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