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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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13
wpilibc/src/main/native/cpp/DutyCycle.cpp
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@@ -73,18 +73,11 @@ double DutyCycle::GetOutput() const {
return retVal;
}
unsigned int DutyCycle::GetOutputRaw() const {
units::second_t DutyCycle::GetHighTime() const {
int32_t status = 0;
auto retVal = HAL_GetDutyCycleOutputRaw(m_handle, &status);
auto retVal = HAL_GetDutyCycleHighTime(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
return retVal;
}
unsigned int DutyCycle::GetOutputScaleFactor() const {
int32_t status = 0;
auto retVal = HAL_GetDutyCycleOutputScaleFactor(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
return retVal;
return units::nanosecond_t{static_cast<double>(retVal)};
}
int DutyCycle::GetSourceChannel() const {