t channel, tDigitalConfig config);
        double GetPWMPeriod(tPWMPeriodChannels channels);
        void SetPWMPeriod(tPWMPeriodChannels channels, double period);
        bool GetFixedDigitalOutput(uint32_t channel);
        void SetFixedDigitalOutput(uint32_t channel, bool value);
        int16_t GetEncoder(uint32_t encoderNumber);
        void ResetEncoder(uint32_t encoderNumber);
        bool GetEncoderIndexEnable(uint32_t encoderNumber);
        void SetEncoderIndexEnable(uint32_t encoderNumber, bool enable);
        double GetTouchSlider();
        double GetPWMOutput(uint32_t channel);
        void SetPWMOutput(uint32_t channel, double value);
        uint8_t GetFirmwareVersion();

private:
        DriverStationEnhancedIO();
        virtual ~DriverStationEnhancedIO();
        void UpdateData();
        void MergeConfigIntoOutput(const status_block_t &dsOutputBlock, status_block_t &localCache);
        bool IsConfigEqual(const status_block_t &dsOutputBlock, const status_block_t &localCache);

        // Usage Guidelines...
        DISALLOW_COPY_AND_ASSIGN(DriverStationEnhancedIO);

        control_block_t m_inputData;
        status_block_t m_outputData;
        SEM_ID m_inputDataSemaphore;
        SEM_ID m_outputDataSemaphore;
        bool m_inputValid;
        bool m_outputValid;
        bool m_configChanged;
        bool m_requestEnhancedEnable;
        int16_t m_encoderOffsets[2];
};

#endif