#include <AnalogModule.h>

Inheritance diagram for AnalogModule:

Public Member Functions
void	SetSampleRate (float samplesPerSecond)

float	GetSampleRate ()

void	SetAverageBits (uint32_t channel, uint32_t bits)

uint32_t	GetAverageBits (uint32_t channel)

void	SetOversampleBits (uint32_t channel, uint32_t bits)

uint32_t	GetOversampleBits (uint32_t channel)

int16_t	GetValue (uint32_t channel)

int32_t	GetAverageValue (uint32_t channel)

float	GetAverageVoltage (uint32_t channel)

float	GetVoltage (uint32_t channel)

uint32_t	GetLSBWeight (uint32_t channel)

int32_t	GetOffset (uint32_t channel)

int32_t	VoltsToValue (int32_t channel, float voltage)

Public Member Functions inherited from Module
nLoadOut::tModuleType	GetType ()

uint8_t	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_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

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. More...

Static Public Member Functions
static AnalogModule *	GetInstance (uint8_t moduleNumber)

Static Public Member Functions inherited from Module
static Module *	GetModule (nLoadOut::tModuleType type, uint8_t number)

Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()

static uint32_t	GetDefaultAnalogModule ()

static uint32_t	GetDefaultDigitalModule ()

static uint32_t	GetDefaultSolenoidModule ()

static bool	CheckAnalogModule (uint8_t moduleNumber)

static bool	CheckDigitalModule (uint8_t moduleNumber)

static bool	CheckPWMModule (uint8_t moduleNumber)

static bool	CheckRelayModule (uint8_t moduleNumber)

static bool	CheckSolenoidModule (uint8_t moduleNumber)

static bool	CheckDigitalChannel (uint32_t channel)

static bool	CheckRelayChannel (uint32_t channel)

static bool	CheckPWMChannel (uint32_t channel)

static bool	CheckAnalogChannel (uint32_t channel)

static bool	CheckSolenoidChannel (uint32_t channel)

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Static Public Attributes
static const long	kTimebase = 40000000
	40 MHz clock

static const long	kDefaultOversampleBits = 0

static const long	kDefaultAverageBits = 7

static constexpr float	kDefaultSampleRate = 50000.0

Static Public Attributes inherited from SensorBase
static const uint32_t	kSystemClockTicksPerMicrosecond = 40

static const uint32_t	kDigitalChannels = 14

static const uint32_t	kAnalogChannels = 8

static const uint32_t	kAnalogModules = 2

static const uint32_t	kDigitalModules = 2

static const uint32_t	kSolenoidChannels = 8

static const uint32_t	kSolenoidModules = 2

static const uint32_t	kPwmChannels = 10

static const uint32_t	kRelayChannels = 8

static const uint32_t	kChassisSlots = 8

Protected Member Functions
	AnalogModule (uint8_t moduleNumber)

virtual	~AnalogModule ()

Protected Member Functions inherited from Module
	Module (nLoadOut::tModuleType type, uint8_t 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	Module

Additional Inherited Members
Protected Attributes inherited from Module
nLoadOut::tModuleType	m_moduleType
	The type of module represented.

uint8_t	m_moduleNumber
	The module index within the module type.

Protected Attributes inherited from ErrorBase
Error	m_error

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

Analog Module class. Each module can independently sample its channels at a configurable rate. There is a 64-bit hardware accumulator associated with channel 1 on each module. The accumulator is attached to the output of the oversample and average engine so that the center value can be specified in higher resolution resulting in less error.

Constructor & Destructor Documentation

AnalogModule::AnalogModule ( uint8_t moduleNumber )

explicitprotected

Create a new instance of an analog module.

Create an instance of the analog module object. Initialize all the parameters to reasonable values on start. Setting a global value on an analog module can be done only once unless subsequent values are set the previously set value. Analog modules are a singleton, so the constructor is never called outside of this class.

Parameters

moduleNumber The analog module to create (1 or 2).

AnalogModule::~AnalogModule ( )

protectedvirtual

Destructor for AnalogModule.

Member Function Documentation

uint32_t AnalogModule::GetAverageBits ( uint32_t channel )

Get the number of averaging bits.

This gets the number of averaging bits from the FPGA. The actual number of averaged samples is 2**bits. The averaging is done automatically in the FPGA.

Parameters

channel Channel to address.

Returns: Bits to average.

int32_t AnalogModule::GetAverageValue ( uint32_t channel )

Get a sample from the output of the oversample and average engine for the channel.

The sample is 12-bit + the value configured in SetOversampleBits(). The value configured in SetAverageBits() will cause this value to be averaged 2**bits number of samples. This is not a sliding window. The sample will not change until 2**(OversamplBits + AverageBits) samples have been acquired from the module on this channel. Use GetAverageVoltage() to get the analog value in calibrated units.

Parameters

channel Channel number to read.

Returns: A sample from the oversample and average engine for the channel.

float AnalogModule::GetAverageVoltage ( uint32_t channel )

Get a scaled sample from the output of the oversample and average engine for the channel.

The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight() and GetOffset(). Using oversampling will cause this value to be higher resolution, but it will update more slowly. Using averaging will cause this value to be more stable, but it will update more slowly.

Parameters

channel The channel to read.

Returns: A scaled sample from the output of the oversample and average engine for the channel.

AnalogModule * AnalogModule::GetInstance ( uint8_t moduleNumber )

static

Get an instance of an Analog Module.

Singleton analog module creation where a module is allocated on the first use and the same module is returned on subsequent uses.

Parameters

moduleNumber The analog module to get (1 or 2).

Returns: A pointer to the AnalogModule.

uint32_t AnalogModule::GetLSBWeight ( uint32_t channel )

Get the factory scaling least significant bit weight constant. The least significant bit weight constant for the channel that was calibrated in manufacturing and stored in an eeprom in the module.

Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)

Parameters

channel The channel to get calibration data for.

Returns: Least significant bit weight.

int32_t AnalogModule::GetOffset ( uint32_t channel )

Get the factory scaling offset constant. The offset constant for the channel that was calibrated in manufacturing and stored in an eeprom in the module.

Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)

Parameters

channel The channel to get calibration data for.

Returns: Offset constant.

uint32_t AnalogModule::GetOversampleBits ( uint32_t channel )

Get the number of oversample bits.

This gets the number of oversample bits from the FPGA. The actual number of oversampled values is 2**bits. The oversampling is done automatically in the FPGA.

Parameters

channel Channel to address.

Returns: Bits to oversample.

float AnalogModule::GetSampleRate ( )

Get the current sample rate on the module.

This assumes one entry in the scan list. This is a global setting for the module and effects all channels.

Returns: Sample rate.

int16_t AnalogModule::GetValue ( uint32_t channel )

Get a sample straight from the channel on this module.

The sample is a 12-bit value representing the -10V to 10V range of the A/D converter in the module. The units are in A/D converter codes. Use GetVoltage() to get the analog value in calibrated units.

Returns: A sample straight from the channel on this module.

float AnalogModule::GetVoltage ( uint32_t channel )

Get a scaled sample straight from the channel on this module.

The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight() and GetOffset().

Parameters

channel The channel to read.

Returns: A scaled sample straight from the channel on this module.

void AnalogModule::SetAverageBits	(	uint32_t	channel,
		uint32_t	bits
	)

Set the number of averaging bits.

This sets the number of averaging bits. The actual number of averaged samples is 2**bits. Use averaging to improve the stability of your measurement at the expense of sampling rate. The averaging is done automatically in the FPGA.

Parameters

channel	Analog channel to configure.
bits	Number of bits to average.

void AnalogModule::SetOversampleBits	(	uint32_t	channel,
		uint32_t	bits
	)

Set the number of oversample bits.

This sets the number of oversample bits. The actual number of oversampled values is 2**bits. Use oversampling to improve the resolution of your measurements at the expense of sampling rate. The oversampling is done automatically in the FPGA.

Parameters

channel	Analog channel to configure.
bits	Number of bits to oversample.

void AnalogModule::SetSampleRate ( float samplesPerSecond )

Set the sample rate on the module.

This is a global setting for the module and effects all channels.

Parameters

samplesPerSecond The number of samples per channel per second.

int32_t AnalogModule::VoltsToValue	(	int32_t	channel,
		float	voltage
	)

Convert a voltage to a raw value for a specified channel.

This process depends on the calibration of each channel, so the channel must be specified.

Todo:: This assumes raw values. Oversampling not supported as is.

Parameters

channel	The channel to convert for.
voltage	The voltage to convert.

Returns: The raw value for the channel.

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

AnalogModule.h
AnalogModule.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation