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[hal] Fixes for making PWM drive (#7528)

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* Increase connection timeout, fix ld path, properly initialize smart io.

* Also fix HAL_GetSystemTimeValid, so DataLogManager doesn't throw errors.
This commit is contained in:
Thad House
2024-12-08 22:08:05 -08:00
committed by GitHub
parent b6ae9e9cc9
commit 31d1aa62c1
4 changed files with 9 additions and 6 deletions
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2
hal/src/main/native/systemcore/HAL.cpp
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@@ -77,6 +77,7 @@ void InitializeHAL() {
InitializePWM();
InitializeRelay();
InitializeSerialPort();
InitializeSmartIo();
InitializeSPI();
InitializeThreads();
}
@@ -311,7 +312,6 @@ HAL_Bool HAL_GetRSLState(int32_t* status) {
}
HAL_Bool HAL_GetSystemTimeValid(int32_t* status) {
*status = HAL_HANDLE_ERROR;
return false;
}

1
hal/src/main/native/systemcore/HALInitializer.h
View File

@@ -50,6 +50,7 @@ extern void InitializePower();
extern void InitializePWM();
extern void InitializeRelay();
extern void InitializeSerialPort();
extern void InitializeSmartIo();
extern void InitializeSPI();
extern void InitializeThreads();
} // namespace hal::init

6
hal/src/main/native/systemcore/SmartIo.cpp
View File

@@ -43,7 +43,7 @@ int32_t SmartIo::InitializeMode(SmartIoMode mode) {
inst.GetDoubleTopic("/io/valset" + channelString).Publish(options);
setPublisher.Set(0);
pwmMinPublisher =
inst.GetDoubleTopic("/io/pwmmim" + channelString).Publish();
inst.GetDoubleTopic("/io/pwmmin" + channelString).Publish();
pwmMinPublisher.Set(0);
pwmMaxPublisher =
inst.GetDoubleTopic("/io/pwmmax" + channelString).Publish();
@@ -63,8 +63,8 @@ int32_t SmartIo::SetPwmMicroseconds(uint16_t microseconds) {
// TODO(thad) add support for always on signal
if (microseconds > 4096) {
microseconds = 4096;
if (microseconds > 4095) {
microseconds = 4095;
}
// Scale from 0-4096 to 0.0-2.0, then to -1.0-1.0