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