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[hal] Digital IO SystemCore implementation (#7621)

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This commit is contained in:
Thad House
2025-01-12 16:58:46 -08:00
committed by GitHub
parent 03d9e96877
commit 666d1638ce
6 changed files with 235 additions and 31 deletions
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40
hal/src/main/native/systemcore/PWM.cpp
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@@ -99,7 +99,7 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
port->channel = channel;
*status = port->InitializeMode(SmartIoMode::PWMOutput);
*status = port->InitializeMode(SmartIoMode::PwmOutput);
if (*status != 0) {
smartIoHandles->Free(handle, HAL_HandleEnum::PWM);
return HAL_kInvalidHandle;
@@ -372,18 +372,48 @@ double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
}
void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
// TODO(thad) figure out what this actually means
return;
HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, 0, status);
}
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
int32_t* status) {
// TODO(thad) not currently supported
return;
auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
switch (squelchMask) {
case 0:
*status = port->SetPwmOutputPeriod(hal::PwmOutputPeriod::k5ms);
break;
case 1:
case 2:
*status = port->SetPwmOutputPeriod(hal::PwmOutputPeriod::k10ms);
break;
case 3:
*status = port->SetPwmOutputPeriod(hal::PwmOutputPeriod::k20ms);
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
return;
}
}
void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle,
int32_t* status) {
// Always high is going to have to use a 2ms period
auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
*status = port->SetPwmOutputPeriod(hal::PwmOutputPeriod::k2ms);
if (*status != 0) {
return;
}
HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, kPwmAlwaysHigh, status);
}