DigitalModule Class Reference

Inheritance diagram for DigitalModule:

Collaboration diagram for DigitalModule:

Public Member Functions
void	SetPWM (UINT32 channel, UINT8 value)
UINT8	GetPWM (UINT32 channel)
void	SetPWMPeriodScale (UINT32 channel, UINT32 squelchMask)
void	SetRelayForward (UINT32 channel, bool on)
void	SetRelayReverse (UINT32 channel, bool on)
bool	GetRelayForward (UINT32 channel)
UINT8	GetRelayForward ()
bool	GetRelayReverse (UINT32 channel)
UINT8	GetRelayReverse ()
bool	AllocateDIO (UINT32 channel, bool input)
void	FreeDIO (UINT32 channel)
void	SetDIO (UINT32 channel, short value)
bool	GetDIO (UINT32 channel)
UINT16	GetDIO ()
bool	GetDIODirection (UINT32 channel)
UINT16	GetDIODirection ()
void	Pulse (UINT32 channel, float pulseLength)
bool	IsPulsing (UINT32 channel)
bool	IsPulsing ()
UINT32	AllocateDO_PWM ()
void	FreeDO_PWM (UINT32 pwmGenerator)
void	SetDO_PWMRate (float rate)
void	SetDO_PWMDutyCycle (UINT32 pwmGenerator, float dutyCycle)
void	SetDO_PWMOutputChannel (UINT32 pwmGenerator, UINT32 channel)
I2C *	GetI2C (UINT32 address)
Public Member Functions inherited from Module
nLoadOut::tModuleType	GetType ()
UINT8	GetNumber ()
Public Member Functions inherited from SensorBase
	SensorBase ()
virtual	~SensorBase ()
Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.
virtual const Error &	GetError () const
virtual void	SetErrnoError (const char *contextMessage, const char *filename, const char *function, UINT32 lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable.
virtual void	SetImaqError (int success, const char *contextMessage, const char *filename, const char *function, UINT32 lineNumber) const
	Set the current error information associated from the nivision Imaq API.
virtual void	SetError (Error::Code code, const char *contextMessage, const char *filename, const char *function, UINT32 lineNumber) const
	Set the current error information associated with this sensor.
virtual void	SetWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, UINT32 lineNumber) const
	Set the current error information associated with this sensor.
virtual void	CloneError (ErrorBase *rhs) const
virtual void	ClearError () const
	Clear the current error information associated with this sensor.
virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error.

Static Public Member Functions
static DigitalModule *	GetInstance (UINT8 moduleNumber)
static UINT8	RemapDigitalChannel (UINT32 channel)
static UINT8	UnmapDigitalChannel (UINT32 channel)
Static Public Member Functions inherited from Module
static Module *	GetModule (nLoadOut::tModuleType type, UINT8 number)
Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()
static UINT32	GetDefaultAnalogModule ()
static UINT32	GetDefaultDigitalModule ()
static UINT32	GetDefaultSolenoidModule ()
static bool	CheckAnalogModule (UINT8 moduleNumber)
static bool	CheckDigitalModule (UINT8 moduleNumber)
static bool	CheckPWMModule (UINT8 moduleNumber)
static bool	CheckRelayModule (UINT8 moduleNumber)
static bool	CheckSolenoidModule (UINT8 moduleNumber)
static bool	CheckDigitalChannel (UINT32 channel)
static bool	CheckRelayChannel (UINT32 channel)
static bool	CheckPWMChannel (UINT32 channel)
static bool	CheckAnalogChannel (UINT32 channel)
static bool	CheckSolenoidChannel (UINT32 channel)
Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char *contextMessage, const char *filename, const char *function, UINT32 lineNumber)
static void	SetGlobalWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, UINT32 lineNumber)
static Error &	GetGlobalError ()

Protected Member Functions
	DigitalModule (UINT8 moduleNumber)
Protected Member Functions inherited from Module
	Module (nLoadOut::tModuleType type, UINT8 number)
virtual	~Module ()
Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()
Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Friends
class	I2C
class	Module

Additional Inherited Members
Static Public Attributes inherited from SensorBase
static const UINT32	kSystemClockTicksPerMicrosecond = 40
static const UINT32	kDigitalChannels = 14
static const UINT32	kAnalogChannels = 8
static const UINT32	kAnalogModules = 2
static const UINT32	kDigitalModules = 2
static const UINT32	kSolenoidChannels = 8
static const UINT32	kSolenoidModules = 2
static const UINT32	kPwmChannels = 10
static const UINT32	kRelayChannels = 8
static const UINT32	kChassisSlots = 8
Protected Attributes inherited from Module
nLoadOut::tModuleType	m_moduleType
	The type of module represented.
UINT8	m_moduleNumber
	The module index within the module type.
Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE)
static Error	_globalError

Detailed Description

Definition at line 17 of file DigitalModule.h.

Constructor & Destructor Documentation

DigitalModule::DigitalModule ( UINT8  moduleNumber )

explicitprotected

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.

Parameters

moduleNumber

The digital module to create (1 or 2).

Definition at line 51 of file DigitalModule.cpp.

Member Function Documentation

bool DigitalModule::AllocateDIO	(	UINT32	channel,
		bool	input
	)

Allocate Digital I/O channels. Allocate channels so that they are not accidently reused. Also the direction is set at the time of the allocation.

Parameters

channel	The Digital I/O channel
input	If true open as input; if false open as output

Returns

Was successfully allocated

Definition at line 247 of file DigitalModule.cpp.

UINT32 DigitalModule::AllocateDO_PWM

(

)

Allocate a DO PWM Generator. Allocate PWM generators so that they are not accidently reused.

Returns

PWM Generator refnum

Definition at line 428 of file DigitalModule.cpp.

void DigitalModule::FreeDIO

(

UINT32

channel

)

Free the resource associated with a digital I/O channel.

Parameters

channel

The Digital I/O channel to free

Definition at line 277 of file DigitalModule.cpp.

void DigitalModule::FreeDO_PWM

(

UINT32

pwmGenerator

)

Free the resource associated with a DO PWM generator.

Parameters

pwmGenerator

The pwmGen to free that was allocated with AllocateDO_PWM()

Definition at line 440 of file DigitalModule.cpp.

bool DigitalModule::GetDIO

(

UINT32

channel

)

Read a digital I/O bit from the FPGA. Get a single value from a digital I/O channel.

Parameters

channel

The digital I/O channel

Returns

The state of the specified channel

Definition at line 321 of file DigitalModule.cpp.

UINT16 DigitalModule::GetDIO

(

)

Read the state of all the Digital I/O lines from the FPGA These are not remapped to logical order. They are still in hardware order.

Definition at line 338 of file DigitalModule.cpp.

bool DigitalModule::GetDIODirection

(

UINT32

channel

)

Read the direction of a the Digital I/O lines A 1 bit means output and a 0 bit means input.

Parameters

channel

The digital I/O channel

Returns

The direction of the specified channel

Definition at line 353 of file DigitalModule.cpp.

UINT16 DigitalModule::GetDIODirection

(

)

Read the direction of all the Digital I/O lines from the FPGA A 1 bit means output and a 0 bit means input. These are not remapped to logical order. They are still in hardware order.

Definition at line 371 of file DigitalModule.cpp.

I2C * DigitalModule::GetI2C

(

UINT32

address

)

Return a pointer to an I2C object for this digital module The caller is responsible for deleting the pointer.

Parameters

address

The address of the device on the I2C bus

Returns

A pointer to an I2C object to talk to the device at address

Definition at line 525 of file DigitalModule.cpp.

DigitalModule * DigitalModule::GetInstance ( UINT8  moduleNumber )

static

Get an instance of an Digital Module. Singleton digital module creation where a module is allocated on the first use and the same module is returned on subsequent uses.

Parameters

moduleNumber

The digital module to get (1 or 2).

Definition at line 26 of file DigitalModule.cpp.

UINT8 DigitalModule::GetPWM

(

UINT32

channel

)

Get a value from a PWM channel. The values range from 0 to 255.

Parameters

channel

The PWM channel to read from.

Returns

The raw PWM value.

Definition at line 128 of file DigitalModule.cpp.

bool DigitalModule::GetRelayForward

(

UINT32

channel

)

Get the current state of the forward relay channel

Definition at line 195 of file DigitalModule.cpp.

UINT8 DigitalModule::GetRelayForward

(

)

Get the current state of all of the forward relay channels on this module.

Definition at line 206 of file DigitalModule.cpp.

bool DigitalModule::GetRelayReverse

(

UINT32

channel

)

Get the current state of the reverse relay channel

Definition at line 217 of file DigitalModule.cpp.

UINT8 DigitalModule::GetRelayReverse

(

)

Get the current state of all of the reverse relay channels on this module.

Definition at line 229 of file DigitalModule.cpp.

bool DigitalModule::IsPulsing

(

UINT32

channel

)

Check a DIO line to see if it is currently generating a pulse.

Returns

A pulse is in progress

Definition at line 400 of file DigitalModule.cpp.

bool DigitalModule::IsPulsing

(

)

Check if any DIO line is currently generating a pulse.

Returns

A pulse on some line is in progress

Definition at line 414 of file DigitalModule.cpp.

void DigitalModule::Pulse	(	UINT32	channel,
		float	pulseLength
	)

Generate a single pulse. Write a pulse to the specified digital output channel. There can only be a single pulse going at any time.

Parameters

channel	The Digital Output channel that the pulse should be output on
pulseLength	The active length of the pulse (in seconds)

Definition at line 386 of file DigitalModule.cpp.

void DigitalModule::SetDIO	(	UINT32	channel,
		short	value
	)

Write a digital I/O bit to the FPGA. Set a single value on a digital I/O channel.

Parameters

channel	The Digital I/O channel
value	The state to set the digital channel (if it is configured as an output)

Definition at line 289 of file DigitalModule.cpp.

void DigitalModule::SetDO_PWMDutyCycle	(	UINT32	pwmGenerator,
		float	dutyCycle
	)

Configure the duty-cycle of the PWM generator

Parameters

pwmGenerator	The generator index reserved by AllocateDO_PWM()
dutyCycle	The percent duty cycle to output [0..1].

Definition at line 497 of file DigitalModule.cpp.

void DigitalModule::SetDO_PWMOutputChannel	(	UINT32	pwmGenerator,
		UINT32	channel
	)

Configure which DO channel the PWM siganl is output on

Parameters

pwmGenerator	The generator index reserved by AllocateDO_PWM()
channel	The Digital Output channel to output on

Definition at line 469 of file DigitalModule.cpp.

void DigitalModule::SetDO_PWMRate

(

float

rate

)

Change the frequency of the DO PWM generator.

The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is logarithmic.

Parameters

rate	The frequency to output all digital output PWM signals on this module.

Definition at line 453 of file DigitalModule.cpp.

void DigitalModule::SetPWM	(	UINT32	channel,
		UINT8	value
	)

Set a PWM channel to the desired value. The values range from 0 to 255 and the period is controlled by the PWM Period and MinHigh registers.

Parameters

channel	The PWM channel to set.
value	The PWM value to set.

Definition at line 114 of file DigitalModule.cpp.

void DigitalModule::SetPWMPeriodScale	(	UINT32	channel,
		UINT32	squelchMask
	)

Set how how often the PWM signal is squelched, thus scaling the period.

Parameters

channel	The PWM channel to configure.
squelchMask	The 2-bit mask of outputs to squelch.

Definition at line 142 of file DigitalModule.cpp.

void DigitalModule::SetRelayForward	(	UINT32	channel,
		bool	on
	)

Set the state of a relay. Set the state of a relay output to be forward. Relays have two outputs and each is independently set to 0v or 12v.

Definition at line 155 of file DigitalModule.cpp.

void DigitalModule::SetRelayReverse	(	UINT32	channel,
		bool	on
	)

Set the state of a relay. Set the state of a relay output to be reverse. Relays have two outputs and each is independently set to 0v or 12v.

Definition at line 176 of file DigitalModule.cpp.

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The documentation for this class was generated from the following files:

• DigitalModule.h
• DigitalModule.cpp