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Switches PWM and DIO to Handles (#120)

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This commit is contained in:
Thad House
2016-06-30 21:39:09 -07:00
committed by Peter Johnson
parent 9b2af0d090
commit 3593ecb17e
37 changed files with 656 additions and 514 deletions
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22
hal/lib/athena/DigitalInternal.cpp
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@@ -31,6 +31,9 @@ hal::Resource* PWMChannels = nullptr;
bool digitalSystemsInitialized = false;
DigitalHandleResource<HalDigitalHandle, DigitalPort, kDigitalPins + kNumHeaders>
digitalPinHandles;
/**
* Initialize the digital system.
*/
@@ -75,12 +78,21 @@ void initializeDigital(int32_t* status) {
pwmSystem->writeConfig_MinHigh(minHigh, status);
// Ensure that PWM output values are set to OFF
for (uint32_t pwm_index = 0; pwm_index < kPwmPins; pwm_index++) {
// Initialize port structure
DigitalPort digital_port;
digital_port.pin = pwm_index;
// Copy of SetPWM
if (pwm_index < tPWM::kNumHdrRegisters) {
pwmSystem->writeHdr(pwm_index, kPwmDisabled, status);
} else {
pwmSystem->writeMXP(pwm_index - tPWM::kNumHdrRegisters, kPwmDisabled,
status);
}
setPWM(&digital_port, kPwmDisabled, status);
setPWMPeriodScale(&digital_port, 3, status); // Set all to 4x by default.
// Copy of SetPWMPeriodScale, set to 4x by default.
if (pwm_index < tPWM::kNumPeriodScaleHdrElements) {
pwmSystem->writePeriodScaleHdr(pwm_index, 3, status);
} else {
pwmSystem->writePeriodScaleMXP(
pwm_index - tPWM::kNumPeriodScaleHdrElements, 3, status);
}
}
digitalSystemsInitialized = true;