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

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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.
This commit is contained in:
Thad House
2022-09-02 16:49:42 -07:00
committed by GitHub
parent 59e6706b75
commit a5df391166
9 changed files with 88 additions and 19 deletions
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39
hal/src/main/native/athena/DIO.cpp
View File

@@ -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);
}

14
hal/src/main/native/cpp/jni/DIOJNI.cpp
View File

@@ -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

17
hal/src/main/native/include/hal/DIO.h
View File

@@ -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.
*

7
hal/src/main/native/sim/DIO.cpp
View File

@@ -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) {