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[hal] Add frequency support to DutyCycle (#8076)

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This commit is contained in:
Thad House
2025-07-14 23:46:17 -07:00
committed by GitHub
parent ef24c1df97
commit 3497a7d09f
31 changed files with 153 additions and 355 deletions
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57
hal/src/main/native/systemcore/DutyCycle.cpp
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@@ -88,16 +88,47 @@ void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle) {
void HAL_SetDutyCycleSimDevice(HAL_EncoderHandle handle,
HAL_SimDeviceHandle device) {}
int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
double HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
int32_t* status) {
auto port = smartIoHandles->Get(dutyCycleHandle, HAL_HandleEnum::DutyCycle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
uint16_t ret = 0;
*status = port->GetPwmInputPeriodMicroseconds(&ret);
if (ret == 0) {
return 0.0;
}
return 1000000.0 / ret;
}
double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
auto port = smartIoHandles->Get(dutyCycleHandle, HAL_HandleEnum::DutyCycle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0.0;
}
uint16_t highTime = 0;
*status = port->GetPwmInputMicroseconds(&highTime);
uint16_t period = 0;
*status = port->GetPwmInputPeriodMicroseconds(&period);
if (period == 0) {
return 0.0;
}
if (highTime >= period) {
return 1.0;
}
return static_cast<double>(highTime) / static_cast<double>(period);
}
int32_t HAL_GetDutyCycleHighTime(HAL_DutyCycleHandle dutyCycleHandle,
@@ -105,23 +136,11 @@ int32_t HAL_GetDutyCycleHighTime(HAL_DutyCycleHandle dutyCycleHandle,
auto port = smartIoHandles->Get(dutyCycleHandle, HAL_HandleEnum::DutyCycle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
return 0;
}
uint16_t ret = 0;
*status = port->GetPwmInputMicroseconds(&ret);
return static_cast<int32_t>(ret) * 1000;
}
int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int32_t HAL_GetDutyCycleFPGAIndex(HAL_DutyCycleHandle dutyCycleHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
} // extern "C"