[hal, wpilib] Fix up DIO pulse API (#4387)

The FPGA API takes microseconds directly, instead of a scaled value. Also add a new HAL level API to trigger multiple DIOs with the same pulse at once.

hal/src/main/java/edu/wpi/first/hal/DIOJNI.java

@@ -22,7 +22,9 @@ public class DIOJNI extends JNIWrapper {
 
   public static native boolean getDIODirection(int dioPortHandle);
 
-  public static native void pulse(int dioPortHandle, double pulseLength);
+  public static native void pulse(int dioPortHandle, double pulseLengthSeconds);
+
+  public static native void pulseMultiple(long channelMask, double pulseLengthSeconds);
 
   public static native boolean isPulsing(int dioPortHandle);
 

hal/src/main/native/athena/DIO.cpp

@@ -408,13 +408,24 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
   }
 }
 
-void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
+void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLengthSeconds,
                int32_t* status) {
   auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
+
+  uint32_t pulseLengthMicroseconds =
+      static_cast<uint32_t>(pulseLengthSeconds * 1e6);
+
+  if (pulseLengthMicroseconds <= 0 || pulseLengthMicroseconds > 0xFFFF) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    hal::SetLastError(status,
+                      "Length must be between 1 and 65535 microseconds");
+    return;
+  }
+
   tDIO::tPulse pulse;
 
   if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
@@ -426,9 +437,29 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
   }
 
   digitalSystem->writePulseLength(
-      static_cast<uint16_t>(1.0e9 * pulseLength /
-                            (pwmSystem->readLoopTiming(status) * 25)),
-      status);
+      static_cast<uint16_t>(pulseLengthMicroseconds), status);
+  digitalSystem->writePulse(pulse, status);
+}
+
+void HAL_PulseMultiple(uint32_t channelMask, double pulseLengthSeconds,
+                       int32_t* status) {
+  uint32_t pulseLengthMicroseconds =
+      static_cast<uint32_t>(pulseLengthSeconds * 1e6);
+
+  if (pulseLengthMicroseconds <= 0 || pulseLengthMicroseconds > 0xFFFF) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    hal::SetLastError(status,
+                      "Length must be between 1 and 65535 microseconds");
+    return;
+  }
+
+  tDIO::tPulse pulse;
+  pulse.Headers = channelMask & 0x2FF;
+  pulse.MXP = (channelMask & 0xFFFF) >> 10;
+  pulse.SPIPort = (channelMask & 0x1F) >> 26;
+
+  digitalSystem->writePulseLength(
+      static_cast<uint16_t>(pulseLengthMicroseconds), status);
   digitalSystem->writePulse(pulse, status);
 }
 

hal/src/main/native/cpp/jni/DIOJNI.cpp

@@ -144,6 +144,20 @@ Java_edu_wpi_first_hal_DIOJNI_pulse
   CheckStatus(env, status);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_DIOJNI
+ * Method:    pulseMultiple
+ * Signature: (JD)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DIOJNI_pulseMultiple
+  (JNIEnv* env, jclass, jlong channelMask, jdouble value)
+{
+  int32_t status = 0;
+  HAL_PulseMultiple(static_cast<uint32_t>(channelMask), value, &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_DIOJNI
  * Method:    isPulsing

hal/src/main/native/include/hal/DIO.h

@@ -150,12 +150,25 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status);
  * single pulse going at any time.
  *
  * @param[in] dioPortHandle the digital port handle
- * @param[in] pulseLength   the active length of the pulse (in seconds)
+ * @param[in] pulseLengthSeconds   the active length of the pulse (in seconds)
  * @param[out] status       Error status variable. 0 on success.
  */
-void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
+void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLengthSeconds,
                int32_t* status);
 
+/**
+ * Generates a single digital pulse on multiple channels.
+ *
+ * Write a pulse to the channels enabled by the mask. There can only be a
+ * single pulse going at any time.
+ *
+ * @param[in] channelMask the channel mask
+ * @param[in] pulseLengthSeconds   the active length of the pulse (in seconds)
+ * @param[out] status       Error status variable. 0 on success.
+ */
+void HAL_PulseMultiple(uint32_t channelMask, double pulseLengthSeconds,
+                       int32_t* status);
+
 /**
  * Checks a DIO line to see if it is currently generating a pulse.
  *

hal/src/main/native/sim/DIO.cpp

@@ -225,7 +225,7 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
   return value;
 }
 
-void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
+void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLengthSeconds,
                int32_t* status) {
   auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
   if (port == nullptr) {
@@ -235,6 +235,11 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
   // TODO (Thad) Add this
 }
 
+void HAL_PulseMultiple(uint32_t channelMask, double pulseLengthSeconds,
+                       int32_t* status) {
+  // TODO (Thad) Add this
+}
+
 HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
   auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
   if (port == nullptr) {

wpilibc/src/main/native/cpp/DigitalOutput.cpp

@@ -76,9 +76,9 @@ int DigitalOutput::GetChannel() const {
   return m_channel;
 }
 
-void DigitalOutput::Pulse(double length) {
+void DigitalOutput::Pulse(units::second_t pulseLength) {
   int32_t status = 0;
-  HAL_Pulse(m_handle, length, &status);
+  HAL_Pulse(m_handle, pulseLength.to<double>(), &status);
   FRC_CheckErrorStatus(status, "Channel {}", m_channel);
 }
 

wpilibc/src/main/native/include/frc/DigitalOutput.h

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <hal/Types.h>
+#include <units/time.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
 
@@ -79,11 +80,11 @@ class DigitalOutput : public DigitalSource,
    * Output a single pulse on the digital output line.
    *
    * Send a single pulse on the digital output line where the pulse duration is
-   * specified in seconds. Maximum pulse length is 0.0016 seconds.
+   * specified in seconds. Maximum of 65535 microseconds.
    *
-   * @param length The pulse length in seconds
+   * @param pulseLength The pulse length in seconds
    */
-  void Pulse(double length);
+  void Pulse(units::second_t pulseLength);
 
   /**
    * Determine if the pulse is still going.

wpilibc/src/main/native/include/frc/Ultrasonic.h

@@ -164,8 +164,8 @@ class Ultrasonic : public wpi::Sendable,
    */
   static void UltrasonicChecker();
 
-  // Time (sec) for the ping trigger pulse.
-  static constexpr double kPingTime = 10 * 1e-6;
+  // Time (usec) for the ping trigger pulse.
+  static constexpr auto kPingTime = 10_us;
 
   // Max time (ms) between readings.
   static constexpr auto kMaxUltrasonicTime = 0.1_s;

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java

@@ -80,12 +80,15 @@ public class DigitalOutput extends DigitalSource implements Sendable {
   }
 
   /**
-   * Generate a single pulse. There can only be a single pulse going at any time.
+   * Output a single pulse on the digital output line.
    *
-   * @param pulseLength The length of the pulse.
+   * <p>Send a single pulse on the digital output line where the pulse duration is specified in
+   * seconds. Maximum of 65535 microseconds.
+   *
+   * @param pulseLengthSeconds The pulse length in seconds
    */
-  public void pulse(final double pulseLength) {
-    DIOJNI.pulse(m_handle, pulseLength);
+  public void pulse(final double pulseLengthSeconds) {
+    DIOJNI.pulse(m_handle, pulseLengthSeconds);
   }
 
   /**