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[hal] Update to new image, use new TCP notify callback and new duty cycle API (#4774)

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Thad House
2022-12-13 22:37:42 -08:00
committed by GitHub
parent cc8675a4e5
commit 3997c6635b
3 changed files with 73 additions and 24 deletions
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16
hal/src/main/native/athena/DutyCycle.cpp
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@@ -111,24 +111,12 @@ int32_t HAL_GetDutyCycleHighTime(HAL_DutyCycleHandle dutyCycleHandle,
// TODO Handle Overflow
unsigned char overflow = 0;
uint32_t freq0 = dutyCycle->dutyCycle->readFrequency(&overflow, status);
uint32_t output = dutyCycle->dutyCycle->readOutput(&overflow, status);
uint32_t freq1 = dutyCycle->dutyCycle->readFrequency(&overflow, status);
uint32_t highTime = dutyCycle->dutyCycle->readHighTicks(&overflow, status);
if (*status != 0) {
return 0;
}
if (freq0 != freq1) {
// Frequency rolled over. Reread output
output = dutyCycle->dutyCycle->readOutput(&overflow, status);
if (*status != 0) {
return 0;
}
}
if (freq1 == 0) {
return 0;
}
// Output will be at max 4e7, so x25 will still fit in a 32 bit signed int.
return (output / freq1) * 25;
return highTime * 25;
}
int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,