DigitalModule Class Reference

Inheritance diagram for DigitalModule:

Public Member Functions
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)
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 DigitalModule *	GetInstance (uint8_t moduleNumber)
static uint8_t	RemapDigitalChannel (uint32_t channel)
static uint8_t	UnmapDigitalChannel (uint32_t channel)
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 ()

Protected Member Functions
	DigitalModule (uint8_t moduleNumber)
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	I2C
class	Module

Additional Inherited Members
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 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

Constructor & Destructor Documentation

DigitalModule::DigitalModule ( uint8_t  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).

Member Function Documentation

bool DigitalModule::AllocateDIO	(	uint32_t	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

uint32_t DigitalModule::AllocateDO_PWM

(

)

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

Returns

PWM Generator refnum

void DigitalModule::FreeDIO

(

uint32_t

channel

)

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

Parameters

channel

The Digital I/O channel to free

void DigitalModule::FreeDO_PWM

(

uint32_t

pwmGenerator

)

Free the resource associated with a DO PWM generator.

Parameters

pwmGenerator

The pwmGen to free that was allocated with AllocateDO_PWM()

bool DigitalModule::GetDIO

(

uint32_t

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

uint16_t 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.

bool DigitalModule::GetDIODirection

(

uint32_t

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

uint16_t 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.

I2C * DigitalModule::GetI2C

(

uint32_t

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

DigitalModule * DigitalModule::GetInstance ( uint8_t  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).

uint16_t DigitalModule::GetLoopTiming

(

)

Get the loop timing of the Digital Module

Returns

The loop time

uint8_t DigitalModule::GetPWM

(

uint32_t

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.

bool DigitalModule::GetRelayForward

(

uint32_t

channel

)

Get the current state of the forward relay channel

uint8_t DigitalModule::GetRelayForward

(

)

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

bool DigitalModule::GetRelayReverse

(

uint32_t

channel

)

Get the current state of the reverse relay channel

uint8_t DigitalModule::GetRelayReverse

(

)

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

bool DigitalModule::IsPulsing

(

uint32_t

channel

)

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

Returns

A pulse is in progress

bool DigitalModule::IsPulsing

(

)

Check if any DIO line is currently generating a pulse.

Returns

A pulse on some line is in progress

void DigitalModule::Pulse	(	uint32_t	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)

void DigitalModule::SetDIO	(	uint32_t	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)

void DigitalModule::SetDO_PWMDutyCycle	(	uint32_t	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].

void DigitalModule::SetDO_PWMOutputChannel	(	uint32_t	pwmGenerator,
		uint32_t	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

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.

void DigitalModule::SetPWM	(	uint32_t	channel,
		uint8_t	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.

void DigitalModule::SetPWMPeriodScale	(	uint32_t	channel,
		uint32_t	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.

void DigitalModule::SetRelayForward	(	uint32_t	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.

void DigitalModule::SetRelayReverse	(	uint32_t	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.

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

• DigitalModule.h
• DigitalModule.cpp