|
WPILibC++
2020.3.2
|
Hardware Abstraction Layer to hardware or simulator. More...
Functions | |
| HAL_ENUM (HAL_RuntimeType) | |
| const char * | HAL_GetErrorMessage (int32_t code) |
| Gets the error message for a specific status code. More... | |
| int32_t | HAL_GetFPGAVersion (int32_t *status) |
| Returns the FPGA Version number. More... | |
| int64_t | HAL_GetFPGARevision (int32_t *status) |
| Returns the FPGA Revision number. More... | |
| HAL_RuntimeType | HAL_GetRuntimeType (void) |
| HAL_Bool | HAL_GetFPGAButton (int32_t *status) |
| Gets the state of the "USER" button on the roboRIO. More... | |
| HAL_Bool | HAL_GetSystemActive (int32_t *status) |
| Gets if the system outputs are currently active. More... | |
| HAL_Bool | HAL_GetBrownedOut (int32_t *status) |
| Gets if the system is in a browned out state. More... | |
| HAL_PortHandle | HAL_GetPort (int32_t channel) |
| Gets a port handle for a specific channel. More... | |
| HAL_PortHandle | HAL_GetPortWithModule (int32_t module, int32_t channel) |
| Gets a port handle for a specific channel and module. More... | |
| uint64_t | HAL_GetFPGATime (int32_t *status) |
| Reads the microsecond-resolution timer on the FPGA. More... | |
| uint64_t | HAL_ExpandFPGATime (uint32_t unexpanded_lower, int32_t *status) |
| Given an 32 bit FPGA time, expand it to the nearest likely 64 bit FPGA time. More... | |
| HAL_Bool | HAL_Initialize (int32_t timeout, int32_t mode) |
| Call this to start up HAL. More... | |
Hardware Abstraction Layer to hardware or simulator.
| uint64_t HAL_ExpandFPGATime | ( | uint32_t | unexpanded_lower, |
| int32_t * | status | ||
| ) |
Given an 32 bit FPGA time, expand it to the nearest likely 64 bit FPGA time.
Note: This is making the assumption that the timestamp being converted is always in the past. If you call this with a future timestamp, it probably will make it in the past. If you wait over 70 minutes between capturing the bottom 32 bits of the timestamp and expanding it, you will be off by multiples of 1<<32 microseconds.
| HAL_Bool HAL_GetBrownedOut | ( | int32_t * | status | ) |
Gets if the system is in a browned out state.
| const char* HAL_GetErrorMessage | ( | int32_t | code | ) |
Gets the error message for a specific status code.
| code | the status code |
| HAL_Bool HAL_GetFPGAButton | ( | int32_t * | status | ) |
Gets the state of the "USER" button on the roboRIO.
| int64_t HAL_GetFPGARevision | ( | int32_t * | status | ) |
Returns the FPGA Revision number.
The format of the revision is 3 numbers. The 12 most significant bits are the Major Revision. the next 8 bits are the Minor Revision. The 12 least significant bits are the Build Number.
| uint64_t HAL_GetFPGATime | ( | int32_t * | status | ) |
Reads the microsecond-resolution timer on the FPGA.
| int32_t HAL_GetFPGAVersion | ( | int32_t * | status | ) |
Returns the FPGA Version number.
For now, expect this to be competition year.
| HAL_PortHandle HAL_GetPort | ( | int32_t | channel | ) |
Gets a port handle for a specific channel.
The created handle does not need to be freed.
| channel | the channel number |
| HAL_PortHandle HAL_GetPortWithModule | ( | int32_t | module, |
| int32_t | channel | ||
| ) |
Gets a port handle for a specific channel and module.
This is expected to be used for PCMs, as the roboRIO does not work with modules anymore.
The created handle does not need to be freed.
| module | the module number |
| channel | the channel number |
| HAL_Bool HAL_GetSystemActive | ( | int32_t * | status | ) |
Gets if the system outputs are currently active.
| HAL_Bool HAL_Initialize | ( | int32_t | timeout, |
| int32_t | mode | ||
| ) |
Call this to start up HAL.
This is required for robot programs.
This must be called before any other HAL functions. Failure to do so will result in undefined behavior, and likely segmentation faults. This means that any statically initialized variables in a program MUST call this function in their constructors if they want to use other HAL calls.
The common parameters are 500 for timeout and 0 for mode.
This function is safe to call from any thread, and as many times as you wish. It internally guards from any reentrancy.
The applicable modes are: 0: Try to kill an existing HAL from another program, if not successful, error. 1: Force kill a HAL from another program. 2: Just warn if another hal exists and cannot be killed. Will likely result in undefined behavior.
| timeout | the initialization timeout (ms) |
| mode | the initialization mode (see remarks) |