Add FPGA Duty Cycle support (#1987)

2026-06-22 01:11:42 +00:00 · 2019-11-01 23:41:30 -07:00
parent 509819d83f
commit 1d695a1660
42 changed files with 1744 additions and 72 deletions
--- a/hal/src/main/native/athena/DutyCycle.cpp
+++ b/hal/src/main/native/athena/DutyCycle.cpp
@@ -0,0 +1,119 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "hal/DutyCycle.h"
+
+#include <memory>
+
+#include "DigitalInternal.h"
+#include "DutyCycleInternal.h"
+#include "HALInitializer.h"
+#include "PortsInternal.h"
+#include "hal/ChipObject.h"
+#include "hal/Errors.h"
+#include "hal/handles/HandlesInternal.h"
+#include "hal/handles/LimitedHandleResource.h"
+
+using namespace hal;
+
+namespace hal {
+LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
+                      HAL_HandleEnum::DutyCycle>* dutyCycleHandles;
+namespace init {
+void InitializeDutyCycle() {
+  static LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
+                               HAL_HandleEnum::DutyCycle>
+      dcH;
+  dutyCycleHandles = &dcH;
+}
+}  // namespace init
+}  // namespace hal
+
+static constexpr int32_t kScaleFactor = 4e7 - 1;
+
+extern "C" {
+HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
+                                            HAL_AnalogTriggerType triggerType,
+                                            int32_t* status) {
+  hal::init::CheckInit();
+
+  bool routingAnalogTrigger = false;
+  uint8_t routingChannel = 0;
+  uint8_t routingModule = 0;
+  bool success =
+      remapDigitalSource(digitalSourceHandle, triggerType, routingChannel,
+                         routingModule, routingAnalogTrigger);
+
+  if (!success) {
+    *status = HAL_HANDLE_ERROR;
+    return HAL_kInvalidHandle;
+  }
+
+  HAL_DutyCycleHandle handle = dutyCycleHandles->Allocate();
+  if (handle == HAL_kInvalidHandle) {
+    *status = NO_AVAILABLE_RESOURCES;
+    return HAL_kInvalidHandle;
+  }
+
+  auto dutyCycle = dutyCycleHandles->Get(handle);
+  uint32_t index = static_cast<uint32_t>(getHandleIndex(handle));
+  dutyCycle->dutyCycle.reset(tDutyCycle::create(index, status));
+
+  dutyCycle->dutyCycle->writeSource_AnalogTrigger(routingAnalogTrigger, status);
+  dutyCycle->dutyCycle->writeSource_Channel(routingChannel, status);
+  dutyCycle->dutyCycle->writeSource_Module(routingModule, status);
+  dutyCycle->index = index;
+
+  return handle;
+}
+void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle) {
+  // Just free it, the unique ptr will take care of everything else
+  dutyCycleHandles->Free(dutyCycleHandle);
+}
+
+int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
+                                  int32_t* status) {
+  auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+  if (!dutyCycle) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  return dutyCycle->dutyCycle->readFrequency(status);
+}
+
+double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
+                              int32_t* status) {
+  return HAL_GetDutyCycleOutputRaw(dutyCycleHandle, status) / kScaleFactor;
+}
+
+int32_t HAL_GetDutyCycleOutputRaw(HAL_DutyCycleHandle dutyCycleHandle,
+                                  int32_t* status) {
+  auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+  if (!dutyCycle) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  return dutyCycle->dutyCycle->readOutput(status);
+}
+
+int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,
+                                          int32_t* status) {
+  return kScaleFactor;
+}
+
+int32_t HAL_GetDutyCycleFPGAIndex(HAL_DutyCycleHandle dutyCycleHandle,
+                                  int32_t* status) {
+  auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+  if (!dutyCycle) {
+    *status = HAL_HANDLE_ERROR;
+    return -1;
+  }
+  return dutyCycle->index;
+}
+}  // extern "C"