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[hal] Convert DutyCycle Raw output to be a high time measurement (#4466)

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The existing raw time has an issue where it jumps around, as in the FPGA if the frequency is not a multiple or divisor of 25 Mhz it jumps around by 1 every second. While waiting on an FPGA change, update the API to make raw output give nanoseconds rather then a scaled value. This does a longer read cycle to get the correct value, but in the future if a fast FPGA function is added this can be easily changed.
This commit is contained in:
Thad House
2022-10-12 10:15:09 -07:00
committed by GitHub
parent 89a3d00297
commit 87a64ccedc
10 changed files with 79 additions and 63 deletions
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18
hal/src/main/native/sim/DutyCycle.cpp
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@@ -84,6 +84,7 @@ int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
}
return SimDutyCycleData[dutyCycle->index].frequency;
}
double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
int32_t* status) {
auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
@@ -93,20 +94,29 @@ double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
}
return SimDutyCycleData[dutyCycle->index].output;
}
int32_t HAL_GetDutyCycleOutputRaw(HAL_DutyCycleHandle dutyCycleHandle,
int32_t* status) {
int32_t HAL_GetDutyCycleHighTime(HAL_DutyCycleHandle dutyCycleHandle,
int32_t* status) {
auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
if (dutyCycle == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
return SimDutyCycleData[dutyCycle->index].output *
HAL_GetDutyCycleOutputScaleFactor(dutyCycleHandle, status);
if (SimDutyCycleData[dutyCycle->index].frequency == 0) {
return 0;
}
double periodSeconds = 1.0 / SimDutyCycleData[dutyCycle->index].frequency;
double periodNanoSeconds = periodSeconds * 1e9;
return periodNanoSeconds * SimDutyCycleData[dutyCycle->index].output;
}
int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,
int32_t* status) {
return 4e7 - 1;
}
int32_t HAL_GetDutyCycleFPGAIndex(HAL_DutyCycleHandle dutyCycleHandle,
int32_t* status) {
auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);