WPILibC++  2018.4.1-1232-gce8c71b
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Modules Pages
HAL.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2013-2018 FIRST. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
7 
8 #pragma once
9 
10 #include <stdint.h>
11 
12 #ifndef HAL_USE_LABVIEW
13 
14 #include "hal/Accelerometer.h"
15 #include "hal/AnalogAccumulator.h"
16 #include "hal/AnalogGyro.h"
17 #include "hal/AnalogInput.h"
18 #include "hal/AnalogOutput.h"
19 #include "hal/AnalogTrigger.h"
20 #include "hal/CAN.h"
21 #include "hal/Compressor.h"
22 #include "hal/Constants.h"
23 #include "hal/Counter.h"
24 #include "hal/DIO.h"
25 #include "hal/DriverStation.h"
26 #include "hal/Errors.h"
27 #include "hal/I2C.h"
28 #include "hal/Interrupts.h"
29 #include "hal/Notifier.h"
30 #include "hal/PDP.h"
31 #include "hal/PWM.h"
32 #include "hal/Ports.h"
33 #include "hal/Power.h"
34 #include "hal/Relay.h"
35 #include "hal/SPI.h"
36 #include "hal/SerialPort.h"
37 #include "hal/Solenoid.h"
38 
39 #endif // HAL_USE_LABVIEW
40 
41 #include "hal/Types.h"
42 
43 #ifdef __cplusplus
44 #include "hal/FRCUsageReporting.h"
45 #endif
46 
53 // clang-format off
54 HAL_ENUM(HAL_RuntimeType) { HAL_Athena, HAL_Mock };
55 // clang-format on
56 
57 #ifdef __cplusplus
58 extern "C" {
59 #endif
60 
67 const char* HAL_GetErrorMessage(int32_t code);
68 
76 int32_t HAL_GetFPGAVersion(int32_t* status);
77 
88 int64_t HAL_GetFPGARevision(int32_t* status);
89 
90 HAL_RuntimeType HAL_GetRuntimeType(void);
91 
97 HAL_Bool HAL_GetFPGAButton(int32_t* status);
98 
104 HAL_Bool HAL_GetSystemActive(int32_t* status);
105 
111 HAL_Bool HAL_GetBrownedOut(int32_t* status);
112 
121 void HAL_BaseInitialize(int32_t* status);
122 
123 #ifndef HAL_USE_LABVIEW
124 
133 HAL_PortHandle HAL_GetPort(int32_t channel);
134 
147 HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
148 
155 uint64_t HAL_GetFPGATime(int32_t* status);
156 
181 HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode);
182 
183 // ifdef's definition is to allow for default parameters in C++.
184 #ifdef __cplusplus
185 
194 int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
195  int32_t context = 0, const char* feature = nullptr);
196 #else
197 
207 int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
208  const char* feature);
209 #endif
210 
211 #endif // HAL_USE_LABVIEW
212 #ifdef __cplusplus
213 } // extern "C"
214 #endif
215 
HAL_Bool HAL_GetSystemActive(int32_t *status)
Gets if the system outputs are currently active.
int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context, const char *feature)
Reports a hardware usage to the HAL.
int64_t HAL_GetFPGARevision(int32_t *status)
Returns the FPGA Revision number.
void HAL_BaseInitialize(int32_t *status)
The base HAL initialize function.
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.
uint64_t HAL_GetFPGATime(int32_t *status)
Reads the microsecond-resolution timer on the FPGA.
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel)
Gets a port handle for a specific channel and module.
HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode)
Call this to start up HAL.
int32_t HAL_GetFPGAVersion(int32_t *status)
Returns the FPGA Version number.
HAL_PortHandle HAL_GetPort(int32_t channel)
Gets a port handle for a specific channel.
HAL_Bool HAL_GetFPGAButton(int32_t *status)
Gets the state of the "USER" button on the roboRIO.