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Switches DigitalPWM to Handles (#121)

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This commit is contained in:
Thad House
2016-06-30 23:43:00 -07:00
committed by Peter Johnson
parent f77a976fbb
commit 47694ef810
12 changed files with 169 additions and 137 deletions
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22
wpilibc/athena/src/DigitalOutput.cpp
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@@ -25,7 +25,7 @@
DigitalOutput::DigitalOutput(uint32_t channel) {
std::stringstream buf;
m_pwmGenerator = (void*)std::numeric_limits<uint32_t>::max();
m_pwmGenerator = HAL_INVALID_HANDLE;
if (!CheckDigitalChannel(channel)) {
buf << "Digital Channel " << channel;
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
@@ -122,7 +122,7 @@ void DigitalOutput::SetPWMRate(float rate) {
if (StatusIsFatal()) return;
int32_t status = 0;
setPWMRate(rate, &status);
setDigitalPWMRate(rate, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -140,20 +140,20 @@ void DigitalOutput::SetPWMRate(float rate) {
* @param initialDutyCycle The duty-cycle to start generating. [0..1]
*/
void DigitalOutput::EnablePWM(float initialDutyCycle) {
if (m_pwmGenerator != (void*)std::numeric_limits<uint32_t>::max()) return;
if (m_pwmGenerator != HAL_INVALID_HANDLE) return;
int32_t status = 0;
if (StatusIsFatal()) return;
m_pwmGenerator = allocatePWM(&status);
m_pwmGenerator = allocateDigitalPWM(&status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
if (StatusIsFatal()) return;
setPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
setDigitalPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
if (StatusIsFatal()) return;
setPWMOutputChannel(m_pwmGenerator, m_channel, &status);
setDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -164,18 +164,18 @@ void DigitalOutput::EnablePWM(float initialDutyCycle) {
*/
void DigitalOutput::DisablePWM() {
if (StatusIsFatal()) return;
if (m_pwmGenerator == (void*)std::numeric_limits<uint32_t>::max()) return;
if (m_pwmGenerator == HAL_INVALID_HANDLE) return;
int32_t status = 0;
// Disable the output by routing to a dead bit.
setPWMOutputChannel(m_pwmGenerator, kDigitalChannels, &status);
setDigitalPWMOutputChannel(m_pwmGenerator, kDigitalChannels, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
freePWM(m_pwmGenerator, &status);
freeDigitalPWM(m_pwmGenerator, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_pwmGenerator = (void*)std::numeric_limits<uint32_t>::max();
m_pwmGenerator = HAL_INVALID_HANDLE;
}
/**
@@ -190,7 +190,7 @@ void DigitalOutput::UpdateDutyCycle(float dutyCycle) {
if (StatusIsFatal()) return;
int32_t status = 0;
setPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
setDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}