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Encoder/Counter Fixes

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This fixes all encoder variants with the getRate and getPeriod methods.
The clock speed in the HAL was updated, as was the scaling factors for setting
the stall periods. A default of .5 seconds is now set for the max period.
Additionally, a long standing bug was fixed with Java 2x encoders.

Changed tests to take into account the increased default timeout on encoders

Change-Id: I8b54c07ea467154be94d7ae7e9ada1775933dee4
This commit is contained in:
Brad Miller
2014-12-23 19:47:23 -05:00
parent b4097fbd58
commit a55f34646d
6 changed files with 18 additions and 7 deletions
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8
hal/lib/Athena/Digital.cpp
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@@ -838,7 +838,7 @@ double getCounterPeriod(void* counter_pointer, int32_t *status) {
// output.Period is a fixed point number that counts by 2 (24 bits, 25 integer bits)
period = (double)(output.Period << 1) / (double)output.Count;
}
return period * 1.0e-6;
return period * 2.5e-8; // result * timebase (currently 40ns)
}
/**
@@ -850,7 +850,7 @@ double getCounterPeriod(void* counter_pointer, int32_t *status) {
*/
void setCounterMaxPeriod(void* counter_pointer, double maxPeriod, int32_t *status) {
Counter* counter = (Counter*) counter_pointer;
counter->counter->writeTimerConfig_StallPeriod((uint32_t)(maxPeriod * 1.0e6), status);
counter->counter->writeTimerConfig_StallPeriod((uint32_t)(maxPeriod * 4.0e8), status);
}
/**
@@ -1000,7 +1000,7 @@ double getEncoderPeriod(void* encoder_pointer, int32_t *status) {
// output.Period is a fixed point number that counts by 2 (24 bits, 25 integer bits)
value = (double)(output.Period << 1) / (double)output.Count;
}
double measuredPeriod = value * 1.0e-6;
double measuredPeriod = value * 2.5e-8;
return measuredPeriod / DECODING_SCALING_FACTOR;
}
@@ -1018,7 +1018,7 @@ double getEncoderPeriod(void* encoder_pointer, int32_t *status) {
*/
void setEncoderMaxPeriod(void* encoder_pointer, double maxPeriod, int32_t *status) {
Encoder* encoder = (Encoder*) encoder_pointer;
encoder->encoder->writeTimerConfig_StallPeriod((uint32_t)(maxPeriod * 1.0e6 * DECODING_SCALING_FACTOR), status);
encoder->encoder->writeTimerConfig_StallPeriod((uint32_t)(maxPeriod * 4.0e8 * DECODING_SCALING_FACTOR), status);
}
/**