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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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29
wpilibc/athena/src/PWM.cpp
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@@ -39,12 +39,16 @@ PWM::PWM(uint32_t channel) {
}
int32_t status = 0;
allocatePWMChannel(m_pwm_ports[channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_handle = initializePWMPort(getPort(channel), &status);
if (status != 0) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_channel = std::numeric_limits<uint32_t>::max();
m_handle = HAL_INVALID_HANDLE;
}
m_channel = channel;
setPWM(m_pwm_ports[m_channel], kPwmDisabled, &status);
setPWM(m_handle, kPwmDisabled, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_eliminateDeadband = false;
@@ -60,10 +64,10 @@ PWM::PWM(uint32_t channel) {
PWM::~PWM() {
int32_t status = 0;
setPWM(m_pwm_ports[m_channel], kPwmDisabled, &status);
setPWM(m_handle, kPwmDisabled, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
freePWMChannel(m_pwm_ports[m_channel], &status);
freePWMPort(m_handle, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
if (m_table != nullptr) m_table->RemoveTableListener(this);
@@ -278,7 +282,7 @@ void PWM::SetRaw(unsigned short value) {
if (StatusIsFatal()) return;
int32_t status = 0;
setPWM(m_pwm_ports[m_channel], value, &status);
setPWM(m_handle, value, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -293,7 +297,7 @@ unsigned short PWM::GetRaw() const {
if (StatusIsFatal()) return 0;
int32_t status = 0;
unsigned short value = getPWM(m_pwm_ports[m_channel], &status);
unsigned short value = getPWM(m_handle, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return value;
@@ -311,16 +315,13 @@ void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
switch (mult) {
case kPeriodMultiplier_4X:
setPWMPeriodScale(m_pwm_ports[m_channel], 3,
&status); // Squelch 3 out of 4 outputs
setPWMPeriodScale(m_handle, 3, &status); // Squelch 3 out of 4 outputs
break;
case kPeriodMultiplier_2X:
setPWMPeriodScale(m_pwm_ports[m_channel], 1,
&status); // Squelch 1 out of 2 outputs
setPWMPeriodScale(m_handle, 1, &status); // Squelch 1 out of 2 outputs
break;
case kPeriodMultiplier_1X:
setPWMPeriodScale(m_pwm_ports[m_channel], 0,
&status); // Don't squelch any outputs
setPWMPeriodScale(m_handle, 0, &status); // Don't squelch any outputs
break;
default:
wpi_assert(false);
@@ -334,7 +335,7 @@ void PWM::SetZeroLatch() {
int32_t status = 0;
latchPWMZero(m_pwm_ports[m_channel], &status);
latchPWMZero(m_handle, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}