DMA.h

Go to the documentation of this file.

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <hal/Types.h>
#include <units/time.h>
 
namespace frc {
class Encoder;
class Counter;
class DigitalSource;
class DutyCycle;
class AnalogInput;
class DMASample;
class PWM;
class PWMMotorController;
 
class DMA {
  friend class DMASample;
 
 public:
  DMA();
  ~DMA();
 
  DMA& operator=(DMA&& other) = default;
  DMA(DMA&& other) = default;
 
  void SetPause(bool pause);
  void SetTimedTrigger(units::second_t seconds);
  void SetTimedTriggerCycles(int cycles);
 
  void AddEncoder(const Encoder* encoder);
  void AddEncoderPeriod(const Encoder* encoder);
 
  void AddCounter(const Counter* counter);
  void AddCounterPeriod(const Counter* counter);
 
  void AddDigitalSource(const DigitalSource* digitalSource);
 
  void AddDutyCycle(const DutyCycle* digitalSource);
 
  void AddAnalogInput(const AnalogInput* analogInput);
  void AddAveragedAnalogInput(const AnalogInput* analogInput);
  void AddAnalogAccumulator(const AnalogInput* analogInput);
 
  int SetExternalTrigger(DigitalSource* source, bool rising, bool falling);
  int SetPwmEdgeTrigger(PWM* pwm, bool rising, bool falling);
  int SetPwmEdgeTrigger(PWMMotorController* pwm, bool rising, bool falling);
 
  void ClearSensors();
  void ClearExternalTriggers();
 
  void Start(int queueDepth);
  void Stop();
 
 private:
  hal::Handle<HAL_DMAHandle> dmaHandle;
};
}  // namespace frc