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HAL_InitializePWMPort: Check for MXP port (#1195)

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Previously all channels were incorrectly handled as MXP channels.

Closes #1182
This commit is contained in:
Thad House
2018-07-18 20:39:05 -07:00
committed by Peter Johnson
parent f8635e8abf
commit 76b26c2df5
1 changed files with 7 additions and 5 deletions
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12
hal/src/main/native/athena/PWM.cpp
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@@ -104,11 +104,13 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
port->channel = origChannel;
int32_t bitToSet = 1 << remapMXPPWMChannel(port->channel);
uint16_t specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet,
status);
if (port->channel > tPWM::kNumHdrRegisters - 1) {
int32_t bitToSet = 1 << remapMXPPWMChannel(port->channel);
uint16_t specialFunctions =
digitalSystem->readEnableMXPSpecialFunction(status);
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet,
status);
}
// Defaults to allow an always valid config.
HAL_SetPWMConfig(handle, 2.0, 1.501, 1.5, 1.499, 1.0, status);