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Merge "Use either DO PWM A or B not A and B and update javadoc to reflect 6 generators (artf3698)"

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Brad Miller (WPI)
2014-10-24 12:10:42 -07:00
committed by Gerrit Code Review
parent 8ebf88b741 62790c0f47
commit 66b7a8b66e
3 changed files with 9 additions and 7 deletions
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6
hal/lib/Athena/Digital.cpp
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@@ -296,8 +296,10 @@ void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status) {
// The resolution of the duty cycle drops close to the highest frequencies. // The resolution of the duty cycle drops close to the highest frequencies.
rawDutyCycle = rawDutyCycle / pow(2.0, 4 - pwmPeriodPower); rawDutyCycle = rawDutyCycle / pow(2.0, 4 - pwmPeriodPower);
} }
digitalSystem->writePWMDutyCycleA(id, (uint8_t)rawDutyCycle, status); if(id < 4)
digitalSystem->writePWMDutyCycleB(id, (uint8_t)rawDutyCycle, status); digitalSystem->writePWMDutyCycleA(id, (uint8_t)rawDutyCycle, status);
else
digitalSystem->writePWMDutyCycleB(id - 3, (uint8_t)rawDutyCycle, status);
} }
} }

6
wpilibc/wpilibC++Devices/src/DigitalOutput.cpp
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@@ -83,7 +83,7 @@ uint32_t DigitalOutput::GetChannel()
/** /**
* Output a single pulse on the digital output line. * Output a single pulse on the digital output line.
* Send a single pulse on the digital output line where the pulse diration is specified in seconds. * Send a single pulse on the digital output line where the pulse duration is specified in seconds.
* Maximum pulse length is 0.0016 seconds. * Maximum pulse length is 0.0016 seconds.
* @param length The pulselength in seconds * @param length The pulselength in seconds
*/ */
@@ -131,7 +131,7 @@ void DigitalOutput::SetPWMRate(float rate)
/** /**
* Enable a PWM Output on this line. * Enable a PWM Output on this line.
* *
* Allocate one of the 4 DO PWM generator resources from this module. * Allocate one of the 6 DO PWM generator resources from this module.
* *
* Supply the initial duty-cycle to output so as to avoid a glitch when first starting. * Supply the initial duty-cycle to output so as to avoid a glitch when first starting.
* *
@@ -162,7 +162,7 @@ void DigitalOutput::EnablePWM(float initialDutyCycle)
/** /**
* Change this line from a PWM output back to a static Digital Output line. * Change this line from a PWM output back to a static Digital Output line.
* *
* Free up one of the 4 DO PWM generator resources that were in use. * Free up one of the 6 DO PWM generator resources that were in use.
*/ */
void DigitalOutput::DisablePWM() void DigitalOutput::DisablePWM()
{ {

4
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
View File

@@ -150,7 +150,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
/** /**
* Enable a PWM Output on this line. * Enable a PWM Output on this line.
* *
* Allocate one of the 4 DO PWM generator resources. * Allocate one of the 6 DO PWM generator resources.
* *
* Supply the initial duty-cycle to output so as to avoid a glitch when * Supply the initial duty-cycle to output so as to avoid a glitch when
* first starting. * first starting.
@@ -178,7 +178,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
/** /**
* Change this line from a PWM output back to a static Digital Output line. * Change this line from a PWM output back to a static Digital Output line.
* *
* Free up one of the 4 DO PWM generator resources that were in use. * Free up one of the 6 DO PWM generator resources that were in use.
*/ */
public void disablePWM() { public void disablePWM() {
if (m_pwmGenerator == null) if (m_pwmGenerator == null)