view core/Utilities.cpp @ 45:579c86316008 newapi

Major API overhaul. Moved to a single data structure for handling render functions. Functionally, generally similar except for scheduling within PRU loop function, which now uses interrupts from the PRU rather than polling. This requires an updated kernel.

/*
 * Utilities.cpp
 *
 *  Created on: Oct 27, 2014
 *      Author: parallels
 */

#include "../include/Utilities.h"

// analogReadFrame()
//
// Returns the value of the given analog input at the given frame number.
inline float analogReadFrame(BeagleRTContext *context, int frame, int channel) {
	return context->analogIn[frame * context->analogChannels + channel];
}

// analogWriteFrame()
//
// Sets a given channel to a value for the current frame and, if persistent outputs are
// enabled, for all subsequent frames
inline void analogWriteFrame(BeagleRTContext *context, int frame, int channel, float value) {
	if(context->flags & BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST) {
		for(unsigned int f = frame; f < context->analogFrames; f++)
			context->analogOut[frame * context->analogChannels + channel] = value;
	}
	else
		context->analogOut[frame * context->analogChannels + channel] = value;
}

// analogWriteFrameOnce()
//
// Sets a given channel to a value for only the current frame
inline void analogWriteFrameOnce(BeagleRTContext *context, int frame, int channel, float value) {
	context->analogOut[frame * context->analogChannels + channel] = value;
}

// digitalReadFrame()
//
// Returns the value of a given digital input at the given frame number
inline int digitalReadFrame(BeagleRTContext *context, int frame, int channel) {
	return getBit(context->digital[frame], channel + 16);
}

// digitalWriteFrame()
//
// Sets a given digital output channel to a value for the current frame and all subsequent frames
inline void digitalWriteFrame(BeagleRTContext *context, int frame, int channel, int value) {
	for(unsigned int f = frame; f < context->digitalFrames; f++) {
		if(value)
			context->digital[f] |= 1 << (channel + 16);
		else
			context->digital[f] &= ~(1 << (channel + 16));
	}
}

// digitalWriteFrameOnce()
//
// Sets a given digital output channel to a value for the current frame only
inline void digitalWriteFrameOnce(BeagleRTContext *context, int frame, int channel, int value) {
	if(value)
		context->digital[frame] |= 1 << (channel + 16);
	else
		context->digital[frame] &= ~(1 << (channel + 16));
}

// pinModeFrame()
//
// Sets the direction of a digital pin for the current frame and all subsequent frames
inline void pinModeFrame(BeagleRTContext *context, int frame, int channel, int mode) {
	for(unsigned int f = frame; f < context->digitalFrames; f++) {
		if(mode)
			context->digital[f] |= (1 << channel);
		else
			context->digital[f] &= ~(1 << channel);
	}
}

// pinModeFrameOnce()
//
// Sets the direction of a digital pin for the current frame only
inline void pinModeFrameOnce(BeagleRTContext *context, int frame, int channel, int mode) {
	if(mode)
		context->digital[frame] |= (1 << channel);
	else
		context->digital[frame] &= ~(1 << channel);
}

// map()
//
// Scale an input value from one range to another. Works like its Wiring language equivalent.
// x is the value to scale; in_min and in_max are the input range; out_min and out_max
// are the output range.

inline float map(float x, float in_min, float in_max, float out_min, float out_max)
{
	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

// constrain()
//
// Clips an input value to be between two end points
// x is the value to constrain; min_val and max_val are the range

inline float constrain(float x, float min_val, float max_val)
{
	if(x < min_val) return min_val;
	if(x > max_val) return max_val;
	return x;
}